Method and device for controlling a drone for inspecting linear infrastructure

Abstract

The invention describes a method for controlling a drone (10), which is designed to inspect a power line (20) and / or an electricity pylon (80, 90) and which specifies a flight path along the power line (20) by means of a control device (30), wherein the control device (30) is arranged on or in a vehicle (40) travelling along a road (50). The method comprises the method steps of determining, by means of the control device (30), a distance between the drone (10) and the control device (30) and changing, by means of the control device (30), the specified flight path of the drone (10) if the distance exceeds a specified distance.

Description

[0001] Method and device for controlling a drone for inspecting linear infrastructure

[0002] TECHNICAL FIELD

[0003] The present disclosure relates to methods and devices for controlling a drone for inspecting linear infrastructure. In particular, a method for controlling a drone, a control device for controlling a drone, a navigation system with a control device, a vehicle with a control device, and a drone system with a control device and a drone are disclosed. The drone is configured to inspect linear infrastructure and flies along a predetermined flight path along the linear infrastructure. The control device is arranged on or in the vehicle, which travels along a road.

[0004] BACKGROUND

[0005] Linear infrastructure, such as power lines and pylons, must be inspected regularly. Overhead lines, i.e., power lines stretched between pylons and towers, can be inspected using drones equipped with cameras. A drone flies along the power line, controlled by an operator (a service person) using a control device. To control the drone safely and reliably, the operator must maintain visual contact with it. If the drone flies at a speed faster than walking (e.g., 40 km / h), the operator will soon lose visual contact with it, and the drone will have to wait for the operator, increasing the time required to inspect the power line.

[0006] To solve this problem, the operator and the control device can be in a vehicle that follows the flight path of the drone on a road.

[0007] The problem, however, is that many overhead power lines are located away from roads, so that the drone can often be outside the detection range of the vehicle following the road with the operator and the control device.

[0008] SUMMARY OF THE DISCLOSURE The present disclosure is based on the object of providing a control technology for a drone for inspecting linear infrastructure, which enables a safe and effective inspection of the linear infrastructure.

[0009] To achieve this object, a method for controlling a drone which is configured to inspect linear infrastructure and which has a predetermined flight path along the linear infrastructure is provided by a control device, wherein the control device is arranged on or in a vehicle traveling along a road, the method comprising determining, by the control device, a distance between the drone and the control device and changing, by the control device, the predetermined flight path of the drone if the distance exceeds a predetermined distance.

[0010] Linear infrastructure is a physical or geographical arrangement of facilities, means of transport, or utilities in a straight line or along a route. For example, linear infrastructure could be a traffic route, a power line, a communications network, or a water supply system. In particular, this could be a railway line, a gas pipeline, an array of industrial chimneys, or a power line with pylons to be inspected. The power line to be inspected can be any type of power line, in particular one or a plurality of overhead lines spanned between pylons and towers. The distance between the drone and the control device can be determined, for example, using the Global Positioning System, GPS, data, or a signal strength measurement. In addition to power lines, the method can also inspect power pylons.The drone's flight path can be predetermined by the control device. The predetermined flight path of the drone includes changes in the flight path during the drone's flight. The change in the flight path can occur, in particular, in real time. The change in the flight path can be instructed by the control device.

[0011] Since the drone does not move further than the specified distance from the control device, it can be ensured that the drone's flight can be constantly visually monitored by the operator.

[0012] The predetermined distance between the drone and the control device can be a maximum distance between the drone and the control device, for example, 1000 m, which corresponds to a human's detection range. The human's detection range depends on various factors, including weather conditions. Accordingly, the predetermined distance between the drone and the control device can change depending on the weather conditions. For example, the control device can receive weather information and, depending on the weather information, change the predetermined distance between the drone and the control device used by the control device. This change can, in particular, occur continuously, thus ensuring visual monitoring of the drone by the operator.

[0013] The drone can be used to inspect power lines for maintenance and safety purposes. The inspection process may proceed as follows: Before the drone flight begins, the operator responsible for the inspection must plan the drone flight. This includes checking the weather conditions, obtaining the necessary permits, and ensuring that the drone is functioning properly. The drone can be equipped with various sensors and cameras capable of capturing high-resolution images and videos. These sensors can include thermal imaging, Light Detection and Ranging, LiDAR, and / or high-resolution cameras. The operator programs the drone with a specific flight path that covers part or all of the length of the power lines. This flight path can be designed so that the drone closely follows the power line while maintaining a safe distance.For example, the drone can maintain a distance of 20 to 40 meters from the power line. The flight path can, in particular, include a flight altitude. After launch, the drone autonomously follows the predetermined flight path, for example, using a global positioning system, GPS, navigation system, and / or other navigation technologies. The operator visually monitors the drone's flight and can adjust the flight path if necessary. As the drone flies along the power lines, it can collect data using its sensors and cameras. This data includes images, videos, and other relevant information about the power line or utility pole. Thermal imaging cameras can detect hotspots or overheated components, while LiDAR can assist in creating 3D models of the power line structures. The drone can also send this data to the control device.After the flight, the collected data can be analyzed by experts to identify potential problems or anomalies. The collected data can also be analyzed using artificial intelligence (e.g., an AI model). This analysis can identify, for example, damaged insulators, loose hardware, vegetation growth, or other issues that may require maintenance or repair.

[0014] The use of a drone for power line inspection, as described above, offers several advantages, including improved safety for inspectors (since they don't have to climb the power structures) and the ability to reach hard-to-reach areas. Furthermore, the data collected by drones can help power companies make maintenance decisions and prioritize repairs when needed. Furthermore, routine inspections can help identify and resolve power line problems before they cause power outages.

[0015] According to a further development of the invention, changing the predetermined flight path of the drone comprises the method step of changing the flight path of the drone so that the drone follows the control device until the determined distance no longer exceeds the predetermined distance, wherein the drone then resumes the predetermined flight path.

[0016] Furthermore, changing the predetermined flight path of the drone may include the method step of changing the flight path of the drone so that the drone flies to a location on the predetermined flight path, the location being no farther than the predetermined distance from the control device, and the drone then resumes the predetermined flight path. The location on the predetermined flight path may, for example, be location data near a power pole.

[0017] For a more effective power line inspection, if a plurality of locations exist along the specified flight path, with the locations being no farther than the specified distance from the control device, the drone can fly to one of the plurality of locations according to a predefined priority. For example, locations surrounded by sparse vegetation can be flown to with a priority.

[0018] For a more effective inspection of the power line, the location(s) can be a location(s) along the flight path that has not yet been visited by the drone. This can shorten the inspection time.

[0019] To ensure monitoring of the drone flight by an operator, the method can further comprise the method steps of receiving information relating to an impairment of a line of sight between the control device (or the operator located at the control device) and the drone and changing the flight path of the drone so that the line of sight between the control device and the drone is maintained. For example, the control device calculates using digital 3D map data (e.g. Google Earth or Apple Maps) that at a certain location and a certain flight altitude of the drone and a certain location of the control device, the line of sight between the drone and the control device or operator is restricted by a building. In this case, the control device can instruct the drone to climb to a certain altitude so that the operator can see the drone above the house.

[0020] To avoid interrupting or aborting the power line inspection due to bad weather, the method may further comprise the steps of receiving weather information regarding the specified flight path of the drone and / or a travel path of the vehicle, and changing the flight path of the drone depending on the weather information. Furthermore, the specified distance between the drone and the control device may be adjusted depending on the weather information.

[0021] By receiving traffic information regarding the vehicle's route along the road and modifying the drone's flight path based on the traffic information, the power line inspection can be further optimized. For example, traffic jams on the road can be avoided.

[0022] The object stated above is further achieved by a control device for controlling a drone. The control device comprises a processing device and a telemetry device, and the control device is configured to carry out one of the methods described above. The processing device can be a computing unit that determines the flight path of the drone. The telemetry device sends the flight path to the drone. The processing device can further receive data, for example, weather information and road traffic information, and plan or change the flight path based on this data. The telemetry device is a communication device that wirelessly sends data relating to the flight path to the drone. The communication device can also be configured to receive data from the drone. This data can include information such as flight altitude, speed, battery status, and / or GPS data.

[0023] The control of the drone by the control device can be carried out in particular as follows: Control commands are sent from the telemetry device to the drone. These commands can influence the direction, altitude, speed, and other flight parameters of the drone. The drone can be equipped with a control system that interprets the received commands and implements them accordingly. The drone can also include a flight control system that controls attitude stabilization and GPS navigation. The telemetry device and the drone can communicate wirelessly with each other, for example via Wi-Fi or mobile radio. The control device can also be configured to control a plurality of drones for inspecting a power line and / or a power pylon.

[0024] The object posed at the outset is further achieved by a navigation system for a vehicle, which comprises the control device described above and a navigation device configured to output navigation data depending on data received from the control device. The navigation data can, for example, be driving recommendations for a driver (e.g., the operator) of the vehicle.

[0025] In particular, the control device can cooperate with the navigation device in such a way that the distance between the drone and the control device remains shorter than the predetermined distance between the drone and the control device. If, for example, the drone, controlled by the control device, needs to change its flight path and move away from the vehicle to avoid a tree, the navigation device can issue driving recommendations to the driver of the vehicle such that they should follow a road turn that follows the changed flight path of the drone. Accordingly, if the driving recommendations issued by the navigation device change, the control device can adapt the flight path of the drone to the changed path of the vehicle. The control device can thus coordinate or optimize the control of the drone and the path of the vehicle in such a way that the inspection time of the drone is minimized.In particular, the drone's distance specifications can be taken into account and adhered to during optimization. The optimization can also be aimed at optimizing the energy costs of the vehicle and / or the drone, and / or optimizing carbon dioxide emissions of the drone and / or the vehicle.

[0026] The navigation device can further be configured to output the navigation data depending on weather information relating to the drone's specified flight path, weather information relating to a vehicle's travel path, and / or road traffic information relating to a vehicle's travel path. For example, the navigation device can output driving direction recommendations (e.g., turn right at the intersection in 100 meters) to the operator or the driver of the vehicle as navigation data.

[0027] If the vehicle is a self-driving vehicle, the navigation data can be configured to control the self-driving vehicle. In this case, the navigation data can be control commands for driving the vehicle. The object posed above is also achieved by a vehicle configured to travel along a road and comprising a control device or navigation system as described above.

[0028] The vehicle may further include a trailer connected to the vehicle, which provides a landing pad for the drone. The control device may be located in the vehicle or on the trailer. Alternatively, the vehicle may provide a landing pad for the drone. For example, the vehicle may be a pickup truck with a bed, or the vehicle may be configured to allow the drone to land on the roof of the vehicle.

[0029] The object posed at the outset is finally achieved by a drone system comprising a control device as described above, a navigation system as described above, a vehicle as described above and / or a drone controlled by a control device.

[0030] The drone system may also comprise a plurality of drones and / or a plurality of vehicles. In these cases, the control device may be configured to control or coordinate the drones and / or vehicles in such a way that an inspection task of the drone is optimized. The optimization may, for example, be directed toward optimizing the inspection time of the drone(s), optimizing the energy costs of the vehicle(s) and / or the drone(s), and / or optimizing the carbon dioxide emissions of the drone system.

[0031] The vehicle may further include a device that receives data (e.g., recorded image data) from the drone (e.g., wirelessly during the flight of the drone), pre-processes it (e.g., with the aid of artificial intelligence), and sends the pre-processed data to a cloud server.

[0032] The aspects and variants described above can be combined without this being explicitly described. Each of the described embodiment variants is therefore to be considered optional to each embodiment variant or combinations thereof. The present disclosure is therefore not limited to the individual embodiments and variants in the described order or to a specific combination of the aspects and embodiment variants.

[0033] BRIEF DESCRIPTION OF THE DRAWINGS Further advantages, details and features of the devices and systems described here will become apparent from the following description of embodiments and the figures.

[0034] Fig. 1 shows a schematic representation of an embodiment of a control device arranged in a vehicle that controls a drone for inspecting a power line;

[0035] Fig. 2 shows a schematic representation of an embodiment of a vehicle with a control device and a navigation device; and

[0036] Figs. 3 to 5 show a schematic representation of another embodiment of a drone for inspecting a power line, which is controlled by a control device.

[0037] DETAILED DESCRIPTION

[0038] Fig. 1 shows a schematic representation of an embodiment of a control device arranged in a vehicle that controls a drone for inspecting a power line.

[0039] The drone 10 flies on a predetermined flight path along a high-voltage line 20, which is stretched between two power poles 89 and 90. Additional high-voltage lines and power poles, not shown in Fig. 1, exist. Obstacles, such as a tree 95 or a building, may be located along the flight path of the drone 10.

[0040] The vehicle 40 travels along a road 50 and follows the predetermined flight path of the drone 10. The vehicle 40 is controlled by an operator 60. A control device 30 for controlling the drone 10 is located in the vehicle 40. The operator 60 has visual contact with the drone 10 (see the line of sight 65 shown in dashed lines in Fig. 1). In addition to the operator 60 shown in Fig. 1, a second operator may be located in the vehicle 40 who operates the control device 30 and maintains visual contact with the drone 10. Furthermore, the vehicle 40 may be a self-driving vehicle, so that the operator 60 only operates the control device 30. The vehicle 40 includes a trailer 70 that serves as a takeoff and landing site for the drone 10. For this purpose, the trailer 70 may comprise a device that assists or captures the drone 10 during landing and moves it to a take-off position (not shown in Figs. 1 and 2).The trailer 70 may further include a charging station for electrically charging the drone 10.

[0041] The drone 10 includes a plurality of sensors and cameras that capture high-resolution images and videos of the high-voltage line 20. The drone 10 further includes a flight control system that interprets and implements control commands received from the control device 30 and controls attitude stabilization and GPS navigation.

[0042] Fig. 2 shows a schematic representation of an embodiment of a vehicle with a control device and a navigation device.

[0043] The vehicle 40 can be the vehicle 40 shown in Fig. 1 or another vehicle. As can be seen from Fig. 2, the operator 60 controls the vehicle 40. The vehicle 40 includes a navigation device 35 for the operator 60 and a control device 30 for controlling the drone 10. In addition to the operator 60 shown in Figs. 1 and 2, who controls the vehicle 40, a second operator can be located in the vehicle 40, who actuates the control device 30 and maintains visual contact with the drone 10.

[0044] The control device 30 comprises a processing device 31 and a telemetry device 32. The processing device 31 is a computing unit that determines the flight path of the drone 10. The telemetry device 32 sends the predetermined flight path to the drone 10. The processing device 31 can also receive data, for example weather information and road traffic information, and plan or change the flight path based on this data. The telemetry device 32 is a communication device that wirelessly sends data relating to the flight path to the drone 10. The telemetry device 32 can also be configured to receive data from the drone 10. This data can include information such as flight altitude, speed, battery status, and GPS data. For the control device 30 to control the drone 10, the control device 30 can send control commands to the drone 10 via the telemetry device 32.These commands can influence the direction, altitude, speed, and other flight parameters of the drone 10. The telemetry device 32 and the drone 10 can communicate wirelessly, for example, via Wi-Fi or cellular communication. Furthermore, the telemetry device 32 can receive weather and traffic information from a cloud server 100 via cellular communication. The telemetry device 32 can also be configured to receive current vegetation and / or building data from satellites. This allows the drone 10 to return to the vehicle 40 with greater safety.

[0045] The operator 60 programs the drone 10 with a specific flight path that covers part or all of the length of the high-voltage line 20. This flight path can be designed so that the drone closely follows the high-voltage line 20 but maintains a safe distance. For example, the drone 10 can maintain a distance of 20 to 40 meters from the high-voltage line 20. After the drone 10 takes off, it autonomously follows the predetermined flight path, for example, using a GPS navigation system and / or other navigation technology. The operator 60 monitors the flight of the drone 10 and can adjust the flight path if necessary. While the drone 10 flies along the high-voltage line 20, it can collect data using its sensors and cameras. This data can be read out after the drone 10 lands on the trailer 70 and subsequently processed.

[0046] To maintain visual contact between operator 60 and drone 10, control device 30 can determine a distance between drone 10 and control device 30 and change the predetermined flight path of drone 10 if the distance exceeds a predetermined distance. Specifically, control device 30 can change the flight path of drone 10 such that drone 10 follows control device 30 until the determined distance no longer exceeds the predetermined distance, after which drone 10 resumes the predetermined flight path.

[0047] If an obstacle (e.g., a tree 95) obstructs the line of sight between operator 60 and drone 10, controller 30 may change the flight path of drone 10 such that drone 10 flies to a location (e.g., utility pole 90) on the predetermined flight path, the location being no more than the predetermined distance from controller 30, and then drone 10 resumes the predetermined flight path. If a plurality of locations exist on the predetermined flight path, the locations being no more than the predetermined distance from controller 30, drone 10 may further fly to one of the plurality of locations according to a predetermined prioritization. For example, drone 10 may fly to utility pole 90 with the highest priority because it is located on a road.With the next highest priority, drone 10 can then fly to power pole 80, which is adjacent to a road a little further away. If drone 10 has already approached power pole 80, drone 10 can prioritize power pole 90 over power pole 80 for an approach.

[0048] Furthermore, the control device 30 can receive information regarding an impairment of a line of sight 65 between the control device 30 or the operator 60 and the drone 10 in real time (for example, in 1 minute, the tree 95 will impair the line of sight 65). The control device 30 can calculate such impending visual obstructions based on the flight path of the drone 10, GPS data of the drone 10, the travel path of the vehicle 40, GPS data of the vehicle 40, and / or 3D map data. Accordingly, the control device 30 changes the flight path of the drone 10 so that the clear line of sight 65 between the control device 30 or the operator 60 and the drone 10 is maintained.

[0049] The control device 30 can further receive weather information regarding the predetermined flight path of the drone 10 and / or the travel path of the vehicle 40 and change the flight path of the drone 10 and / or the predetermined distance between the drone 10 and the control device 30 depending on the weather information. For example, the weather information can include a forecast of strong winds that the drone 10 should avoid.

[0050] The control device 30 may also receive road traffic information concerning a travel path of the vehicle 40 along the road 50 (for example, a traffic jam) and change the flight path of the drone 10 depending on the road traffic information.

[0051] The navigation device 35 in the vehicle 40 outputs navigation data to the operator 60 based on data received from the control device 30 (such as weather information relating to the specified flight path of the drone 10, weather information relating to a route of the vehicle 40, and / or road traffic information relating to the route of the vehicle 40). If the vehicle 40 is a self-driving vehicle, the navigation data is configured to control the self-driving vehicle 40.

[0052] Figures 3 to 5 show a schematic representation of another embodiment of a drone for inspecting a power line or a power pole, which is controlled by a control device. The method can be carried out using the drone 10 shown in Figures 1 and 2, the control device 30, the vehicle 40, and / or the navigation device 35, or other devices.

[0053] Regulations require drone operators to operate drones within line of sight of the operator. This limits the use and scalability of drone deployment for linear infrastructure inspections (i.e., infrastructure that spans a large geographical area). The regulations do not specify the line of sight, but it can be limited to 0.5 to 1 km depending on environmental conditions.

[0054] As shown in Fig. 3, a drone is inspecting a series of utility poles and power lines of a power distribution network. The operator is driving a vehicle along a road and following the drone within line of sight. Fig. 3 further shows that the drone's planned flight path leads outside the operator's detection range. This means that if the operator leaves the detection range circle shown in Fig. 3, the drone would no longer be visible, which must be avoided.

[0055] Fig. 4 shows that the operator continues to drive his vehicle along the road so that the drone remains within the operator's detection range.

[0056] Figure 5 shows a situation where the operator must first drive his vehicle over a bridge before he can directly follow the drone again. To ensure the drone remains within the operator's detection range, it waits for the operator and his vehicle.

[0057] Consequently, all flight movements of the drone and the vehicle's travel paths can be synchronized so that the drone always remains within the operator's detection range.

[0058] However, the present technique shown in Figs. 3 to 5 is not limited to distances. For example, if there are visual obstructions between the operator and the drone (e.g., trees), the flight path is planned so that the drone always remains visible to the operator, e.g., by temporarily increasing the flight altitude until the obstacles are removed / avoided.

[0059] Consequently, this embodiment provides an algorithm that supports synchronous planning of flight paths for the drone operator and one (or more) autonomous drone(s). The algorithm plans the drone's steps in performing tasks (e.g., inspecting power lines), while simultaneously planning the path of the operator (the drone crew) on the ground moving with a road vehicle. The algorithm can be executed, in particular, by the control device 30 shown in Figs. 1 and 2. The algorithm therefore always observes the limitations regarding the operator's detection range and continuously recalculates the flight paths for the drone(s) and the path for the vehicle in the event of disruptions or obstructions.

[0060] The vehicle may also include a landing pad for drones, charging facilities for drones, and a communication device.

[0061] In the examples presented, various features and functions of the present disclosure have been described separately and in specific combinations. However, it is understood that many of these features and functions can be freely combined with one another, unless explicitly excluded.

[0062] Although the embodiments described above refer to power lines with power poles, the present invention can be applied to any type of linear infrastructure. By using a suitable sensor in the drone, the present invention can also be applied to linear infrastructure that is not visible from the air. For example, the drone can include a thermal imaging camera that inspects a buried sewer line.

Claims

CLAIMS 1. A method for controlling a drone (10) which is configured to inspect linear infrastructure (20, 80, 90) and which has a predetermined flight path along the linear infrastructure (20, 80, 90) by a control device (30), wherein the control device (30) is arranged on or in a vehicle (40) traveling along a road (50), the method comprising: Determining, by the control device (30), a distance between the drone (10) and the control device (30) and Changing, by the control device (30), the predetermined flight path of the drone (10) when the distance exceeds a predetermined distance.

2. The method according to claim 1, wherein changing the predetermined flight path of the drone (10) comprises: Changing the flight path of the drone (10) so that the drone (10) follows the control device (30) until the determined distance no longer exceeds the predetermined distance, wherein the drone (10) then resumes the predetermined flight path.

3. Method according to one of the preceding claims, wherein changing the predetermined flight path of the drone (10) comprises: Changing the flight path of the drone (10) so that the drone (10) flies to a location on the predetermined flight path, the location being no further than the predetermined distance from the control device (30), and the drone (10) then resumes the predetermined flight path.

4. The method according to claim 3, wherein, if a plurality of locations exist on the predetermined flight path, the locations being no further than the predetermined distance from the control device (30), the drone (10) flies to a location of the plurality of locations according to a predetermined prioritization.

5. The method according to claim 3 or 4, wherein the location or locations on the flight path have not yet been flown to by the drone (10).

6. Method according to one of the preceding claims, comprising Receiving information concerning an impairment of a line of sight (65) between the control device (30) and the drone (10) and Changing the flight path of the drone (10) so that the line of sight (65) between the control device (30) and the drone (10) is maintained.

7. Method according to one of the preceding claims, comprising Receiving weather information relating to the specified flight path of the drone (10) and / or a travel path of the vehicle (40) and Changing the flight path of the drone (10) and / or the predetermined distance between the drone (10) and the control device (30) depending on the weather information.

8. Method according to one of the preceding claims, comprising Receiving road traffic information relating to a route of the vehicle (40) along the road (50) and Changing the flight path of the drone (10) depending on the road traffic information.

9. Control device for controlling a drone (10), comprising a processing device (31) and a telemetry device (32), wherein the control device (30) is configured to carry out the method according to one of the preceding claims.

10. A navigation system for a vehicle, comprising the control device (30) according to claim 9 and a navigation device (35) which is configured to output navigation data in dependence on data received from the control device (30).

11. Navigation system according to claim 10, wherein the navigation device (35) is configured to output the navigation data as a function of weather information relating to the predetermined flight path of the drone (10), weather information relating to a travel path of the vehicle (40), and / or road traffic information relating to a travel path of the vehicle (40).

12. Navigation system according to claim 11, wherein the vehicle (40) is a self-driving vehicle and the navigation data are configured to control the self-driving vehicle (40).

13. A vehicle (40) adapted to travel along a road (50), comprising the control device (30) according to claim 9 or the navigation system according to any one of claims 10 to 12.

14. Vehicle (40) according to claim 13, comprising a trailer (70) connected to the vehicle (40) which provides a landing site for the drone (10), wherein optionally the control device (30) is arranged on the trailer (70), or wherein the vehicle (40) provides a landing site for the drone (10).

15. A drone system comprising one of the control device (30) according to claim 9, the navigation system of one of claims 10 to 12, and the vehicle (40) of claims 13 or 14, and a drone (10) controlled by the control device (30).

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