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    • 专利摘要:
    SYSTEM AND METHOD FOR CONTROL OF AN UNIPROVED AIR VEHICLE.The invention relates to a geodetic measurement system (1) having a geodetic measurement unit (30), in particular a total station, a theodolite, a laser tracker or a laser digitizer, having a beam source to emit a substantially collimated optical beam (32), a base, a viewing unit that can be motorized articulated around two axes with respect to the base and is intended to orient an emission direction of the optical beam (32), and sensors angle measurement to determine the orientation of the display unit. The measurement system (1) also has a controllable, unmanned, self-propelled aerial vehicle (20) having an optical module (22), where the aerial vehicle (20) is designed in such a way that the aerial vehicle (20) can be moved in a controlled manner and can be positioned in a substantially fixed position. An evaluation unit can also be provided, where the evaluation unit is configured in such a way that a real state of the air vehicle (20), as determined by a position, an orientation and / or a change in position, can be determined in a coordinate system based on the interaction between the optical beam (32) and the optical module (22). The measurement system (1) has a control unit (60) to control the aerial vehicle (20), where the control unit (60) is configured in such a way that the control data can be produced using an algorithm based on the actual state, which can be determined continuously in particular, and a defined desired state, and the air vehicle (20) can be automatically changed to the desired state, in particular to a defined tolerance range around the desired state , in a controlled way using the control data.
    公开号:BR112013026184A2
    申请号:R112013026184-6
    申请日:2012-04-13
    公开日:2020-11-03
    发明作者:Bernhard Metzler；Knut Siercks
    申请人:Hexagon Technology Center Gmbh；
    IPC主号:
    专利说明:

    Descriptive Report of the Invention Patent for "SYSTEM AND METHOD FOR CONTROL OF AN UNIPROVED AIR VEHICLE". The present invention relates to a measurement system for the control of a controllable, unmanned, self-propelled aerial vehicle using a measurement unit according to the preamble of claim 1 and an aerial vehicle control method, according to according to claim 8. Nowadays, unmanned aerial vehicles are used in many fields of technology as a result of flexible employment capability, whether to reach sections of terrain that are difficult to access, for example, when fighting fires. or in disaster zones, or to perform an examination supporting image of large objects.
    In order to capture terrain information, such instruments can be equipped with sensors, for example, cameras, and relatively large sections of terrain can be recorded contiguously from the air.
    In addition, corresponding unmanned aircraft can be used for military purposes, for example, for monitoring, target acquisition, as a combat unit or means of transport.
    In principle, an unmanned aerial vehicle can be controlled or moved manually by means of a remote control by a user or in a completely autonomous or semi-autonomous manner, usually based on the GNSS position information.
    In general, it is possible to modify four of the six degrees of freedom when moving the aerial vehicle, for example, a helicopter-type aerial vehicle, that is, the aerial vehicle can be moved back and forth, left and right , and up and down.
    In addition, the alignment of the aerial vehicle can be modified by rotating around the vertical geometric axis.
    The rest of the two degrees of freedom are fixed by the substantially horizontal position of the air vehicle.
    Precise positioning in a predetermined position or precise movement, for example, along a predefined geometric axis
    or flight path, it was considered difficult for a user in the case of manual control.
    Particularly, if the air vehicle is exposed to external influences, such as, for example, wind, and deviations created need to be compensated for with quick reactions, a necessary precision can often not be maintained in the event of such manual control.
    In addition, the field of application for control based on autonomous GNSS is limited to locations where a sufficient number of satellite signals can be received for position determination.
    Thus, in general, use, for example, indoors or in tunnels is not possible.
    Use in heavy construction areas can also be difficult if buildings block GNSS signals.
    In order to control an aerial vehicle in such a built area, EP 1 926 007 proposes a first flight over the relevant area, during which images are taken and GPS information is stored with each image.
    The images are subsequently combined to form a general image with GPS position information.
    In order to navigate the aerial vehicle, images that are recorded at a lower altitude than those recorded beforehand can now be compared to the general image and a respective position of the aerial vehicle can be derived based on GPS information stored.
    Disadvantages in this procedure can arise if the first general image does not understand all areas of buildings and the spaces between buildings and it becomes impossible to find the correspondence in the case of an image comparison.
    The position determination can also be hampered by changes in the surroundings captured first, for example, by the movement of the vehicles shown in the image or if the light conditions change.
    Additionally, this method is limited by the resolution of the surrounding camera capture.
    EP 1 898 181 describes an additional system and method for the control of an unmanned aerial vehicle, where GPS signals, measurement data from inertia sensors and images captured by a camera are used to determine or estimate a vehicle position air.
    The captured signals and data can be fed to a computer unit and the position can be determined from there.
    By using the camera, carrying out this position determination can provide more reliable results compared to systems without a camera and allow increased precision.
    However, this method is also limited by the resolution of the camera or can possibly only be performed to a restricted degree as a result of changes in the captured surroundings.
    In the case of an autonomous control, the route can therefore be prescribed for the air vehicle in the form of a trajectory, for example, it can be defined by several waypoint positions.
    EP 2 177 966 describes a navigation method for an air vehicle, based on a predetermined flight path, where, for air vehicle control purposes, images of the flight surroundings can be taken by a camera and the flight path can be adapted based on that.
    In order to control the air vehicle on the flight path, the specific target positions on the flight path, specific target positions or waypoint positions can be compared with the actual current position of the air vehicle, which can, for example, be determined by GNSS signals.
    The control signals for the movement of the air vehicle can thus be determined from differences in position and, as a result, a deviation from the actual position in relation to the target position can be successively reduced.
    What is common with the methods or systems mentioned above is that the position of the aerial vehicle, in particular the vertical position, can only be determined with an accuracy of up to 2 to 5 cm, using GNSS sensors.
    This uncertainty subsequently has a major limitation in accuracy when determining the position of the air vehicle and in precision when controlling the air vehicle.
    Accordingly, an objective of the present invention is to provide an improved, more robust system or method for controlling an unmanned aerial vehicle, whereby the aerial vehicle can be positioned and moved more easily and accurately and to a greater degree. high self-esteem.
    A special objective of the invention is to make it possible to carry out this positioning and movement of the aerial vehicle regardless of being able to receive GNSS signals.
    These objectives are achieved by realizing the characteristic parts of the independent claims.
    The characteristics that develop the invention in an alternative or advantageous form can be collected from the dependent claims.
    The unmanned aerial vehicle (UAV) control system has, for example, a theodolite, a total station, a laser tracker, a laser scanner, or a rotating laser and a control unit.
    By means of control signals, the control unit can perform a positioning or movement of the air vehicle, due, for example, to a speed of rotation of the rotors, of which, in particular, there are four, of the air vehicle or respective alignment of the rotors and can be configured in a defined way.
    Here, the respective measuring instrument is in contact with the air vehicle, for example, by a laser beam emitted by the measuring instrument and / or by radio signals.
    By means of the laser beam and a reflector attached to the air vehicle, a distance between the air vehicle and the measuring instrument can be determined by the reflection of the beam and reception in the measuring instrument.
    In addition, a vertical and horizontal angle of the beam emitted, that is, a direction of emission, can be captured by the angle measuring units on the measuring instrument and this can be used in conjunction with the determined distance to determine, precisely in geodetic terms , an air vehicle position with respect to the measuring instrument in a relative coordinate system.
    In addition, the laser beam, for example, in a combined aerial / rotating laser vehicle, can be received in the aerial vehicle part by a laser beam receiving unit.
    Through this unit, it is possible to determine an angle of incidence of the laser beam with respect to the receiving unit and, from there, a relative alignment of the air vehicle with respect to the laser beam (real state of the air vehicle) can be derived by an evaluation unit.
    Furthermore, it is possible to determine a beam deviation from a defined zero position of the receiving unit and, from there, a relative position of the air vehicle with respect to the laser beam can, in turn, be derived.
    The correction parameters can be established from the respective deviation and / or the angle of incidence, 5 correction parameters that serve to control the air vehicle in such a way that a desired position and a desired alignment are achieved, where, when the desired state is reached, the deviation or relative angle of incidence assumes respectively the zero position, that is, it does not have deviation from a desired value.
    Using such a receiving unit, the aerial vehicle can also be coupled to a laser beam.
    For example, this beam can be emitted by a laser scanner and the air vehicle can be controlled by a user with a remote control such that the laser beam strikes the receiving unit.
    As soon as the beam is received, a computer unit in the air vehicle can then partially take over.
    In a control group, the current position, orientation, speed and direction of flight of the air vehicle can be established continuously and thus be compensated or corrected so that the laser beam will centralized, that is, without deviating from the zero position, in the receiving unit.
    Using the remote control, the user can now move the aerial vehicle along the laser beam, that is, with a remaining degree of freedom.
    In this configuration, the aerial vehicle can now be guided, additionally or alternatively, by the realignment or the articulation of the beam emitted.
    If, for example, a rotating laser is used in place of the laser scanner, it can be used to cover a laser plane and the aerial vehicle can be "placed" on the plane.
    Here, the user can also move the aerial vehicle, now with two degrees of freedom, in the plane or parallel to it.
    For example, the plane or beam can be aligned horizontally and, thus, perform a horizontal movement of the air vehicle.
    In addition, they can be aligned at any angle or vertically, in particular where, in the case of vertical alignment, the altitude of the air vehicle above the ground can remain
    freely selectable.
    For example, such an application can be useful when working along a construction stab or to measure the latter.
    Depending on the mode of the 5 laser beam receiving unit, the angle of incidence range to be detected can be restricted to a range between, for example, 0 and 180, in particular between 0 and 45. As a result, the arrangement of the receiving unit in the air vehicle must be adapted to the respective alignment of the laser beam or laser plane in order to guarantee continuous beam reception.
    In the case of horizontal beam alignment, the laser beam receiving unit can, for example, be fixed laterally to the UAV; in the case of vertical alignment, it can, for example, be arranged on the underside of the UAV.
    For universal use of the aerial vehicle, the laser beam receiving unit can additionally be attached to the aerial vehicle in such a pivotable way that the receiving unit can, depending on the alignment of the laser beam, be articulated in a particular angular position. and, in this way, receive the beam within the detection region, which is predetermined by the drawing.
    In order to determine the beam offset, it is also possible, depending on the beam alignment, to adapt the layout of the receiving unit or to align a main detection direction of the receiving unit in an articulated manner with respect to the beam.
    In principle, an actual state of the air vehicle in the relative coordinate system, that is, a state in which, for example, at least in part it describes a current position, current alignment, speed or direction of flight of the vehicle aerial, can be determined continuously to control the UAV by an interaction with the measurement unit.
    In addition, a desired state for the air vehicle can be predetermined with information content in the measurement system, information content that, in composition and form, corresponds to the real state.
    Based on the actual state determined in this way, and based on the defined defined state to be reached by the air vehicle, the correction values can be established by comparing the state, whereby the correction values of the target vehicle control flight with the desired state can be performed.
    It is therefore possible to derive control data from corrections and provide said control data for the air vehicle, for example, for driving the rotors.
    The correction or control data can be established by the control unit, where the control unit can, in this case, be associated with the measurement unit, the air vehicle or the remote control or can additionally be designed as a structurally independent unit.
    It is also possible to prescribe an individual point, a trajectory, a geometry axis and / or a plane for the system as the desired state or desired position and the air vehicle can be positioned and moved according to the respective prescription, in particular by a continuous comparison of intended and actual values and interactive repositioning.
    A flight path or route can, for example, be configured by a starting point and an end point, where the air vehicle can, in this case, be oriented along a straight connecting line from the starting point for the end point in a manual, autonomous or semi-autonomous way, that is, the aerial vehicle moves substantially independently, but a user can intervene in the movement procedure and, for example, temporarily interrupt the latter.
    In addition, waypoints can be defined between the starting point and the end point and the flight path can be adapted, in particular, automatically, in such a way that the waypoints are on the route.
    In addition, the flight path to be flown can be defined independently of the start, end and waypoints, by the position of a geometric axis of movement.
    In the case of a defined flight path, a comparison of the route profile with the actual current state of the air vehicle can be assumed for the control of the air vehicle and said comparison can be used to establish the respective correction values or control data .
    Here, in order to optimize the flight movement of the air vehicle in the event of a necessary position correction in the direction of the flight path, it can be an optimized correction movement, for example, taking into account the direction flight and current speed of the air vehicle, instead of a direct movement, that is, instead of a movement along the shortest connection between the actual position and the flight path.
    In addition to measurements from the measuring instrument and / or the laser beam receiving unit, measurements from a sensor unit arranged on the air vehicle can also be used to determine the air vehicle's alignment and / or speed in the relative coordinate system to determine corrections.
    For this purpose, the sensor unit can detect the inertia values, for example, by means of an accelerometer, and geographic alignment, for example, by a magnetometer.
    Corrections can likewise be converted into control signals for the air vehicle and, thus, effect a change in position, alignment, speed and / or direction of flight.
    In addition, in order to determine the alignment of the air vehicle, markings, for example, defined patterns, pseudo-random patterns or light devices, can be applied to the air vehicle in a specific position and arrangement and an external detection unit can detect these markings .
    The detection unit, in particular a camera, can, for this purpose, be arranged on the measuring instrument or can be designed as an independent unit.
    The position of at least some markings on an image captured by the camera can then allow deductions to be made regarding the alignment of the air vehicle in the relative coordinate system.
    In addition, the aerial vehicle can be captured by a RIM camera (lane image creation camera) and, as a result of this, it is possible to capture an image with distance values punctually resolved from the RIM camera to the aerial vehicle.
    In this way, the distance and, if the shape of the air vehicle is known, the alignment of the air vehicle can likewise be derived from this data.
    In addition, additional applications can be made possible with the distance measurement sensors placed on the aerial vehicle.
    Here, the air vehicle can, for example, be controlled in such a way that a distance to an object can be kept constant, for example, at 40 cm, in particular to avoid collisions or to maintain a measuring distance. - ideal for an additional data detection sensor (eg digitizer or camera). By way of example, it is thus possible to carry out reliable control of the air vehicle in surroundings with a limited amount of available space, since it is possible to detect possible obstacles by distance sensors and fly in around them and to be able to measure spatial restrictions continuously, for example, in the case of a flight through a tube, pipe or tunnel, and adapt the position of the air vehicle accordingly.
    In the case of such spatially restricted movement, the air vehicle can, in particular, be coupled to a laser beam and be guided based on that beam.
    Using such a combination of distance and orientation measurement based on a beam, it is additionally possible, for example, in a case of a horizontal alignment of the guide beam, the movement of the air vehicle along that beam , and a continuous distance measurement from the overflown terrain, to generate a terrain profile or a section of terrain by connecting respective distance measurements and respective air vehicle positions.
    In particular, it is possible that the position of the measurement unit, that is, the set point of the same, is predetermined by a known point and an alignment to be determined by measuring a known target point or by means of a tilt sensor and a magnetometer.
    In addition, position and alignment can be determined by viewing at least three target points, in particular, if the setpoint is unknown.
    As a result of this procedure, it is possible to determine the position and coordinates of the measuring unit and the orientation of the measuring unit in a global coordinate system, which is higher than the relative coordinate system.
    In addition, the direction of the geometric axis of motion can be provided in the global coordinate system.
    With this knowledge, it is now possible to refer to the relative coordinate system as a global coordinate system, for example, by a coordinate transformation.
    As a result, it is possible to transfer the position and alignment of the UAV, determined in the relative coordinate system, to the global coordinate system and, for example, it is possible to specify an absolute position and alignment of the UAV in that coordinate system. higher. 5 The invention relates to a geodetic measurement system with a geodetic measurement unit, in particular, a total station, theodolite, laser tracker or laser scanner, with a beam source for the emission of a beam substantially collimated optical element, a base, a visualization unit that can be articulated by the motor around two geometric axes with respect to the base for alignment of an optical beam emission direction and angle measurement sensors to determine the alignment of the optical unit. visualization and, in particular, with a track functionality.
    In addition, the measurement system comprises a controllable, unmanned aerial vehicle, self-propelled with an optical module, where the aerial vehicle is designed in such a way that the aerial vehicle can be moved in a controlled manner and positioned in a substantially position. fixed.
    Furthermore, the supply is made to an evaluation unit, where the evaluation unit is configured in such a way that it is possible to determine an actual state of the air vehicle in a coordinate system, determined by a position, an alignment and / or a change in position, from an interaction of the optical beam with the optical module.
    The measurement system comprises a control unit for controlling the air vehicle, where the control unit is configured in such a way that, based on an algorithm depending on the real state, which can in particular be determined continuously, and an intended state defined , control data can be produced and the air vehicle can be placed in the desired state, in particular within a defined tolerance range around the desired state, in a way that is automatically controlled by means of control data.
    The display unit of the geodetic measurement unit can, in one embodiment, be designed as an emission unit (with the telescopic unit) having the beam source.
    In particular, this modality can be used to design a total station or a theolite.
    With regard to the design of laser scanners or laser scanners, the beam source can be supplied, for example, in a holder, which is designed so that it can articulate with respect to the base around an axis straight geometric defined by the base, or at the base, where the emitted radiation can be oriented to the display unit by means of optical beam guidance elements.
    In this context, the display unit can be designed as, for example, beam offset element (for example, mirror). In the geodetic measurement system according to the invention, it is possible to compensate for a real position, a real alignment and / or an actual speed of the air vehicle when determining the real state and / or it is possible to compensate for a desired position, a desired alignment and / or a desired speed when defining the desired state.
    An air vehicle status, for example, position, alignment, flight speed or flight alignment, can be determined continuously in such a system.
    For this purpose, the measuring unit can emit a laser beam, which can interact with a sensor or reflector in the air vehicle.
    The state of the air vehicle can then be established based on this interaction.
    Furthermore, it is possible to define a desired state for the air vehicle, for example, a position in which the UAV should be positioned, and there can be such control of the air vehicle based on a comparison between the actual established state of the air vehicle with this desired state in which the air vehicle is moved or aligned with the desired state, and assumes the desired state, this and, for example, the actual position corresponds to the desired position.
    For this regulation process, the control data for the control of the air vehicle is produced based on an algorithm.
    Here, the measurement data produced or the actual position and the actual alignment of the air vehicle can be supplied for, for example, a Kalman filter and control data can be generated from the sum of the data, taking taking into account a defined desired state.
    Furthermore, in order to establish the control data, averages can be derived from the measurement variables.
    In addition, a difference can be formed continuously between the pairs of individual desired / actual variables and a direction and distance to the desired position can be determined, for example, based on a difference in the determined position, thus, and control data with respect to flight direction, flight path and flight speed can be derived.
    As a result, the air vehicle rotors can, for example, be driven in such a way that, particularly as a result of the different rotational speeds, there is a controlled movement of the air vehicle to the desired position.
    In addition, there may be a continuous reassessment and calculation of control data within the scope of the algorithm from a continuous comparison between the actual position and the intended position, as a result of which the air vehicle position can be continuously readjusted by through such a control circuit.
    In particular, it is possible that the optical module of the geodetic measurement system according to the invention is substantiated by a reflector that specifies the actual position of the aerial vehicle and so that the beam can be reflected through the reflector, where a The distance from the measurement unit to the air vehicle can be determined and the actual position of the air vehicle can be derived, in particular continuously from the distance and the direction of beam emission.
    Because the reflector in the aerial vehicle is viewed, for example, by a laser beam, the real state, in particular the real position, of the aerial vehicle can be established by the measurement unit, for example, by a total station .
    For this purpose, the reflected beam for the distance measurement, detected in the measuring instrument, and the detected angles at which the beam is emitted are used to determine the direction and position and alignment of the air vehicle with respect to the position of the measurement can be derived from there.
    In addition, the optical module of a geodetic measurement system according to the invention can be substantiated by a
    of beam detection and the optical beam can be received by the beam detection unit, where a beam offset from a zero position and / or a beam incidence angle can be determined, in particular continuously, by means of the beam detection unit to at least partially determine the current state, and the control unit is configured in such a way that the aerial vehicle can be positioned and aligned, depending on the beam deviation and / or the angle of beam incidence.
    In addition, the air vehicle, in particular, can be coupled to a beam by the beam detection unit and can be oriented along the beam and / or by a change in the direction of beam emission.
    Within the scope of the invention, a guide plane, in particular a laser plane, in particular horizontally, can be defined by a rotation of the beam and the aerial vehicle can be positioned and / or oriented by means of the beam in a defined way with respect to the guide plane, in particular in the guide plane or parallel to the guide plane.
    As an alternative to the beam reflection in the UAV, the first can be received in the corresponding detection unit and an air vehicle status with respect to the measurement unit can be determined from a determinable beam incidence angle and / or a possible deviation from a zero position of the impact point on a detector in the detection unit.
    Based on the variables that can be established in this way, the air vehicle can, in turn, be controlled, by a real / desired comparison, and the air vehicle can be placed in the desired state.
    Using this arrangement, the UAV can, moreover, be coupled to the beam.
    For this purpose it is also possible, depending on the determined deviations of the incident beam in the beam detection unit, to control the UAV in such a way that the deviations are continuously compensated and the beam remains aligned with the beam detection unit or UAV.
    In particular, the UAV can then, moreover, be controlled due to the change in beam alignment, where the aerial vehicle moves in correspondence with the change in alignment.
    The degrees of freedom in which the air vehicle can be moved in the event of coupling can be defined
    by means of the beam configuration, that is, for example, an aligned beam or a plane defined by the rotation of the beam.
    In this way, the aerial vehicle can also be coupled to a comprehensive plane and can be moved in the latter, where, in this case, there is no continuous contact between the beam and the detection unit, but, instead, said contact it is moving, interrupted depending on a frequency of rotation of the beam.
    According to the invention, the geodetic measurement system can be embodied in such a way that the beam detection unit can be articulated in the air vehicle in such a defined way that the beam can be received.
    For example, in the case of an oblique beam alignment, this can make it possible to establish contact between the beam and the beam detection unit and thus open up the system's universal employability or a broad spectrum of applications. application for air vehicle control.
    In addition, according to the invention, the air vehicle can have a sensor unit for determining the actual alignment and / or actual speed of the air vehicle in the coordinate system, in particular, a tilt sensor, a magnetometer, an accelerometer , a rate sensor and / or a speed sensor, in particular, a GNSS module.
    In addition, the air vehicle can have a marking specifying the actual alignment, in particular, a defined pattern, a pseudo-random pattern, a bar code and / or a light emitting diode, and the measurement system can have a unit detection, in particular a camera, for detecting the marking and for determining the actual alignment of the air vehicle in the coordinate system from the position and arrangement of the marking.
    In addition, the measurement system may have a remote image detection unit, in particular a RIM camera, to make an image of the aerial vehicle, where a pixel-dependent contour and / or distance data with respect to the aerial vehicle they can be derived from the image and the actual alignment and / or the distance to the air vehicle in the coordinate system can be determined from there.
    Flight alignment and / or speed, in particular the position
    of the air vehicle can be determined using one of the provisions described above and, thus, it is possible to establish the actual state of the air vehicle.
    In addition, a GNSS module can be arranged on the air vehicle in the form of support and the actual position, a direction of flight and, in this way, the actual alignment of the air vehicle can be determined from, in particular, continuously, received GNSS signals.
    Thus, if the position of the measurement unit is known, it is possible, for example, to determine its distance from the air vehicle and take this information into account when establishing the real state and the control data.
    In addition, the measurement unit can be equipped with a GNSS module (for receiving GNSS signals) and can be used to establish the position of the unit or a position relationship with the air vehicle.
    In particular, the control unit can, according to the invention, be configured in such a way that the air vehicle can be moved depending on the actual state and a specific flight path, where the flight path can be determined by a starting point and an end point and / or by a number of waypoints, in particular automatically, and / or by a defined position of a flight geometry axis, in particular where an air vehicle movement can be optimized taking into account the state in particular where the information regarding the real state, in particular the real position, the real alignment, the real speed, the angle of incidence, the beam deviation and / or the distance to the measurement unit, can be fed to a Kalman filter and the movement of the air vehicle can be controlled taking into account the parameters calculated by the Kalman filter.
    The flight path can additionally be defined taking into account the surroundings of the air vehicle and can, in the process, take into account, for example, obstacles or directional changes in the vicinity.
    For example, the route can be adapted on a pipe in such a way that collisions with the pipe wall are guaranteed to be avoided.
    In addition, it is possible, for example, that the flight path is defined depending on a terrain model, in particular a CAD model.
    In addition, the aerial vehicle of a geodetic measurement system according to the invention may have a sensor for measuring, in particular continuously, an object distance to an object, where the object distance can be taken taking into account when controlling the air vehicle and / or where the respective object distance can be connected to the respective real state, in particular the real position, in the case of a guide, in particular a linear horizontal guide, of the ground vehicle in such a way that an object surface profile, in particular a land section, can be determined.
    Using this modality, the air vehicle can, taking into account sensor measurements, be controlled in such a way that obstacles are once again identified and it is possible to avoid a collision with the latter.
    In addition, the sensors can detect or measure objects along which the aerial vehicle is oriented.
    In addition, the air vehicle can be controlled in such a way that the air vehicle can be constantly oriented at a specific target distance from the object depending on the measurement of the object's distance.
    By maintaining a predetermined distance from an object, a possible collision with an obstacle can therefore be avoided.
    In addition, the UAV can be coupled to a laser plane and thus moved horizontally, for example, in the case of a horizontal alignment of the plane defined by a rotating laser beam, where a constant distance stops, for example , a tunnel wall can be determined.
    In addition, within the scope of the geodetic measurement system, a position and alignment of the measurement unit can be predetermined in a global coordinate system, where the position can be predetermined by a known configuration point of the measurement unit and / or position and alignment can be determined by calibration based on known target points, in particular, where the coordinate system can be referred to with the global coordinate system so that the actual state of the air vehicle can be determined in the global coordinate system.
    As a result, the air vehicle can be controlled with respect to the upper global coordinate system and the actual state can likewise be determined with respect to that system.
    In a geodetic measurement system according to the invention, the status information, in particular the real status information, the desired status information and / or the distance between the measurement unit and the air vehicle, can be transmitted between the measurement unit and the air vehicle for the production of control data and / or control data, in particular where the status information can be transmitted via the radio connection, wired and / or modulated in the beam .
    In addition, the measurement system can have a remote control unit to control the air vehicle, where status information and / or control data can be transmitted between the remote control unit and the measurement unit and / or the vehicle over the air, in particular via a radio connection or via a cable.
    In this way, measurement data can be exchanged between system components, collected in one component and control data can be produced in that component.
    For example, in the case of coupling the aerial vehicle to the laser beam, the information, for example, distance or real state, can be transmitted based on a signal that is modulated in the laser beam.
    As a result, there can be a direct exchange of measurement data and, for example, control of the air vehicle by a control unit on the air vehicle can take place based on a comparison of the actual state provided with the state intended.
    The invention also relates to a method for the control of a controllable, unmanned, self-propelled serial vehicle, where the aerial vehicle is moved in a controlled manner and / or positioned in a substantially fixed position, with a measuring unit geodesic, in particular, a total station, theodolite, laser tracker or laser scanner, with a beam source for emitting a substantially collimated optical beam, a base, a display unit that can be engineered by the engine around two axes with respect to the base for alignment of an optical beam emission direction and angle measurement sensors for determining the alignment of the display unit, and in particular with a range functionality.
    The measurement unit is used to emit a substantially collimated optical beam in one direction.
    The optical beam interacts with the air vehicle in such a way that the first is reflected or received in the air vehicle, where the real state of the air vehicle in a coordinate system is determined from the interaction, a real state which is determined by a position, an alignment and / or a change in position.
    In addition, control data is produced depending on the actual state, which is in particular determined continuously, and a defined target state and the air vehicle are placed in the desired state, in particular within a defined tolerance range around the intended state, an automatically controlled way through the control data.
    Within the scope of the method, a real position, a real alignment and / or a real air vehicle speed can be taken into account when determining the actual state and / or a desired position, an intended alignment and / or a desired speed can be taken into account when setting the desired state.
    In addition, according to the invention, a distance from the measurement unit to the air vehicle can be determined by reflecting the beam in the air vehicle and the actual position of the air vehicle can be derived, in particular continuously, from from the distance and the direction of emission.
    In the method according to the invention, a beam offset can be determined, in particular continuously, from a zero position and / or an angle of incidence of the beam when receiving the beam in the air vehicle for determining the state and the air vehicle can be positioned and aligned, depending on the beam deviation and / or the beam incidence angle, in particular where the air vehicle can be coupled to the beam and oriented along the beam and / or by a change in beam beam direction.
    Furthermore, within the scope of the method according to the invention
    tion, a guide plane, in particular a laser plane, in particular horizontally, can be defined by the rotation of the beam and the aerial vehicle can be positioned and / or oriented in a definite way with respect to the guide plane, in particular in the guide plane or parallel to the guide plane. 5 In addition, according to the invention, the actual alignment of the air vehicle can be determined in the coordinate system in the inclination, bearing and yaw directions, in particular where the determination takes place by means of an associated internal sensor unit. with the air vehicle, in particular by means of a tilt sensor, magnetometer, accelerometer, rate sensor and / or speed sensor.
    Furthermore, the real alignment in the coordinate system can be determined through an interaction of a marking, which is associated with the air vehicle and specifies the real alignment, in particular of a defined pattern, of a pseudo-random pattern, a bar code and / or a light emitting diode and a particular detection by means of a camera, of the marking to determine the actual alignment from a position and arrangement of the marking.
    In addition, the real alignment can be determined in the coordinate system by taking an image from the air vehicle, where a pixel-dependent contour and / or distance data with respect to the air vehicle are derived from the image.
    Within the scope of the method according to the invention, the air vehicle can be moved depending on the actual state and a specific flight path, where the flight path can be determined, in particular, automatically, by a point starting point and an end point and / or by a number of waypoints and / or by a defined position of a flight geometry axis, in particular where an air vehicle movement can be optimized taking into account the real state.
    Alternatively, or in addition to, information regarding the real state, in particular the real position, the real alignment, the actual speed, the angle of incidence, the beam deviation and / or the distance to the measurement unit, can be fed to a Kalman filter and the movement of the air vehicle can be controlled taking into account the parameters calculated by the Kalman filter.
    In addition, according to the invention, a distance from the object from the air vehicle to an object can be measured, in particular continuously, where the object distance can be taken into account when controlling the air vehicle. and / or where the air vehicle 20 5 can be controlled in such a way that the air vehicle 20 is constantly oriented at a specific target distance from the object 81, 85 depending on the measurement of the object distance.
    In addition, in the method according to the invention, a position and alignment of the measurement unit can be predetermined in a global coordinate system, where the position can be predetermined by a known configuration point of the measurement unit and / or position and alignment can be determined by calibration based on known target points, in particular where the coordinate system can be referred to with the global coordinate system so that the actual state of the air vehicle can be determined in the global coordinates.
    The invention additionally relates to a geodetic measurement unit, in particular a total station, theodolite, laser tracker or laser scanner, for a system according to the invention, with a beam source for emitting a substantially optical beam collimated, a base, a display unit that can be articulated by the motor around two geometric axes with respect to the base for aligning an optical beam emission direction and angle measurement sensors to determine the alignment of the display unit, and, in particular, with a track feature.
    In addition, the measurement unit is embodied in such a way that the control data for the control of a controllable, unmanned and self-propelled aerial vehicle can be generated and transmitted to the aerial vehicle.
    The invention also relates to a computer program product, which is stored in a machine-readable medium, or computer data signal, substantiated by an electromagnetic wave, a program code for the production of dependent control data. -
    of a real state, which, in particular, is determined continuously, of an air vehicle and of a defined target state for automatic control of the air vehicle in the desired state, in particular if the program is carried out in a processing unit electronic data. 5 The method according to the invention and the system according to the invention are described in greater detail below in a purely illustrative way based on the specific illustrative modalities that are illustrated schematically in the drawings, where the additional advantages of the invention are also mentioned.
    In detail: figures 1a to 1c illustrate a movement of positioning, according to the invention, the air vehicle from a real state to a desired state; figure 2 illustrates a first embodiment of a measurement system according to the invention, with an unmanned aerial vehicle and a total station; figure 3 illustrates a second embodiment of a measurement system according to the invention, with an unmanned aerial vehicle and a laser scanner; figures 4a and b illustrate, respectively, a third mode of a measurement system according to the invention, with an unmanned aerial vehicle and a rotation laser; and figures 5a to c illustrate three modalities for an air vehicle controlled by a measurement system according to the invention.
    Figure 1a schematically illustrates a positioning process according to the invention for an aerial vehicle.
    Here, the air vehicle is in a real state, which is defined by a real position 12, a real speed and / or a real alignment, and must assume an intended state.
    The target state of the air vehicle is predetermined by a target position 11 and a flight speed (target speed), which must equal zero in the target position 11. However, a desired alignment of the air vehicle can be configured within the scope of the desired state, where the air vehicle can be equipped with a measurement sensor to determine the alignment and, thus, can carry out a defined automatic alignment.
    Depending on the desired state and the real state, it is now possible to determine a correction 13, that is, a real state of the air vehicle can be compared with the desired state and 5 a difference for the respective variable state (position, speed, alignment) can be calculated from there.
    In addition, the control data or control signals can be derived from these state differences transmitted to the rotor engines for control of the air vehicle.
    Based on corrections 13, the air vehicle can now be controlled with a specific speed and alignment, proceeding from the real state, in particular, from the real position 12, in such a way that, for example, a interactive approach to the desired state or desired position 11. In the process, the actual state of the air vehicle is continuously compared with the intended state and a respective correction 13 is derived.
    This correction 13 of the real state of the air vehicle can occur until the real state of the air vehicle corresponds to the desired state or the difference remains below a predefined limit so that a correction 13 no longer needs to be carried out.
    Figure 1b illustrates the positioning according to the invention of an air vehicle on a predetermined path 17. Path 17 or the flight path for the air vehicle is in this case limited by a starting point 14 and an end point 15 and the profile is defined by the additional waypoints 16a, 16b.
    The air vehicle is in a real state, which, in turn, can be defined by a real position 12, a real speed and / or a real alignment of the air vehicle.
    Here, the real state can be determined by means of an evaluation unit.
    In this arrangement, the desired status (desired position 11) of the air vehicle is determined by the profile of trajectory 17. Here, corrections 13 are also established by comparing the real state with the desired state, corrections that are converted into control to the air vehicle and transmitted to the latter.
    When calculating a position correction 13, the current alignment or flight direction and speed can be taken into account
    Consideration here, where the air vehicle is not necessarily directed to trajectory 17 at the shortest distance, but is instead controlled in an optimized direction and with an optimized speed for the flight path. By way of example, this can prevent the air vehicle from slowing and accelerating sharply 5 and a sudden change in direction. In addition, an optimized reduction in flight speed can be prescribed, for example, in those waypoints 16a, 16b, 16c where there is a change in the direction of the flight path. Figure 1c illustrates the alignment and positioning, according to the invention, of an aerial vehicle on a predetermined geometric axis 18. Corrections 13 can be calculated taking into account the real state, among others, the real position 12, and the control signals transmitted by a user, control signals that can perform a forward and reverse movement of the air vehicle along the geometric axis
    18. Similar to the positioning according to figure 1b, the movement of the air vehicle from the actual position 12 to the desired position 11 can be optimized in such a way that, in particular, the flight speed or control commands, such as, for example, a direction of movement 19, additionally recorded by a user are taken into account in the correction movement 13 and, as a result, the flight path is not along the shortest path between the actual position 12 and the geometric axis 18. In the illustrated case, the correction movement 13 of the aerial vehicle 20 can be in direction 19 towards the right side due to a control command. Figure 2 illustrates a measurement system 1 according to the invention, with an unmanned aerial vehicle 20 and a total station 30, which represents a measurement unit. The actual state of the air vehicle 20, in particular the actual position, can in that case be detected by measurements from total station 30 or a laser scanner (not shown here). Total station 30 is equipped with an emission unit 31, which can be articulated around two geometric axes, as a result of which an emission direction can
    to be aligned with the aerial vehicle 20. Precise alignment can be detected by the angle measurement sensors at the total station 30. Additionally, a distance measurement module, which makes it possible to perform a distance measurement for a reflector 22 in the air vehicle 5 20, it is integrated into the emission unit 31. A real position or real coordinates of the air vehicle 20 can be determined from measured angles and distance.
    In order to determine the actual alignment, on the part of the measuring instrument, there may be, for example, a camera integrated with the emission unit 31 or an external camera, the field of view from which it can be aligned to the aerial vehicle 20 , in particular through a mirror, where a marking, for example, several LEDs or defined patterns, can be observed and detected in a known position in the air vehicle housing 20. In addition, the measurement data in relation to the real state they can also be detected by a sensor unit 21, which, for example, has an accelerometer, rate sensor, magnetometer, tilt sensor and / or speed sensor.
    All measurement data can be transmitted to a control unit 60, for example, via cable or radio link, which control unit is located at total station 30 in this mode, but can alternatively be arranged in a remote control or in the air vehicle 20. An algorithm, for example, a Kalman filter, can be used to calculate the real state (position, speed, alignment) of the air vehicle 20 from the measurement data.
    In the process, the measurement data can be detected with different measurement frequencies.
    In this way, the total station 30 can detect, for example, angles and distance with a measurement frequency of, for example, 1 Hz, while the accelerometer can determine the accelerations acting on it with a frequency of, for example , 100 Hz or more.
    By a suitable combination of sensors, the position can thus be determined by the Kalman filter with a frequency of, for example, 100 Hz or more and thus have a positive effect on the regulation of the air vehicle.
    All measurements, for example, angles and distances
    and / or accelerations, slopes and / or rates, of the sensor unit can be fed into the Kalman filter, continuously calculate position coordinates, a velocity vector and / or an alignment angle in addition to possible specific sensor parameters, for example example, the orientation of the accelerometer, of the air vehicle with a frequency, for example, 100 Hz or more.
    Corrections can be derived from the real state and control signals, which, for example, are registered in system 1 by a user via a remote control, where these corrections are transmitted directly or in the form of additional control signals for the engines of the air vehicle 20 and can perform a correct positioning of the air vehicle 20. In this first modality illustrated here, the measurement data for determining the real state of the air vehicle 20 can be determined by the total station 30 and a unit of sensor 21. The sending unit 31 of the total station 30 can be continuously aligned with the reflector 22 in the air vehicle 20 by an automatic target detection function and, as a result, tracking the air vehicle 20. In the case where the tracking automatic target loses connection with the target (reflector 22), for example, due to a visual obstacle, an approximate position can be transmitted via the radio connection to the measuring instrument 30 with ba if in the measurements of the sensor unit 21 and / or a GNSS module in the air vehicle 20. Based on this information, the measuring instrument 30 can find the target again, reestablish the connection and once again perform the target tracking automatic.
    Additionally, if the connection is lost in this way, the aerial vehicle 20 can be detected by a camera and, for example, an outline of the aerial vehicle 20 can be derived by image processing and the measurement unit 30 can be newly aligned with UAV 20 based on that.
    The distance measurement module and the angle sensors, which are arranged in the total station 30, can be used to measure the distance to the reflector 22 and the alignment of the emission unit 31 and, thus, the direction of a beam 32, in particular a measuring beam,
    emitted by the emission unit 31. The emission data can then be transmitted to the control unit 60 at the total station 30. At the same time, the alignment of the air vehicle 20 can be determined by a sensor unit 21. For this purpose, the use can be made of measurements from an accelerometer, a rate sensor, a speed sensor, a tilt sensor and / or a magnetometer, which can be devices in the sensor unit 21 on board the air vehicle 20. The measurement data determined in this way can be transmitted to the control unit 60 via, for example, the radio connection.
    The actual state of the air vehicle 20 can be calculated at the control unit 60 from the measurement data established by the local station 30 and the sensor unit 21, and can be compared with the predetermined desired state.
    From there, it is possible, in turn, to derive the corrections that can be transmitted to the aerial vehicle 20 through the radio connection and, there, can be transmitted as control signals to the rotors 23 for positioning and alignment purposes .
    Figure 3 illustrates a second embodiment of a measurement system 1 according to the invention with an unmanned aerial vehicle 20 and a laser scanner 40 as a measurement unit.
    In that case, a geometric axis of movement 43 is prescribed in the part of the laser scanner 40 for the aerial vehicle 20 by the emission of an optical beam 42. For this purpose, the beam 42, in particular a beam to be scanned, is, using a rotating mirror 41 in an emission unit, emitted in a direction in which the aerial vehicle 20 is to be moved.
    When the air vehicle 20 is coupled to the laser beam 42, a lateral position deviation and an angular deviation of the air vehicle 20 from the predetermined geometry axis 43 is determined by a beam detection unit 25. Additional measurement data , such as, for example, the slopes of the aerial vehicle 20, can in turn be detected by the sensor unit 21. By way of example, the aerial vehicle 20 can be coupled to the beam 42 by virtue of a user 100 moving the aerial vehicle 20 for the laser beam 42 by means of a remote control unit 70 or by virtue of the laser beam 42 being directed towards the detection unit 25, the aerial vehicle 20 being coupled to and the beam 42 then being aligned in a defined direction, with the aerial vehicle 20 remaining coupled to and moving along according to the beam realignment 42. 5 The measurement data to be detected in order to determine the real state can, in this case, be detected on the vehicle aerial 20 per m using the beam detection unit 25. By way of example, this beam detection unit 25 can consist of an optical receiving unit and an image sensor, where the laser beam 42 can be represented as a laser spot on the recorded image and beam offset or incident angle can be detected.
    Depending on the design of the optical reception unit, it is possible to determine the lateral position deviation or the angular deviation of the laser beam 42 from an optical geometric axis of the optical reception unit from the position of the laser point on the Image.
    The angular deviation can be detected by means of a collimator associated with the optical reception unit.
    A detection unit 25 that can detect both lateral position deviation and angular deviation with two optical receiving units is also possible.
    All measurement data can be transmitted to the control unit 60 in the air vehicle via a wire connection or via a radio connection and can be used to calculate the actual state of the air vehicle.
    In addition, the control data, which can carry out a forward or reverse movement of the air vehicle along geometry axis 43, can be transmitted from user 100 to control unit 60 via remote control unit 70. From a comparison of the real state with the desired state, it is possible to calculate the corrections while taking into account the control data defined by the user, corrections that can be transmitted to the routes of the aerial vehicle 20 as signals of control and can carry out an alignment and positioning of the aerial vehicle 20 on the laser beam 20, that is, a correspondence of the predetermined direction of the geometric axis of movement 43 with an optical geometric axis of the beam detection unit 25. In addition, the lateral beam deviation and angular deviation can be fed to the Kalman filter, which in particular is embodied in the control unit
    60. 5 In this modality, it is also possible to perform a semi-autonomous control of the aerial vehicle 20 in such a way that the geometric axis of movement 43, along which the aerial vehicle 20 must move, is prescribed for system 1 as the desired state. Using this system 1, which operates by the interaction of the laser beam 42, the beam detection unit 25 and, optionally, the additional measurement data of the sensor unit 32, the aerial vehicle 20 can be automatically maintained on the geometrical axis of movement 43. The back and forth movement along the geometric axis 43, that is, a movement of the aerial vehicle 20 with a degree of freedom, can therefore be performed simply by the user 100 via remote control unit 70. If the aerial vehicle 20 is furthermore positioned on the geometrical axis of predetermined movement 43 at a predetermined distance from the laser scanner 40, the actual distance can be measured by a measurement distance using the laser scanner 40. By comparing this actual distance with the predetermined desired distance, it is once again possible to calculate the corrections, which are transmitted to the aerial vehicle 20 as control signals for the trigger rotors 23 and can position the air vehicle 20 at the predetermined desired distance. Since the beam alignment 42 emitted by the laser scanner 40 and the distance to the air vehicle 20 in that beam direction are known, the position of the air vehicle 20 can, moreover, be determined exactly or the coordinates can be derived with respect to a relative coordinate system of the laser scanner 40. Figures 4a and 4b illustrate a third mode of a measurement system 1 according to the invention, respectively, with an unmanned aerial vehicle 20 and a laser. rotation 50, and are therefore described together here. In these embodiments, the rotating laser 50 or a rotating emission of a laser beam 52 from the rotating laser 50 can predetermine a guide plane 53 or a desired movement plane horizontally (figure 4a) or at a predetermined angle α to the plane horizontal H (figure 4b) in order to maintain and move the air vehicle 20 at a constant altitude or 5 to move in a defined direction.
    In principle, such a plan can also be defined by a rotating display unit of a total station while emitting a measurement beam.
    When using a total station, it is possible, depending on the horizontal position of the aerial vehicle 20, to rotate the display unit around the vertical geometric axis and thus align the emitted measuring beam with the vehicle aerial 20. In the case of rotating laser 50, the plane 53 can be covered independently of the position of the aerial vehicle 20 by a laser beam 52 which is rapidly rotating around a geometric axis.
    Using the beam detection unit 25 it is possible to detect the deviation of the air vehicle 20 from a position defined by the plane, for example, altitude.
    The inclination and alignment of the air vehicle 20 can, in turn, be determined by the sensor unit 21 on board the air vehicle 20. These measurement data are transmitted via the radio connection to the control unit 60, which is integrated into the remote control unit 70, from user 100. It is possible to calculate the real state of the air vehicle 20 in this way.
    Based on a comparison between the real state and the desired state, which, in this case, for example, corresponds to the positioning and alignment of the air vehicle 20 in the defined laser plane 53, corrections are calculated taking into account possible additional control data produced by the user 100, corrections that are transmitted as control signals to the aerial vehicle 20 in order to activate the rotors 23 and can carry out a positioning of the aerial vehicle 20 in the predetermined desired state, that is, positioning and / or movement of the air vehicle 20 on the guide plane 53. In this way, there can be an automatic continuous change in the altitude of the air vehicle 20 such that it is positioned on the horizontal plane.
    predetermined zontal 53 (figure 4A). The change in the position of the air vehicle 20 on plane 53 can therefore be carried out by user 100 using remote control 70, which can be carried out as a smartphone or tablet PC.
    User 100 can therefore move air vehicle 20 on plane 533, that is, with two degrees of freedom remaining.
    In the case of non-horizontal alignment of the plane 53 according to figure 4B, the beam detection unit 25 can be arranged at a corresponding angle on the air vehicle 20 or the alignment of the detection unit 25 can be adapted by a articulation device for the angle α of the plane 53. In the event of such an arrangement, the user 100 can freely move the aerial vehicle 20 with two degrees of freedom in this angled plane 53, indicated by the arrow P.
    Figures 5a, 5b and 5c illustrate three modalities for an air vehicle 20 controlled by a measurement system according to the invention.
    Figure 5a illustrates an aerial vehicle 20, which has a beam detection unit 23 which is aligned with a laser beam 82. In this way, the aerial vehicle 20 can be oriented along a geometric axis of movement 83. The beam laser 82 is aligned coaxially with the geometric axis of a tube 81, which therefore corresponds to the geometric axis of movement 83. With this arrangement, the air vehicle 20 can be moved, for example, in a narrow tube 81 , by means of the continuous guide along the beam 82 provided by the beam detection unit 23 in such a way that the distance to the tube wall can be kept constant and a collision with the tube wall can be avoided.
    In addition, the air vehicle 20 may comprise distance measurement sensors 26a, 26b, for example, digitizers, which continuously detect distances to the tube wall and provide measurement data.
    These data can be additionally used to control the air vehicle 20 and can be taken into account when calculating correction values for changing the air vehicle status.
    A user can, therefore, very easily move the air vehicle 20 back and forth and position said air vehicle manually on the tube 81, in particular, by means of a remote control.
    Figure 5b illustrates an additional application for an air vehicle 20 which is controlled in a targeted manner according to the invention.
    Here, terrain 85 must be measured.
    For this purpose, a laser beam 82 can, again, be aligned in the direction of a horizontal geometric axis 5 and the air vehicle 20 can be moved along that beam 82 by means of a beam receiving unit. 26, in particular based on beam deviation and / or incidence angle.
    Using an additional sensor 26, which can be aligned downwards in the vertical direction, it is possible to measure the distance to the surface of the terrain continuously while flying over terrain 85. From there, a distance can be derived in each case between the geometry axis 83 and the terrain and, by connecting these two distance values with the respective real position of the aerial vehicle 20, it is possible to establish a terrain profile or terrain section.
    Figure 5c illustrates an additional application for an air vehicle 20 which is controlled according to the invention.
    The aerial vehicle 20 is, in this case, oriented, in turn, in a vertical plane (not shown), defined by a measurement unit, by means of the beam receiving unit 25. Using the distance measurement sensor 26, a distance to a surface of an object 85 is measured during the movement of the air vehicle 20 and used to determine a flight path 86 for the air vehicle 20. As a result of this continuous measurement, it is possible to maintain a constant distance for object 85 when the aerial vehicle 20 is moved and, thus, it becomes possible to avoid a collision with the object.
    It is understood that these figures presented represent only illustrative modalities possible schematically.
    According to the invention, the various approaches can likewise be combined with each other and with the systems and methods for controlling air vehicles and with measuring instruments of the prior art.
    权利要求:
    Claims (15)
    [1]
    1. Geodetic measurement system (1) with a geodetic measurement unit (30, 40, 50), designed as a total station, theodolite, or tracker, with 5 a beam source for emitting a substantially collimated optical beam (32, 42, 52, 82), a base, a visualization unit that can be articulated by the motor around two geometric axes with respect to the base for aligning a direction of emission of the optical beam (32, 42, 52, 82); and angle measurement sensors for determining the alignment of the display unit; and, in particular, with a strip feature; a controllable, unmanned and self-propelled aerial vehicle (20) with an optical module (22, 25), where the aerial vehicle (20) is designed in such a way that the aerial vehicle (20) can be moved in a controlled manner and / or positioned in a substantially fixed position, and an evaluation unit, in which the evaluation unit is configured in such a way that it is possible to determine a real state of the air vehicle (20) in a coordinated system, determined by a position, an alignment and / or a change in position, from an interaction of the optical beam (32, 42, 52, 82) with the optical module (22, 25); characterized by the fact that the measurement system (1) comprises a control unit (60) to control the air vehicle (20), in which the control unit (60) is configured in such a way that, based on an algorithm depending on of the current state, which in particular can be determined continuously, and a defined target state, the control data can be produced and the air vehicle (20) can be placed in the desired state, in particular within a tolerance range defined around the desired state, in an automatically controlled way through the control data.
    [2]
    2. Geodetic measurement system (1), according to claim
    cation 1, characterized by the fact that it is possible to compensate for a real position, a real alignment and / or a real air vehicle speed (20) when determining the real state and / or it is possible to take into account a pre- 5 a desired alignment and / or a desired speed when setting the desired state.
    [3]
    3. Geodetic measurement system (1), according to claim 2, characterized by the fact that the optical module (22, 25) is substantiated by a reflector (22) that specifies the actual position of the air vehicle (20) and the beam (32, 42, 52, 82) can be reflected through the reflector (22), where a distance from the measurement unit (30, 40, 50) to the air vehicle (20) can be determined and the position of the aerial vehicle (20) can be derived, in particular continuously, from the distance and the direction of beam emission (32, 42, 52, 82).
    [4]
    4. Geodetic measurement system (1), according to claim 1 or 2, characterized in that the optical module (22, 25) is comprised of a beam detection unit (25) and the optical beam ( 32, 42, 52, 82) can be received by the beam detection unit (25), where a beam offset from a zero position and / or a beam incidence angle (32, 42, 52, 82) can be determined, in particular continuously, by means of the beam detection unit (25) to determine at least partially the real state, and the control unit (60) to be configured in such a way that the air vehicle ( 20) can be positioned and aligned, depending on the axis deviation, and / or the beam incidence angle (32, 42, 52, 82), in particular, where the aerial vehicle (20) can be coupled to the beam (32 , 42, 52, 82) by the beam detection unit (25) and can be oriented along the beam (32, 42, 52, 82) and / or by a change in the beam emission direction (32, 42, 52, 82).
    [5]
    5. Geodetic measurement system (1), according to any of claims 2 to 4, characterized by the fact that the aerial vehicle (20) has a sensor unit (21) for determining the real alignment and / or real speed of the air vehicle (20) in the coordinate system; and / or 5 the air vehicle (20) has a marking specifying the actual alignment; and the measurement system (1) has a detection unit for detecting the marking and for determining the actual alignment of the air vehicle (20) in the coordinate system from the position and arrangement of the marking.
    [6]
    6. Geodetic measurement system (1), according to any of claims 1 to 5, characterized by the fact that the control unit (60) is configured in such a way that the air vehicle (20) can be moved depending on the actual state and a specific flight path (17), where the flight path (17) can be determined by a starting point (14) and an end point (15) and / or a number of waypoints (16a , 16b), in particular automatically, and / or by a defined position of a geometric flight axis (18), in particular where the information regarding the real state, can be fed to a Kalman filter and the movement of the air vehicle (20 ) can be controlled taking into account the parameters calculated by the Kalman filter, and / or the aerial vehicle (20) having a sensor (26, 26a, 26b) for measurement, an object distance to an object (81, 85) , where the object distance can be taken into account when controlling the air vehicle (20) and / or the air vehicle (20) can be controlled in such a way that the air vehicle (20) can be constantly oriented at a specific target distance from the object (81, 85) depending on the measurement of the object distance.
    [7]
    7. Geodetic measurement system (1), according to any of claims 1 to 6, characterized in that status information can be transmitted between the measurement unit (30, 40, 50) and the air vehicle (20 ) for the production of control data and / or control data. 5
    [8]
    8. Control method of a self-propelled, unmanned, controllable aerial vehicle (20), in which the aerial vehicle (20) can be moved in a controlled manner and / or positioned in a substantially fixed position, with a measuring unit geodesic (30, 40, 50), designed as a total station, theodolite, or laser tracker with a beam source for emitting a substantially collimated optical beam (32, 42, 52, 82), a base; a visualization unit that can be articulated by the motor around two geometric axes with respect to the base for aligning an emission direction of the optical beam (32, 42, 52, 82) and angle measurement sensors for determining the alignment display unit and, in particular, with a range feature, where the measurement unit (30, 40, 50) is used to perform a substantially collimated optical beam emission (32, 42, 52, 82) in a issuing direction; the optical beam (32, 42, 52, 82) interacting with the aerial vehicle (20) in such a way that the first is reflected or received in the aerial vehicle (20); and a real state of the air vehicle (20) in a coordinate system determined from the interaction, with the real state determined by a position, an alignment and / or a change in position; characterized by the fact that the control data is produced depending on the real state, which is, in particular, determined continuously, and a defined desired state and the air vehicle (20) being placed in a desired state, in particular in a defined tolerance range around the desired state, automatically controlled by means of control data.
    [9]
    9. Method according to claim 8, characterized by the fact that 5 a real position, a real alignment and / or a real air vehicle speed (20) are taken into account when determining the real state and / or desired position, a desired alignment and / or a desired speed being taken into account when defining the desired state, in particular, where a distance from the measurement unit (30, 40, 50) to the air vehicle (20) is determined by means of the beam reflection (32, 42, 52, 82) in the air vehicle (20) and the actual position of the air vehicle (20) being derived, in particular continuously, from the distance and direction of emission.
    [10]
    10. Method according to claim 8 or 9, characterized in that the beam offset is determined, in particular continuously, from a zero position and / or a beam incidence angle (32, 42, 52, 82) when receiving the beam (32, 42, 52, 82) in the air vehicle (20) to determine the real state and the air vehicle (20) being positioned and aligned, depending on the beam deviation and / or the angle of incidence of the beam (32, 42, 52, 82); in particular, where the aerial vehicle (20) is coupled to the beam (32, 42, 52, 82) and oriented along the beam and / or by a change in the direction of beam emission (32, 42, 52, 82) .
    [11]
    11. Method according to either of claims 9 or 10, characterized in that the actual alignment of the air vehicle (20) is determined in the coordinate system in the inclination, bearing and yaw directions, in particular where the determination occurs via an internal sensor unit (21) associated with the air vehicle (20), and / or the actual alignment in the coordinate system being determined
    by means of an interaction of a marking, which is associated with the aerial vehicle (20) and which specifies the real alignment, and a detection, of marking to determine the real alignment from a position and arrangement of the marking.
    [12]
    12. Method according to any of claims 8 to 11, characterized in that the air vehicle (20) is moved depending on the actual state and a specific flight path (17), where the flight path (17) is determined by a starting point (14) and an end point (15) and / or a number of waypoints (16a, 16b) and / or a defined position of a flight geometry axis (18), in particular, where the information regarding the real state is fed to a Kalman filter and the movement of the air vehicle (20) is controlled taking into account the parameters calculated by the Kalman filter.
    [13]
    13. Method according to any of claims 8 to 12, characterized in that an object distance from the air vehicle (20) to an object (81, 85) is measured, in particular continuously, where the distance from the object it is taken into account when controlling the air vehicle (20) and / or the air vehicle (20) is controlled in such a way that the air vehicle (20) is constantly oriented at a desired distance specific to the object (81, 85) depending on the measurement of the object distance and / or a position and alignment of the measurement unit (30, 40, 50) is predetermined in a global coordinate system where the position is predetermined by a setpoint known measurement unit (30, 40, 50) and / or position and alignment are determined by calibration based on known target points, in particular where the coordinate system is referred to as the global coordinate system of so that the actual state of the air vehicle (20) is determined in the global coordinate system.
    [14]
    14. Geodetic measurement unit (30, 40, 50), designed as a total station, theodolite, or laser tracker, for use in a system, as defined in any of claims 1 to 7, with a beam source for emission of a substantially collimated optical beam (5, 32, 42, 52, 82), a base, a display unit that can be articulated by the motor around two geometric axes with respect to the base for aligning a direction of emission of the optical beam (32, 42, 52, 82) and angle measurement sensors to determine the alignment of the display unit; and, in particular, with a range feature characterized by the fact that the measurement unit (30, 40, 50) is embodied in such a way that the control data to control a controllable, unmanned, self-propelled aerial vehicle (20) can generated and transmitted to the air vehicle (20).
    [15]
    15. Computer program product, which is stored in a machine-readable medium, or computer data signal, consubstantiated by an electromagnetic wave, with program code for producing control data depending on a real state, which , in particular, is determined continuously, from an air vehicle (20) and from a desired state defined for the automatic control of the air vehicle (20) in the desired state, as defined in any of claims 8 to 13 , in particular if the program is carried out in an electronic data processing unit.
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    同族专利:
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    AU2012241780A1|2013-10-10|
    CA2832956C|2016-11-22|
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    KR101553998B1|2015-09-17|
    CN103492967A|2014-01-01|
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    法律状态:
    2020-11-17| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2021-03-30| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2021-07-13| B11B| Dismissal acc. art. 36, par 1 of ipl - no reply within 90 days to fullfil the necessary requirements|
    2021-12-07| B350| Update of information on the portal [chapter 15.35 patent gazette]|
    优先权:
    申请号 | 申请日 | 专利标题
    EP11162507A|EP2511781A1|2011-04-14|2011-04-14|Method and system for controlling an unmanned aircraft|
    EP11162507.5|2011-04-14|
    PCT/EP2012/056760|WO2012140191A1|2011-04-14|2012-04-13|System and method for controlling an unmanned air vehicle|
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