AU2018322758B2 - System for monitoring, exploration and inspection by means of drones - Google Patents

Abstract

The invention relates to a system for monitoring and exploration, comprising a first number of drones, a second number of docking stations, at least one station for further processing and at least one control system, wherein the drones comprise at least one sensor and at least one communication means and the docking stations comprise at least one communication means, wherein the communication means permit at least some of the docking stations to communicate with at least some of drones, and/or permit at least some of the docking stations to communicate with one another and at least some of drones to communicate with one another. The system is particularly suited for use in deep mining and civil engineering.

Description

RHNLOO03

XD/KM

System for Monitoring, Exploration and Inspection by Means of Drones

s The invention relates to a system for the monitoring, exploration and inspection by means of drones, in particular in mining, tunneling and underground engineer ing, or of objects, in particular of buildings, spaces, rooms, tunnel systems or cave systems.

Drones are used in the civil sector for both private and commercial purposes. 1o Drones are in particular used in the commercial sector to deliver image or other data whose acquisition by other means would be associated with higher costs or greater effort or whose acquisition by other means would not have been possible. Examples of this are aerial photographs, which in the past could only be taken through the use of helicopters, sophisticated film technology and a corresponding is expenditure of money, or photographs to be taken in confined spaces or difficult to access terrain. Even data, the acquisition of which was previously only possible at the risk of human life or even impossible due to a potential threat to human life, can often be obtained in these days by the use of drones.

Also increasingly being discussed is the option of using drones in the context of delivering goods, so that there is a constant increase of employing drones in the civil sector, for example.

Permanently mounted systems are currently used particularly in the commercial and industrial sectors for object monitoring and supervision - also for use in the field of mining and underground engineering. Examples of this are longwall or coalface exploitation in deep mining or tunneling, and in underground engineer ing; however, the invention shall by no means be limited to these examples. Other examples for the installation of permanently mounted systems are the monitoring of buildings or halls. A sensor is installed at each strategically convenient location, s more often than not for example optical systems that periodically or permanently collect data for transmission to further processing systems. The data is usually stored and evaluated if required immediately or at a later date with the data re cordings sometimes serving purely documentary purposes.

A drawback associated with the known permanently mounted systems is that on 1o the one hand they are cost-intensive to purchase, because a large number of sensors have to be installed to cover the size of the area to be monitored, and on the other hand the sensors are restricted to the permanently installed points. Sen sors forming part of a permanently mounted system do not allow the spontaneous view into locations that are situated outside of the sensor coverage.

is Drones are already being used to some extent today for monitoring, inspection and exploration in commercial and industrial applications. In this case, the drones are as a rule used only for a limited period of time and do not serve for a perma nent monitoring service. In particular, they currently do not replace permanently installed monitoring or supervisory systems, but are exclusively meant to comple ment these systems. Moreover, these are usually single drones, each of which must be controlled by a person for the duration of its mission. It would be desira ble, however, if drones could efficiently and cost-effectively be employed to re place permanently arranged systems, for example as a permanent monitoring, inspection or exploration system.

Accordingly, it is the objective of an embodiment of the present invention to pro vide a monitoring, inspection and/or exploration system comprising drones equipped with sensors.

Moreover, it is also the objective of an embodiment of the present invention to provide a monitoring, inspection and/or exploration system that is to a major ex tent capable of operating autonomously.

Furthermore, it is the objective of an embodiment of the invention to provide a monitoring, inspection and/or exploration system capable of transmitting the data collected by the drones to a storage and/or data processing system.

In addition, the objective of an embodiment of the present invention also aims at s providing a monitoring, inspection and/or exploration system that is suitable for use in the fields of mining and underground engineering.

It is, furthermore, an objective of an embodiment of the present invention to pro vide a monitoring, inspection and/or exploration system which is of modular de sign and for that reason is cost-saving in acquisition and maintenance and by means of which existing systems that may exist can be replaced and/or extended possibly via a step-by-step approach.

According to one aspect of the present invention, there is provided a system for the monitoring and exploration in the mining and underground engineering com is prising

- a first number of drones, wherein the drones are equipped with at least one sensor and at least one communication means; - a second number of docking stations, wherein the docking stations comprise at least one communication means; - at least one processing station for processing the data ob

tained by the drones with the at least one sensor; and - at least one control system for controlling the drones, wherein - the communication means enable the docking stations and drones to communicate with and/or among each other, characterized in that the first number of drones is smaller than the second number of dock ing stations and in that at least the drones are of explosion-proof design, in particular of flameproof design, and in that the at least one sensor is a dis tance sensor and the drones comprise at least one additional sensor for data acquisition.

It is to be noted that any features and characteristics individually included in the claims may also be combined with each other in a discretionary and technologi cally sensible manner so that they reveal further implementations or methods of the invention.

s A system for monitoring, inspection and exploration as proposed by the disclosure comprises at least one first number of drones with at least one sensor, one second number of docking stations, one processing station and one control unit.

The selection of a suitable drone is primarily based on the intended use. In this respect and within the meaning and scope of this disclosure, a drone means any unmanned aerial vehicle which can be controlled from the ground via a remote control unit operated by a person or computer. The drones to be used in the sys tem are preferably so-called multicopters, in particular quadcopters However, the invention shall not be deemed as being limited to the such a drone type.

The drones operated in the inventive system comprise at least one sensor, which is can be selected for the respective purpose. Conceivable in this respect are all kinds of sensors, such as for example mechanical, thermoelectric, resistive, pie zoelectric, capacitive, inductive, optical, magnetic, optoelectronic, electrochemi cal, temperature, distance, pressure and gas sensors or biosensors. The drones are preferably equipped with at least one distance sensor and at least one addi tional sensor for data acquisition. Such an additional sensor may also be a laser or an RF sensor (an electromagnetic sensor). These sensors, for example, permit a precise measurement of the environment to be performed and in this way help to create a three-dimensional image of the space or room in which the drone is moving. This is advantageous, e.g., wherever and in case the machines that are operating in these rooms have to be newly aligned or oriented as called for by changing premises.

In a preferred embodiment, the drones comprise at least one memory element in which the data acquired via the sensors can be stored, at least for a limited period of time. However, such a storage element is optional depending on the respective application requirements. The collected data is preferably transmitted to a subse quent/downstream receiving system. A subsequent/downstream receiving system is designed in a preferred embodiment for both the receipt and transmission of data. A subsequent/downstream receiving system can for instance be a docking station, a relay station or a processing station. The expert chooses the system that is best suited to the relevant purpose.

s Thus, embodiments of the invention are also conceivable which comprise drones that themselves are equipped with relay stations. In this case, the advantage of fered is that the drones equipped in this way can very flexibly expand the existing network of relay stations.

The first number of drones can be larger, smaller or equal to the second number of docking stations. In a preferred embodiment, the first number of drones in the system is smaller than the second number of docking stations.

With such a preferred embodiment, not all fixed observation points, namely the docking stations in this case, are simultaneously equipped with a monitoring unit, namely a respective drone in this case. It is sufficient for a great number of appli cations that fixed observation points are only equipped with a monitoring unit when necessary, as further explained in the relevant examples. Since especially the monitoring units are expensive to purchase, reducing the number of these units will yield high savings in costs.

In the event the first number of drones in the system is greater than the second number of docking stations, resting places for instance of the type described here inafter may be provided for the surplus number of drones.

Within the scope of the present disclosure, a further processing unit is to be un derstood as a station to which data may be transmitted and in which the data may be stored, if appropriate. The transmission of relevant data may take place directly from the drones or be effected from the docking stations. The further processing unit/station may comprise an electronic data processing system (EDP) for further processing of the data as well as a memory. In principle, no further processing of the data in the sense of their preparation or evaluation needs to be carried out in the processing unit. Basically and within the meaning of this disclosure, a further processing unit can also be another data storage device, which may, if appropri ate, be provided with a relay station. The further processing unit has wireless and, if thought expedient or required, wired communication systems. The communica tion systems are used for communication between the processing unit and the s drone and/or serve for communication between the processing unit and the dock ing station. If expedient or necessary, the further processing unit may be provided with additional communication systems via which it can be controlled by a higher ranking system.

Within this specification a docking station offers alanding site for the drones where 1o the drone can stay when not performing flight movements. The docking stations are provided with wireless and, if thought expedient or required, wired communi cation systems. The communication systems serve for the communication be tween the docking stations, for communication between docking station and drone and/or for communication between docking station and further processing unit is and/or for control systems intended for the control of the drones, with different or even identical systems being used for the different types of communication. In a preferred embodiment, the docking stations are designed to also serve as relay stations.

A relay station within the scope of this application is a transmission element that passes received signals on to other recipients. A relay station within the sense of this application may in particular be an appropriately equipped docking station, an appropriately equipped drone or a processing station.

In accordance with an embodiment of the present invention the drones in the sys tem comprise at least one wireless communication system. The communication system can be used for communication and/or transmission of data between the drones, for communication and/or transmission of data between drone and dock ing station and for communication and/or transmission of data between drone and processing unit, the system to comprise different or even identical communication systems for the different communication and transmission paths.

As regards at least the power supply, the docking stations can be connected to each other via cables.

The drone and docking station each comprise a docking element via which they can be connected to each other, with said docking element comprising a magnetic and/or mechanical element. Embodiments are conceivable in which the docking elements of the drone and docking station function on the key-lock principle, but s there are also conceivable elements in which essentially only the drone or only the docking station has been equipped with an appropriate docking element. It is important in this context that the drone can be docked to the docking station only in such a way that all necessary contacts and transmission paths between drone and docking station, e.g. for power and/or data transmission, are connected or connectable after the docking operation has been performed.

At least one of the docking stations is equipped with a charging station for drones. In this way, the drones can be supplied with energy via the docking station's charging station and thus, for example, recharge existing batteries or use the transmitted energy for other tasks during their stay in the docking station, e.g. for operating the sensors or for the transmission of data. In a preferred embodiment, all docking stations are provided with a charging station.

The energy transfer between drone and docking station can be wireless or by means of electrical contacts. Preferred is a wireless power transmission, espe cially in environments where there is a danger that the contacts are rapidly soiled or polluted and therefore sufficient power transmission does not appear to be guaranteed. This is especially the case in highly dust-prone environments such as those found in mining and underground engineering.

Communication between drone and docking station is preferably achieved by wireless techniques. Communication between the docking stations and the station where further processing takes place can be either via wireless or wired tech niques. The decision-making factor whether a wireless or wired communication is to be employed always depends on the intended use of the system proposed by an embodiment of the invention.

For example, in the event the docking stations are to be particularly mobile, then wireless communication between the docking stations is a sensible choice due to the fact that wired systems tend to lose mobility as a result of the fixed cabling systems involved. Moreover, cables are basically susceptible to damage, espe cially if they have to be newly laid frequently. A limiting situation that may affect a wireless system can be an insufficient transmitter-receiver range, which, in partic ular, may create problems in the fields of mining and underground engineering s where wireless signals may only be capable of covering short distances due to the special geometry and geography of the respective sites. In such cases wired communication or communication via relay stations may be taken into considera tion. Therefore, in a preferred embodiment, the docking stations are designed to also serve as relay stations.

Preferably, the docking stations the inventive system proposes also serve to con trol the drones, with various control options being conceivable. The docking sta tions could control the drones as if with a remote control in real time. It is also conceivable for the docking stations to supply the drone with a specific flight path, with said drone then following this predetermined route and finally returning to a docking station. It would as well be conceivable that the flight path a drone follows is determined by a specific sequence of the docking stations to be approached, with the next docking station on the flight path to be flown sending out a signal which is followed by the corresponding drone.

Corresponding controls and signal transmissions can also be carried out, for ex ample, with the aid of control systems based on laser technology or RFID (radio frequency identification), in which case the docking stations and drones must be equipped with appropriate transmitter and receiver modules.

The docking stations are connected to a control unit by means of a wireless or wired communication system. An EDP system may comprise a control system. The control system provides flight routes and control parameters for the drones, for example, which are stored in the drones via the docking stations or forwarded to the drones via the docking stations. A docking station in this respect which serves the purpose of controlling a drone may merely be used for passing on the control information that originates, for example, from the EDP system, without the docking station itself being actively involved in controlling or calculating flight routes.

The control unit may preferably be part of the EDP system of the processing unit.

In the system proposed by an embodiment of the invention, several control units as well as several further processing units are conceivable.

Aside from the docking stations described hereinbefore, the inventive system may s optionally comprise further resting places where the drones can be parked essen tially without flight movements. Docking at the resting places may be possible in the same way as docking at one of the docking stations, however, simpler docking mechanisms are also conceivable here, for example by making use of a magnet, because the resting stations are not equipped normally with the communication and charging systems of the docking station.

In systems where at least some drones also include relay stations, the resting places may also be used to extend the relay network of the docking stations.

The system according to an embodiment of the invention is particularly suitable for use in exploration, inspection and/or monitoring duty in the fields of mining, is underground engineering or tunnel construction or of objects, in particular build ings, rooms, spaces, tunnel systems or cave systems. The system can in partic ular be put to use underground.

The use of monitoring systems in underground mining, and especially in longwall or coalface mining, is becoming increasingly important. This is due to the fact that modern mining practices often make it difficult for the tool operator to overlook the longwall face. On the one hand, the longwall face reaches ever greater heights of up to eight meters, and on the other hand, mining is also carried out at ever lower heights even of less than one and a half meters.

Primarily, mining in the high longwall face involves major risks for the tool operator in the event he is unable to correctly assess the conditions prevailing in the longwall face region. In particular, there is a risk that large pieces, which can be several cubic meters in volume, may come loose from the face and bury both the machine and the tool operator. The system provided by an embodiment of the present invention thus actively contributes to occupational health and safety by improving the vision within the operating range.

The inventive system is particularly suitable for longwall mining, due to the fact that only a certain portion of the face needs to be monitored at a time. Accordingly, it is thus possible to distribute the number of drones present in the system as necessary to the existing docking stations, as explained in more detail in the fol lowing examples.

When using the system proposed by an embodiment of the invention for operation in the deep mining environment, it is advantageous to design the entire system, but at least the drones, so as to be explosion-proof, respectively flameproof.

In comparison to the state of the art, the system in accordance with an embodi ment of the invention offers advantages in that the realization of the exploration or monitoring system making use of docking stations and drones is significantly more flexible and cost-effective than via a permanently installed system. To suit is the relevant task to be accomplished, the number of sensor-equipped drones in particular can be kept to a minimum compared to permanently installed sensors, since a single sensor-equipped drone is capable of approaching a great number of docking stations and thus, in comparison with a single permanently installed sensor, is able to map an area that is significantly larger.

An embodiment of the invention as well as the technical environment are de scribed hereunder in sufficient detail on the basis of the figures and application examples. It is to be noted that the figures and application examples show espe cially preferred embodiment variants of the invention. However, the invention shall not be deemed as being limited to the embodiment variants shown. To the extent it is technically expedient, the invention comprises, in particular, any optional com binations of the technical features that are stated in the claims or in the description as being relevant to the invention.

Elucidation of the invention is provided by the following figures where

Fig. 1 is a schematic representation of a system according to an embodiment of the inven tion in a variant to be preferably used in min ing;

Fig. 2 is a schematic representation of a system according to an embodiment of the inven tion in a variant to be preferably employed for the inspection of tunnel systems.

Figure 1 shows a first embodiment of the system 1 proposed by the invention, 1o which can be used in particular where wireless data transmission between dock ing stations is desirable but the transmission range is limited, for example in deep mining or underground engineering.

The number of docking stations Ai - AN, relay stations Ri - RN-2 and drones Di - DN/2 selected in the embodiment isto be regarded as an example and only serves to illustrate the envisaged application in areas where merely short trans mission ranges are available. Likewise, all dimensions and selected distances be tween the individual elements of the system are chosen purely for illustrative pur poses as shown.

The number of drones D in the system depends greatly on the required monitoring coverage. In the exemplary system a drone is assigned to every second docking station. The drones navigate between the docking stations in a cycle to be deter mined. Compared to a permanently installed system, this results in a saving of 50% on monitoring sensors. The drones D can also be deployed flexibly and, if required, may also cover areas in the operating range that could not be covered by a comparable permanent system installed at the location of the respective docking stations A1- AN.

The docking stations A may be equipped, if thought expedient or necessary, with several communication systems to communicate with each other and with the drones. The selection of suitable communication systems and the number of the communication systems arranged depends on the intended use of the system. In the preferred embodiment example illustrated in Figure 1, the docking stations A are equipped with communication systems designed for the wireless communica tion with the drones and among themselves. In addition, the docking station AN is provided with a wired communication system connecting to the processing station W.

s In areas where only poor a transmission range can be achieved, it is recommend able to equip all docking stations A with additional relay stations R, if expedient with the exception of the first and last docking station Ai, AN in the chain. A relay station R at docking station Aican be dispensed with due to the fact that no sig nals have to be passed on from here via relay station to another station, and a relay station R at docking station AN can be dispensed with because this station is connected to the processing unit W via a data cable K and therefore no signals need be forwarded from docking station AN via a relay station.

The data from docking stations A, respectively drones D is forwarded by means of data cable K.

is To ensure the reliable availability of the power supply, the docking stations Ai - AN are connected to a wired power supply E. The energy supply can be effected via the processing unit W, if necessary supported by an electronic data processing system EDP.

Docking stations A may be provided with a charging station for the drones. As required by the relevant application purpose, it may be recommendable to equip each docking station A with a charging station, but it may also make sense to equip only as many docking stations with charging stations as there are drones D in the system.

The docking station AN is connected to a control unit S by means of a wired com munication system. An EDP system may comprise a control system. The control system S for example provides flight routes and control parameters for the drones D, which are stored in the drones D via the docking stations A or transmitted to the drones D via the docking stations A. In this respect, a docking station A which serves the purpose of controlling a drone may merely be used for forwarding the control information that originates, for example, from the EDP system, without the docking station itself being actively involved in controlling or calculating the flight routes. The control unit may preferably be part of the EDP system of the pro cessing unit.

Alternatively, it is also possible to control the drones D via the docking stations A. s In such a case, for example, it would be conceivable that the drones D follow a signal that is transmitted by the docking station A which is next in the flight sched ule. It would also be conceivable in this exemplary system that the drone Di shut tles between docking stations Ai and A2 in a cycle to be determined, while the drone D2 travels between docking stations A3and A4 in a cycle to be determined, etc.

Figure 2 shows a second embodiment of the system 1 proposed by the invention, which can be used in particular where wireless data transmission between dock ing stations A is desirable and a good transmission range can be achieved. More over, this system is designed for cyclical monitoring of the respective area.

Especially the number of docking stations A1 - AN, relay stations Ri - RN-1 and drones Di - DN/2 selected in the embodiment isto be regarded as an example and only serves to illustrate the envisaged application. Likewise, all dimensions and selected distances between the individual elements of the system are chosen purely for illustrative purposes as shown.

The number of drones D in the system depends greatly on the monitoring cover age required. In the system illustrated in the example only one drone is used. The drone commutes between the docking stations in a cycle to be determined or as required. Compared to a permanently installed system, this results in a saving of 75% on monitoring sensors. Furthermore, the drone D can be deployed flexibly and, if required, may also cover areas in the operating range that could not be covered by a comparable permanent system installed at the location of the re spective docking stations Ai- AN.

The docking stations A may be equipped, if thought expedient or necessary, with several communication systems to communicate with each other and with the drone. The selection of suitable communication systems and the number of the communication systems arranged depends on the intended use of the system. In the preferred embodiment example illustrated in Figure 2, the docking stations A are equipped with communication systems designed for the wireless communica tion with the drone and among themselves. Due to the good transmission range, s the docking station AN does not include a wired communication system to the processing station W, but communicates with it wirelessly, which further increases the flexibility of the system.

Optionally, docking stations A can be equipped with additional relay stations R. A relay station R at docking station Aican be dispensed with due to the fact that no signals have to be passed on from here via relay station to another station, but a relay station R at docking station AN appears to be expedient in this system be cause wireless signals from the processing station W can be transmitted directly in this way to the receiving docking station A, if necessary.

Via the docking station AN respectively the relay station RN-1 the data from docking station A or the drones D are transmitted to the processing station W.

To ensure the reliable availability of the power supply, the docking stations A1 - AN are connected to a wired power supply E. The energy supply can be effected via the processing unit W, if necessary supported by an electronic data processing system EDP.

Docking stations A may be provided with a charging station for the drones. As required by the relevant application purpose, it may be recommendable to equip each docking station A with a charging station, but it may also make sense to equip only as many docking stations with charging stations as there are drones D in the system.

The docking station AN is connected to a control unit by means of a wireless com munication system. An EDP system may comprise a control system. The control system, for example, provides flight routes and control parameters for the drones, which are stored in the drones via the docking stations or transmitted to the drones via the docking stations. A docking station in this respect which serves the pur pose of controlling a drone may merely be used to forward the control information that originates, for example, from the EDP system, without the docking station itself being actively involved in controlling or calculating flight routes. The control unit may preferably be part of the EDP system of the processing unit.

Alternatively, it is also possible to control the drone D via the docking stations A. In such a case, for example, it would be conceivable that the drone D follows a signal that is transmitted by the docking station A which is next in the flight sched ule.

The term 'comprise' and variants of the term such as 'comprises' or 'comprising' are used herein to denote the inclusion of a stated integer or stated integers but 1o not to exclude any other integer or any other integers, unless in the context or usage an exclusive interpretation of the term is required.

Any reference to publications cited in this specification is not an admission that the disclosures constitute common general knowledge.

List of Reference Signs

A Docking station

D Drone

E Power line

s EDV Electronic data processing system (EDP)

K Communication line

R Relay station

S Control system

W Processing unit/station

Claims (12)

Claims

1. System for the monitoring and exploration in the mining and under ground engineering comprising

- a first number of drones, wherein the drones are equipped with at least one sensor and at least one communication means; - a second number of docking stations, wherein the docking stations comprise at least one communication means; - at least one processing station for processing the data ob tained by the drones with the at least one sensor; and - at least one control system for controlling the drones, wherein - the communication means enable the docking stations and drones to communicate with and/or among each other, characterized in that the first number of drones is smaller than the second number of dock ing stations and in that at least the drones are of explosion-proof design, in particular of flameproof design, and in that the at least one sensor is a dis tance sensor and the drones comprise at least one additional sensor for data acquisition.

2. System according to claim 1, characterized in that the drones and the further processing units comprise means for data transmission.

3. System according to any one of the preceding claims, characterized in that at least one docking station comprises means for data transmission which are suitable for receiving data from drones and transmitting these data to a further processing station.

4. System according to any one of the preceding claims, characterized in that at least one docking station comprises a charging station for drones.

5. System according to any one of the preceding claims, characterized in that at least one docking station comprises a relay station for the receiving and forwarding of signals.

6. System according to any one of the preceding claims, characterized in that at least one docking station comprises a relay station for the receiving and forwarding of data.

7. System according to any one of the preceding claims, characterized in that the power supply to the docking stations is of wired design.

8. System according to any one of the preceding claims, characterized in that the energy transmission from the charging station of a docking station to the drone is of wireless design.

9. System according to any one of the preceding claims, characterized in that the system also comprises resting places for the drones.

10. System according to any one of the preceding claims, characterized in that at least one drone is equipped with a relay station.

11. System according to any one of the preceding claims, characterized in that at least some of the drones and some of the docking stations comprise a is control system based on laser technology and/or RFID.

12. Use of a system according to any one of claims 1 to 11 for the ex ploration and/or inspection and/or monitoring in underground mining, under ground engineering or tunnel construction or of objects, in particular buildings, spaces, rooms, tunnel systems or cave systems.