System and method for controlling an unmanned air vehicle

• US 9,758,239 B2
• Filed: 04/13/2012
• Issued: 09/12/2017
• Est. Priority Date: 04/14/2011
• Status: Active Grant

• Current Assignee: Hexagon Technology Center GmbH (Hexagon AB)
• Original Assignee: Hexagon Technology Center GmbH (Hexagon AB)
• Inventors: Metzler, Bernhard, Siercks, Knut
• Primary Examiner(s): Khatib, Rami
• Assistant Examiner(s): Wiltey, Nicholas K
• Application Number:
  US14/111,162
• Publication Number:
  US 20140032021A1
• Time in Patent Office: 1,978 Days
• CPC Class Codes: B64C 13/20 using radiated signals
• CPC Class Codes: B64C 19/00 Aircraft control not otherwise provided for
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 2201/20 Remote controls
• CPC Class Codes: G01C 15/002 Active optical surveying means optical plumbing G01C15/105
• CPC Class Codes: G01S 17/66 Tracking systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 5/0036 of measured values, i.e. measurement on mobile and position calculation on base station
• CPC Class Codes: G01S 5/16 using electromagnetic waves other than radio waves
• CPC Class Codes: G05D 1/0033 by having the operator tracking the vehicle either by direct line of sight or via one or more cameras located remotely from the vehicle

Abstract

A geodetic measuring system having a geodetic measuring unit having a beam source for emitting a substantially collimated optical beam. The measuring system also has an automotive, unmanned, controllable air vehicle having an optical module. An evaluation unit is also provided, wherein the evaluation unit is configured in such a manner that an actual state of the air vehicle, as determined by a position, an orientation and/or a change in position, can be determined in a coordinate system from interaction between the optical beam and the optical module. The measuring system has a control unit for controlling the air vehicle, wherein the control unit is configured in such a manner that control data can be produced using an algorithm on the basis of the actual state, which can be continuously determined in particular, and a defined desired state, and the air vehicle can be automatically changed to the desired state.

Claims

1. A geodetic measuring system comprising:

a stationary, ground-based geodetic measuring instrument embodied as a total station, a theodolite, or an industrial laser tracker, comprising;

a base;

a support rotatable by motor relative to the base about a vertical axis;

a beam source for emitting a substantially collimated optical beam;

a sighting unit pivotable by motor relative to the support about a horizontal axis;

angle measurement sensors for determining the alignment of the support with respect to the base, and the sighting unit with respect to the support; and

a distance meter using the optical beam;

wherein the support and the sighting unit are configured for aligning an emission direction of the optical beam;

a helicopter-like self-propelled, unmanned aerial vehicle movable in a controlled fashion and positionable at a substantially fixed position, comprising;

an optical module embodied as a reflector for reflecting the optical beam, wherein a distance from the measuring instrument to the optical module can be determined by the distance meter, and an actual position of the aerial vehicle can be continuously derived from the distance and the emission direction of the beam;

a sensor unit having an accelerometer configured to detect inertia values, and a magnetometer configured to detect geographic alignment;

an evaluation unit for determining an actual state of the aerial vehicle in a coordinate system from an interaction of the optical beam with the optical module and the sensor unit, wherein the actual state is defined by the actual position and the geographic alignment, and optionally also a change in position; and

a control unit configured in such a way that, on the basis of an algorithm depending on the actual state and a defined intended state, control data for controlling the aerial vehicle is produced, by which the aerial vehicle is brought into the intended state.

2. The geodetic measuring system as claimed in claim 1, wherein the control data is produced and the aerial vehicle is brought into a defined tolerance range about the intended state, in an automatically controlled fashion by means of the control data.

3. The geodetic measuring system as claimed in claim 1, wherein the control unit is configured in such a way that, on the basis of an algorithm depending on the actual state, is determined continuously.

4. The geodetic measuring system as claimed in claim 1, wherein the geodetic measuring instrument comprises a ranging functionality.

5. The geodetic measuring system as claimed in claim 1, wherein:

when determining the actual state, it is possible to take account of at least one of;

an actual position,

an actual alignment and

an actual velocity of the aerial vehicle

when defining the intended state, it is possible to take account of at least one of;

an intended position,

an intended alignment and

an intended velocity.

6. The geodetic measuring system as claimed in claim 5, wherein the aerial vehicle has at least one of:

an inclination sensor,

a rate sensor, and

a velocity sensor,

for determining at least one of;

the actual alignment, and

the actual velocity,

of the aerial vehicle in the coordinate system.

7. The geodetic measuring system as claimed in claim 5, wherein:

the aerial vehicle has a marking specifying the actual alignment in at least one of;

a defined pattern,

a pseudo-random pattern,

a barcode, and

a light-emitting diode, and

the measuring system has a RIM camera for taking an image of the aerial vehicle, wherein at least one of;

a contour, and

pixel-dependent distance data,

in respect of the aerial vehicle is derived from the image and the actual alignment and the distance in the coordinate system is determined therefrom.

8. The geodetic measuring system as claimed in claim 5, wherein:

the aerial vehicle has a marking specifying the actual alignment in a defined pattern, pseudo-random pattern, a barcode and a light-emitting diode, and

the measuring system has a camera for detecting the marking and for determining the actual alignment of the aerial vehicle in the coordinate system from the position and arrangement of the marking.

9. The geodetic measuring system as claimed in claim 1, wherein the optical module is embodied by a beam detection unit and the optical beam is received by the beam detection unit, wherein a beam offset from a zero position and an angle of incidence of the beam is determined continuously by means of the beam detection unit for at least partly determining the actual state, and the control unit is configured in such a way that the aerial vehicle is positioned and aligned, depending on the beam offset and/or the angle of incidence of the beam.

10. The geodetic measuring system as claimed in claim 9, wherein the aerial vehicle is coupled to the beam by the beam detection unit and is guided along the beam and by a change in the emission direction of the beam.

11. The geodetic measuring system as claimed in claim 10, wherein a horizontal laser plane is defined by a rotation of the beam and the aerial vehicle is, by means of the beam detection unit in a defined fashion relative to guide plane or parallel to the guide plane, at least one of:

positioned, and

guided.

12. The geodetic measuring system as claimed in claim 11, wherein the beam detection unit is pivoted on the aerial vehicle in such a defined fashion that the beam is received.

13. The geodetic measuring system as claimed in claim 1, wherein the control unit is configured in such a way that the aerial vehicle is moved depending on the actual state and a specific flight route, wherein the flight route is determined by at least one of:

a start point and an end point and by a number of waypoints automatically, and

a defined position of a flight axis.

14. The geodetic measuring system as claimed in claim 13, wherein a movement of the aerial vehicle is optimized taking into account the actual state.

15. The geodetic measuring system as claimed in claim 14, wherein information relating to at least one of:

the actual state,

the actual position,

the actual alignment,

the actual velocity,

the angle of incidence,

the beam offset, and

the distance to the measuring instrument,

is fed to a Kalman filter and the movement of the aerial vehicle is controlled taking into account parameters calculated by the Kalman filter.

16. The geodetic measuring system as claimed in claim 1, wherein a position and alignment of the measuring instrument is predetermined in a global coordinate system, wherein at least one of:

the position is predetermined by a known setup point of the measuring instrument, and

the position and alignment is determined by calibration on the basis of known target points.

17. The geodetic measuring system as claimed in claim 16, wherein the coordinate system is referenced with the global coordinate system such that the actual state of the aerial vehicle is determined in the global coordinate system;

and one of;

for producing the control data, actual state information, intended state information and the distance between the measuring instrument and the aerial vehicle, and

the control data,

is transmitted between the measuring instrument and the aerial vehicle,

wherein the state information is transmitted by one of;

radio link,

a wired fashion, and

being modulated onto the beam; and

the measuring system has a remote control unit for controlling the aerial vehicle, wherein one of;

the state information, and

the control data,

is transmitted between the remote control unit and the measuring instrument and the aerial vehicle by one of radio link and a cable.

18. The geodetic measuring system as claimed in claim 16, wherein:

the measuring system has a remote control unit for controlling the aerial vehicle, wherein the state information and the control data is transmitted between the remote control unit and the measuring instrument and the aerial vehicle by means of radio link or via a cable.

19. A method for controlling a self-propelled, unmanned, controllable aerial vehicle as claimed in claim 1, wherein:

the geodetic measuring instrument is stationary, separate from the aerial vehicle and a total station, theodolite, laser tracker or laser scanner and is used to bring about an emission of the substantially collimated optical beam in an emission direction;

the optical beam interacts with the aerial vehicle in such a way that the former is reflected or received at the aerial vehicle;

an actual state of the aerial vehicle in a coordinate system is determined from the interaction, which actual state is determined by at least one of;

a position,

an alignment, and

a change in position; and

control data are produced depending on the actual state, which is determined continuously, and a defined intended state and the aerial vehicle is brought into a defined tolerance range about the intended state, in an automatically controlled fashion by means of the control data,

wherein a distance from the measuring instrument to the aerial vehicle is determined by means of reflecting the beam at the aerial vehicle by the reflector and receiving at the measuring instrument and the actual position of the aerial vehicle is derived from the distance and the emission direction,

the accelerometer detects inertia values and the magnetometer detects geographic alignment, wherein the sensor unit on the aerial vehicle determines alignment and velocity of the aerial vehicle in the coordinate system.

20. The method as claimed in claim 19, wherein at least one of:

an actual position,

an actual alignment, and

an actual velocity of the aerial vehicle,

is taken into account when determining the actual state; and

wherein at least one of an intended position, an intended alignment and an intended velocity is taken into account when defining the intended state.

21. The method as claimed in claim 19, wherein at least one of:

a beam offset from a zero position, and

an angle of incidence of the beam,

is determined continuously when receiving the beam at the aerial vehicle for determining the actual state; and

the aerial vehicle is positioned and aligned, depending on at least one of;

the beam offset and

the angle of incidence of the beam.

22. The method as claimed in claim 21, wherein the aerial vehicle is coupled to the beam and guided along the beam and by a change in the emission direction of the beam.

23. The method as claimed in claim 22, wherein a horizontal laser plane is defined by rotating the beam and the aerial vehicle is positioned and guided in a defined fashion relative to the guide plane or parallel to the guide plane.

24. The method as claimed in claim 19, wherein:

the actual alignment of the aerial vehicle is determined in the coordinate system in the pitch, roll and yaw directions, wherein determination takes place by means of an by means of at least one of;

an inclination sensor,

a magnetometer,

an accelerometer,

a rate sensor, and

a velocity sensor

associated with the aerial vehicle; and

the actual alignment in the coordinate system is determined by means of an interaction of;

a marking, which is associated with the aerial vehicle and which specifies the actual alignment of a defined pattern of at least one of;

a pseudo-random pattern,

a barcode, and

a light-emitting diode; and

a detection of the marking by means of a camera for determining the actual alignment from a position and arrangement of the marking.

25. The method as claimed in claim 19, wherein the aerial vehicle is moved dependent on the actual state and a specific flight route, wherein the flight route is determined automatically by a start point and an end point and by a number of waypoints and by a defined position of a flight axis.

26. The method as claimed in claim 25, wherein a movement of the aerial vehicle is optimized taking into account the actual state.

27. The method as claimed in claim 26, wherein information in respect of at least one of:

the actual position,

the actual alignment,

the actual velocity,

the angle of incidence,

the beam offset and

the distance to the measuring instrument,

is fed to a Kalman filter and the movement of the aerial vehicle is controlled taking into account parameters calculated by the Kalman filter.

28. The method as claimed in claim 19, wherein:

an object distance from the aerial vehicle to an object is measured continuously;

the object distance is taken into account when controlling the aerial vehicle; and

/or

the aerial vehicle is controlled in such a way that the aerial vehicle is guided constantly at a specific intended distance from the object depending on at least one of;

the measurement of the object distance, and

a position and alignment of the measuring instrument is predetermined in a global coordinate system,

wherein the position is predetermined by a known setup point of the measuring instrument and the position and alignment is determined by calibration on the basis of known target points.

29. The method as claimed in claim 28, wherein the coordinate system is referenced with the global coordinate system such that the actual state of the aerial vehicle is determined in the global coordinate system.

30. A geodetic measuring instrument for a system as claimed in claim 1, wherein the measuring instrument is embodied in such a way that control data for controlling a self-propelled, unmanned, controllable aerial vehicle is generated and transmitted to the aerial vehicle.

31. A non-transitory tangible computer program product, which is stored on a machine-readable medium, with program code for producing control data depending on an actual state of an aerial vehicle and of a defined intended state for automatically controlling the aerial vehicle into the intended state as claimed in claim 1.

32. A geodetic measuring system comprising:

a stationary, ground-based geodetic measuring instrument embodied as a total station, a theodolite, or an industrial laser tracker, comprising;

a base;

a support rotatable by motor relative to the base about a vertical axis;

a beam source for emitting a substantially collimated optical beam;

a sighting unit pivotable by motor relative to the support about a horizontal axis; and

angle measurement sensors for determining the alignment of the support with respect to the base, and the sighting unit with respect to the support; and

a distance meter using the optical beam;

wherein the support and the sighting unit are configured for aligning an emission direction of the optical beam;

a helicopter-like self-propelled, unmanned aerial vehicle movable in a controlled fashion and positionable at a substantially fixed position; and

an evaluation unit, wherein the evaluation unit is configured in such a way that it is possible to determine an actual state of the aerial vehicle in a coordinate system, determined by a position, an alignment and a change in position, from an interaction of the optical beam with the optical module; and

wherein the measuring system comprises a control unit for controlling the aerial vehicle, wherein the control unit is configured in such a way that, on the basis of an algorithm depending on the actual state and a defined intended state, control data can be produced and the aerial vehicle can be brought into the intended state,

wherein the optical module is embodied by a reflector which specifies the actual position of the aerial vehicle and the beam can be reflected by means of the reflector, wherein a distance from the measuring instrument to the aerial vehicle is determined by the reflection of the beam and reception at the measuring instrument and the actual position of the aerial vehicle is derived continuously from the distance and the emission direction of the beam,

wherein the aerial vehicle has a sensor for continuously measuring an object distance to an object, wherein;

the object distance is taken into account when controlling the aerial vehicle; and

/or

the aerial vehicle is controlled in such a way that the aerial vehicle is guided constantly at a specific intended distance from the object depending on the measurement of the object distance.

33. The geodetic measuring system as claimed in claim 32, wherein:

the aerial vehicle has a marking specifying the actual alignment in a defined pattern, pseudo-random pattern, a barcode and a light-emitting diode, and

the measuring system has a camera for detecting the marking and for determining the actual alignment of the aerial vehicle in the coordinate system from the position and arrangement of the marking.

34. A method for controlling a self-propelled, unmanned, controllable aerial vehicle as claimed in claim 32, wherein:

the geodetic measuring instrument is stationary, separate from the aerial vehicle and a total station, theodolite, laser tracker or laser scanner and is used to bring about an emission of the substantially collimated optical beam in an emission direction;

the optical beam interacts with the aerial vehicle in such a way that the former is reflected or received at the aerial vehicle;

an actual state of the aerial vehicle in a coordinate system is determined from the interaction, which actual state is determined by a position, an alignment and a change in position; and

control data are produced depending on the actual state, which is determined continuously, and a defined intended state and the aerial vehicle is brought into a defined tolerance range about the intended state, in an automatically controlled fashion by means of the control data,

wherein a distance from the measuring instrument to the aerial vehicle is determined by means of reflecting the beam at the aerial vehicle by the reflector and receiving at the measuring instrument and the actual position of the aerial vehicle is derived from the distance and the emission direction, wherein;

the actual alignment in the coordinate system is determined by means of an interaction of;

a marking, which is associated with the aerial vehicle and which specifies the actual alignment of a defined pattern of a pseudo-random pattern, of a barcode and of a light-emitting diode; and

a detection by means of a camera, of the marking for determining the actual alignment from a position and arrangement of the marking.

35. The method as claimed in claim 34, wherein:

an object distance from the aerial vehicle to an object is measured continuously;

the object distance is taken into account when controlling the aerial vehicle; and

/or

the aerial vehicle is controlled in such a way that the aerial vehicle is guided constantly at a specific intended distance from the object depending on the measurement of the object distance and a position and alignment of the measuring instrument is predetermined in a global coordinate system, wherein the position is predetermined by a known setup point of the measuring instrument and the position and alignment is determined by calibration on the basis of known target points.