SYSTEM AND METHOD FOR CONTROLLING AN UNMANNED AIR VEHICLE

• US 20140032021A1
• Filed: 04/13/2012
• Published: 01/30/2014
• 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
• Granted Patent: US 9,758,239 B2
• Time in Patent Office: Days
• US Class Current: 701/3
• 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

1-15. -15. (canceled)

16. A geodetic measuring system comprising:

a geodetic measuring unit comprising;

a beam source for emitting a substantially collimated optical beam;

a base;

a sighting unit which can be pivoted by motor about two axes relative to the base for aligning an emission direction of the optical beam; and

angle measurement sensors for determining the alignment of the sighting unit;

a self-propelled, unmanned, controllable aerial vehicle with an optical module, wherein the aerial vehicle is designed in such a way that the aerial vehicle can be moved in a controlled fashion and/or positioned 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/or 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.

17. The geodetic measuring system as claimed in claim 16, wherein the control data can be produced and the aerial vehicle can be brought into a defined tolerance range about the intended state, in an automatically controlled fashion by means of the control data.

18. The geodetic measuring system as claimed in claim 16, wherein the control unit is configured in such a way that, on the basis of an algorithm depending on the actual stat, is determined continuously.

19. The geodetic measuring system as claimed in claim 16, wherein the geodetic measuring unit comprises a ranging functionality.

20. The geodetic measuring system as claimed in claim 16, wherein the geodetic measuring unit is a total station, theodolite, laser tracker or laser scanner.

21. The geodetic measuring system as claimed in claim 16, wherein it is possible to take account of an actual position, an actual alignment and/or an actual velocity of the aerial vehicle when determining the actual state and/or it is possible to take account of an intended position, an intended alignment and/or an intended velocity when defining the intended state.

22. The geodetic measuring system as claimed in claim 21, 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 unit to the aerial vehicle can be determined and the actual position of the aerial vehicle can be derived continuously from the distance and the emission direction of the beam.

23. The geodetic measuring system as claimed in claim 22, wherein the optical module is embodied by a beam detection unit and the optical beam can be received by the beam detection unit, wherein a beam offset from a zero position and/or an angle of incidence of the beam can be 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 can be positioned and aligned, depending on the beam offset and/or the angle of incidence of the beam,

24. The geodetic measuring system as claimed in claim 23, wherein the aerial vehicle can be coupled to the beam by the beam detection unit and can be guided along the beam and/or by a change in the emission direction of the beam.

25. The geodetic measuring system as claimed in claim 24, wherein a horizontal laser plane can be defined by a rotation of the beam and the aerial vehicle can be positioned and/or guided by means of the beam detection unit in a defined fashion relative to guide plane or parallel to the guide plane.

26. The geodetic measuring system as claimed in claim 25, wherein the beam detection unit can be pivoted on the aerial vehicle in such a defined fashion that the beam can be received.

27. The geodetic measuring system as claimed in claim 21, wherein the aerial vehicle has a an inclination sensor, a magnetometer, an accelerometer, a rate sensor and/or a velocity sensor for determining the actual alignment and/or the actual velocity of the aerial vehicle in the coordinate system

28. The geodetic measuring system as claimed in claim 21, wherein the aerial vehicle has a marking specifying the actual alignment in a defined pattern, pseudo-random pattern, a barcode and/or 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, and/or

the measuring system has a RIM camera for taking an image of the aerial vehicle, wherein a contour and/or pixel-dependent distance data in respect of the aerial vehicle can be derived from the image and the actual alignment and/or the distance in the coordinate system can be determined therefrom.

29. The geodetic measuring system as claimed in claim 16, wherein the control unit is configured in such a way that the aerial vehicle can be moved depending on the actual state and a specific flight route, wherein the flight route can be determined by a start point and an end point and/or by a number of waypoints automatically, and/or by a defined position of a flight axis.

30. The geodetic measuring system as claimed in claim 29, wherein a movement of the aerial vehicle can be optimized taking into account the actual state.

31. The geodetic measuring system as claimed in claim 30, wherein information relating to the actual state, actual position, the actual alignment, the actual velocity, the angle of incidence, the beam offset and/or the distance to the measuring unit, can be fed to a Kalman filter and the movement of the aerial vehicle can be controlled taking into account parameters calculated by the Kalman filter;

and/or

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

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

/or

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

32. The geodetic measuring system as claimed in claim 16, wherein a position and alignment of the measuring unit can be predetermined in a global coordinate system, wherein the position can be predetermined by a known setup point of the measuring unit and/or the position and alignment can be determined by calibration on the basis of known target points.

33. The geodetic measuring system as claimed in claim 32, wherein the coordinate system can be referenced with the global coordinate system such that the actual state of the aerial vehicle can be determined in the global coordinate system;

and/or

actual state information, intended state information and/or the distance between the measuring unit and the aerial vehicle, can be transmitted between the measuring unit and the aerial vehicle for producing the control data and/or the control data, wherein the state information can be transmitted by radio link, in a wired fashion and/or modulated onto the beam; and

/or

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

34. A method for controlling a self-propelled, unmanned, controllable aerial vehicle as claimed in claim 16, wherein:

the measuring unit 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/or 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 the a defined tolerance range about the intended state, in an automatically controlled fashion by means of the control data.

35. The method as claimed in claim 34, wherein an actual position, an actual alignment and/or an actual velocity of the aerial vehicle are taken into account when determining the actual state and/or an intended position, an intended alignment and/or an intended velocity are taken into account when defining the intended state.

36. The method as claimed in claim 35, wherein a distance from the measuring unit to the aerial vehicle is determined by means of reflecting the beam at the aerial vehicle and the actual position of the aerial vehicle is derived from the distance and the emission direction.

37. The method as claimed in claim 34, wherein a beam offset is determined continuously from a zero position and/or an angle of incidence of the beam when receiving the beam at the aerial vehicle for determining the actual state and the aerial vehicle is positioned and aligned, depending on the beam offset and/or the angle of incidence of the beam.

38. The method as claimed in claim 37, wherein the aerial vehicle is coupled to the beam and guided along the beam and/or by a change in the emission direction of the beam,

39. The method as claimed in claim 38, wherein a horizontal laser plane is defined by rotating the beam and the aerial vehicle is positioned and/or guided in a defined fashion relative to the guide plane or parallel to the guide plane.

40. The method as claimed in claim 34, 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 an inclination sensor, magnetometer, accelerometer, rate sensor and/or velocity sensor associated with the aerial vehicle; and

/or

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/or 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; and

/or

the actual alignment is determined in the coordinate system by taking an image of the aerial vehicle, wherein a contour and/or pixel-dependent distance data in respect of the aerial vehicle are derived from the image.

41. The method as claimed in claim 34, 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/or by a number of waypoints and/or by a defined position of a flight axis.

42. The method as claimed in claim 41, wherein a movement of the aerial vehicle is optimized taking into account the actual state.

43. The method as claimed in claim 42, wherein information in respect of the actual position, the actual alignment, the actual velocity, the angle of incidence, the beam offset and/or the distance to the measuring unit, are fed to a Kalman filter and the movement of the aerial vehicle is controlled taking into account parameters calculated by the Kalman filter.

44. 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/or a position and alignment of the measuring unit is predetermined in a global coordinate system, wherein the position is predetermined by a known setup point of the measuring unit and/or the position and alignment is determined by calibration on the basis of known target points.

45. The method as claimed in claim 44, 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.

46. A geodetic measuring unit for a system as claimed in claim 16, wherein the measuring unit is embodied in such a way that control data for controlling a self-propelled, unmanned, controllable aerial vehicle can be generated and transmitted to the aerial vehicle.

47. 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 16.