System for monitoring, exploration and inspection using drones

Abstract

Comprehensive system for monitoring and exploration in mining, civil engineering or tunneling - an initial number of drones (D); - a second number of docking stations (A); - at least one further processing point (W) and - at least one control system (S), wherein - the drones (D) include at least one distance sensor and at least one other sensor for data collection and at least one means of communication and - the docking stations (A) comprise at least one means of communication, wherein the means of communication enable communication between docking stations (A) and drones (D) with each other and / or with each other, characterized in that the first number of drones (D) is smaller than the second number of docking stations (A).

Description

[0001] The invention relates to a system for monitoring, exploration and inspection using drones, particularly in mining, tunneling and civil engineering or of objects, especially buildings, rooms, tunnel systems or cave systems.

[0002] Drones are used in the civilian sector for both private and commercial purposes. In the commercial sector, drones are primarily used to provide images or other data that would be more expensive or difficult to obtain by other means, or that could not be obtained at all. Examples include aerial photographs that were previously only possible with helicopters, sophisticated film equipment, and correspondingly high costs, or recordings in confined spaces or difficult-to-access terrain. Data that was previously only obtainable at the risk of human life, or impossible due to the potential risk to human life, can now often be obtained through the use of drones.

[0003] The possibility of using drones for deliveries, such as goods, is also being increasingly discussed. Thus, the use of drones in the civilian sector is steadily expanding.

[0004] In the commercial and industrial sectors, permanently installed systems are currently used for object monitoring, particularly in mining and civil engineering. Examples of this, to which the invention is by no means limited, include longwall mining and tunnel construction. Further examples of the installation of permanently installed systems are the monitoring of buildings or halls. A sensor, often an optical system, is installed at strategically advantageous points. These sensors periodically or continuously collect data and transmit it to processing units. The data is generally stored and evaluated immediately or later as needed. In some cases, the data recordings serve purely documentary purposes.

[0005] A disadvantage of the well-known permanently installed systems is that they are expensive to purchase, as a large number of sensors must be installed depending on the size of the area to be monitored. Furthermore, the sensors are tied to these fixed locations. Spontaneous monitoring of areas not covered by the sensors is not possible with a permanently installed system.

[0006] US patent 2016 / 0286135A1 discloses a surveillance and tracking device comprising a drone with a primary camera and a docking station with a secondary camera. While the secondary camera serves for local surveillance, the drone can use the primary camera to track specific events or people or to perform routine surveillance of specific areas.

[0007] US 2017 / 0146990A1 describes a system for improving wireless communication and satellite positioning for machinery on a construction site using one or more drones configured to be remotely operated over an area encompassing the construction site, in order to improve wireless machine communication and satellite positioning requirements.

[0008] Drones are already being used in some commercial and industrial sectors for surveillance, inspection, and exploration. These drones are typically deployed only temporarily and are not used for permanent surveillance. They do not currently replace permanently installed surveillance systems. Furthermore, they are generally single drones that must be controlled by a person for the duration of their operation. However, it would be desirable if drones could be used efficiently as replacements for permanently installed systems, for example, as permanent surveillance, inspection, or exploration systems.

[0009] Accordingly, the object of the invention is to provide a monitoring, inspection and / or exploration system that includes drones equipped with sensors.

[0010] The invention also aims to provide a monitoring, inspection and / or exploration system that can operate largely autonomously.

[0011] Furthermore, the object of the invention is to provide a monitoring, inspection and / or exploration system that is suitable for forwarding the data captured by the drones to a storage and / or data processing system.

[0012] It is also an object of the invention to provide a monitoring, inspection and / or exploration system that is suitable for use in mining and civil engineering.

[0013] Furthermore, it is an object of the invention to provide a monitoring, inspection and / or exploration system that is modular in design and through which existing systems can be gradually replaced and / or expanded.

[0014] This problem is solved by an invention with the features of claim 1. Advantageous embodiments are the subject of the dependent claims. It should be noted that the features listed individually in the claims can also be combined with one another in any technologically meaningful way, thus revealing further embodiments of the invention.

[0015] A system according to the invention for monitoring, inspection and exploration comprises at least a number of drones with at least one sensor, a number of docking stations, a processing unit and a control unit.

[0016] The selection of a suitable drone depends primarily on its intended use. Therefore, for the purposes of this invention, a drone is understood to be any unmanned aerial vehicle that can be controlled from the ground via a remote control by a person or a computer. The drones used in the system according to the invention are preferably so-called multicopters, in particular quadcopters. However, the invention is not limited to this type of drone.

[0017] The drones in the system according to the invention comprise at least one sensor, which can be selected according to the specific application. All possible types of sensors are conceivable, such as mechanical, thermoelectric, resistive, piezoelectric, capacitive, inductive, optical, magnetic, optoelectronic, electrochemical, temperature, distance, pressure, gas, or even biosensors. Preferably, the drones are equipped with at least one distance sensor and at least one further sensor for data acquisition. Such a further sensor can also be a laser or an RF sensor (an electromagnetic sensor). These sensors allow, for example, precise measurement of the environment and thus help to create a three-dimensional representation of the space in which the drone moves.This is advantageous, for example, wherever the machines operating in the premises need to be realigned according to the potentially changing layout of the premises.

[0018] In a preferred embodiment, the drones include at least one storage element in which the data acquired by the sensors can be stored, at least temporarily. However, such a storage element is optional, depending on the application requirements. The acquired data is preferably transmitted to a downstream receiver system. In a preferred embodiment, this downstream receiver system is designed for both receiving and sending data. A downstream receiver system can, for example, be a docking station, a relay station, or a processing unit. The person skilled in the art selects the system best suited to their purpose.

[0019] It is also conceivable to implement the invention in which the systems according to the invention include drones that themselves have relay stations. The advantage of this is that the drones equipped in this way can very flexibly extend the existing network of relay stations.

[0020] A processing unit within the meaning of this invention is a location to which data is transmitted and in which the data may optionally be stored. The data transmission can occur directly from the drones or from the docking stations. The processing unit may comprise an electronic data processing system (EDP) for further processing the data and a storage device. In principle, no further processing of the data in the sense of preparation or evaluation needs to be carried out at the processing unit. In principle, a processing unit within the meaning of this invention may also be another data storage device, which may optionally include a relay station. The processing unit has wireless and optionally wired communication systems.The communication systems serve for communication between the processing unit and the drone and / or for communication between the processing unit and the docking station. The processing unit may also have additional communication systems through which it can be controlled by a higher-level system.

[0021] A docking station according to this invention provides drones with a landing pad where they can remain stationary without flying. The docking stations are equipped with wireless and, optionally, wired communication systems. These communication systems serve for communication between the docking stations themselves, between the docking station and the drone, and / or between the docking station and a processing unit, and / or for control systems to control the drones. Different or identical systems can be used for the different communication types. In a preferred embodiment, the docking stations also function as relay stations.

[0022] A relay station within the meaning of this application is a transmission element that forwards received signals. A relay station within the meaning of this application can, in particular, be a suitably equipped docking station, a suitably equipped drone, or a processing unit.

[0023] The drones in the system according to the invention comprise at least one wireless communication system. The communication system can serve for communication and / or data transmission between the drones, for communication and / or data transmission between the drone and the docking station, and for communication and / or data transmission between the drone and a processing unit, whereby different or identical communication systems can be used for the different communication and transmission paths.

[0024] The docking stations can be connected to each other via cables, at least with regard to power supply.

[0025] The drone and docking station each include a docking element through which they can be connected. The docking element can be magnetic and / or mechanical. While embodiments are conceivable in which the docking elements of the drone and docking station function according to the lock-and-key principle, embodiments are also conceivable in which essentially only the drone or only the docking station has a corresponding docking element. It is important that the drone can only dock to the docking station in such a way that all necessary contacts and transmission paths between the drone and the docking station, for example for power and / or data transmission, are connected or connectable after docking.

[0026] At least one of the docking stations includes a charging station for drones. The drones can thus be powered via the docking station's charging station, for example, to recharge existing batteries or to use the transferred energy for other tasks while docked, such as operating sensors or transmitting data. In a preferred embodiment, all docking stations include a charging station.

[0027] Power transfer between the drone and the docking station can be wireless or via electrical contacts. Wireless power transfer is preferred, especially in environments where rapid contamination of the contacts is a concern, potentially compromising sufficient power transfer. This is particularly relevant in dusty environments, such as those found in mining and civil engineering.

[0028] Communication between the drone and the docking station preferably takes place wirelessly. Communication between the docking stations and the processing unit can take place either wirelessly or via cable. The decisive factor in choosing between wireless and wired communication is always the intended application of the system according to the invention.

[0029] If, for example, the docking stations need to be particularly mobile, then wireless communication between them is a suitable option, as wired systems tend to lose mobility due to the fixed cabling. Furthermore, cables are inherently susceptible to damage, especially if they need to be frequently re-laid. A limiting factor for a wireless system can be an insufficient transmitter-receiver range, which can be particularly problematic in mining and civil engineering, where wireless signals only achieve short ranges due to the specific geometry and geography of the work site. In this case, wired communication or communication via relay stations can be considered. In a preferred embodiment, the docking stations also function as relay stations.

[0030] Preferably, the docking stations in the system according to the invention also serve to control the drones, with various control options being conceivable. The docking stations could control the drones in real time, as if with a remote control. It would also be conceivable for the docking stations to feed a specific flight route into the drone, which then flies this route and subsequently returns to a docking station. It would also be conceivable for the flight path to be determined by a specific sequence of docking stations to be visited, with the next docking station on the flight path sending out a signal that the corresponding drone follows.

[0031] Corresponding controls and signal transmissions can also be carried out, for example, by guidance systems based on laser technology or RFID (radiofrequency identification), whereby the docking stations and drones must include corresponding transmitter and receiver modules.

[0032] The docking stations are connected to a control unit via a wireless or wired communication system. A computer system can include a control system. The control system provides, for example, flight routes and control parameters for the drones, which are stored in the drones or transmitted to the drones via the docking stations. Therefore, a docking station used to control a drone can also simply be the transmitter of control information, for example, from the computer system, without itself being actively involved in controlling the drone or calculating flight routes.

[0033] The control unit can preferably be part of the IT system of the processing unit.

[0034] In the system according to the invention, both multiple control units and multiple processing stations are conceivable.

[0035] In addition to the docking stations described above, the system according to the invention can optionally include further resting places where the drones can remain essentially without flying. Docking at the resting places can be analogous to docking at one of the docking stations; however, simpler docking mechanisms are also conceivable here, for example via a magnet, since the resting places essentially do not have the communication and charging systems of the docking station.

[0036] In systems where at least some drones include relay stations, the resting places can also serve to expand the relay network of the docking stations.

[0037] The system according to the invention is particularly suitable for use in the exploration, inspection and / or monitoring of mining, civil engineering or tunneling or of objects, in particular buildings, rooms, tunnel systems or cave systems.

[0038] The system according to the invention has the advantage over the prior art that the realization of the exploration or monitoring device via docking stations and drones is significantly more flexible than via a fixed installation system. In particular, depending on the task, the number of sensor-equipped drones can be reduced to a minimum compared to fixed sensors, since a single sensor-equipped drone is able to cover a significantly larger area than a single fixed sensor.

[0039] The invention and its technical context are explained in more detail below with reference to the figures and application examples. It should be noted that the figures and application examples show particularly preferred embodiments of the invention. However, the invention is not limited to the embodiments shown. In particular, the invention encompasses, insofar as it is technically feasible, any combination of the technical features listed in the claims or described as relevant to the invention in the description.

[0040] They show: Fig. 1 A schematic representation of a system according to the invention in a variant preferably used in mining. Fig. 2 a schematic representation of a system according to the invention in a variant preferably used in the inspection of tunnel systems.

[0041] Fig. Figure 1 shows a first embodiment of the system 1 according to the invention, which can be used in particular where wireless data transmission between the docking stations is desirable, but the transmission range is limited, for example in mining or civil engineering.

[0042] The number of docking stations A1 - A selected in the exemplary embodiment N , Relay stations R1 - R N-2 and drones D1 - D N / 2 This is an example and serves only to illustrate the planned application in an area with a short transmission range. Likewise, all dimensions and distances between the individual elements of the system are chosen as shown purely for illustrative purposes.

[0043] The number of drones D in the system depends heavily on the required surveillance density. In the example system, every second docking station is occupied by a drone. The drones shuttle between the docking stations in a defined cycle. Compared to a fixed system, this results in a 50% reduction in the number of surveillance sensors required. Furthermore, the drones D can be deployed flexibly and, if necessary, can also cover areas within the region that are not covered by a comparable fixed system at the docking station locations A1-A. N , could not be recorded.

[0044] The docking stations A may have multiple communication systems to communicate with each other and with the drones. The selection of suitable communication systems and the number used depend on the planned application of the system.

[0045] In the preferred embodiment according to Fig. 1. Docking stations A include communication systems for wireless communication with and between the drones. Additionally, docking station A includes N a wired communication system to the processing unit W.

[0046] In areas with short transmitter range, it is advisable to equip all docking stations A with additional relay stations R, possibly with the exception of the first and last docking stations A1, A N in the chain. A relay station R at docking station A1 is unnecessary, since no signals need to be relayed from here to another station; a relay station R at docking station A N This is unnecessary, as it is connected to the processing station W via a data cable K and thus to the docking station A. NNo signals need to be forwarded via a relay station.

[0047] The data from the docking stations A and the drones D is transmitted via the data cable K.

[0048] To ensure the power supply, docking stations A1 - A N connected to a wired power supply E. The power supply can be provided via the processing unit W, possibly supported by a computer system.

[0049] The docking stations A can be equipped with a charging station for drones. Depending on the intended use, it may be useful to equip each docking station A with a charging station, but it may also be useful to equip only as many docking stations with charging stations as there are drones D in the system.

[0050] Docking Station A NThe drone is connected to a control unit S via a wired communication system. A computer system can include a control system. The control system S provides, for example, flight routes and control parameters for the drones D, which are stored in the drones D via the docking stations A or transmitted to the drones D via the docking stations A. Therefore, a docking station A used to control a drone can also simply be the transmitter of control information, for example, from the computer system, without itself being actively involved in the control or the calculation of flight routes. The control unit can preferably be part of the computer system of the downstream processing unit.

[0051] Alternatively, the drones D could be controlled via the docking stations A. For example, the drones D could follow a signal emitted by the next docking station A they are to approach. Similarly, in this example system, drone D1 could shuttle between docking stations A1 and A2 in a defined cycle, drone D2 between docking stations A3 and A4 in a defined cycle, and so on.

[0052] Fig. Figure 2 shows a second embodiment of the system 1 according to the invention, which can be used in particular where wireless data transmission between the docking stations A is desirable and a good transmission range can be achieved. Additionally, this system is designed for cyclical monitoring of the corresponding area.

[0053] The number of docking stations A1 - A selected in the exemplary embodiment N , Relay stations R1 - R N-1 and drones D1 - D N / 2 This is an example and serves only to illustrate the planned application. Likewise, all dimensions and distances between the individual elements of the system are chosen purely for illustrative purposes.

[0054] The number of drones D in the system depends heavily on the required surveillance density. In the example system, only one drone is used. The drone shuttles between the docking stations in a predetermined cycle or as needed. Compared to a fixed system, this results in a 75% reduction in the number of surveillance sensors required. Furthermore, the drone D can be deployed flexibly and, if necessary, can also cover areas within the region that are not covered by a comparable fixed system at the docking station locations A1-A. N , could not be recorded.

[0055] The docking stations A may have several communication systems to communicate with each other and with the drone. The selection of suitable communication systems and the number used depend on the intended use of the system. In the preferred embodiment according to Fig.Docking stations A include communication systems for wireless communication with the drone and between the drones themselves. Due to its good transmission range, docking station A includes... N There is no wired communication system to the processing unit W, but it communicates wirelessly with it, which leads to a further increase in the flexibility of the system.

[0056] Optionally, the docking stations A can be equipped with additional relay stations R. A relay station R at docking station A1 is unnecessary, as no signals need to be relayed from there to another station. A relay station R at docking station A N This appears to be a sensible approach in this system, as it allows wireless signals from the processing station W to be forwarded directly to the receiving docking station A, if necessary.

[0057] Via docking station A N or the relay station RN-1 The data from docking stations A or drones D is then forwarded to the processing station W.

[0058] To ensure the power supply, docking stations A1 - A N connected to a wired power supply E. The power supply can be provided via the processing unit W, possibly with the support of an IT system.

[0059] The docking stations A can be equipped with a charging station for drones. Depending on the intended use, it may be useful to equip each docking station A with a charging station, but it may also be useful to equip only as many docking stations with charging stations as there are drones D in the system.

[0060] Docking Station A NThe drone is connected to a control unit via a wireless communication system. A computer system can include a control system. The control system provides, for example, flight routes and control parameters for the drones, which are stored in the drones or transmitted to the drones via the docking stations. Therefore, a docking station used to control a drone can also simply be the transmitter of control information, for example, from the computer system, without itself being actively involved in the control or the calculation of flight routes. The control unit can preferably be part of the computer system of the processing unit.

[0061] Alternatively, it is also possible for drone D to be controlled via docking stations A. For example, drone D could follow a signal emitted by the next docking station A it intends to approach.

Claims

[1] System for monitoring and exploration in mining, civil engineering or tunneling - an initial number of drones (D); - a second number of docking stations (A); - at least one further processing point (W) and - at least one control system (S), wherein - the drones (D) include at least one distance sensor and at least one other sensor for data collection and at least one means of communication and - the docking stations (A) include at least one means of communication, wherein the means of communication enable communication between docking stations (A) and drones (D) with each other and / or among themselves, characterized by , that the first number of drones (D) is smaller than the second number of docking stations (A). [2] System according to claim 1, characterized by , that the drones (D) and the processing units (W) include means for data transmission. [3] System according to claim 1 or 2, characterized by , that at least one docking station (A) includes means for data transmission that are suitable for receiving data from drones (D) and transmitting this data to a further processing point (W). [4] System according to claim 1 or 2, characterized by that at least one docking station (A) includes a charging station for drones (D). [5] System according to any one of the preceding claims, characterized by , that at least one docking station (A) includes a relay station (R) for receiving and forwarding signals. [6] System according to any of the preceding claims, characterized by , that at least one docking station (A) includes a relay station (R) for receiving and forwarding data. [7] System according to any one of the preceding claims, characterized by , that the power supply to the docking stations (A) is wired. [8] System according to any one of the preceding claims, characterized by, that the energy transfer from the charging station of a docking station (A) to the drone (D) is wireless. [9] System according to any of the preceding claims, characterized by that the system continues to include resting places for the drones. [10] System according to any of the preceding claims, characterized by , that at least one drone (D) includes a relay station (R). [11] System according to any of the preceding claims, characterized by , that at least some of the drones (D) and some of the docking stations (A) include a guidance system based on laser technology and / or RFID.

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