Method for supporting a UAV using a motor vehicle

Abstract

Method for supporting a UAV (100) by means of a motor vehicle (200), wherein the motor vehicle (200) comprises at least a lighting device (20), an environment detection device (21) and a mobile computer (22), and the UAV (100) comprises an aircraft (10), at least one optical detection device (11) and a control unit (12), wherein the method during operation of the UAV (100) comprises at least the following steps in the order mentioned: I) Detection of the current environment (E) of the motor vehicle (200) using the environment detection device (21) of the motor vehicle (200); II) based on the recorded current environment (E), determining information relevant to the UAV (100) using the mobile computer (22) of the motor vehicle (200); III) Based on the information identified as relevant, output of an optically readable message (M) by means of the illumination device (20) of the motor vehicle (200) to the UAV (100), wherein by means of the environment detection device (21) of the motor vehicle (200) a terrain condition and its disturbing properties (30, 31) in the environment (E) of the motor vehicle (200) are detected and the optical message (M) is output adapted to the detected disturbing properties (30, 31), characterized in that a trajectory (T) for a flight path (F) is illuminated to the UAV (100) by the illumination device (20) of the motor vehicle (200).

Description

[0001] The invention relates to a method for supporting a UAV by means of a motor vehicle according to claim 1 and a motor vehicle for receiving at least one UAV according to claim 11, with which such a method can be carried out.

[0002] The invention relates to a method for supporting a UAV by means of a motor vehicle, wherein the motor vehicle comprises at least a lighting device, an environment detection device and a mobile computer, and the UAV comprises an aircraft, at least one optical detection device and a control unit, wherein the method during operation of the UAV comprises at least the following steps in the aforementioned order: I) Capturing the current environment of the motor vehicle using the motor vehicle's environment detection device; II) Based on the recorded current environment, determining information relevant to the UAV using the vehicle's mobile computer; III) Based on the information identified as relevant, output of an optically readable message to the UAV using the vehicle's lighting system.

[0003] These are known as UAVs, or unmanned aerial vehicles, also called drones, which are increasingly being used in autonomous flight mode. Drones are being used more and more frequently and offer advantages in areas such as photography, reconnaissance, and cargo transport. In many cases, the use of drones allows for fast, efficient, and economical operations. For example, drones provide aerial photographs for agriculture and forestry, such as surveying and analyzing fields and forests from a bird's-eye view. Drones can also significantly facilitate and improve work processes such as bridge inspections.Conventional methods can largely be replaced by drones, meaning that the contractor can forgo scaffolding, abseiling, or special truck-mounted aerial work platforms, thus reducing the potential risks to personnel. Furthermore, drones are fast and can be deployed almost anywhere. A particular advantage is that drones can reach even difficult-to-access areas of structures, such as bridges, or people in distress, such as during mountain rescue operations.

[0004] Drones can also significantly reduce delivery times for freight. This could become increasingly important in the future, especially for food, medicine, aid supplies, and perishable goods. For example, Wing Aviation LLC offers drone deliveries to suburbs in the Australian city of Logan. The drones fly autonomously and are only monitored by drone pilots. Using a winch, the drone then delivers packages to the recipients' homes. According to Wing Aviation LLC, there have been no accidents to date. The company now also operates in Finland and the USA.

[0005] US patent 2021 / 0284356A1 already discloses a deployable mat for supporting the safe landing of a drone. This mat, displaying landing information, assists an autonomously flying drone (UAV) in performing a safe landing maneuver, even when, for example, insufficient GPS data is available. Insufficient GPS data can occur due to adverse weather conditions or other unforeseen circumstances. A drone with a clear line of sight to the landing mat can use its own camera system to detect a 2D pattern on the mat. This pattern allows the drone's visual navigation system to visually triangulate its position (see [reference to US patent]). Fig. 5).

[0006] From DE 10 2020 106 677 A1, a method and a system for landing drones are known. The method comprises a lighting device configured to determine the position and speed of a vehicle based on vehicle information received via wireless communication, synchronize the drone's speed with the vehicle's speed, and maneuver the drone, based on the vehicle information, to a position above a landing point on the vehicle, and land the drone at the vehicle's landing point.

[0007] German patent application DE 10 2016 010 690 A1 discloses a vehicle, a system comprising such a vehicle, and a method for operating an autonomously free-flying drone within a system. The proposed vehicle comprises: a platform arranged on the roof of the vehicle for landing / launching an autonomously free-flying drone, wherein the drone is configured and designed for picking up / dropping off and transporting an object; a first device that determines the current position of the platform and / or the vehicle; and a communication means for direct or indirect data transmission from the vehicle to the drone, wherein the communication means transmits at least the current position of the platform / vehicle to the drone.

[0008] It is known from US 10 061 328 B2 that a flight plan for safe landings of approaching drones is determined for a majority of drones.

[0009] From DE 10 2019 118 483 A1, a motor vehicle, aircraft and a method for operating them are known, wherein a communication device is configured to communicate with the aircraft, wherein a computing device is configured to acquire or evaluate data from at least one sensor of the motor vehicle containing information about the motor vehicle, the aircraft and / or their environment for a take-off or landing operation of the aircraft and to influence the take-off or landing operation of the aircraft depending on the data, wherein the communication device is configured to send the information to the aircraft and / or, depending on the information, to control at least one actuator for a lighting device, a locking device and / or a display device of the motor vehicle.

[0010] In one embodiment of DE 10 2019 118 483 A1, the vehicle's lighting system is used, for example, to illuminate the aircraft's landing area. Furthermore, in one embodiment, information regarding weather, navigation, positioning, or display can also be transmitted. Preferably, a signal for visual navigation, positioning, or information display is determined based on the data, and the vehicle's lighting system is controlled by this signal to output the visual information. This allows information to be transmitted visually. This visual information can be the flashing of the headlights. The vehicle's lighting system is also used, for example, to illuminate the aircraft's take-off or landing area.Furthermore, visual cues for navigation, positioning, or displaying information can also be transmitted.

[0011] German patent application DE 10 2016 010 690 A1 discloses a vehicle, a system comprising such a vehicle, and a method for operating an autonomously free-flying drone within a system. The proposed vehicle comprises: a platform arranged on the roof of the vehicle for landing / launching an autonomously free-flying drone, wherein the drone is configured and designed for picking up / dropping off and transporting an object; a first device that determines the current position of the platform and / or the vehicle; and a communication means for direct or indirect data transmission from the vehicle to the drone, wherein the communication means transmits at least the current position of the platform / vehicle to the drone.

[0012] In one embodiment of this DE 10 2016 010 690 A1, the vehicle has a transmitter that sends out a tracking signal and / or a flight guidance signal for automated landing of the drone on the platform, wherein the tracking signal and / or the flight guidance signal guides the drone to a landing point on the platform. The tracking signal or the flight guidance signal can be an electromagnetic signal, an optical signal, an infrared signal, an acoustic signal, in particular an ultrasonic signal, or a combination thereof. Advantageously, the tracking signal or the flight guidance signal serves for fine-tuning during the drone's approach to landing on the platform or during the drone's departure from the platform.In one embodiment, the vehicle has an optical and / or acoustic signaling device for emitting a warning signal perceptible in the vehicle's environment, which is activated beforehand by a second control device present in the vehicle if a drone approaches or departs from the platform.

[0013] German patent DE 10 2017 200 781 A1 discloses a device, a means of transport, and a method for preventing traffic accidents. The method comprises the following steps: - Activating highly automated driving of a means of transport, - Determining the position of a road user using a sensor on the vehicle, and - Projecting a cue to avoid a collision between the road user and the means of transport and / or to build the road user's confidence in the adequate guidance of the means of transport onto a surface at the road user's position.

[0014] In one embodiment of this DE 10 2017 200 781 A1, static and dynamic graphics, texts, warning displays, lighting functions (for example, turn signals, fog lights, brake lights, etc.) and displays of all kinds can be projected onto the road, onto the vehicle itself or another vehicle, and / or into the air and / or into free space. For example, holographic, two- and three-dimensional displays can be generated. This also makes it possible to project information outside the vehicle onto the road or into the air.

[0015] US Patent 11 231 706 B1 discloses that a delivery robot can provide a proximity notification, enabling humans to understand and interpret the actions of a delivery robot operating as an unmanned aerial vehicle (UAV), such as its intention to land or drop off a package at a specific location. The delivery robot can be equipped with a display, lights, a speaker, and one or more sensors that allow it to transmit information, barcodes, and text to the drone and / or bystanders. The robot can grant final landing permission and warn the drone if an obstacle or person is in the landing zone. The delivery robot can receive packages and store them for collection, deliver them to the designated delivery location, and / or to an automated locker system. The delivery robot can temporarily block lanes or streets to allow for package delivery by UAV.The system can include a shelter for securing, maintaining, and charging the delivery robot.

[0016] German patent application DE 10 2015 012 416 A1 proposes an improved method for generating light patterns to inform or assist an observer or driver. To this end, a lighting device and a method for projecting a predefined light pattern into the vehicle's surroundings using the vehicle's lighting device are proposed. This involves determining a projection surface in the vehicle's vicinity, determining or providing the position of a predetermined observer, and controlling a lighting unit of the lighting device pixel by pixel, depending on the determined projection surface and the determined position of the predetermined observer, to generate the predefined light pattern.

[0017] The invention, in contrast to previously known methods for supporting a UAV by means of a motor vehicle, is based on the objective of solving the following problem with the simplest and most cost-effective means possible: A method should be provided in which existing technical means are utilized and at the same time a UAV, especially one flying autonomously, can be reliably supplied with messages independently of interfering influences.

[0018] According to claim 1, the above problem is solved by using the environmental sensing device of the motor vehicle to detect terrain features and their disturbing properties in the vicinity of the motor vehicle and to output the optical message adapted to the detected disturbing properties, wherein according to the invention it is provided that the lighting device of the motor vehicle illuminates a trajectory for a flight path to the UAV.

[0019] According to claim 11, the above problem is solved by providing a motor vehicle for carrying at least one UAV with which the said method can be carried out.

[0020] Advantageous embodiments of the invention are characterized in the dependent claims.

[0021] The invention relates to a method for supporting a UAV by means of a motor vehicle, wherein the motor vehicle comprises at least a lighting device, an environment detection device and a mobile computer, and the UAV comprises an aircraft, at least one optical detection device and a control unit, wherein the method during operation of the UAV comprises at least the following steps in the aforementioned order: I) Capturing the current environment of the motor vehicle using the motor vehicle's environment detection device; II) Based on the recorded current environment, determining information relevant to the UAV using the vehicle's mobile computer; III) Based on the information identified as relevant, an optically readable message is output to the UAV using the vehicle's lighting system. The method is characterized primarily by the fact that the vehicle's environmental sensing system detects the terrain and its disruptive properties in the vicinity of the vehicle, and the optical message is output adapted to the detected disruptive properties.

[0022] According to one embodiment, a plurality of UAVs can be synchronized or supported simultaneously independently of each other by means of the method or the motor vehicle.

[0023] According to one embodiment of the method or the motor vehicle, the lighting device comprises one or more headlights and / or one or more separate lighting units.

[0024] According to one embodiment of the method or the motor vehicle, the environment detection device comprises a camera which can capture two-dimensional and / or three-dimensional image data of the current environment in the visible or near-infrared range.

[0025] According to one embodiment of the method or the motor vehicle, the environmental sensing device comprises one or more distance sensors.

[0026] According to one embodiment of the method or the motor vehicle, the environment detection device also includes at least one camera and / or at least one distance sensor, which is arranged in the UAV or another UAV.

[0027] According to one embodiment of the method or the motor vehicle, the mobile computer is permanently integrated into the motor vehicle, for example as an on-board computer or in the manner of an on-board computer, wherein the mobile computer comprises at least one processor, at least one volatile, and preferably one non-volatile, storage unit for processing digital data.

[0028] According to one embodiment of the method, the current environment is an area that is visible or detectable, and is limited by the physical limits of the sensors and / or a set limit, which may be adaptive to environmental conditions.

[0029] According to one embodiment of the method, the current environment is a radius around the motor vehicle of 5 meters to 20 meters, preferably of 10 meters to 15 meters.

[0030] According to one embodiment of the method, a current environment is an area visible or detectable by the UAV in the vicinity of the motor vehicle.

[0031] According to one embodiment of the method, the current environment is an area that can be illuminated by the lighting device due to the current orientation of the motor vehicle in the environment.

[0032] According to one embodiment of the method, information relevant to the UAV includes terrain characteristics such as soil conditions, slope of the ground, presence of buildings and / or bushes, presence of water in the form of a puddle and / or a body of water, preferably in areas of unmapped and / or variable conditions.

[0033] According to one embodiment of the method, an optical message is a message that can be detected by the UAV's detection device, for example a symbol or a QR code, but also or alternatively a flashing sequence using a light.

[0034] According to one embodiment of the method, a flight action is a take-off, a landing, a flight path between two points and / or an orientation of the UAV in space, but also a function of the UAV, such as taking photographs and / or picking up or unloading cargo.

[0035] According to one embodiment of the method, adjusting a flight action involves a time delay, a spatial change and / or a speed adjustment.

[0036] According to one embodiment of the method, a disruptive characteristic of the terrain is an unevenness of the subsoil.

[0037] According to one embodiment of the method, a disruptive feature of the terrain is an obstacle that could hinder or prevent takeoff, landing and / or a flight path.

[0038] According to one embodiment of the method, an optical message is adapted when it is spatially displaced and / or a disturbing property in the optical representation, i.e., the projection in the terrain characteristics of the current environment, of the message is compensated for.

[0039] According to a further embodiment of the invention, the optical message is output as at least one image from the lighting device of the motor vehicle and at least one of the images is adapted with such a distortion that the influence on the detection of the message from the lighting device of the motor vehicle by the detection device of the UAV of at least one of the disturbing properties of the detected terrain can be reduced or compensated for.

[0040] According to a further embodiment of the invention, in step III) the optical message is output in such an area of ​​the motor vehicle's environment as to have the fewest interfering properties.

[0041] According to a further embodiment of the invention, the UAV is illuminated by means of the lighting device of the motor vehicle when the UAV is at a height with collision potential.

[0042] According to one embodiment of the method, a height with collision potential is rigidly defined, for example to a range of 10 meters from the current ground level.

[0043] According to one embodiment of the method, a height with collision potential is adaptively adjusted to the conditions, for example to 5 meters in the area of ​​a road and to 15 meters in the area of ​​a forest.

[0044] According to one embodiment of the method, a height with collision potential is an area detached from the current ground, for example at a height between 15 meters and 30 meters, for example for a high-voltage power line or a wind turbine.

[0045] According to the invention, the lighting device of the motor vehicle illuminates a trajectory for a flight path to the UAV.

[0046] According to a further embodiment of the invention, a three-dimensional projection is output as a message for the UAV and / or for passers-by by means of the vehicle's lighting device.

[0047] According to a further embodiment of the invention, a message from the motor vehicle to the UAV and / or mutual communication between the motor vehicle and the UAV is accomplished at least by means of one of the following communication methods: - LiFi; - Laser light-borne communication; - Screen output of a message; - electromagnetic radio communication; and - acoustic communication.

[0048] According to one embodiment of the method, the respective communication method for outputting an optical message by means of the vehicle's lighting device is set up as described above.

[0049] According to one embodiment of the method, the respective communication method is an additional or alternative means of outputting messages or of mutual communication between the motor vehicle and the UAV.

[0050] According to one embodiment of the method, electromagnetic radio communication is carried out using a standard, such as the so-called WLAN, PAN, or a mobile communication standard, such as LTE, 4G and / or 5G.

[0051] According to a further embodiment of the invention, the optical message of the lighting device of the motor vehicle comprises at least one of the following representation forms: a symbol; - a QR code; - a three-dimensional projection; - a defined area; and - a beam of light.

[0052] According to a further embodiment of the invention, the optical message of the motor vehicle's lighting device includes at least one of the following pieces of information: - a collision potential of the UAV due to its planned or possible flight path; - a trajectory for a recommended flight path of the UAV; - Underground information for a UAV landing; - a current position of another UAV in the current environment of the vehicle and / or the UAV; - a desired orientation of the UAV during its flight and / or after landing; - Weather data; - a command to the UAV with the information to make itself more detectable; and - to send a command to the UAV with the information to perform an action concerning a function of the UAV.

[0053] According to one embodiment of the method, a UAV is made more easily perceptible, preferably by passers-by, by emitting an optical warning signal, such as colored flashing, or an acoustic warning signal, such as a beeping signal, and / or a beam of light, for example in the direction of its planned flight path.

[0054] According to a further embodiment of the invention, the motor vehicle and / or the UAV is designed to move autonomously.

[0055] According to a further embodiment of the invention, information can be transmitted from the motor vehicle to a plurality of UAVs.

[0056] According to one embodiment of the method, a plurality of UAVs are coordinated with each other, for example, landing sites that are staggered locally or in time are specified.

[0057] According to a further embodiment of the invention, the motor vehicle can transmit at least one of the following pieces of information to pedestrians, at least while the UAV is in an area with collision potential: - an acoustic warning signal; - a visual warning signal; and - an optical overlay to create an optical message for the UAV.

[0058] According to one embodiment of the method, an optical superposition is provided. For example, in the case of a LiFi signal, the optical superposition is a change in the color of the light used as the carrier wave. Preferably, such a change is not perceived by the UAV's detection device or is known to it as a warning signal to be ignored. Alternatively, such a change simultaneously includes a command for the UAV, such as a command to execute an evasive maneuver.

[0059] According to a further embodiment of the invention, the UAV can be picked up from the motor vehicle by means of a transport device.

[0060] According to a further embodiment of the invention, the transport device comprises a gripper arm and a platform for the UAV.

[0061] According to one embodiment of the method or the motor vehicle, the transport device comprises a plurality of parking spaces for a corresponding number of UAVs.

[0062] According to another aspect, a motor vehicle for carrying at least one UAV is proposed, wherein the motor vehicle comprises at least a lighting device, an environment sensing device and a mobile computer, wherein the motor vehicle is equipped to carry out a method according to an embodiment as described above.

[0063] According to a further embodiment of the invention, the motor vehicle comprises at least one transport device, wherein the transport device and the motor vehicle are configured to perform a method in which the UAV can be picked up by the motor vehicle by means of the transport device.

[0064] According to one embodiment of the motor vehicle with transport device, the UAV is given a predetermined orientation relative to the current position of the motor vehicle when landing, by means of the method for supporting this UAV by means of the motor vehicle.

[0065] According to another aspect, a method for communication between a UAV and a motor vehicle is proposed, wherein the motor vehicle executes a method according to an embodiment as described above and the UAV further performs at least the following step after step III): IV) Receiving the message from the vehicle's lighting system using the UAV's detection system and, based on this message, adapting a flight action of the UAV's aircraft using its control unit.

[0066] According to one embodiment of the method or the UAV, the aircraft comprises one or more propellers or rotors for generating propulsion and / or lift for the UAV.

[0067] According to one embodiment of the method or UAV, the aircraft comprises one or more rigid wings for generating lift and / or stable orientation in the air.

[0068] According to one embodiment of the method or the UAV, the optical detection device comprises a camera, a photodiode and / or a photovoltaic cell.

[0069] According to one embodiment of the method or the UAV, the control unit comprises digital and / or analog control means for controlling and / or influencing the aircraft based on external control inputs and / or autonomous control decisions, as well as on the basis of the messages that have been captured by the optical detection device.

[0070] According to one embodiment of the method or the UAV, the control unit comprises at least one processor, at least one volatile, and preferably one non-volatile, storage unit for processing digital data.

[0071] According to another aspect, a UAV is proposed for communicating with a motor vehicle, wherein the UAV comprises an aircraft, at least an optical detection device and a control unit. wherein the UAV is configured to perform a method according to an embodiment as described above.

[0072] Exemplary embodiments of the invention are explained in more detail below with reference to the drawing. The drawing shows: Fig. 1: a motor vehicle with lighting equipment and an informed UAV, Fig. 2: the motor vehicle with lighting equipment and the informed UAV according to Fig. 1 in a top view, and Fig. 3: in a flowchart, a procedure for supporting a UAV using a motor vehicle.

[0073] Fig. Figure 1 shows a motor vehicle 200, a UAV 100 informed by this motor vehicle 200, and another UAV 300, which, for example, is not informed by the motor vehicle 200. In one embodiment, however, communication or information exists between the other UAV 300 and the motor vehicle 200 to such an extent that the actual or anticipated flight movement of the other UAV 300 is known or can be reasonably estimated. The motor vehicle 200 has a lighting device 20, here in the form of headlights. Furthermore, the motor vehicle 200 has an environmental sensing device 21, here in the form of a camera 23, in the area of ​​the windshield 27. In addition, the motor vehicle 200 includes, for example as a separate unit, a mobile computer 22, by means of which the necessary calculations can be performed.

[0074] The UAV 100 comprises an aircraft 10, which here is represented, for illustrative purposes, by four independently controllable propellers. Furthermore, the UAV 100 comprises an optical detection device 11 for detecting a message M projected from the headlights of the vehicle 200 onto the ground in the current environment E of the vehicle 200. The UAV 100 also includes a control unit 12 by means of which a flight path F, orientation, and optionally other functions of the UAV 100 can be controlled, preferably autonomously.

[0075] Here, for example, is a first disruptive property 30, an unevenness of the surface on which the message M is printed in the form of an image 40,41 (compare Fig. 2) is output as part of a projection 42. Here, purely for the purpose of clarifying the adjusted distortion, the (here optionally three-dimensional) projection 42 is drawn as flat and set off from the uneven background, as can be detected by the optical detection device 11 of the UAV 100.

[0076] Furthermore, a second disruptive feature 31, an obstacle (here, for example, a tree), is shown here as an example. For this reason, the output of message M from motor vehicle 200 is shifted to the depicted position in the current environment E of motor vehicle 200, even though the ground there is more uneven.

[0077] Furthermore, a light beam 43 is emitted from the motor vehicle 200 or its lighting device 20, i.e., the headlights, to illuminate a trajectory T for a flight path F of the informed UAV 100.

[0078] Purely optionally, a three-dimensional projection 42, optionally marked with a prohibition symbol, is also shown above the landing zone A, which is optionally shown here as a homogeneously illuminated area. This projection is easily perceptible to the passerby P, so that he is highly unlikely to enter there.

[0079] The informed UAV 100 optionally emits a warning signal W, such as a warning tone and / or a continuous or flashing light. Furthermore, the height H of a danger zone is symbolically indicated, for example, with the maximum expected or known vertical extent of objects, in this case, the tree.

[0080] Fig. Figure 2 shows the motor vehicle 200 with lighting device 20 and the informed UAV 100 according to Fig. 1 in a top view. In this respect, reference is made to the description there. In this representation, the message M comprises two images, namely a first image 40 in the form of a symbol S, which indicates the landing site specifically for this informed UAV 100, and a second image 41 in the form of a QR code QR, which contains information, for example, about the exact flight path F during the landing approach and / or a command to issue at least one warning signal W (compare Fig. 1) through the UAV 100, so that the UAV 100 is more easily perceptible to passers-by P, for example, as soon as it reaches the Fig. 1. The altitude H indicated by an arrow to the right of the informed UAV 100 is undercut. For illustrative purposes, in addition to the tree, a second disruptive feature 31, for example a puddle, is also shown here.

[0081] Furthermore, purely optionally, the motor vehicle 200 includes a transport device 24 with a parking area 26 for the informed UAV 100 and a gripping arm 25, which is shown here folded in the breakout view at the rear of the motor vehicle 200.

[0082] Fig. Figure 3 shows a flowchart illustrating a method for supporting a UAV 100 using a motor vehicle 200. The method is executed during operation of the UAV 100 and comprises at least the steps shown. In step I), the current environment E of the motor vehicle 200 is detected using the environmental sensing device 21 of the motor vehicle 200, preferably being executed continuously or in a continuous loop. Subsequently, in step II), information relevant to the UAV 100 is determined based on the detected current environment E using the mobile computer 22 of the motor vehicle 200, preferably also continuously or in a continuous loop.In step III), based on the information identified as relevant, an optically readable message M is output to the UAV 100 via the illumination device 20 of the vehicle 200. This message preferably contains variable information about the continuous monitoring of the environment E. Finally, in step IV), the message M from the illumination device 20 of the vehicle 200 is detected by the detection device 11 of the UAV 100, and a flight action of the aircraft 10 of the UAV 100 is adjusted based on this message M by means of its control unit 12. Here, too, continuous or loop-based monitoring of the environment E of the UAV 100 is carried out in order to detect as many of the messages M from the vehicle 200 as possible. In step III), the optical message M is output adapted to the detected interfering properties 30, 31 in the environment E of the vehicle 200.

[0083] Part of this invention is that a motor vehicle 200 with its illumination device 20 generates symbols S, lettering, light patterns or homogeneously illuminated areas A on surfaces or in the space in the vicinity E of the motor vehicle 200 depending on a UAV flight start phase or a UAV landing phase (see Fig. 1) On the one hand, this is intended to help, for example, an approaching UAV 100 to make a safe approach, and on the other hand, surrounding passers-by P, such as people or road users, are to be informed or warned about an upcoming drone flight, depending on the landing or take-off phase or the planned flight path F, by means of light projections on surfaces A or in the room.

[0084] Similar to the shapes or patterns on a drone landing mat from the aforementioned US 2021 / 0284356A1, corresponding visible patterns and / or structures are adaptively projected onto surfaces or into space by a motor vehicle 200 with its lighting device 20 (see Fig.1) so that the safe landing of a UAV 100 is supported. In this way, information relevant to the landing, which can be acquired and transmitted by the vehicle 200, such as information about ground conditions, wind conditions, optimal landing position, or flight paths F, can be adaptively passed to the UAV. Thus, the vehicle system can also specify a landing position and orientation, at which point the UAV 100 can be loaded fully automatically after landing, for example, with a gripper arm 25 of the (preferably autonomous) vehicle 200, in a particularly advantageous manner.

[0085] Modern headlights, such as laser headlights or LED headlights, for motor vehicles 200 enable targeted light emission or targeted specification of their beam characteristics. Such a lighting device 20 can be used to - to generate on-demand projections 42 onto surfaces A or in space to support safe landings of at least one UAV 100, or - to illuminate a UAV 100 on approach, or - To generate projections 42 to inform or warn the surrounding area about an impending drone landing.

[0086] In a preferred embodiment, the current environment E of the motor vehicle 200 is captured three-dimensionally, preferably capturing all objects relevant to the current situation, particularly for safety during the landing or takeoff of a UAV 100, or for providing information or warnings to surrounding pedestrians P, such as people, road users, and / or animals. The environmental data therefore preferably includes other road users and their positions, as well as potential projection surfaces onto which light objects can be projected, if necessary, by means of the illumination device 20. The generated projection surfaces need not be limited to the surfaces of a roadway or a footpath.The three-dimensional environmental data preferably also includes the current position of the motor vehicle 200 in its environment E, the current position and light emission direction of the lighting device 20, and the viewing directions of other pedestrians P or possible fields of view of the UAV 100. For example, it is also recognized that a pedestrian is likely to be moving within a certain radius and / or below an approaching UAV 100, 300, and the informed UAV 100 can be instructed to choose a different flight path F in order to protect the pedestrian as best as possible.

[0087] Based on the environmental data, suitable projection surfaces can be determined for the current environment E, taking into account road users, the traffic situation, and landing requirements. Weather data, ground conditions (e.g., surface type and / or slope), and other relevant information can be used to inform or warn the surrounding area as effectively as possible, for example, about an approaching UAV 100 or 300. The geometry of the projection surface can then be determined from the environmental data. This geometry encompasses the three-dimensional arrangement of the projection surfaces in space relative to the position of the vehicle's illumination device 20. Using this data, a projection 42 onto a projection surface or into space can be calculated, in which the deviation of the projected actual light object from the target light object is minimal.This ensures, for example, that a curved or inclined projection surface is taken into account when calculating the control data for the actual light object without distortion. A determined, illuminated landing area for a drone should also be designed so that the drone can land safely and, if necessary, be loaded into an autonomous vehicle.

[0088] In a further embodiment of the invention, landings of multiple UAVs (100, 300) can also be supported by means of light projections, and, for example, multiple landing areas can be represented by projections (42), or corresponding warnings can be given to the surrounding area (E) by a motor vehicle (200). See also, for comparison, the aforementioned US 10,061,328 B2, which describes how a flight plan for safe landings of approaching drones is determined for multiple UAVs (100, 300).

[0089] In another embodiment, a UAV 100, 300 is selectively illuminated with light by the vehicle 200 during its landing approach. This is intended to ensure that the UAV is as visible as possible to its surroundings E, especially under dark conditions, thereby reducing the risk to pedestrians P. In one embodiment, the illumination of the UAV 100, 300 is used for a certain period during the landing phase to provide the vehicle 200 with a flight direction in the direction of the vehicle 200, which serves as the light source for the UAV 100's orientation. This is particularly useful in adverse weather conditions with very poor visibility, such as in the dark with heavy rain or in fog.

[0090] In a further embodiment of the invention, the light emitted by the motor vehicle 200 towards the UAV 100 from LED lamps is used to transmit data to the UAV 100. This information exchange can occur via line of sight or using Visible Light Communication (VLC) technology. VLC is a wireless transmission technology in which visible light is modulated with the data signal. This technology is also frequently referred to as Light Fidelity (LiFi). The transmission principle of VLC is simple: A modulator rapidly switches an LED on and off. These light pulses are captured by a photodiode in the receiver (here, the UAV 100 and, if applicable, the motor vehicle 200) and converted into electrical pulses as zeros and ones. This process occurs so quickly that the human eye does not perceive any flickering of the light. Bidirectional transmission is also possible.

[0091] Among the strengths of VLC / LiFi communication are high security against eavesdropping and high data rates. While Wi-Fi uses high-frequency electromagnetic waves as a data transmission medium, LiFi NLC devices transmit data or information using visible or near-infrared light, and this works bidirectionally. VLC / LiFi offers a broader spectrum than high-frequency electromagnetic waves used in Wi-Fi or mobile networks. This allows for higher transmission speeds for individual users and ensures interference-free operation. Furthermore, the visible light spectrum is unlicensed and freely available for everyone to use. In addition, data exchange via VLC / LiFi does not expose people in the vicinity to any harmful levels of radiation. This type of data transmission is also immune to interference from electromagnetic waves.

[0092] In a further embodiment of the invention, a signal tone, a beep, or similar sound is generated in the vicinity E of a motor vehicle 200, depending on the landing phase of a UAV 100, in order to inform the surroundings E, and in particular people, about the approach of a UAV 100. For example, a signal tone is generated when a UAV 100 is approaching for landing within a certain range of pedestrians P or when pedestrians P are recognizably overflown.

[0093] Other preferred technical embodiments of the invention: Particularly detailed and highly visible projection surfaces can be generated, for example, by matrix LED headlights from a lighting unit 20 of a motor vehicle 200. Matrix LED technology is finding increasingly widespread use in motor vehicles 200 today because a lighting unit 20 incorporating a matrix LED headlight is particularly powerful, especially with regard to adaptive lighting functions. If the corresponding matrix LED headlight has a particularly high number of individual LEDs, a particularly high resolution of the objects projected onto a projection surface by the lighting unit 20 for displaying information, i.e., optical messages M, is possible. With LEDs, the electrical power required to operate the protective device is particularly low, so fuel consumption does not increase significantly due to the operation of the protective device.Additionally or alternatively, one or more lasers are provided as a light source. This allows the luminous intensity of the light projection to be adjusted to a particularly high value. In one embodiment, digital image sensors with imaging surfaces A are used. In one embodiment, the digital image sensor comprises, for example, an LCD display (Liquid Crystal Display) and / or an LED display (Light Emitting Diode) and / or an OLED display (Organic Light Emitting Diode) and / or a DMD image sensor (Digital Mirror Device). A DMD image sensor contains a DMD device in the form of an array of a plurality of micromirrors that are moved by an actuator to deflect light radiation 43 in different directions and thereby generate image information.

[0094] The proposed motor vehicle 200 with its lighting systems of the illumination device 20 is distinguished in one embodiment by means of an optical device in that the light radiation 43 of one or more image sensors is divided such that one part of the light radiation 43 serves only to generate a symbol S and another part of the light radiation 43 serves only to generate a light pattern or a homogeneous area A. The optical device thus enables separate processing of the light radiation 43 generated by the image sensor depending on whether a symbol S or a light pattern or a homogeneous area A is displayed. This makes it easy to take into account different requirements for the generation of a symbol S or a light pattern or a homogeneous area A.

[0095] In a preferred embodiment, the area A of a first illumination area is larger than the area A of a second illumination area. This takes into account the fact that a light pattern or a homogeneous light distribution is usually reproduced over a large area A, whereas it is sufficient to represent a symbol S in only a small area.

[0096] In an advantageous embodiment, the lighting device 20 or a separate device includes a projection device for generating or projecting a light projection from the motor vehicle 200 into the surroundings E. This light projection is not simply a beam of light; rather, the projection device is designed to optically display a graphic representation of an obstacle. For example, an obstacle can be projected to deter a wild animal from entering the area and potentially even moving in the opposite direction, thus preventing it from entering the area and potentially even moving in the opposite direction. Such an obstacle can be generated, for example, using a laser.For example, it is planned to use such a laser to project a luminous trail, such as a line or pattern, onto the ground and / or next to the landing area for a UAV 100, creating an obstacle. From the perspective of, for example, a wild animal, there would then be a luminous phenomenon on the ground, perceived as an obstacle. However, it is particularly advantageous that the projection device is designed to generate at least a stereoscopic, three-dimensional representation of the obstacle. In other words, an observer, such as a wild animal, perceives a three-dimensional object, i.e., a solid. In other words, the light projection represents an image of a solid object. Unlike a representation such as a luminous line on the ground, this has the advantage that even jumping over the obstacle appears difficult to the wild animal.Such a representation can be generated, for example, using a display device similar to those found in 3D televisions. However, it is particularly advantageous for the projection device to generate at least one representation to include a holographic optical element (HOE). This HOE is designed to display the obstacle freely in space, independent of any projection surface in the surrounding area E. In other words, the projected light emitted by the projection device does not need to fall onto a projection surface to be optically focused by a passerby P and / or wild animal. Instead, an HOE makes it possible to display an object or obstacle to a viewer simply by having the viewer look directly into the HOE.This advantageously results in the described stereoscopic, 3-dimensional representation of the obstacle, which can also be displayed in such a way that it appears or is focused at a distance outside the vehicle 200, particularly in front of the vehicle 200. Thus, one is not dependent on a specific characteristic of a projection surface in the vicinity E. Reference symbol list 100 informed UAVs 200 motor vehicles 300 more UAVs 10 aircraft 11. Recording device 12 Control unit 20 Lighting equipment 21 Environmental detection device 22 mobile computers 23 Camera 24 Transport equipment 25 Gripper arm 26 parking spaces 27 Windscreen 30 first disturbing characteristic 31 second disturbing characteristic 40 first picture 41 second picture 42 three-dimensional projection 43 Light beam E environment Area M message S symbol QR code T trajectory H height F flight path W Warning signal P Passant

Claims

[1] Method for assisting a UAV (100) by means of a motor vehicle (200), wherein the motor vehicle (200) comprises at least a lighting device (20), an environment detection device (21) and a mobile computer (22), and the UAV (100) comprises an aircraft (10), at least one optical detection device (11) and a control unit (12), wherein the method during operation of the UAV (100) comprises at least the following steps in the order mentioned: I) Detection of the current environment (E) of the motor vehicle (200) using the environment detection device (21) of the motor vehicle (200); II) based on the recorded current environment (E), determining information relevant to the UAV (100) using the mobile computer (22) of the motor vehicle (200); III) Based on the information identified as relevant, output of an optically readable message (M) by means of the illumination device (20) of the motor vehicle (200) to the UAV (100), wherein by means of the environment detection device (21) of the motor vehicle (200) a terrain condition and its disturbing properties (30, 31) in the environment (E) of the motor vehicle (200) are detected and the optical message (M) is output adapted to the detected disturbing properties (30, 31), characterized by , that the UAV (100) is illuminated by the lighting device (20) of the motor vehicle (200) a trajectory (T) for a flight path (F). [2] Method according to claim 1, wherein the optical message (M) is output as at least one image (40, 41) from the illumination device (20) of the motor vehicle (200) and at least one of the images (40, 41) is adapted with such a distortion that the influence on the detection of the message (M) from the illumination device (20) of the motor vehicle (200) by means of the detection device (11) of the UAV (100) of at least one of the disturbing properties (30) of the detected terrain is reducible or compensable. [3] Method according to claim 1 or claim 2, wherein in step III) the optical message (M) is output in such an area of ​​the environment (E) of the motor vehicle (200) in which the fewest disturbing properties (31) are present. [4] Method according to one of the preceding claims, wherein the UAV (100) is illuminated by means of the lighting device (20) of the motor vehicle (200) when the UAV (100) is at a height (H) with collision potential. [5] Method according to one of the preceding claims, wherein a three-dimensional projection (42) is output as a message (M) for the UAV (100) and / or for pedestrians (P) by means of the illumination device (20) of the motor vehicle (200). [6] Method according to any of the preceding claims, wherein a message (M) from the motor vehicle (200) to the UAV (100) and / or a two-way communication between the motor vehicle (200) and the UAV (100) is accomplished at least by means of one of the following communication methods: - LiFi; - Laser light-borne communication; - Screen output of a message (M); - electromagnetic radio communication; and - acoustic communication. [7] Method according to one of the preceding claims, wherein the optical message (M) of the lighting device (20) of the motor vehicle (200) comprises at least one of the following representation forms: - a symbol (S); - a QR code (QR); - a three-dimensional projection (42); - a defined area (A); and - a beam of light (43). [8] Method according to any of the preceding claims, wherein the optical message (M) of the lighting device (20) of the motor vehicle (200) comprises at least one of the following pieces of information: - a collision potential of the UAV (100) due to its planned or possible flight path (F); - a trajectory (T) for a recommended flight path (F) of the UAV (100); - an underground information for a UAV landing (100); - a current position of another UAV (300) in the current environment (E) of the motor vehicle (200) and / or the UAV (100); - a desired orientation of the UAV (100) during its flight and / or after landing; - Weather data; - a command to the UAV (100) with the information to make itself more detectable; and - a command to the UAV (100) with the information to perform an action concerning a function of the UAV (100). [9] Method according to one of the preceding claims, wherein the motor vehicle (200) can transmit at least one of the following information to pedestrians (P) at least while the UAV (100) is in an area with collision potential: - an acoustic warning signal (W); - a visual warning signal (W); and - an optical overlay to an optical message (M) for the UAV (100). [10] Method according to one of the preceding claims, wherein the UAV (100) is picked up from the motor vehicle (200) by means of a transport device (24). [11] Motor vehicle (200) for carrying at least one UAV (100, 300), wherein the motor vehicle (200) comprises at least one lighting device (20), one environment detection device (21) and one mobile computer (22), wherein the motor vehicle (200) is equipped to carry out a method according to one of the preceding claims. [12] Motor vehicle (200) according to claim 11, wherein the motor vehicle (200) comprises at least one transport device (24), wherein the transport device (24) and the motor vehicle (200) are configured to perform a method according to claim 10. [13] Method for communication between a UAV (100) and a motor vehicle (200), wherein the motor vehicle (200) performs a method according to one of claims 1 to 10 and the UAV (100) further performs at least the following step according to step III): IV) Receiving the message (M) from the lighting device (20) of the motor vehicle (200) by means of the detection device (11) of the UAV (100) and by means of its control unit (12) on the basis of this message (M) adapting a flight action of the aircraft (10) of the UAV (100). [14] UAV (100) for communicating with a motor vehicle (200), wherein the UAV (100) comprises an aircraft (10), at least one optical detection device (11) and a control unit (12), wherein the UAV (100) is configured to perform a method according to claim 13.

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