DE102022121275A1 - Method for controlling an unmanned aircraft - Google Patents

Abstract

Computer-implemented method for controlling an unmanned aircraft, the method comprising the following method steps: reading out a memory in order to provide a flight data packet from a plurality of flight data packets stored in the memory, each of the flight data packets stored in the memory each having a main approach destination and at least one subordinate to the main approach destination Sub-approach target includes, displaying a flight mission representation by means of a display unit, wherein the flight mission representation displays the main approach target and the sub-approach target of the provided flight data packet relative to each other and with respect to a predefined flight mission environment, capturing a user input by means of an input unit to carry out the selection of the main approach target or the selection of the sub-approach target to detect a user, and sending a control signal by means of a transmitting unit, the control signal being designed to control the unmanned aircraft to a predefined target position, the target position corresponding to the selected main approach destination or the selected sub-approach destination.

Description

Technical area

The present invention relates to a computer-implemented method for controlling an unmanned aircraft. In the method, a memory is read out in order to provide a flight data packet from a plurality of flight data packets stored in the memory. Information from the provided flight data package, in particular a main approach destination and a sub-approach destination subordinate to the main approach destination, is then displayed in a flight mission display in order to enable a user to choose between the main approach destination and the sub-approach destination. Based on the user's selection, which is recorded via an input means, a control signal is then sent to the unmanned aircraft.

The present invention also relates to a computer program comprising program instructions which cause a computer to carry out the above method, a computer-readable data carrier with the aforementioned computer program and a device which is designed to control the unmanned aircraft to carry out the above method.

A system comprising the aforementioned device and an unmanned aircraft is also the subject of the present invention.

State of the art

Computer-implemented methods for controlling unmanned aircraft are known from the prior art, in which the aircraft pilot, also known as the drone pilot, makes control inputs which are then transmitted to the unmanned aircraft. The control inputs can be, for example, specific positions in the earth coordinate system, in particular GPS positions, as well as inputs regarding thrust, heading, angle of attack, roll and/or yaw angle of the unmanned aircraft. At the same time or in addition, payloads of the unmanned aircraft, such as cameras, must be operated by the drone pilot. This means that, for example, rescue operations supported by unmanned aircraft place high demands on the drone pilot.

For example, in the event of a fire in a house, if specific images of the house are required to clarify the fire, the drone pilot in the prior art must first steer the unmanned aerial vehicle to a specific position. The specific position must have the correct distance and orientation in relation to the burning house in order to then be able to, for example, adjust the camera of the unmanned aerial vehicle so that the camera can illuminate the house from a desired perspective.

The methods known from the prior art for controlling the unmanned aircraft have the disadvantage that they are generally not very intuitive and require a high level of training or a high level of understanding of flight physics on the part of the user, in particular the drone pilot. In addition, the current flight behavior of the unmanned aircraft in the state of the art must be regularly monitored and manually corrected by the drone pilot.

In reality, however, there is a need for rescue workers, for example, to be able to control unmanned aircraft to a location for reconnaissance without any prior training. At the deployment site, the unmanned aircraft should be able to identify an operational object as easily as possible. In addition, it is desirable for the rescue workers to have as little time as possible to control the unmanned aircraft, especially since as many rescue workers as possible should always be available for the actual operation.

Presentation of the invention

It is an object of the present invention to provide a computer-implemented method for controlling an unmanned aircraft which overcomes the aforementioned problems and disadvantages of the prior art. It is a particular object of the present invention to provide a computer-implemented method for controlling an unmanned aircraft, which allows particularly simple and intuitive control of the unmanned aircraft.

This task is solved using the method according to claim 1. Advantageous developments of the invention are the subject of the dependent claims and/or are explained in the following description.

The solution according to the invention consists in specifying a computer-implemented method for controlling an unmanned aircraft, in which a memory is read out in a first step. The memory can be, for example, a hard drive, a database, a server, a buffer memory and/or several storage units.

A large number of flight data packets are stored in the memory. For the purposes of this invention, the term “flight data packet” is understood to mean a data packet for data processing, the data packet forming a closed data unit that contains a variety of information, preferably information that is hierarchically linked to one another. Each of the flight data packets stored in the memory includes a main approach destination and at least one sub-approach destination subordinate to the main approach destination. Each of the flight data packets stored in the memory can also have an identification number. Preferably, each of the flight data packets stored in the memory can be uniquely identified by the identification number and/or by the main destination contained in the flight data packet. By reading out the memory, a flight data packet is provided from the large number of flight data packets. For example, the flight data packet can be copied from memory when provided and/or loaded into a buffer memory, cache and/or main memory. It is also conceivable that the flight data packet is processed or modified when it is made available for the next method step, in particular decompressed and/or decrypted.

At least the main approach destination and the sub-approach destination of the provided flight data package are then displayed in a flight mission display. The display is done using a display unit. The display unit can, for example, comprise a monitor and/or a screen, in particular a screen of a tablet computer.

The main approach target and the sub-approach target are displayed in the flight mission display relative to each other and in relation to a predefined flight mission environment. The predefined flight mission environment can be, for example, a map display, in particular a satellite image display. Preferably, the main approach target and the sub-approach target in the flight mission display are projected onto the flight mission environment in such a way that the main approach target and the sub-approach target are displayed to scale in relation to predefined operational objects and / or landmarks, such as buildings, trees, or rivers. To make it easier for a user to distinguish between them, the main approach destination can be displayed graphically differently than the sub-approach destination.

In a further method step, a user input is recorded by means of an input unit in order to detect the selection of the main approach destination or the selection of the sub-approach destination by a user. The input unit can be, for example, a keyboard, a mouse, a touchpad and/or a touch display of a tablet computer. The input unit can be a part and/or an integral part of the display unit.

After the selection of the main approach destination or the selection of the sub-approach destination has been recorded by the user, a control signal is sent out by means of a transmitting unit. Preferably, the control signal is sent to the unmanned aircraft. The control signal is designed to control the unmanned aircraft to a predefined target position. The target position corresponds to the selected main approach destination if the main approach destination was selected by the user. Alternatively, the target position corresponds to the sub-approach destination if the sub-approach destination was selected by the user. Preferably, the target position corresponding to the sub-approach destination is a target position that is different from the target position corresponding to the main approach destination. The control signal may include, for example, a signal with a GPS position and/or a signal with a flight route to a GPS position. Alternatively or additionally, the control signal may comprise a signal that refers to a memory entry in a memory of the unmanned aircraft, the memory entry having a GPS position and/or a flight route to a GPS position.

The method according to the invention advantageously ensures that an unmanned aircraft can be controlled by a user in a highly simple and intuitive manner. With the method according to the invention, the user only has to select a main approach destination or a sub-approach destination that is subordinate to the main approach destination. All further steps for controlling the unmanned aircraft are advantageously implemented in a technically automated manner using the method according to the invention. The user therefore requires no or only minimal knowledge of how to control the unmanned aircraft. In addition, the method according to the invention can reduce the human-machine interaction for controlling the unmanned aircraft to a minimum. This not only has the advantage that a user has to worry as little as possible about controlling the unmanned aircraft, but also that potential operator errors can be reduced to a minimum from the outset.

In an advantageous development of the method according to the invention, the method is a continuous, in particular continuous loop-like, method for human-machine interaction. Preferably the input unit becomes permanent monitored to record user input via the input unit. For example, the user's selection of a different, alternative main approach destination can be recorded at any time. If this is the case, the process can begin again. This means that the memory is then read out again in order to read out the flight data packet from the large number of flight data packets whose main approach destination corresponds to the alternative main approach destination newly selected by the user.

The continuous, in particular continuous loop-like, method advantageously means that the unmanned aircraft can be very easily controlled by a user to alternative destinations, even if it has already been controlled to a predefined target position by a control signal. This has the advantage that the unmanned aircraft can be controlled particularly flexibly using the method.

The control signal can also be designed to assign heading to the unmanned aircraft. For example, the control signal is designed to ensure that the unmanned aircraft assumes the assigned heading at the target position. For the purposes of this invention, the term “heading” is understood to mean the orientation of the unmanned aircraft or the course of the unmanned aircraft that is common in aviation technology. For example, the unmanned aerial vehicle can be assigned a heading of 090, which corresponds to an orientation to the east. Alternatively or additionally, the control signal can be designed to assign heading to a payload on the unmanned aircraft. For example, the control signal can be designed to align a camera attached to the unmanned aircraft.

The assignment of a heading advantageously means that the aircraft can not only be steered to a target position, but can also assume a very specific orientation at the target position. This has the advantage that, for example, a camera attached to the unmanned aircraft is aligned in a predefined direction. This allows the unmanned aircraft to automatically illuminate a predefined area at the target position without the user having to specifically align the aircraft's camera.

In an advantageous embodiment of the method, each main approach destination, in particular each main approach destination of the flight data packets stored in the memory, is assigned a potential operational object in the earth coordinate system. The potential objects of use can in particular be buildings, trees, rivers, fields or other specific landmarks. In an exemplary deployment scenario, the user can very quickly steer the unmanned aerial vehicle to a burning building by simply selecting the main approach destination associated with the burning building.

Preferably, the target position corresponding to the main approach destination is a first hover position. The first hover position may have a predefined location vector with respect to the operational object. This means that the first hover position has a predefined location relationship to the operational object. For example, the first hover position can be defined directly above the operational object. Alternatively, the first hover position can be defined above the operational object but slightly laterally offset from the operational object.

The advantage of assigning one operational object to a main approach destination is that the method enables a user to quickly and accurately select the main approach destination relevant to the operation.

In an advantageous development of the aforementioned exemplary embodiment, the target position corresponding to the sub-approach destination is a second hover position. Preferably, the second hover position is a hover position that deviates from or is different from the first hover position. In other words, the second hover position has a different location vector with respect to the operational object than the first hover position.

This advantageously causes the unmanned aircraft to assume a different hovering position relative to the same operational object when the sub-approach target is selected than when the main approach target is selected. This has the advantage that when the sub-approach target is selected, the operational object can be identified by the unmanned aircraft from a different perspective than would be the case if the main approach target was selected. This provides the user with several options for positioning and/or aligning the unmanned aircraft in relation to the operational object.

In a further exemplary embodiment of the method, several main approach destinations available in the memory are displayed using the display unit before the memory is read out. For example, all main approach destinations stored in memory can be displayed. The main arrival destinations are preferably displayed in list form. By detecting a user input using the input unit, a procedure can then be carried out selection or pre-selection of one of the main arrival destinations displayed can be detected by the user. The memory is then advantageously read out. When the memory is read out, the flight data packet is then provided, the main approach destination of which corresponds to the preselected or preselected main approach destination.

This has the advantage that the user can very quickly and easily select a main approach destination from the large number of main approach destinations stored in the memory. At the same time, the memory can be read out very specifically through the preselection or preselection, which shortens the loading times and thus the time until the flight mission display is displayed.

Regardless of the aforementioned exemplary embodiment, a preselection signal can be received before the memory is read out. The preselection signal advantageously includes information about a preselected main approach destination. The preselected main approach destination can, for example, be a main approach destination that was selected by a fire department control center. The preselection signal can be received in particular via a reception module. When reading out the memory, the flight data packet can then be provided whose main approach destination corresponds to the preselected main approach destination.

Receiving a preselection signal advantageously means that the preselection or preselection of the main approach destination can be carried out remotely. This has the advantage that the user can be further relieved. For example, it is conceivable that a main approach target relevant for an operation is already preselected by the control center. The emergency services then only have to select, depending on the desired position of the unmanned aircraft relative to the operational object, whether the unmanned aircraft should be controlled to the main approach target or the sub-approach target.

In an exemplary development of the method, at least one of the flight data packets stored in the memory includes several sub-approach destinations. Preferably, all of the several sub-approach destinations are subordinate to the corresponding main approach destination of the flight data packet. In other words, in the further training there is at least one flight data packet in the memory with several sub-approach destinations subordinate to the main approach destination.

If the flight data packet with the multiple sub-approach destinations is provided when reading out the memory, all sub-approach destinations of the provided flight data packet are preferably displayed when the flight mission representation is displayed. In particular, each of the displayed sub-approach destinations is displayed relative to the main approach destination, relative to the other sub-approach destinations, and/or relative to the predefined flight mission environment. Advantageously, all of the displayed sub-approach destinations, or at least two of the displayed sub-approach destinations, can be selected by a user. The selection of one of the sub-approach destinations can be detected by recording the user input via the input unit.

Several sub-approach targets advantageously mean that the unmanned aircraft can be controlled very easily and intuitively by the user to a large number of target positions, with each of the target positions having a different spatial relationship to the operational object. For example, there may be a first sub-approach target that is provided north of the main approach target or north of the operational object. A second sub-approach target can be provided south of the main approach target or south of the operational object. A third sub-approach target can be provided west of the main approach target or west of the operational object. A fourth sub-approach target can be provided east of the main approach target or east of the operational object. Ultimately, a large number of other sub-approach destinations are conceivable. The control of the unmanned aircraft is advantageously always carried out by detecting a user input, in particular by detecting the selection of one of the aforementioned targets by the user, and sending the control signal.

In a further exemplary embodiment, at least one of the flight data packets stored in the memory includes a flight route. The flight route connects in particular a starting point, which corresponds, for example, to a parking space of the unmanned aircraft, with the main approach destination. The flight route can be a flight path from the starting point to the target position corresponding to the main approach destination.

If the flight data packet provided has a flight route, the flight route is preferably displayed in the flight mission display. Independently of this, the control signal can be designed to control the unmanned aircraft along the flight route. The control signal can in particular be designed to control the unmanned aircraft from the starting point along the flight route to the target position corresponding to the main approach destination. This is preferably the case when the main destination is selected by a user.

The flight route may have multiple waypoints between the origin point and the main approach destination. Preferably, the control signal is designed to control the unmanned aircraft in such a way that the unmanned aircraft flies over the waypoints in sequence. The waypoints can be, for example, GPS coordinates.

All or some of the waypoints can be displayed in the flight mission view when viewing the flight mission view. All or some of the displayed waypoints can be selected by the user. The selection of one of the displayed waypoints by a user can be detected by detecting the user input, so that the control signal can then be designed to steer the unmanned aircraft to the selected waypoint.

Flight data packages with a flight route have the advantage that when you select a main destination, a flight path is also immediately available. This then does not have to be calculated first. On the one hand, this has the advantage of saving time for additional calculations. On the other hand, such a method has the advantage that it is immediately clear to a user how the unmanned aircraft can get from the starting point to the selected main approach destination. This promotes simple and intuitive human-machine interaction.

If the flight data packet provided does not have a flight route, in particular does not have a flight route from the starting point to the main destination, a flight route can be calculated using a computing module. The computing module can in particular calculate a flight route from the starting point to the main approach destination.

The calculated flight route, in particular the calculated flight route from the starting point to the main approach destination, can then be displayed in the flight mission display. Independently of this, the control signal can be designed to control the unmanned aircraft along the calculated flight route. The control signal can in particular be designed to control the unmanned aircraft from the starting point along the calculated flight route to the target position corresponding to the main approach destination. This is particularly the case when the main destination is selected by a user.

The calculated flight route can have multiple waypoints between the origin point and the main approach destination. Preferably, the control signal is designed to control the unmanned aircraft in such a way that the unmanned aircraft flies through the waypoints of the calculated flight route in sequence in order to get from the starting point to the main approach destination. The waypoints can be, for example, GPS coordinates.

All or some of the calculated waypoints can be displayed in the flight mission display when viewing the flight mission plot. All or some of the calculated and displayed waypoints can be selected by the user. A user's selection of one of the calculated and displayed waypoints can be detected by detecting the user input, so that the control signal can then be configured to steer the unmanned aircraft to the selected waypoint.

Calculating the flight route has the advantage that by selecting a main destination, a flight path to the main destination can also be provided. This has the advantage that a user can be shown how the unmanned aircraft can get from the starting point to the selected main approach destination.

In a further exemplary embodiment, at least one of the flight data packets stored in the memory comprises a flight route from a starting point, which corresponds, for example, to a parking space of the unmanned aircraft, to the sub-approach destination, in particular to the target position corresponding to the sub-approach destination.

If the flight data packet provided has a flight route from the origin point to the sub-approach destination, the flight route can be displayed in the flight mission display. Preferably, the flight route from the starting point to the sub-approach destination is only displayed in the flight mission display when the sub-approach destination is selected by a user. Independently of this, the control signal can be designed to control the unmanned aircraft from the starting point along the flight route to the target position corresponding to the sub-approach destination. This is preferably the case when the sub-destination is selected by a user.

The flight route may have multiple waypoints between the origin point and the sub-arrival destination. Preferably, the control signal is designed to control the unmanned aircraft in such a way that the unmanned aircraft flies over the waypoints in sequence in order to get from the starting point to the sub-approach destination. The waypoints can be, for example, GPS Act coordinates. The main approach destination can also form a waypoint.

All or some of the waypoints can be displayed in the flight mission view when viewing the flight mission view. Preferably, the waypoints are only displayed in the flight mission display when the user selects the sub-approach destination. All or some of the displayed waypoints can be selected by the user. The selection of one of the displayed waypoints by a user can be detected by detecting the user input, so that the control signal can then be designed to steer the unmanned aircraft to the selected waypoint.

Flight data packets with a flight route from the starting point to the sub-approach destination have the advantage that when a sub-approach destination is selected, a flight path from the starting point to the sub-approach destination is also immediately available. This then does not have to be calculated first. On the one hand, this has the advantage of saving time for additional calculations. On the other hand, such a method has the advantage that a user can see directly how the unmanned aircraft can get from the starting point to the selected sub-approach destination.

If the flight data packet provided does not have a flight route from the starting point to the sub-approach destination, a flight route from the starting point to the sub-approach destination can be calculated using the computing module.

The calculated flight route from the starting point to the sub-approach destination can then be displayed in the flight mission display. Preferably, the calculated flight route from the starting point to the sub-approach destination is only displayed in the flight mission display when the sub-approach destination is selected by a user. Independently of this, the control signal can be designed to control the unmanned aircraft from the starting point along the calculated flight route to the target position corresponding to the sub-approach destination. This is particularly the case when the sub-approach destination is selected by a user.

The calculated flight route may have multiple waypoints between the origin point and the sub-arrival destination. The main approach destination can form one of the calculated waypoints. Preferably, the control signal is designed to control the unmanned aircraft in such a way that the unmanned aircraft flies the waypoints of the calculated flight route in sequence in order to get from the starting point to the sub-approach destination. The waypoints can be, for example, GPS coordinates.

All or some of the calculated waypoints can be displayed in the flight mission display when viewing the flight mission plot. Preferably, the calculated waypoints are only displayed in the flight mission display when the user selects the sub-approach destination. All or some of the calculated and displayed waypoints can be selected by the user. A user's selection of one of the calculated and displayed waypoints can be detected by detecting the user input, so that the control signal can then be configured to steer the unmanned aircraft to the selected waypoint.

Calculating the flight route has the advantage that by selecting a sub-approach destination, a flight path to the sub-approach destination can also be provided. This has the advantage that a user can be shown how the unmanned aircraft can get from the starting point to the selected sub-approach destination.

In a further exemplary embodiment of the method, at least one of the flight data packets stored in the memory comprises a no-fly zone. The no-fly zone can, for example, correspond to an airspace closure. Regardless of this, an airspace may also not be passable for the unmanned aircraft due to mission-specific circumstances, such as heavy smoke. A no-fly zone could also be provided for this.

If the flight data packet provided by reading the memory has a no-fly zone, the no-fly zone is preferably displayed in the flight mission display. Independently of this, the control signal can be designed to control the unmanned aircraft to the desired position while avoiding the no-fly zone. In other words, the method ensures in particular that the no-fly zone is not flown through by the unmanned aircraft.

Flight data packets with a no-fly zone advantageously ensure that the method supports the user with technical means in complying with applicable aviation rules. This has the advantage that controlling the unmanned aircraft using the method is very intuitive for a user and at the same time almost no previous knowledge of aviation law is required.

In a further exemplary embodiment of the method, at least one of the flight data packets stored in the memory includes quick start information.

If the flight data packet provided by reading out the memory has quick start information, a control signal can be sent out immediately after the flight data packet is provided. Preferably, the directly transmitted control signal is designed to control the unmanned aircraft to a target position that corresponds to the main approach destination of the flight data packet provided.

A flight data packet with quick start information advantageously means that the unmanned aircraft can be started immediately after the memory has been read out and can therefore also fly immediately to the target position without the need for further or additional user input. This significantly shortens, for example, the time until the unmanned aircraft is available on site. This has the advantage that the method promotes the rapid start capability of the unmanned aircraft using technical means.

In a further exemplary embodiment, at least one of the flight data packets stored in the memory includes additional information about the main destination. Alternatively or additionally, one of the flight data packets stored in the memory can contain additional information about the sub-approach destination.

If the flight data packet provided by reading out the memory contains additional information, the additional information is preferably displayed in the flight mission display. For example, if the additional information concerns the main approach destination, the additional information is displayed in the flight mission display near the main approach destination. If the additional information relates to the sub-approach target, the additional information can be displayed in the flight mission display in the vicinity of the sub-approach target. Preferably, the additional information about the sub-approach destination is only displayed in the flight mission display when the sub-approach destination has been selected by the user.

The additional information can in particular be special features of the operational objects and/or special features of the corresponding approach destination. For example, the user can be shown that toxic substances are being stored in a house assigned to the main destination. Alternatively or additionally, the additional information can also be flight-relevant information. For example, the additional information for a sub-approach target can be “hover position 20 meters south of the operational object”.

A flight data packet with additional information advantageously means that the user can be provided with relevant information about the corresponding arrival destination, and therefore also about the corresponding operational object. This has the advantage that the user's situation awareness can be improved using technical means, namely the display of additional information via the display unit.

In a further exemplary embodiment, a position signal is received by means of a receiving module. The position signal is preferably designed to transmit information about the actual position of the unmanned aircraft to the receiving module. The actual position of the unmanned aircraft can then be displayed in the flight mission display based on this information.

This has the advantage that the user can quickly and easily see where the unmanned aircraft is currently located in the flight mission display. Advantageously, the user's situational awareness can be improved using technical means, namely the display of the actual position of the unmanned aircraft via the display unit.

The position signal can also be designed to transmit further information about the unmanned aircraft to the receiving module. The further information can be, for example, the current heading of the unmanned aircraft, the current charge status of the battery of the unmanned aircraft and/or other flight data or parameters of the unmanned aircraft. This information can also advantageously be displayed in the flight mission display.

The task formulated at the beginning is also solved with a computer program according to claim 15.

The computer program according to the invention includes program instructions that cause a computer to carry out one of the methods according to the aforementioned statements. This is particularly the case when the computer program is loaded onto the computer and/or is executed on the computer.

Such a computer program has the advantage that an unmanned aircraft can be controlled very easily and intuitively by a user. The user must use the invention only select a main approach destination or a sub-approach destination subordinate to the main approach destination using the appropriate computer program. All further steps for controlling the unmanned aircraft are advantageously implemented in a technically automated manner by the computer program when the computer program is loaded onto the computer or is executed on the computer. The user therefore requires no or only minimal knowledge of the actual control of an unmanned aircraft. In addition, the computer program according to the invention can reduce the human-machine interaction for controlling the unmanned aircraft to a minimum. This not only has the advantage that the user has to spend as little time as possible controlling the unmanned aircraft, but also that potential operator errors are reduced to a minimum.

The task formulated at the beginning is also solved with a computer-readable data carrier according to claim 16. A computer program according to the preceding statements is stored on the data carrier according to the invention. Accordingly, the data carrier also has the advantages described with regard to the computer program when the data carrier is read by a computer and the computer program is executed on the computer.

The task formulated at the beginning is also solved with a device according to claim 17.

The device according to the invention is designed to carry out the method according to the previous statements in order to control an unmanned aircraft. For example, the device can be a computer that carries out the method. Alternatively or additionally, the device can be a computer onto which the aforementioned computer program is loaded and/or through which the aforementioned computer program is executed. The device can also be a tablet computer

The advantages of the aforementioned method also apply analogously to the device according to the invention if the device carries out the method in order to control an unmanned aircraft.

The device may have a memory. Preferably, the large number of flight data packets can be stored in the memory. The memory can be, for example, a hard drive, in particular an SSD hard drive.

Regardless of this, the device can have a display unit. Preferably, the display unit is designed to display the flight mission representation. The display unit can include, for example, a monitor and/or a screen of a tablet computer.

The device advantageously comprises an input unit. The input unit is preferably designed to record user input. The input unit can, for example, have a keyboard, a mouse, a touchpad and/or a touch display of a tablet computer. The input unit can be a part and/or an integral part of the display unit.

The device can have a transmitting unit. Preferably, the transmitting unit can send out a control signal that is designed to control an unnamed aircraft to a predefined target position. The transmitting unit can be, for example, an antenna and/or a transmitter. The control signal is preferably sent out via a mobile radio standard, in particular the Long-Term Evolution Standard (LTE).

The device can have a computing module. The computing module can prepare the flight data packets for display and/or calculate flight routes. The computing module can, for example, have a main memory, a processor and/or several semiconductors.

The device can include a receiving module. The receiving module is preferably designed to receive a position signal from the unnamed aircraft. The position signal can contain information regarding the actual position of the unmanned aircraft. For example, the actual position can be the current position of the unmanned aircraft in the global earth coordinate system, in particular a GPS position. Alternatively or additionally, the position signal can include information about the heading of the unmanned aircraft. Independently of this, it is also conceivable that information regarding a payload on the unmanned aircraft and/or information from the payload on the unmanned aircraft can be received by means of the receiving module. For example, the receiving module can be designed to receive a video signal from a camera on the unnamed aircraft.

Alternatively or additionally, the receiving module can be designed to receive a preselection signal. The preselection signal can contain information about a preselected main approach destination.

The task formulated at the beginning is also solved with a system according to claim 18.

The system includes a device according to the previous statements and an unmanned aircraft. The unmanned aircraft is designed to be controlled by the device. This is particularly the case when the method according to the above description is carried out by the device.

The advantages of the method described above also apply analogously to the system according to the invention.

Brief description of the drawings

• 1 ein Ablaufdiagramm eines Ausführungsbeispiels eines Verfahrens zur Steuerung eines unbemannten Luftfahrzeugs,
• 2 eine schematische Darstellung eines Flugdatenpakets gemäß dem Ausführungsbeispiel nach 1,
• 3 eine erste beispielhafte Flugmissionsdarstellung gemäß dem Ausführungsbeispiel nach 1, und
• 4 eine zweite beispielhafte Flugmissionsdarstellung gemäß dem Ausführungsbeispiel nach 1.

The different and exemplary features described above can be combined with one another according to the invention to the extent that this makes technical sense and is suitable. Further features, advantages and embodiments of the invention result from the following description of an exemplary embodiment and from the figures. Show it:

• 1 a flowchart of an exemplary embodiment of a method for controlling an unmanned aircraft,
• 2 a schematic representation of a flight data packet according to the exemplary embodiment 1 ,
• 3 a first exemplary flight mission representation according to the exemplary embodiment 1 , and
• 4 a second exemplary flight mission representation according to the exemplary embodiment 1 .

Ways of carrying out the invention

1 shows a flowchart of an exemplary embodiment of a method 1 for controlling an unmanned aircraft.

One method step of method 1 is reading 5 a memory. The memory is read out to create a flight data packet 10 (cf. 2 ) from a plurality of flight data packets 10 stored on the memory. When it is made available, the corresponding flight data packet 10 is loaded into a buffer memory and/or prepared for the subsequent method steps. For example, the corresponding flight data packet 10 can be decompressed after reading 5 of the memory and/or loaded into the main memory of a computer. Each of the flight data packets 10 stored in the memory comprises a main approach destination 12, in particular a single main approach destination 12, and at least one sub-approach destination 13, 14. Preferably, each of the flight data packets 10 stored in the memory comprises a plurality of sub-approach destinations 13, 14. An exemplary embodiment of a flight data packet 10 becomes further down in the description 2 explained in more detail.

In order to provide a flight data packet 10 from the multitude of flight data packets 10, in 1 illustrated embodiment, a main approach destination 12 is preselected.

This can be done either by user input 3 (in 1 top left) or by receiving 4 a preselection signal (in 1 top right).

In order to pre-select the main approach destination 12 through a user input 3, in a first method step, all the main approach destination 12 stored in the memory are displayed 2. The display 2 of the main approach destination 12 is carried out using a display unit, in particular using a screen. In alternative embodiments, only a selection of the main approach destinations 12 stored in the memory can be displayed. A user input is recorded 3 by means of an input unit, in particular a keyboard, a mouse, a touchpad and/or a touch display of a tablet computer. By recording 3 a user input, a pre-selection of one of the displayed main approach destinations 12 can be detected by a user. When the memory is read out 5, exactly the flight data packet 10 is then provided whose main approach destination 12 corresponds to the preselected main approach destination 12.

The main approach destination 12 can also be preselected externally. For this purpose, the preselection signal is received by means of a reception module 4. The preselection signal includes information about a preselected main approach destination 12. When the memory is read out 5, exactly the flight data packet 10 is then provided, the main approach destination 12 of which corresponds to the preselected main approach destination 12. The preselection signal can alternatively have information about identification number 11. When the memory is read out 5, exactly the flight data packet 10 is then provided, the identification number 11 of which corresponds to the identification number 11 of the preselection signal.

After reading 5 the memory, a flight mission representation 20 is displayed 6 using a display unit. With regard to the possible details of such a flight mission representation 20, reference is made to the following description of 3 and 4 referred.

When displaying 6 the flight mission representation 20, the information from the flight data package 10 provided is displayed. In particular, the main approach destination 12 and the at least one sub-approach destination 13, 14 are displayed in the flight mission display 20. The main approach destination 12 and the sub-approach destination 13, 14 are displayed relative to each other and in relation to a predefined flight mission environment 21 6.

When displaying 6 the flight mission representation 20 in the in 1 In the exemplary embodiment shown, an actual position of the unmanned aircraft is also displayed 6. For this purpose, a position signal is received from the unmanned aircraft via a reception module 9. The position signal is designed to transmit information about the current actual position of the unnamed aircraft. The information about the actual position of the unmanned aircraft contained in the received position signal is either displayed 6 directly in the flight mission display 20, or is first processed and then displayed in the flight mission display 20 6. A user can then immediately see where the flight mission display 20 is the unmanned aircraft is located in relation to the main approach target 12, in relation to the sub-approach target 13, 14 and/or in relation to the flight mission environment 21.

In a further method step, a user input is recorded 7 by means of the input unit. By recording 7 the user input, a selection of the main arrival destination 12 of the flight data packet 10 provided or the selection of the sub-arrival destination 13, 14 of the flight data packet 10 provided by a user is detected.

A control signal is then sent out by means of a transmitting unit 8. The control signal is designed to control the unnamed aircraft to a predefined target position 12.1, 13.1, 14.1. If the selection of the main approach destination 12 of the provided flight data packet 10 was detected when the user input was recorded 7, the target position 12.1 corresponds to the main approach destination 12. If the selection of the sub-approach destination 13, 14 of the flight data packet 10 provided was detected when the user input was recorded 7, corresponds the target position 13.1, 14.1 with the sub-approach destination 13, 14.

If, for example, the main destination 12 of the flight data packet 10 provided is selected by the user, this selection is detected as part of the detection 7. A control signal is then sent out 8. When this control signal is received by the unmanned aircraft, this control signal causes the unmanned aircraft to fly to the target position 12.1 corresponding to the selected main approach destination 12. The target position 12.1 is a first hovering position 12.1 at a very specific height. The longitude and latitude of the target position 12.1 correspond to the longitude and latitude of the main approach destination 12.

Alternatively, when capturing 7 the user input, the selection of an alternative main approach destination 12 can also be detected. If this is the case, method 1 is started from the beginning with reading 5 of the memory (in 1 represented by the arrow that connects the capture 7 of the user input with the reading 5 of the memory). However, when the memory is read out 5, the flight data packet 10 is then provided, the main approach destination 12 of which corresponds to the alternative main approach destination 12 selected by the user in method step 7.

The in 1 The dashed arrow shown represents a quick start functionality. The quick start functionality is explained in detail below.

2 shows an example of a schematic representation of a flight data packet 10 as it can be read 5 from the memory according to the explained exemplary embodiment of the method 1.

The flight data packet 10 includes an identification number 11 and a main arrival destination 12. The flight data packet 10 can be uniquely identified via the identification number 11 and/or the main arrival destination 12. In the exemplary embodiment shown, the main approach destination 12 is assigned a target position 12.1 corresponding to the main approach destination 12. Regardless of this, a flight route 12.2 is assigned to the main destination 12. The flight route 12.2 contains information about a flight route that can be flown by the unmanned aircraft from a starting point 25 (in 2 not shown) to the target position 12.1.

Subordinate to the main approach destination 12, the flight data packet 10 includes a first sub-approach destination 13. In the exemplary embodiment shown, the first sub-approach destination 13 is assigned a target position 13.1 corresponding to the first sub-approach destination 13. Regardless of this, the first sub-destination 13 is assigned a flight route 13.2. The flight route 13.2 contains information about a flight route that can be flown by the unmanned aircraft from a starting point 25 (in 2 not shown) to the target position 13.1.

The flight data packet 10 includes a further sub-approach destination 14 subordinate to the main approach destination 12, in particular a second sub-approach destination 14. In the exemplary embodiment shown, the second sub-approach destination 14 is assigned a target position 14.1 corresponding to the second sub-approach destination 14. Regardless of this, a flight route 14.2 is assigned to the second sub-destination 14. The flight route 14.2 contains information about a flight route that can be flown by the unmanned aircraft from a starting point 25 (in 2 not shown) to the target position 14.1.

The flight data packet 10 also has a no-fly zone 15. The no-fly zone 15 can also be displayed in the flight mission display 20 when displaying 6 the flight mission display 20. At the same time, the control signal sent in method step 8 is designed such that the unmanned aircraft does not fly into the no-fly zone 15.

At the in 2 Flight data packet 10 shown as an example, flight data packet 10 also includes quick start information 16. When reading out 5 of the memory, the in 2 Flight data packet 10 shown is provided, a control signal is sent out immediately after reading 5 of the memory or providing the flight data packet 10 (method step 8). The control signal emitted is designed to control the unmanned aircraft to the target position 12.1 corresponding to the main approach destination 12 (cf. dashed line in the flow chart of 1 ).

Additional information not shown can also be assigned to the main destination 12, the first sub-destination 13 and/or the second sub-destination 14. The additional information can be displayed in the flight mission representation 20 when displaying 6 the flight mission representation 20. The respective additional information is advantageously always displayed in the vicinity of the corresponding approach destination 12, 13, 14.

3 shows a first exemplary flight mission representation 20, as can be displayed in the method step of the display 6.

The flight mission representation 20 includes a flight mission environment 21. The flight mission environment 21 is in the in 3 illustrated embodiment a satellite image view 21. The flight mission environment 21 has an operational object 22 and a landmark 23. In the in 3 In the exemplary embodiment shown, the object 22 is a house 22 and the landmark 23 is a river 23.

The main approach destination 12 is assigned to the operational object 22. The target position 12.1 corresponding to the main approach destination 12 is a first hover position 12.1 of the unmanned aircraft. The first hover position 12.1 has a predefined and fixed reference to the operational object 22. In other words, the first hover position 12.1 has a fixed location vector to the operational object 22.

As in the in 3 To recognize the flight mission representation 20 shown, the first sub-approach destination 13 and the second sub-approach destination 14 are subordinate to the main approach destination 12. The target position 13.1 corresponding to the first sub-approach target 13 is a second hover position 13.1. The second hover position 13.1 is located north of the operational object 22. The target position 14.1 corresponding to the second sub-approach target 14 is a third hover position 14.1. The third hovering position 14.1 is located south of operational object 22. This means that the target positions 13.1, 14.1 corresponding to the sub-approach targets 13, 14, in particular the second hover position 13.1 and the third hover position 14.1, each have a different location vector to the operational object 22 than the target position 12.1 corresponding to the main approach target 12, namely the first hover position 12.1.

The flight data package 10, which is for the in 3 The flight mission representation 20 shown was read from the memory (method step 5), includes a flight route 12.2 corresponding to the main approach destination 12. The flight route 12.2 is displayed in the flight mission display 20 in such a way that the flight path 12.2 is displayed to the user from the starting point 25 to the main approach destination 12, in particular to the target position 12.1 corresponding to the main approach destination 12. The unmanned aircraft will fly the flight route 12.2 according to the flight mission representation 20 when the user selects the main approach destination 12 and the control signal is sent.

In the exemplary embodiment shown, the flight route 12.2 contains a large number of waypoints 26. The waypoints 26 are flown by the unmanned aircraft when the user selects the main approach destination 12 (process step 7) and the control signal is sent (process step 8). Each of the waypoints 26 can be selected by the user, and the selection of a waypoint 26 by the user can be detected as part of the capture 7 of user input. If the user selects a waypoint 26, the control signal that is sent out as part of the subsequent transmission 8 is designed to control the unmanned aircraft to the selected waypoint 26.

4 shows a second exemplary flight mission representation 20. The flight mission environment 21 is identical to the flight mission environment 21 of 3 . This means that even with the in 4 shown flight mission environment 21, an operational object 22 and a landmark 23 are shown.

In contrast to the flight mission representation 20 after 3 is shown in the flight mission depiction 20 of 4 a no-fly zone 15 is displayed. Accordingly, the flight data packet 10, which is used for the flight mission representation 20, contained the 4 was read from the memory (procedural step 5), containing information regarding a no-fly zone 15.

In addition, the flight mission depiction 20 of the 4 a flight route 13.2 is displayed, which leads from the starting point 25 to the first sub-approach destination 13, in particular to the target position 13.1 corresponding to the first sub-approach destination 13. The unmanned aircraft will fly the flight route 13.2 according to the flight mission representation 20. As shown, the unmanned aircraft will avoid the no-fly zone 15 or fly around the no-fly zone 15 in order to get from the starting point 25 to the first sub-approach destination 13.

Also those in 4 The flight route 13.2 shown contains several waypoints 26. The waypoints 26 can be analogous to the statements regarding the waypoints 26 in 3 be flown by the unmanned aircraft and/or selected by a user.

Reference symbol list

1

Method for controlling an unmanned aircraft

2

View all main destinations available in memory

3

Capturing user input

4

Receiving a preselection signal

5

Reading the memory

6

Viewing a flight mission representation

7

Capturing user input

8th

Sending out a control signal

9

Receiving a position signal

10

Flight data package

11

Identification Number

12

Main destination

12.1

Target position corresponding to the main approach destination

12.2

Flight route to the target position corresponding to the main approach destination

13

first sub-approach destination

13.1

Target position corresponding to the first sub-approach destination

13.2

Flight route to the target position corresponding to the first sub-approach destination

14

second sub-approach destination

14.1

Target position corresponding to the second sub-approach destination

14.2

Flight route to the target position corresponding to the second sub-approach destination

15

No fly zone

16

Quick start information

17 18 19 20

Flight mission representation

21

Flight mission environment

22

Object of use / house

23

Landmark / River

25

Launch point of the unmanned aerial vehicle

26

Waypoint

Claims (17)

Computer-implemented method (1) for controlling an unmanned aircraft, the method (1) comprising the following method steps: - reading out (5) a memory in order to provide a flight data packet (10) from a plurality of flight data packets (10) stored in the memory, wherein each of the flight data packets (10) stored in the memory each comprises a main approach destination (12) and at least one sub-approach destination (13, 14) subordinate to the main approach destination (12), - displays (6) of a flight mission representation (20) by means of a display unit, the flight mission representation (20) the main approach destination (12) and the sub-approach destination (13, 14) of the provided flight data packet (10) relative to each other and in relation to a predefined flight mission environment exercise (21), - detecting (7) a user input by means of an input unit in order to detect the selection of the main approach destination (12) or the selection of the sub-approach destination (13, 14) by a user, and - sending (8) a control signal by means of a transmission unit, wherein the control signal is designed to control the unmanned aircraft to a predefined target position (12.1, 13.1, 14.1), the target position (12.1, 13.1, 14.1) being linked to the selected main approach destination (12) or the selected sub-approach destination (13, 14). Procedure (1) according to Claim 1 , characterized in that each of the main approach destinations (12) stored in the memory is assigned to a potential operational object (22) in the earth coordinate system and the target position (12.1) corresponding to the selected main approach destination (12) is a first hover position (12.1), which has a predefined location vector in relation to the insert object (22). Procedure (1) according to Claim 2 , characterized in that the target position (13.1, 14.1) corresponding to the selected sub-approach destination (13, 14) is a second hover position (13.1, 14.1) that is different from the first hover position (12.1). Method (1) according to one of the preceding claims, characterized in that - before reading out (5) the memory, a large number, preferably all, of the main approach destinations (12) available in the memory are displayed by means of the display unit (2), - by recording (3) a user input using the input unit detects a preselection of one of the displayed main approach destinations (12) by the user, and - by reading out (5) the memory, the flight data packet (10) is provided, the main approach destination (12) of which corresponds to the preselected main approach destination (12) corresponds. Method (1) according to one of the Claims 1 until 3 , characterized in that - before reading out (5) the memory, a preselection signal is received by means of a receiving module (4), the preselection signal having information about a preselected main destination (12), and - by reading out (5) the memory Flight data packet (10) is provided, the main approach destination (12) of which corresponds to the preselected main approach destination (12). Method (1) according to one of the preceding claims, characterized in that at least one of the plurality of flight data packets (10) stored in the memory has a plurality of sub-approach destinations (13, 14) subordinate to the main approach destination (12), and that if this is read out ( 5) the flight data packet (10) provided in the memory has several sub-approach destinations (13, 14) subordinate to the main approach destination (12), all sub-approach destinations (13, 14) of the flight data package (10) provided are displayed in the flight mission display (20) (6). Method (1) according to one of the preceding claims, characterized in that at least one of the plurality of flight data packets (10) stored in the memory has a flight route (12.2) from a starting point (25) to the main destination (12), and that if the flight data packet (10) provided when reading (5) from the memory has a flight route (12.2) from a starting point (25) to the main destination (12), - the flight route (12.2) when displaying (6) the flight mission representation (20) in the Flight mission representation (20) is displayed, and - that the control signal emitted when sending (8) is designed to move the unmanned aircraft from the starting point (25) along the flight route (12.2) to the target position (12.1) corresponding to the main approach destination (12). ) to control when the main approach destination (12) is selected by the user. Method (1) according to one of the preceding claims, characterized in that at least one of the plurality of flight data packets (10) stored in the memory has a flight route (13.2, 14.2) from a starting point (25) to the sub-arrival destination (13, 14), and that if the flight data packet (10) provided when reading (5) from the memory has a flight route (13.2, 14.2) from a starting point (25) to the sub-approach destination (13, 14), and preferably the sub-approach destination (13, 14). the user is selected, - the flight route (13.2, 14.2) from the starting point (25) to the sub-approach destination (13, 14) is displayed in the flight mission display (20) when displaying (6) the flight mission display (20), and - that this is the case when Emitting (8) emitted control signal is designed to control the unmanned aircraft from the starting point (25) along the flight route (13.2, 14.2) to the target position (13.1, 14.1) corresponding to the sub-approach destination (13, 14). Method (1) according to one Claims 1 until 6 , characterized in that if the flight data packet (10) provided when reading (5) from the memory does not have a flight route, - by means of a computing module, a flight route (12.2) from the starting point (25) to the main destination (12) and / or a flight route (13.2 , 14.2) from the starting point (25) is calculated to the sub-approach destination (13, 14), - the calculated flight route (12.2, 13.2, 14.2) is displayed when displaying (6) the flight mission display (20) in the flight mission display (20), and - that this is done when sending (8) emitted control signal is designed to control the unmanned aircraft from the starting point (25) along the correspondingly calculated flight route (12.2, 13.2, 14.2) when the main approach destination (12) or the sub-approach destination (13, 14) is selected by the user becomes. Method (1) according to one of the preceding claims, characterized in that at least one of the plurality of flight data packets (10) stored in the memory has a no-fly zone (15), and that if the flight data packet (10) provided when reading (5) from the memory ) has a no-fly zone (15), - the no-fly zone (15) is displayed in the flight mission display (20) when displaying (6) the flight mission display (20), and - that the control signal emitted when sending (8) is designed to control the unmanned Steer the aircraft to the target position (12.1, 13.1, 14.1) while avoiding the no-fly zone (15). Method (1) according to one of the preceding claims, characterized in that at least one of the plurality of flight data packets (10) stored in the memory has quick start information (16), and that if the flight data packet (10) provided when the memory is read out (5). ) has quick start information (16), immediately after the memory has been read (5) by means of the transmitting unit, a control signal is sent out, the control signal being designed to control the unmanned aircraft to a target position (12.1) that corresponds to the main approach destination (12) of the flight data packet (10) provided when reading (5) from the memory. Method (1) according to one of the preceding claims, characterized in that at least one of the plurality of flight data packets (10) stored in the memory has additional information about the main destination (12) and / or additional information about the sub-destination (13, 14), and that if the flight data packet (10) provided when reading (5) from the memory has additional information, the additional information is displayed in the flight mission representation (20) when displaying (6) the flight mission representation (20). Method (1) according to one of the preceding claims, characterized in that a position signal is received by means of a reception module (9), the position signal being designed to transmit information about the actual position of the unmanned aircraft and the actual position of the unmanned aircraft Aircraft is displayed in the flight mission display (20) when displaying (6) the flight mission display (20). Computer program comprising program instructions that cause a computer to carry out the method (1) according to one of the Claims 1 until 13 when the computer program is loaded onto or executed on the computer. Computer-readable data carrier on which the computer program is written Claim 14 is stored. Device for controlling an unmanned aircraft, the device being designed to carry out method (1) according to one of Claims 1 until 13 to control the unmanned aerial vehicle. System comprising a device according to Claim 16 and an unmanned aircraft, wherein the unmanned aircraft is designed to be controlled by the device when the method (1) according to one of Claims 1 until 13 is carried out by the device.

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