METHOD AND SYSTEM FOR AUTONOMY CONTROL FOR A BATTERY-POWERED VEHICLE FLEET

Description

[0001] The present invention relates to a method for managing autonomy for a fleet of vehicles each powered by at least one on-board battery. It also relates to a system implementing such a method.

[0002] The field of the invention is the field of managing the autonomy of a fleet of battery-powered vehicles, in particular when carrying out a mission involving several of said vehicles forming a group of vehicles, also called a "matrix". État de la technique

[0003] The industrial, public and private sectors, for which the use of drones is capable of providing services, is easily envisaged and will only increase. Concrete applications are however still limited in their implementation in terms of duration of use or range of action. The main reason being the lack of autonomy of the drone in relation to the power required to sustainably carry equipment to accomplish a mission. This problem arises for drones, but also in general, for any vehicle powered by an on-board battery and for which the problem of autonomy arises.

[0004] This problem of energy autonomy arises even more when a mission must be carried out by several vehicles, that is to say by a group of several vehicles, also called a "matrix" of vehicles, such as a mission of surveillance of an area by several drones for example, or when transporting a load, etc.

[0005] We know of solutions for rapid charging, or on-the-fly replacement, of a vehicle's battery. However, these solutions focus on managing the autonomy of each vehicle considered individually and independently of other vehicles. These solutions do not allow the management of the autonomy of a matrix of several vehicles when said matrix is ​​carrying out a mission.

[0006] From the article "UAVs as Mobile Infrastructure: Addressing Battery Lifetime" is known a method for managing a fleet of several battery-powered drones and ensuring the continuity of a communication network relay, the method comprising monitoring the charge status of the drones and replacing one of the drones with another drone at a charging station.

[0007] Also known from CN 110 794 873 A is the management of a group of micro-drones which carry out a power line inspection task, the method providing that a spare drone takes over from one of the inspection drones when the battery level of this drone is low.

[0008] An aim of the present invention is to remedy at least one of the aforementioned drawbacks.

[0009] Another aim of the present invention is to propose a solution for managing the autonomy of a matrix of several vehicles when carrying out a mission by said matrix of vehicles.

[0010] Another aim of the present invention is to propose a solution for managing the autonomy of a matrix of several vehicles during the performance of a mission by said matrix of vehicles, while allowing mission continuity. Exposé de l'invention

[0011] The invention makes it possible to achieve at least one of these aims by a method for managing the autonomy of a matrix of several vehicles within a fleet of vehicles, each powered by at least one on-board battery, when carrying out a mission by said matrix, said method comprising the following steps carried out for each vehicle of said matrix participating in said mission: monitoring the autonomy of said vehicle, and when the autonomy of said vehicle reaches a threshold, called cloning, cloning of said vehicle, by another vehicle, called clone vehicle, among the other vehicles of said fleet, at a station, called cloning.

[0012] Thus, the method according to the invention proposes to manage the autonomy of a matrix of several vehicles accomplishing a mission, and not of each vehicle by considering it individually and independently of the other vehicles of the matrix, and independently of the mission accomplished by the matrix. The invention proposes to manage the autonomy of the matrix of vehicles by replacing each vehicle whose autonomy becomes insufficient by another vehicle of greater autonomy and which can accomplish the same function as that of this vehicle. Thus, the other vehicles of the matrix can continue the mission and do not have to be stopped. In addition, each vehicle whose autonomy decreases is immediately replaced by an identical vehicle so that the mission is assured with very little, or without, discontinuity.

[0013] In the following, the term "mission area" refers to a geographical area in which the vehicles of the matrix carry out the mission. This mission area can be a fixed area, or an area that varies depending on the mission. For example, the mission area can evolve along a predefined trajectory. In another example, the mission area can be a delimited space, such as a landing strip, a public place, etc.

[0014] For example, a mission accomplished by a vehicle matrix might be: a mission to monitor a geographical area, such as a landing strip or a park or an event space, etc. For example, in this case, the mission area corresponds to said monitored geographical area; a load transport mission. For example, in this case, the mission area may be a geographical area that changes along a transport trajectory; a communication mission, such as, for example, the creation of a communication network. In this case, the mission area may be either fixed or variable depending on the desired communication network; a passenger transport mission. In this case, the proposed invention offers electric vehicle rental companies a solution for continuous travel without recharging delays, the person being transported only having to transfer their luggage to the clone vehicle before continuing their journey; etc.

[0015] At least one vehicle may be a land vehicle, an air vehicle, a marine vehicle, or a battery-powered vehicle.

[0016] In particular, at least one vehicle may be a flying drone powered by at least one on-board electric battery.

[0017] The vehicle may be equipped with at least one component specific to the mission to be accomplished, such as a camera, a relay antenna, etc.

[0018] According to embodiments, for at least one vehicle of the matrix, the cloning threshold can be determined according to at least one of the following parameters: of a trajectory of said vehicle to be cloned, of location data of said vehicle to be cloned, and of location data of the cloning stations; such that said cloning threshold is at least equal to the distance between the current position of said vehicle and the nearest cloning station.

[0019] Thus, the method according to the invention makes it possible to ensure that if the vehicle's autonomy level reaches the cloning threshold, then it is still possible for said vehicle to reach a cloning station.

[0020] In this case, the cloning threshold is changing and constantly adapts to the current position of the vehicle when the matrix carries out the mission.

[0021] According to embodiments, for at least one vehicle of the matrix, the cloning threshold can be fixed.

[0022] In this case, the cloning threshold may be chosen to cover the greatest distance between two cloning stations in the mission area. For example, when the mission area is fixed, the cloning threshold may be determined as the range required to cover the distance between two most distant adjacent charging stations. In another example, when the mission area is changing along a trajectory, the cloning threshold may be determined as the range required to cover the distance between two most distant adjacent charging stations, along said trajectory.

[0023] Thus, the method according to the invention makes it possible to ensure that if the level of autonomy of said vehicle reaches the cloning threshold, then it is still possible to clone said vehicle by a cloning station.

[0024] According to an advantageous characteristic, the cloning step may comprise a step of determining a clone vehicle, from among at least one vehicle present at the cloning station, as a function of at least the following parameters: a level of autonomy of each vehicle present at said cloning station. For example, it may be useful to choose the vehicle with the greatest autonomy. According to another example, it may be desirable to select a vehicle that has sufficient autonomy to complete the mission, without necessarily choosing the vehicle with the greatest autonomy; a type of each vehicle present at said cloning station. For example, when the vehicle to be cloned is a flying drone having certain technical specifications, it may be useful to choose a clone vehicle having the same technical specifications, or at least the closest technical specifications; equipment of each vehicle present at said cloning station.For example, when the vehicle to be cloned carries out a surveillance mission by camera, respectively a mobile telephone network, the clone vehicle must be equipped with a camera, respectively a communication relay antenna.

[0025] According to the invention, during the step of cloning a vehicle to be cloned, the cloned vehicle can leave the cloning station after, or at the time when, the vehicle to be cloned arrives at said cloning station.

[0026] In this case, cloning is performed by ensuring that the vehicle to be cloned has arrived at the station. This ensures that the vehicle to be cloned must be cloned at this cloning station, which reduces cloning errors.

[0027] According to the invention, during the cloning step of a vehicle to be cloned, the mission of the vehicle to be cloned can be partially or totally, in particular temporarily, taken over by another vehicle in the matrix.

[0028] This other matrix vehicle may be another matrix vehicle participating in the mission. For example, in a transport mission, one of the matrix vehicles may increase its transport power to compensate for the absence of the vehicle to be cloned during the cloning step. According to another example, in a communications network mission, one of the matrix vehicles may increase its signal transmission / reception power to compensate for the absence of the vehicle to be cloned during the cloning step.

[0029] The method according to the invention may comprise a step of recharging the cloned vehicle at the cloning station.

[0030] The cloning station can be equipped with a charging station, either wired or wireless, to recharge the cloned vehicle. This makes this vehicle available as a clone vehicle for another vehicle to be cloned, for this mission or for a future mission.

[0031] According to another aspect of the present invention, there is provided a system comprising: a fleet of vehicles, each powered by an on-board electric battery, and configured to carry out at least one mission in the form of at least one matrix comprising several vehicles of said fleet; and at least one cloning station; configured to implement the method according to the invention.

[0032] In particular, the system according to the invention may comprise, in terms of technical means or configuration, any combination of at least one of the optional characteristics described above with reference to the method according to the invention, and which are not repeated here for the sake of brevity.

[0033] In particular, at least one cloning station may comprise a charging station for a cloned vehicle.

[0034] At least one, in particular each, cloning station may comprise at least one radio communication module with each vehicle of the matrix, and preferably with each vehicle of the fleet.

[0035] At least one, in particular each cloning station may comprise, a management unit for identifying a clone vehicle based on a cloning request received from a vehicle to be cloned. This management unit may be configured to select the clone vehicle based on at least one of the following parameters: a level of autonomy of each vehicle present at said cloning station; a type of each vehicle present at said cloning station, and a type of cloned vehicle; equipment of each vehicle present at said cloning station, and equipment used by the cloned vehicle during its mission.

[0036] At least one, in particular each, vehicle may comprise at least one radio communication module with the or each cloning station.

[0037] At least one, in particular each, vehicle may comprise at least one module for measuring its level of autonomy. Such a measurement module may measure a remaining charge of an electric battery powering said vehicle. The remaining autonomy may correspond to the charge level of the battery, or a distance that the vehicle can travel while participating in the matrix mission, etc.

[0038] At least one, in particular each, vehicle may comprise at least one communication module, in particular for transmitting a cloning request to a cloning station.

[0039] For example, the vehicle can measure its autonomy and compare it to a cloning threshold. When the autonomy decreases and reaches the cloning threshold, the vehicle can, or even must, send a cloning request to the nearest station, and in particular the nearest station to follow its trajectory during the mission.

[0040] Alternatively, each vehicle continuously transmits its battery level to a central unit, possibly with location data and / or trajectory data. In this case, it is this central unit that compares the charge level of each vehicle to the cloning threshold and decides whether or not to clone each vehicle, possibly depending on the location of the nearest cloning station. Description des figures et modes de réalisation

[0041] Other advantages and characteristics will appear on examining the detailed description of a non-limiting embodiment, and the attached drawings in which: there FIGURE 1 is a schematic representation of a non-limiting exemplary embodiment of a method according to the invention; FIGURE 2 is a schematic representation of a non-limiting exemplary embodiment of a vehicle that can be implemented in the present invention; FIGURE 3 is a schematic representation of a non-limiting exemplary embodiment of a cloning station that can be implemented in the present invention; and the FIGURES 4a-4c are schematic representations of a non-limiting exemplary embodiment of a system according to the invention;

[0042] It is understood that the embodiments which will be described below are in no way limiting. In particular, it is possible to imagine variants of the invention comprising only a selection of characteristics described below isolated from the other characteristics described, if this selection of characteristics is sufficient to confer a technical advantage or to differentiate the invention compared to the state of the prior art. This selection includes at least one preferably functional characteristic without structural details, or with only a part of the structural details if this part is only sufficient to confer a technical advantage or to differentiate the invention compared to the state of the prior art.

[0043] In the figures, the elements common to several FIGURES retain the same reference.

[0044] There FIGURE 1 is a schematic representation of a non-limiting exemplary embodiment of a method according to the invention.

[0045] The method 100 can be used to manage the autonomy of a matrix of vehicles, selected from a fleet of vehicles, and carrying out a mission in a mission area.

[0046] In particular, and without loss of generality, we consider that the vehicle matrix is ​​a matrix of flying drones and the mission accomplished is the surveillance of a landing strip following a given trajectory.

[0047] The matrix is, for example, made up of around ten drones, each with a camera.

[0048] Each drone is equipped with an onboard rechargeable battery whose charge level defines a range based on the flight distance that the drone is capable of covering with the remaining charge in the battery. In other words, the more the battery charge decreases, the more the range decreases.

[0049] The drone array moves along a flight path along the landing strip, specifically at a constant speed.

[0050] For each drone, a cloning threshold is indicated, corresponding to a given distance. This distance corresponds to the greatest distance between two cloning stations along the flight path. Thus, when the autonomy of a drone reaches the cloning threshold just after a cloning station, it will be possible to clone it at the next cloning station, without stopping the surveillance mission. Thus, the cloning threshold is identical for each drone.

[0051] Alternatively, the cloning threshold can be variable for each drone.

[0052] Process 100 is performed for each drone in the matrix, individually, in parallel or in turn.

[0053] The method 100 comprises a step 102 of measuring the autonomy of the drone, for example by a module equipping said drone.

[0054] During a step 104, the autonomy of the drone is compared to the cloning threshold associated with this drone.

[0055] Steps 102 and 104 are carried out within each drone, for example by a module provided for this purpose.

[0056] If the autonomy measured in step 102 is greater than the cloning threshold, the method 100 is terminated, or can be repeated again from step 102. Otherwise, that is to say if the autonomy measured in step 102 is less than or equal to the cloning threshold, a cloning step 106 is carried out.

[0057] The cloning step 106 includes a step 108 of identifying the next cloning station. To do this, the drone stores a list of cloning stations, their geographical positions, and can, depending on its current position and its trajectory, identify the next cloning station.

[0058] The cloning step 106 comprises a step 110 of sending a request to clone the drone whose autonomy has reached the cloning threshold, to the next cloning station identified during step 108. The cloning request comprises an identifier of the drone to be cloned, and possibly data relating to equipment necessary to participate in the mission carried out by the matrix.

[0059] The cloning step 106 comprises a step 112 of identification, by the cloning station which received the cloning request, of a clone drone to replace the drone to be cloned. This identification can be carried out according to any combination of at least one of the following data: at least one piece of data relating to the drones present at said cloning station, at least one piece of data relating to the drone to be cloned, and possibly, at least one piece of data relating to the mission to be accomplished. In particular, the identification of the clone drone can be carried out based on: a level of autonomy of each drone present at the cloning station. For example, the clone drone is the one with the greatest autonomy; a type of each drone present at the said cloning station, namely that the clone drone must be a flying drone; equipment of each drone present at the said cloning station, namely that the clone drone must be equipped with at least one surveillance camera like the drone to be cloned. Of course, it is possible to use other data than those listed above as a non-limiting example and without loss of generality, instead of these data, or in combination with at least one of these data. Thus, step 112 identifies the clone drone that will replace the drone to be cloned.

[0060] In a step 114, the drone to be cloned is replaced by the clone drone in the matrix.

[0061] According to the invention, the drone to be cloned leaves the matrix before the clone drone joins the matrix, or before the clone drone leaves the cloning station. In this case, the mission of the drone to be cloned can be carried out, temporarily, by another drone in the matrix, this other drone being able to be a follower drone or a drone participating in the mission of the matrix.

[0062] During an optional step 116 of the method 100, the cloned drone is located on the cloning station. Its battery is recharged, for example, by a wireless charging station fitted to the cloning station.

[0063] There FIGURE 2 is a schematic representation of a non-limiting exemplary embodiment of a vehicle that can be implemented in the present invention.

[0064] Vehicle 200 of the FIGURE 2 can be any type of vehicle: a land vehicle, a marine vehicle, a flying vehicle, etc. Preferably, the vehicle 200 is a driverless vehicle. For example, the vehicle 200 can be a flying drone, a car, etc.

[0065] The vehicle 200 comprises at least one on-board battery 202 powering said vehicle 200. The battery 202 is preferably rechargeable, wired or wirelessly. The battery 202 may alternatively, or in addition, be replaceable, preferably on the fly.

[0066] The vehicle 200 includes a vehicle management module 204 configured to: measure the vehicle's range, compare the vehicle's range to a predetermined cloning threshold, and generate a cloning request to a cloning station. The vehicle management module 204 may comprise at least one hardware means, such as a computer or an electronic chip, and / or at least one software means.

[0067] The vehicle 200 may further comprise a communication module 206 for communicating with a cloning station, for example by radio wave.

[0068] The vehicle 200 may further comprise at least one piece of equipment 208 used to participate in a matrix mission. Such equipment may comprise a camera, a mobile telephone relay antenna, any type of sensor such as, for example, a UV sensor used for crop monitoring, a temperature sensor, a pollution sensor, etc.

[0069] The vehicle 200 further comprises at least one means 210 allowing said vehicle to move, such as for example blades or wheels or even tracks.

[0070] Of course, the vehicle 200 may include other components than those described here.

[0071] There FIGURE 3 is a schematic representation of a non-limiting exemplary embodiment of a cloning station that can be implemented in the present invention.

[0072] Cloning Station 300 of the FIGURE 3 may be in any form, such as a mast or a platform, etc. The cloning station 300 is provided in, or in the immediate vicinity of, the mission area in which a matrix of vehicles operates during the performance of a mission.

[0073] The cloning station 300 preferably comprises a charging terminal 302 for recharging the battery of at least one vehicle, for example wirelessly. Such a charging terminal 302 can perform induction charging for example.

[0074] Station 300 includes a station management module 304 configured to: receiving a cloning request from a vehicle to be cloned, identifying a clone vehicle from among all vehicles located on said base station, and arranging for the replacement of the vehicle to be cloned by the clone vehicle. The station management module 304 may comprise at least one hardware means, such as a computer or an electronic chip, and / or at least one software means.

[0075] The station 300 includes a communication module 306 for communicating, for example by radio wave, with vehicles and possibly with other cloning stations.

[0076] The station 300 further comprises at least one storage area 308 for one or more vehicles that can be used as a clone vehicle. This storage area 308 can, for example, be coupled to the charging terminal 302 so that the battery of each stored vehicle is recharged while said vehicle is stored.

[0077] Of course, the cloning station 300 may include other organs than those described here.

[0078] THE FIGURES 4a-4c are schematic representations of a non-limiting exemplary embodiment of a system according to the invention.

[0079] The 400 system of FIGURES 4a-4c can implement a method according to the invention, and in particular method 100 of the FIGURE 1 .

[0080] The 400 system includes a fleet of several vehicles. On the FIGURES 4a-4c , only six vehicles 200 1 -200 6 are shown. Of course, the number of vehicles in the vehicle fleet of a system according to the invention is not limited to six.

[0081] In the system 400, each vehicle in the fleet is a flying drone. When expanded, the fleet of vehicles in the system according to the invention may include other types of vehicles than flying drones, such as, for example, land vehicles or marine vehicles, in addition to or instead of flying drones.

[0082] Each vehicle 200 1 -200 6 in the fleet of the system 400 may be identical or similar to the vehicle 200 of the FIGURE 2 .

[0083] Furthermore, the 400 system of FIGURES 4a-4c includes three cloning stations 300 1 -300 3 . Of course, the system 400 may include a different number of cloning stations which may be greater than or equal to 1.

[0084] Each cloning station 300 1 -300 3 of the system 400 may be identical or similar to the cloning station 300 of the FIGURE 3 .

[0085] In the example of the FIGURES 4a-4c , a matrix 402 of two drones is provided to monitor an area to be monitored 404. Of course, the matrix of vehicles may comprise a different number of vehicles, which may be greater than or equal to 2. In addition, the mission assigned to the matrix may be different from a surveillance mission, and may for example be a pollution data collection mission.

[0086] Each matrix drone moves along a trajectory above the area to be monitored 402. The cloning stations 300 1 -300 3 are distributed in, or near, the area to be monitored 404 along the movement trajectories of the matrix drones.

[0087] As shown in FIGURE 4a , at the start of the mission, matrix 402 is composed of drones 200 1 -200 2 .

[0088] Then during the mission, the autonomy of one of the drones, namely the drone 200 1 , decreases below the cloning threshold. The latter then sends a cloning request to the cloning station 300 2 which is the next cloning station on its trajectory. When the drone 200 1 arrives at the cloning station 300 2 , it is replaced by a drone 200 4 , identical or similar to the drone 200 1 , and located at the cloning station, as shown in the FIGURE 4b .

[0089] The drone 200 4 takes the place of the drone 200 1 in the matrix 402 so that said matrix 402 is composed of the drones 200 2 and 200 4 . The mission continues with the new composition of the matrix 402, as shown in the FIGURE 4c .

[0090] Thus, the 400 system makes it possible to replace a drone whose autonomy becomes low with another drone, while ensuring the continuity of the drone matrix mission.

[0091] Of course, the invention is not limited to the detailed examples given above by way of illustration and the general scope of the invention is defined in the claims.

Claims

1. Method (100) for managing the autonomy of an array (402) of a plurality of vehicles within a fleet of vehicles (2001-2006), each powered by at least one on-board battery (202), when a mission is carried out by said array, said method (100) comprising the following steps carried out for each vehicle (2022) of said array participating in said mission: - monitoring (102,104) the autonomy of said vehicle (2021), and - when the autonomy of said vehicle (2021) reaches a threshold, referred to as a cloning threshold, cloning (106) of said vehicle (2021) by another vehicle (2023), referred to as a clone vehicle, from among the other vehicles of said fleet at a station (3002), referred to as a cloning station, the method being characterized in that, during the step of cloning (106) a vehicle to be cloned (2001), the mission of the vehicle to be cloned (2001) is partially or totally taken over by another vehicle of the array (402), the clone vehicle (2003) leaving the cloning station (3002) after, or at the moment when, the vehicle to be cloned (2001) arrives at said cloning station (3002).

2. The method (100) according to the preceding claim, characterized in that, for at least one vehicle of the array (402), the cloning threshold is determined on the basis of at least one of the following parameters: - a trajectory for said vehicle to be cloned, - location data for said vehicle to be cloned, and - location data for the cloning stations; such that said cloning threshold is at least equal to the distance between the current position of said vehicle and the nearest cloning station.

3. The method (100) according to any one of the preceding claims, characterized in that, for at least one vehicle of the array (402), the cloning threshold is fixed.

4. The method (100) according to any one of the preceding claims, characterized in that the cloning step (106) comprises a step (112) of determining a clone vehicle, from among at least one vehicle present at the cloning station (3001-3003), on the basis of at least the following parameters: - a level of autonomy of each vehicle present at said cloning station (3001-3003), - a type of each vehicle present at said cloning station (3001-3003), - equipment of each vehicle present at said cloning station (3001-3003).

5. The method (100) according to any one of the preceding claims, characterized in that it comprises a step (118) of recharging the cloned vehicle (2001) at the cloning station (3002).

6. A system (400) comprising: - a fleet of vehicles (2001-2006), each powered by an on-board electric battery (202), and configured to carry out at least one mission in the form of at least one array (402) comprising a plurality of vehicles from said fleet; and - at least one cloning station (3001-3003); configured to implement the method (100) according to any one of the preceding claims.

7. The system (400) according to the preceding claim, characterized in that at least one cloning station (3001-3003) comprises a charging station (302) for charging a cloned vehicle.