A method for controlling a drone along a shaft
The method controls a drone along a shaft using sensor and actuator systems to maintain distance from shaft walls and follow a target route, addressing the need for automated and cost-effective drone control without mechanical guidance.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- INVENTIO AG
- Filing Date
- 2021-11-24
- Publication Date
- 2026-07-16
AI Technical Summary
There is a need for a method to control a drone along a shaft in a partially or fully automated manner without additional mechanical guidance and using relatively simple control electronics, reducing costs and enhancing robustness.
The method involves using a sensor system to detect the drone's environment and flight state, an actuator system for control, and a control device to generate signals based on sensor data to maintain the drone's distance from shaft walls and follow a target flight route, eliminating the need for complex image processing and mechanical guidance.
This approach allows for cost-effective and robust drone control along a shaft with minimal hardware and software complexity, enabling automated flight and reducing the risk of collisions.
Smart Images
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Abstract
Description
[Technical Field]
[0001] The present invention relates to a method for controlling a drone along a shaft. Furthermore, the present invention relates to a control device, a computer program, and a computer-readable medium for carrying out the described method. Furthermore, the present invention relates to a drone control system comprising this type of control device, and an elevator system comprising at least one drone equipped with such a drone control system. [Background technology]
[0002] For example, a drone in the form of a quadcopter may be equipped with a satellite-based navigation system that enables partially or fully automated control of the drone. However, under certain circumstances, the reception of satellite signals may be limited, for example, when the drone is flying inside a building. Indoor drones, which are particularly suited for use inside buildings, may therefore be equipped with image sensor systems to detect the environment in which the drone is flying. Often, the environment in which such an indoor drone will fly is not known in advance. For navigation purposes, a digital map may therefore be generated, for example, from images of the image sensor system. For this purpose, relatively complex image processing algorithms are generally required.
[0003] Drones can be used, for example, for camera-assisted inspections of industrial plants or shafts. An example of a drone equipped with a camera for inspecting a shaft is described in EP3489184A1. In this case, the drone is mechanically guided as it flies along the shaft by a mechanical guidance device that extends vertically along the shaft.
[0004] Japanese Patent Publication No. 2017-226259 and EP3739420A1 describe a method for controlling a drone along a shaft, wherein the drone flies at a specified distance from the shaft wall.
[0005] Japanese Patent Publication No. 2017-128440 describes a method for controlling a drone along an elevator shaft to inspect the elevator shaft. [Prior art documents] [Patent Documents]
[0006] [Patent Document 1] European Patent Application Publication No. 3489184 [Patent Document 2] Japanese Patent Publication No. 2017-226259 [Patent Document 3] European Patent Application Publication No. 3739420 [Patent Document 4] Japanese Patent Publication No. 2017-128440 [Overview of the project] [Problems that the invention aims to solve]
[0007] There may be a need for a method for controlling a drone along a shaft, thereby enabling the drone to be controlled in a partially or fully automated manner along the shaft without additional mechanical guidance and / or using relatively simple control electronics. As a result, the cost of providing such a drone may be significantly reduced. The simplified control electronics in this method also offer the advantage of increased robustness. Furthermore, there may be a need for control devices, computer program products, and computer-readable media for carrying out the method, for drone control systems comprising such control devices, and for elevator equipment comprising such drone control systems.
[0008] Such a need may be satisfied by the subject matter of any of the independent claims. Preferred embodiments are defined in the dependent claims and in the following description. [Means for solving the problem]
[0009] A first aspect of the present invention relates to a method for controlling a drone along a shaft. The shaft has at least a first shaft wall and a second shaft wall adjacent to the first shaft wall. The drone has a sensor system for detecting the environment and / or flight state of the drone, an actuator system for controlling the drone, and a control device for controlling the actuator system. The method includes at least the following steps: receiving, in the control device, sensor data generated by the sensor system; determining, by processing the sensor data, the actual distance of the drone from the first shaft wall and from the second shaft wall; generating a control signal for operating the actuator system so that the drone flies along the shaft, based on the deviation of the actual distance from the target distance and on a target flight route along which the drone will travel until it reaches the target position in the shaft. The actual flight route of the drone is determined by processing the sensor data. The control signal is generated based on the deviation of the actual flight route from the target flight route.
[0010] According to the present invention, a door area and / or height marking in the shaft is recognized by processing the sensor data. The actual flight route is determined based on the door area and / or height marking recognized by processing the sensor data.
[0011] The door area and / or height marking can be recognized, for example, by processing image data of the environment of the drone generated by the sensor system. This embodiment makes it possible to detect the actual flight altitude of the drone with high reliability, even in the case of fluctuating ambient pressure, for example.
[0012] The method can be automatically executed, for example, by a processor of the control device of the drone.
[0013] The modules of the control device described herein and below may be implemented as software and / or hardware.
[0014] The drone can be understood to mean an unmanned aerial vehicle, for example in the form of a multicopter. However, other designs of the drone are also possible. The drone can be equipped with control software for the partial or fully automated operation of an actuator system based on sensor data. The control software can be stored in the memory of the control device and executed by the processor of the control device.
[0015] The shaft can be, for example, an elevator shaft, a ventilation shaft, or a cable shaft. The shaft can extend vertically, horizontally, and / or obliquely. The configuration or orientation of the sensor system is adapted to the path of the shaft. The target flight route can be understood to mean the length of the path traveled by the drone to the target position. The target position can be, for example, an inversion position where the direction of movement of the drone is inverted in order to move the drone so that it returns to, for example, the initial position. In the case of a vertical shaft, the target flight route can be, for example, the target flight altitude as a maximum value or reaching a marking that the drone is intended to reach.
[0016] The first shaft wall and the second shaft wall can be regarded as the elongated side walls of the shaft that are integral at their respective longitudinal edges. For example, the first shaft wall and the second shaft wall can be oriented perpendicular to each other. In addition, the shaft can have a floor, a ceiling, a third shaft wall, and / or a fourth shaft wall. It is possible for at least one of the shaft walls to have one or more openings, for example, ventilation or door openings, or other access openings.
[0017] The sensor system may have at least one environmental sensor, such as a camera, lidar, ultrasonic, or radar sensor, and / or at least one flight dynamics sensor, such as an acceleration or rotation rate sensor, for example in the form of an inertial measurement unit. Furthermore, the sensor system may include an air pressure sensor for altitude measurement. In addition, the sensor system may have a location sensor for determining the geographical position of the drone using a global navigation satellite system such as GPS, GLONASS, or the like, even if it is not necessary for carrying out the method according to the present invention.
[0018] Flight dynamics data generated by flight dynamics sensors can be used, for example, as input data for stability control to stabilize the flight state of a drone. Distance-based or flight route-based control of the drone can be overlaid by stability control.
[0019] For example, a sensor system for determining actual distance may include a 2D distance sensor in the form of a LiDAR sensor. The LiDAR sensor may include, for example, a laser optical component that can rotate approximately 360 degrees to scan the environment of a drone. In this case, the rotation plane of the laser optical component may be oriented perpendicular or obliquely to the wall surfaces of the first shaft wall and / or the second shaft wall. The oblique orientation has the advantage that, in addition to the actual distance to the first and second shaft walls, the actual distance of the shaft to the floor and / or ceiling can be determined from the sensor data without requiring multiple sensors for this purpose.
[0020] Alternatively, a sensor system for determining the actual distance may include multiple 1D distance sensors, for example, in the form of ultrasonic sensors or lidar sensors. However, a combination of one or more 1D distance sensors and a 2D distance sensor is also possible.
[0021] The target distance may be selected, for example, taking into account a given width and / or depth of the shaft. Similarly, the target flight path may be selected, for example, taking into account a given height or length of the shaft. The target distance or target flight path can be entered by the drone user into the drone's control software via a corresponding user interface. However, automatic setting of the target distance or target flight path based, for example, the drone's geographical location is also possible. The target flight path may also be indicated by markings on the shaft, in particular, which may be target or reversal positions. The markings may be optically recognized, for example, by a sensor system.
[0022] For example, a target distance or target flight path can be determined based on a given geometry of the shaft, such as geometric data defining the width, depth, and / or length of the shaft.
[0023] Geometry data may be received by the control device from, for example, an external data storage device for storing different geometry data for different shafts. The external data storage device could be, for example, a central server, PC, laptop, smartphone, tablet, or another mobile terminal. In this case, the geometry data may be provided to the control device via a wired or wireless data connection, for example, via WLAN, Bluetooth, or a mobile wireless connection. Alternatively, the different geometry data may also be stored in the control device's memory.
[0024] It should be noted that determining the actual flight path of the drone, such as its actual flight altitude, is not absolutely necessary for controlling the drone along a shaft. Adherence to the target flight path can also be ensured by controlling the drone along the shaft according to a predefined velocity profile depending on the target flight path. For example, different predefined velocity profiles for different target flight paths can be stored in the control device. Alternatively, the velocity profile can be calculated according to the target flight path using a corresponding mathematical function. It is also possible for the drone to be remotely controlled by a human operator who adjusts the drone's flight altitude, velocity, and / or orientation, and for only the distance from the shaft wall to be set automatically. In addition, collisions with the shaft floor and ceiling can be automatically prevented. This can be referred to as semi-automatic operation.
[0025] The actuator system may be configured to change the position and / or orientation of the drone in three-dimensional space. For this purpose, the actuator system may include one or more rotors and one or more drive motors for driving one or more rotors. In addition, the actuator system may include one or more servo motors for changing the orientation of the rotors, for example. The rotors may be arranged, for example, in the same plane of rotation. However, other drive configurations are also possible.
[0026] The actual flight path can be determined, for example, as the actual flight altitude based on the actual distance of the drone to the floor and / or ceiling of the shaft. However, the actual flight altitude can also be determined from sensor data from the drone's air pressure sensor. This embodiment also makes it possible to reliably prevent the drone from flying beyond the target position when flying along the shaft.
[0027] In short, the method presented here enables drone control along a shaft with minimal hardware and / or software complexity, requiring only the distance of the drone from two adjacent shaft walls at a given target position to be detected and evaluated. The complex creation of a digital map of the drone's environment during flight can therefore be eliminated or completed by an onboard measurement system. In contrast to conventional indoor drones, which are typically equipped with large sensor systems and correspondingly complex control electronics, the cost of a drone simplified in this way can be significantly lower.
[0028] A second aspect of the present invention relates to a control device having a processor configured to perform a method according to an embodiment of the first aspect of the present invention. Further as described above, the control device may include hardware and / or software modules. In addition to the processor, the control device may include memory and a data communication interface for data communication with peripheral devices. Features of the method according to an embodiment of the first aspect of the present invention may also be features of the control device, and vice versa.
[0029] A third aspect of the present invention relates to a drone control system for operating the actuator system of a drone. The drone control system includes a sensor system for detecting the drone's environmental and / or flight conditions, and a control device according to an embodiment of the second aspect of the present invention. Features of a method according to an embodiment of the first aspect of the present invention may also be features of a drone control system, and vice versa.
[0030] A fourth aspect of the present invention relates to elevator equipment, for example, a freight or passenger elevator. The elevator equipment includes at least one elevator shaft having at least a first shaft wall and a second shaft wall adjacent to the first shaft wall, and at least one drone controlled along the elevator shaft, equipped with an actuator system for controlling the drone and, according to an embodiment of the third aspect of the present invention, a drone control system for operating the drone. One or more drones can measure and / or inspect the elevator shaft, for example, in the elevator shaft, before the installation of elements of the elevator equipment, for example, guide rails or elevator cars. Furthermore, one or more drones may be configured to transport cargo through the elevator shaft, for example, in the elevator shaft, to receive and / or deposit such cargo in an automated manner.
[0031] A fifth aspect of the present invention relates to a computer program. The computer program includes commands that cause the processor to perform the method according to an embodiment of the first aspect of the present invention when the computer program is executed by the processor.
[0032] A sixth aspect of the present invention relates to a computer-readable medium on which a computer program according to an embodiment of the fifth aspect of the present invention is stored. The computer-readable medium may be volatile or non-volatile data memory. For example, the computer-readable medium may be a hard disk, a USB memory device, RAM, ROM, EPROM, or flash memory. The computer-readable medium may also be a data communication network, such as the Internet or a data cloud, that enables the program code to be downloaded.
[0033] Features of the method according to the first embodiment of the present invention may also be features of a computer program and / or a computer-readable medium, and vice versa.
[0034] Possible features and advantages of embodiments of the present invention may be based, in particular, and without limiting the present invention, on the concepts and findings described below.
[0035] According to one embodiment, the actual distance includes a first actual distance of the drone to a first shaft wall in a first spatial direction and a second actual distance of the drone to a second shaft wall in a second spatial direction perpendicular to the first spatial direction. In this case, the control signal is generated based on the deviation of the first actual distance from a first target distance and the deviation of the second actual distance from a second target distance.
[0036] The first spatial direction may correspond, for example, to the width direction of the shaft. The second spatial direction may correspond, for example, to the depth direction of the shaft. In this case, the control signal may be generated to control the drone in the vertical or longitudinal direction of the shaft. The first actual distance and the second actual distance may be detected by a 1D distance sensor, for example, in the form of an ultrasonic sensor. However, as already mentioned above, the use of a 2D distance sensor, for example, in the form of a LiDAR sensor, is also possible to detect the first and second actual distances. The control signal may be generated in such a way that the deviation of the actual distance from the target distance is as small as possible and / or the actual distance is as constant as possible. The first target distance and the second target distance may be the same or different. In this embodiment, it is possible by simple means to prevent the drone from contacting the shaft wall when flying along the shaft. For example, the first target distance and the second target distance may be selected so that the drone flies as centrally as possible on the shaft. However, the first target distance and the second target distance can also be selected differently as desired. It is also possible for the target distance to be changed during the drone's flight. This can be done, for example, in response to flight altitude, detection of markings on the shaft, or manually by a human operator.
[0037] According to one embodiment, the actual distance includes an additional first actual distance of the drone relative to the first shaft wall in a first spatial direction. In this case, the first actual distance and the additional first actual distance are associated with different points on the first shaft wall. Based on the first actual distance and the additional first actual distance, the actual orientation of the drone is determined. In this case, a control signal is further generated based on the deviation of the actual orientation from the orientation of the target. For example, to detect the first actual distance and the additional first actual distance, the drone may have two 1D distance sensors placed next to each other at a defined interval. In this embodiment, the actual orientation of the drone, for example, its yaw angle, can be determined very easily by calculating the difference between the first actual distance and the additional first actual distance. The described determination of the actual orientation of the drone can be similarly determined from measurement data of 2D sensors.
[0038] According to one embodiment, a third actual distance of the drone relative to the ceiling of the shaft is further determined by processing sensor data. In this case, a control signal is further generated based on the deviation of the third actual distance from the third target distance. The target flight path may be defined, for example, by the third target distance. The third actual distance may be detected, for example, by a 1D or 2D distance sensor, possibly oriented diagonally to the ceiling. It is therefore possible to ensure, by simple means, that the drone does not fly beyond the target position. The third target distance may be chosen so as to prevent the drone from coming into contact with the ceiling or getting too close to it. Thus, damage to the drone while flying along the shaft can be avoided.
[0039] According to one embodiment, a fourth actual distance of the drone relative to the shaft floor is further determined by processing sensor data. In this case, a control signal is further generated based on the deviation of the fourth actual distance from the fourth target distance. The target flight path may be defined, for example, by the fourth target distance. The fourth actual distance may be detected, for example, by a 1D or 2D distance sensor, possibly oriented obliquely to the ground. It is therefore possible to ensure, by simple means, that the drone does not fly beyond the target position. The safe landing of the drone on the shaft floor can therefore also be ensured.
[0040] The drone may be positioned, for example, on the shaft floor in its initial position. For example, the drone may be positioned on the shaft floor, centered between the first and second shaft walls, or offset from the center between the first and second shaft walls, in its initial position. The control signal may be generated in such a way that the drone, positioned in its initial position, takes off from the shaft floor, flies to a target position, flies back to the shaft floor, and finally lands on the shaft floor. The described positioning of the drone on the shaft floor determines or fixes the drone's target distance from the shaft walls and its orientation toward the target.
[0041] According to one embodiment, the method further includes the step of generating measurement data from sensor data, including the measured width, depth, and / or length of the shaft. For this purpose, the sensor data may be filtered and / or transformed in a suitable manner by a control device. The measurement data may include, for example, the coordinates of a plurality of measurement points that map the geometry of the shaft in a three-dimensional coordinate system. This embodiment thus enables automated measurement of the shaft.
[0042] According to one embodiment, the method further includes the step of transmitting sensor data and / or data generated from the sensor data from a control device to an external data processing device. The sensor data transmitted by the control device may include, for example, image data of a shaft. The data generated from the sensor data may be, for example, data generated by filtering and / or transforming the sensor data, such as measurement data. The transmission may be performed, for example, during the flight operation of the drone. External evaluation of the sensor data and / or data generated from the sensor data is thus made possible. This has the advantage that the hardware and / or software of the control unit can be kept very simple. For example, the external data processing device may be configured to generate geometry data (see above) from the sensor data and / or data generated from the sensor data.
[0043] According to one embodiment, the sensor system includes an ultrasonic sensor system and / or a laser sensor system for detecting the drone's environment. In addition, or alternatively, the sensor system may include an accelerometer system for detecting the drone's flight state. The accelerometer system may include, for example, an inertial measurement unit or a gyroscope sensor. For example, the production cost of the drone can be significantly reduced by eliminating the drone's camera and satellite-based locating.
[0044] Embodiments of the present invention will be described below with reference to the accompanying drawings, and neither the drawings nor the description are intended to be construed as limiting the present invention. [Brief explanation of the drawing]
[0045] [Figure 1] This is a schematic diagram of a drone including a drone control system according to an embodiment of the present invention, mounted on a shaft. [Figure 2] This is an enlarged schematic diagram of a drone control system according to an embodiment of the present invention. [Figure 3]This is a schematic diagram of an elevator system according to an embodiment of the present invention. [Figure 4] This is a cross-sectional view of the elevator shaft from Figure 3. [Modes for carrying out the invention]
[0046] The drawings are merely schematic and not to a specific scale. In different drawings, the same reference numerals refer to the same or similar features.
[0047] Figures 1 and 2 show a drone control system 100 for operating the actuator system 102 of a drone 104, as an example of a quadrocopter, the quadrocopter's actuator system 102 includes four propeller units that can be operated independently of each other. The drone 104 is located on a shaft 106, for example, an elevator, ventilation, or cable shaft. The drone control system 100 is configured to operate the actuator system 102 so that the drone 104 flies along the shaft 106, i.e., in the longitudinal direction of the shaft 106.
[0048] For this purpose, the drone control system 100 includes a sensor system 108 for detecting the environmental and / or flight conditions of the drone 104, and a control device 110 for operating an actuator system 102 based on sensor data 112 generated by the sensor system 108 while detecting the environmental and / or flight conditions of the drone 104.
[0049] The module of the control device 110, as described below, can be stored in the memory 114 of the control device 110 in the form of a corresponding computer program and executed by the processor 116 of the control device 110 (see Figure 1). However, it is also possible for the module to be implemented as hardware.
[0050] In this example, the shaft 106 includes two side walls in the form of a first shaft wall 118 and a second shaft wall 120, which are adjacent to each other at the longitudinal edges of their side walls. Here, the first shaft wall 118 and the second shaft wall 120 are, for example, oriented at right angles to each other. The shaft 106 can include additional side walls, a floor, and / or a ceiling (see further FIGS. 3 and 4).
[0051] To control the drone 104 along the shaft 106, the sensor data 112 is input into a distance determination module 122 (see FIG. 2) of the control device 110, and the distance determination module 122 is configured to determine from the sensor data 112 the actual distances of the drone 104 with respect to the first shaft wall 118 and the second shaft wall 120. In this example, the distance determination module 122 determines the actual distances in a three-dimensional x, y, z coordinate system 124. In this case, a first actual distance l x with respect to the first shaft wall 118 in the direction of the x-axis of the coordinate system 124, and a second actual distance l y with respect to the second shaft wall 120 in the direction of the y-axis of the coordinate system 124 are determined.
[0052] The actual distances l x and l y are subsequently input into a control signal generation module 126 of the control device 110, and the control signal generation module 126 uses the actual distances l x and l y and the actual distances l x and l y associated with target distances l x ’ and l y ’ and a target flight route s z ’ along which the drone 104 is intended to travel along the shaft 106, i.e., in the z-direction, until it reaches the target position, to generate a control signal 128 for actuating the actuator system 102. The control signal 128 causes the actuator system 102 to follow the target flight route s z'and target distance l x ',l y Taking this into consideration, the drone 104 is controlled in such a way that it moves in the z direction on the shaft 106. For this purpose, the control signal generation module 126 generates a control signal at the first target distance l x The first actual distance l from ' x The deviation, and the second target distance l y 'The second actual distance from l y The discrepancies are determined, and control signals 128 are generated based on these discrepancies.
[0053] In addition, the distance determination module 122 processes the sensor data 112 to determine the third actual distance of the shaft 106 relative to the ceiling 206 (see Figure 3) in the z-axis direction of the coordinate system 124.
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[0054] For example, by processing the sensor data 112 in the distance determination module 122, the actual flight route s of the drone 104 along shaft 106 can be determined. z In other words, it is also possible to determine the path that the drone 104 will take in the z direction, or the current altitude of the drone 104. In this case, the control signal generation module 126 determines the actual flight route s z Based on this, more precisely, the target flight route s z Actual flight routes from z The system may be configured to generate an additional control signal 128 based on the discrepancy.
[0055] In addition, the control device 110 may include a measurement module 130 for converting the sensor data 112 into measurement data 132, for example, by corresponding filtering and / or transformation of the sensor data 112. The measurement data 132 may represent the measured geometry of the shaft 106 in the coordinate system 124, for example, its width, depth, and / or length or height.
[0056] The data generated from the sensor data 112, such as sensor data 112 and / or measurement data 132, may further be sent to an external data processing device 136 via the communication module 134 of the control device 110, and herein, for example, via a wireless data communication connection such as WLAN, Bluetooth, mobile radio, or the like, for external storage and / or further processing. The external data processing device 136 may be, for example, a server, PC, laptop, smartphone, tablet, or the like.
[0057] Alternatively, or in addition, the communication module 134 can receive data from an external data processing device 136. This data may, for example, be received at a target distance l. x ',l y ',
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[0058] Figure 3 shows a portion of the elevator equipment 200. In this example, shaft 106 is the vertical elevator shaft 106 of the elevator equipment 200. In this case, the third shaft wall 202 of the elevator shaft 106, opposite the second shaft wall 120, has a plurality of door areas 204, each having a door opening, and through the door openings, the elevator shaft 106 is accessible from the outside, for example, from different floors of the building. For example, the distance determination module 122 recognizes the door areas 204 in the sensor data 112, and here the actual flight route s corresponding to the actual flight altitude of the drone 104. z It may be configured to determine the ceiling 206 and floor 208 of the elevator shaft 106, which are also shown.
[0059] Height markings 205 indicating a defined position or height in the elevator shaft 106 may be placed inside or above the elevator shaft 106. These may be known, for example, as cutting checks. For example, the distance determination module 122 recognizes the height markings 205 in the sensor data 112, thereby determining the actual flight route s corresponding to the actual flight altitude of the drone 104. z It can be configured to determine.
[0060] The elevator equipment 200 also further includes a drone 104, or a plurality thereof, equipped with a drone control system 100 and an actuator system 102. For example, the drone 104 may be moved up and down along the elevator shaft 106 to inspect the inside of the elevator shaft 106 and / or to perform automated measurements of the elevator shaft 106, as already further described above.
[0061] In addition, Figure 3 shows, as an example, two configurations of the sensor system 108 for detecting the environment of the drone 104.
[0062] The upper of the two configurations includes a lidar sensor system 210 as a 2D distance sensor. In this example, the lidar sensor system 210 is configured to detect distances in one or more oblique planes. In this case, “oblique planes” means planes that intersect all three planes of the coordinate system 124. For example, the lidar sensor system 210 may be positioned on the drone 104 such that, during the flight operation of the drone 104, the lidar sensor system 210 is oriented at an angle with respect to the vertical line, in this case the z-axis. The detection angle of the lidar sensor system 210 may be, for example, between 90 and 360 degrees. It is therefore possible to simultaneously detect distances from the shaft walls 118, 120, 202, to the ceiling 206, and to the floor 208.
[0063] The lower of the two configurations includes an ultrasonic sensor system 212 having two 1D distance sensors facing in opposite directions to detect the distance from the ceiling 206 or the floor 208, in addition to a lidar sensor system 210 as a 2D distance sensor. In this configuration, the lidar sensor system 210 is configured to detect distances in one or more planes parallel to the x,y plane.
[0064] Another possible configuration of the ultrasonic sensor system 212 is shown in Figure 4. In this example, the ultrasonic sensor system 212 detects the first actual distance l x A first 1D distance sensor 300 for detecting the first actual distance relative to the first shaft wall 118 in the x direction.
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[0065] To control the drone 104 in the elevator shaft 106, the control device 110 includes, for example, a horizontal controller for controlling the distance of the drone 104 from two shaft walls 118, 120, and a target flight route s z This may include a speed controller for controlling the vertical speed of the drone 104, taking into consideration the following. In this case, the vertical speed may be kept constant initially and reduced shortly before reaching the target position, i.e., shortly before reaching the end of the elevator shaft 106.
[0066] Vertical velocity can be defined, for example, as fixed forward motion. The actual speed of the drone 104 can be determined, for example, by integrating the acceleration values of an acceleration sensor system, by deriving the altitude values of an altitude sensor, for example in the form of an air pressure sensor, or additionally by evaluating the camera images included in the sensor data 112.
[0067] As an example, the flight control sequence for drone 104 is described below. 1. The drone 104 is positioned and oriented on the floor 208. 2. The horizontal controller is reset to zero or initialized. 3. The drone 104 flies upward along the elevator shaft 106, i.e., towards the ceiling 206, at a constant vertical speed. 4. The ceiling 206 is detected by the sensor system 108. Therefore, the vertical velocity is reduced until the drone 104 reaches a stationary position in the air. Subsequently, the drone 104 flies back towards the floor 208. 5. The floor 208 is detected by the sensor system 108. Thus, the vertical velocity is reduced to the point where the drone 104 is stationary in the air, or at least to the point where the drone 104 moves very slowly toward the floor 208. Subsequently, the drone 104 lands gently on the floor 208.
[0068] For distance measurement, stereo cameras, depth cameras, tracking sensors, and / or time-of-flight sensors may be used as alternatives or in addition.
[0069] The position of the drone 104 in the elevator shaft 106 can be determined based on visual odometry, optionally supported by an inertial measurement unit. The change in position of the drone 104 relative to its reference position, for example, its initial position on the floor 208, can then be calculated based on features recognized in the sensor data 112, such as the temporal tracking of the door area 204 or special height markings 205 in the elevator shaft 106, or based on optical flow.
[0070] In addition to, or as an alternative to, the (automated) control of drone 104 as described with reference to Figures 1, 2, 3, and 4, drone 104 may be remotely controlled by a human operator. In this case, the human operator adjusts the drone's flight altitude, speed, and / or orientation, and the distance to the shaft wall is set automatically. In addition, collisions of the shaft with the floor and ceiling can be automatically prevented. This may be referred to as semi-automatic operation.
[0071] In conclusion, it should be noted that terms such as “include,” “equip,” and “other” do not exclude other elements or steps, and terms such as “one (a)” or “one (an)” do not exclude multiple elements or steps. Furthermore, it should be noted that features or steps described with reference to one of the embodiments described above may also be used in combination with other features or steps of the other embodiments described above. Reference numerals in the claims should not be considered restrictive.
Claims
1. A method for controlling a drone (104) along a shaft (106), wherein the shaft (106) has at least a first shaft wall (118) and a second shaft wall (120) adjacent to the first shaft wall (118), and the drone (104) has a sensor system (108; 210, 212; 300, 302, 304) for detecting the environment and / or flight conditions of the drone (104), an actuator system (102) for controlling the drone (104), and a control device (110) for controlling the actuator system (102), and the method is, The control device (110) receives sensor data (112) generated by the sensor system (108; 210, 212; 300, 302, 304), By processing the sensor data (112), the actual distance of the drone (104) to the first shaft wall (118) and the second shaft wall (120) can be determined. [Math 1] To decide, Target distance (l ｘ ', l ｙ ') Actual distance from (l ｘ , l ｙ ) deviation, and the target flight path (s) that the drone (104) will take until it reaches the target position on the shaft (106). ｚ Based on this, a control signal (128) is generated to activate the actuator system (102) so that the drone (104) flies along the shaft (106). and Actual flight route of the drone (104) (s ｚ The target flight route (s) is determined by processing the sensor data (112), and the control signal (128) is determined by the target flight route (s ｚ Actual flight route from ') (s ｚ In a method that generates based on the difference of ), The door area (204) and / or height marking (205) on the shaft (106) are recognized by processing the sensor data (112). Actual flight route (s ｚ ) is determined based on the door area (204) recognized by processing the sensor data (112), and / or The actual flight path (s z) of the drone (104) in terms of its actual flight altitude is determined based on the height marking (205) recognized by processing the sensor data (112). A method characterized by the following.
2. Actual distance [Math 2] However, the first actual distance (l) of the drone (104) relative to the first shaft wall (118) in the first spatial direction (x) ｘ ) and the second actual distance (l) of the drone (104) to the second shaft wall (120) in the second spatial direction (y) perpendicular to the first spatial direction (x). ｙ ) and The control signal (128) reaches the first target distance (l ｘ The first actual distance (l) from ') ｘ The deviation of ) and the second target distance (l ｙ The second actual distance (l) from ') ｙ ) generated based on the difference, The method according to claim 1.
3. Actual distance [Math 3] However, the additional first actual distance of the drone (104) relative to the first shaft wall (118) in the first spatial direction (x) [Math 4] Including the first actual distance (l ｘ ), and an additional first actual distance [Math 5] However, this is related to the differences in the first shaft wall (118), The actual orientation of the drone (104) is the first actual distance (l ｘ ), and an additional first actual distance [Math 6] It was decided based on, The control signal (128) is further generated based on the deviation of the actual orientation from the orientation of the target. The method according to claim 2.
4. Furthermore, the third actual distance of the drone (104) relative to the ceiling (206) of the shaft (106) [Number 7] However, this is determined by processing the sensor data (112). The control signal (128) reaches the third target distance. [Number 8] The third actual distance from [Number 9] Based on the discrepancy, further generated, The method according to any one of claims 1 to 3.
5. Furthermore, the fourth actual distance of the drone (104) relative to the floor (208) of the shaft (106) [Number 10] However, this is determined by processing the sensor data (112). The control signal (128) reaches the fourth target distance. [Math 11] The fourth actual distance from [Math 12] Based on the discrepancy, further generated, The method according to any one of claims 1 to 4.
6. To generate measurement data (132) from sensor data (112), including the measured width, depth, and / or length of the shaft (106). The method according to any one of claims 1 to 5, further comprising:
7. The control device (110) transmits sensor data (112) and / or data (132) generated from the sensor data (112) to an external data processing device (136). The method according to any one of claims 1 to 6, further comprising:
8. A control device (110) comprising a processor (116) configured to perform the method according to any one of claims 1 to 7.
9. A drone control system (100) for operating the actuator system (102) of a drone (104), A sensor system (108; 210, 212; 300, 302, 304) for detecting the environment and / or flight conditions of the drone (104), The control device (110) according to claim 8 and A drone control system (100) including the above.
10. The sensor system (108; 210, 212; 300, 302, 304) includes an ultrasonic sensor system (212; 300, 302, 304) and / or a laser sensor system (210) for detecting the environment of the drone (104), and / or A sensor system (108; 210, 212; 300, 302, 304) includes an acceleration sensor system for detecting the flight state of the drone (104). The drone control system (100) according to claim 9.
11. An elevator shaft (106) having at least a first shaft wall (118) and a second shaft wall (120) adjacent to the first shaft wall (118), An elevator facility (200) comprising at least one drone (104) controlled along an elevator shaft (106), the at least one drone (104) equipped with an actuator system (102) for controlling the drone (104), and a drone control system (100) according to claim 9 or 10 for operating the actuator system (102).
12. A computer program that includes a command causing the processor (116) to perform the method according to any one of claims 1 to 7 when the computer program is executed by the processor (116).
13. A computer-readable medium on which the computer program described in claim 12 is stored.