DE102016003707A1 - Landing device for optically routing delivery devices - Google Patents

Abstract

The invention relates to a landing device and a method for optically conducting a delivery device with a camera system. The landing device and the delivery device are each communicatively connected to a delivery system. The landing device and the delivery device are not in communicative connection with each other, wherein the landing device has an identification feature for identification by the delivery system, wherein the landing device has a system of optical markers for detection by the camera system of the delivery device.

Description

The invention relates to a landing apparatus for optically routing delivery devices with a camera system and to a method for optically routing delivery devices.

Delivery devices are known from the prior art, although they can autonomously fly to a destination. To land, these can be controlled by one person or head for a previously stored coordinate and land there independently. However, this autonomous landing has the disadvantage that the delivery device lands thereby, without perceiving the environment. This can lead to faulty delivery in case of incorrect GPS data. Furthermore, no special landing gear is provided for landing.

From the US2015 / 0120094 A1 For example, there is known a system of delivery devices that communicate with each other in order to arrive at their destination. This communicative connection determines the route to the delivery station. Furthermore, the delivery position is determined from the GPS data of a customer's smartphone or it is driven to a predetermined secure delivery point. Upon successful completion of the delivery process, the delivery device sends a message to the customer.

It is an object of the present invention to provide a landing apparatus and method for optically routing delivery devices with a camera system that is user friendly, tamper resistant, and reliable.

This object is solved by the subject matter of independent claims 1 and 9.

According to the invention, a landing device is provided for optically conducting a delivery device with a camera system and a navigation system, wherein the landing device has a system of active and / or passive optical markers for outputting a characteristic signal pattern via the delivery process, and wherein the camera system of the delivery device for detecting the Characteristic information is set up by the system of active and / or passive optical markers. The delivery device here is an autonomous flying object, in particular a drone. The delivery system includes a supplier and a store for deliveries. The storage location may be, for example, a warehouse, a branch of the supplier or else a delivery vehicle from which the delivery device starts. In addition, an order-specific code is generated by the delivery system, which is transmitted to the landing device. This code is converted by the landing device into a signal that can be perceived by a camera system of the delivery device. The camera system implemented in the delivery device in this case comprises a computing unit which is suitable for processing the recorded image material and sending it to the delivery system. The delivery system also passes the obtained position data to the delivery device. The navigation system of the delivery device is used so that the delivery device can independently and precisely control the transmitted position data. An advantage of an implemented navigation system is that the delivery device can autonomously go to the destination after the position data has been transmitted. An external control is therefore no longer required, which leads to increased security, since an external control via a wireless connection is tamper-prone. After reaching the target position and before landing and unloading the delivery, the delivery device picks up the optical signal pattern with the camera system and sends the data to the delivery system. This compares the captured pattern with the generated code and, if matched, gives the enable for landing and unloading. If the transmitted signal pattern does not match the generated code, the process is aborted and the delivery device returns to the delivery system. In addition to the authentication of the delivery process, the optical markers of the landing device can also serve as a guide when landing, since the autonomous delivery system can directly target the landing device via the visual perception of the signals. This is advantageous because position data may have small deviations and measurement inaccuracies, which may result in the landing device being missed. This aspect is especially relevant at delivery locations that are not at ground level, such as balconies or multiple, adjacent landing devices such. B. in urban areas.

It is particularly essential to the invention that there is no communication between the landing device and the delivery device during the entire process and in particular during the landing. Thus, the communication between the landing device and delivery device is purely visual. A direct communication connection, such as a Bluetooth or WLAN connection is explicitly not provided. This protects against manipulation, since, for example, Bluetooth or WLAN connections can be insecure and third parties could thus gain access to the delivery device and / or the landing device, for example by changing the delivery location and / or bypassing an authentication process.

Preferably, the landing device and the delivery device are each communicatively connected to a delivery system at least at times, wherein the landing device and the delivery device are not in communicative communication with each other. It is further preferred that the landing device has an identification feature for identification by the delivery system. In the communication between the landing device and the delivery system in particular an identification feature is transmitted, via which the landing device can be assigned to exactly one customer. Preferably, a delivery information is associated with an identification feature and is preferably a specific ID code of the device, which clearly reproduces the affiliation of the landing device to a specific user. Furthermore, position data can be transmitted between the landing device and the delivery system, via which the exact location of the landing device is displayed. It is advantageous that, in the case of changing positions of the landing device, the location can be updated before each delivery, since the landing device can be configured both stationary and transportable. Thus, the delivery of an order can be made location independent, whereby a higher flexibility of the customer is achieved, since this does not have to wait in a certain place for the shipment. Preferably, at least one active optical marker is designed as a light source and / or as a sound emitter. A marker designed in this way is a marker which, in a further preferred embodiment, generates a signal pattern which is in particular temporally sequential. However, it is also conceivable that additionally or alternatively a passive optical marker is mounted on the landing device. For example, this passive optical marker may be a special color pattern that is applied to the landing device. Depending on the generated order-specific code, this color sample could be changed according to the order, eg by B. the color pattern is printed. An additional passive marker offers the advantage that on the one hand there is provided a further visual source on which the delivery device can orient itself and on the other hand this can serve to provide a further source for authentication in case of poor visibility or failure of the active markers. The active optical marker can be integrated directly in the landing device or attached separately to the landing device. An unimplemented active marker can be, inter alia, a terminal of the customer, such as a smartphone or a tablet. In this case, for example, either the display can be lit differently or via the camera flash a signal pattern can be generated. The integrated optical markers can be, inter alia, differently colored light sources, which can generate an even more specific signal pattern as a function of the code. Furthermore, it is conceivable that the signal pattern is generated with IR and / or UV light, which may be polarized or not polarized.

Furthermore, the landing device preferably has a data communication device. For example, a terminal can be connected to the landing device via this communication device. On this, the code of the delivery system can be transmitted and the active optical markers are controlled accordingly via the terminal. Furthermore, a transmission input to the customer and the delivery system can be sent via this connection. It is also possible for the delivery system to send the order-specific code to the landing device via this communication device. The advantage here is that the landing device can communicate directly with the customer and the delivery system, so that information, such as the generated code or the receipt of the shipment, can be transmitted directly between the landing device and the delivery system. This makes the handling of the landing device very user-friendly, since the customer does not necessarily have to take action during the delivery process. However, it is also conceivable that the landing device does not communicate directly with the delivery system, but a terminal device must be interposed for communication. The data communication device may be, for example, a wireless communication device such as WLAN and / or Bluetooth. As a wired communication device, in particular to a terminal of the customer, such as a smartphone or tablet, a USB connection would be conceivable, depending on the terminal and a LAN connection would be possible. An advantage of the wired connection is that it is tamper-proof. However, a connection to the Internet is particularly preferred for the communication of the landing device with the delivery system. This can be achieved by data transmission technologies such as, for example, via LAN, and in particular wireless data transmission technologies such as WLAN or mobile communications.

To determine the position data, the landing device preferably has an integrated and / or separate position sensor. The external position sensor can be provided, for example, via a smartphone or other terminal, which has GPS, among other things. Preferably, the terminal additionally has an Internet connection, since in this way the location becomes more precise.

In a further preferred embodiment, the landing device additionally has a Device for recording a shipment receipt. This device is realized via a sensor, such as a weight detection, which registers when a delivery is placed on the landing gear. Also conceivable would be a barcode scanner which scans a barcode attached to the underside of the delivery, or an RFID reader. Upon detection of the shipment receipt, the landing device sends a message to the customer and the delivery system. Immediate information about the consignment receipt is advantageous because the delivery can be picked up promptly and the customer has a confirmation that the delivery process was successful. Likewise, it is important for the delivery system to know that the automatic delivery was successful because there is no direct control of the delivery device. Furthermore, should a landing clearance have been granted by the delivery system, but no positive consignment receipt is reported, the delivery system will cause a check of the delivery process, for example via a renewed command to the delivery device to control the coordinates and activate the camera.

Furthermore, the landing device preferably additionally has a device for protecting the transmission. This is particularly advantageous to protect the delivery from the effects of weather and / or theft, especially in view of the fact that it is not immediately possible for the customer to receive the delivery.

• – Übermitteln von Ortsinformationen einer Landevorrichtung an die Liefervorrichtung durch das Liefersystem;
• – Aktivieren eines Kamerasystems der Liefervorrichtung bei Erreichen der Position der Landevorrichtung;
• – Darstellen eines spezifischen Signalmusters (S) durch wenigstens einen aktiven und/oder passiven optischen Marker (12) der Landevorrichtung (10);
• – Erfassen des Signalmusters des wenigstens einen aktiven und/oder passiven optischen Markers durch das Kamerasystem der Liefervorrichtung;
• – Übertragen des erfassten Signalmusters von der Liefervorrichtung an das Liefersystem und Ermitteln eines Ist-Signalcodes aus dem Signalmuster durch das Liefersystem; und
• – Freigabe durch das Liefersystem zum Landen und Abladen der Fracht an die Liefervorrichtung bei Übereinstimmung von Ist-Signalcode und Soll-Signalcode.

According to the invention, a method for optically routing a delivery device with a camera system comprises the following steps:

• - Transmission of location information of a landing device to the delivery device by the delivery system;
• Activating a camera system of the delivery device upon reaching the position of the landing device;
• Representing a specific signal pattern (S) by at least one active and / or passive optical marker ( 12 ) of the landing device ( 10 );
• Detecting the signal pattern of the at least one active and / or passive optical marker by the camera system of the delivery device;
• - transmitting the detected signal pattern from the delivery device to the delivery system and determining an actual signal code from the signal pattern by the delivery system; and
• Release by the delivery system for landing and unloading of the cargo to the delivery device in accordance with actual signal code and desired signal code.

In a preferred embodiment of the method, the delivery system transmits a specific target signal code to the landing device from which the specific signal pattern is generated.

Particularly preferably, the landing device is first identified on the basis of an identification feature. So a landing device can be assigned to exactly one customer. This step is mainly used to authenticate a customer who has placed an order.

In the case of a negative coincidence of desired signal code and actual signal code, the process is particularly preferably aborted. This is particularly advantageous because such a wrong delivery is excluded.

Particularly preferably, the landing device reports a transmission input to the delivery system and / or the customer via the data communication device.

By way of example, preferred embodiments of the method according to the invention are explained. These examples are merely embodiments and are not an exhaustive list of possible embodiments. Features that are disclosed by way of example in the context of an embodiment may also be used in other embodiments of the invention, if there is no compelling technical reason for exclusion.

A particularly preferred embodiment of the method according to the invention relates to the sequence for a so-called intelligent landing field (landing device). Here, the customer registers once the ID of the landing field at the supplier or the logistics control center (delivery system). The customer positions, fixes and activates the landing field at the desired delivery point (mobile execution of the landing field). The landing field captures its own position (eg via GPS) after activation. After that, the landing field establishes a data connection (eg via WLAN and Internet) to the supplier. The customer solves an order z. B. by smartphone at the supplier for an airborne delivery to his landing field. The order processing at the supplier links the order with the ID of the landing field and requests there the delivery position or the coordinates. The control center sends an airborne delivery device with cargo to the transmitted coordinates. The delivery device flies close to the delivery point and reports to the control center readiness for landing. The delivery device activates the camera surveillance of the land environment. The control center generates an order-specific code and transmits it to the landing field. The landing field then translates this code into a specific blink sequence (or pattern) on an optical marker (array of bulbs). The camera of the delivery device detects the position and the order of the light signals of the optical marker, whereupon the delivery device transmits the detected blinking light sequence of the light signals of the optical marker to the control center. The control center compares the generated code with the code detected by the delivery device and transmits the landing release to the delivery device if the codes coincide with each other. In the event of a mismatch, the control center will return the delivery device and report the cancellation to the customer. When landing is granted, the delivery device initiates the landing approach and orients itself to the light signals of the landing field for the fine positioning on landing. Optionally, the landing field can detect the consignment entrance by a suitable sensor system (eg a weight sensor). The landing field then reports the consignment entrance to the control center (eg via the Internet) and the customer (eg via WLAN to a smartphone app). The delivery device returns to the control center. The customer receives the cargo and removes the landing gear (mobile version). After the return of the delivery system, the delivery process is completed by order processing at the supplier.

The second preferred embodiment relates to a passive landing field (eg a tarpaulin). Here, the customer registers once the ID of the landing field at the supplier or the logistics office (delivery system). The customer positions and fixes the landing field at the desired delivery point (mobile execution of the landing field). Then the customer launches a smartphone app for determining the location of the landing field. For this purpose, the GPS sensor of the smartphone detects the current position. The customer takes a photo of the optical marker (eg Data Matrix) with the smartphone camera on the landing field. The app then determines the ID information of the landing field from the marker image and associates the ID with the coordinates of the smartphone when recording. The customer solves an order z. B. by means of a smartphone app at the supplier for an airborne delivery to his landing field. The control center sends an airborne delivery device with cargo to the transmitted coordinates. The delivery device flies close to the delivery point and activates the camera surveillance of the land area. The delivery device camera detects the position, orientation and ID information of the optical marker. The delivery device transmits the landing field ID to the control center. The control center compares the target ID with the ID detected by the delivery device and transmits the landing clearance to the delivery device if the codes coincide with each other. In the event of a mismatch, the control center will return the delivery device and report the cancellation to the customer. When landing is granted, the delivery device initiates the landing approach and orients itself to the optical marker of the landing field for the fine positioning on landing. The delivery device lands and unloads the cargo on the landing field. The delivery device can then report the delivery to the control center. The delivery device then returns to the base of the supplier and the control center notifies delivery to the customer (eg via SMS). The customer receives the cargo and removes the landing gear (mobile version). After the return of the delivery system, the delivery process is completed by order processing at the supplier.

Further advantages and embodiments will become apparent from the accompanying drawings.

Technical features listed therein are also claimed in isolation from their combination of features, which is given by way of example only. Technical features with the same or similar effect are marked with the same reference number. For reasons of clarity, the labeling of repeatedly displayed technical features is partly dispensed with.

Show:

1 a schematic representation of a landing device according to the invention and an associated delivery system and a delivery device;

2 a first possible embodiment of the landing device according to the invention;

3 an alternative embodiment of the landing device according to the invention with passive marker;

4 a preferred embodiment of the landing device according to the invention with integrated passive and external active marker;

5 a further preferred embodiment of the landing device according to the invention with integrated active marker; and

6 an alternative embodiment to that in 5 shown landing gear.

1 shows a schematic representation of a landing device according to the invention 10 and an associated delivery system 30 and a delivery device 20 , The delivery device 20 includes a camera system 21 , which is suitable, an optical signal S from an optical marker 12 and a navigation device ( 22 ) via which the delivery device ( 20 ) the position of the landing device ( 10 ) can control. The delivery system 30 has a data communication link D to both the delivery device 20 as well as to the landing device 10 on. The landing gear this includes an identification feature 11 , an optical marker 12 , a data communication device 13 as well as a position sensor 14 , Furthermore, schematically a device 15 for detecting the transceiver input as well as a device 16 shown to protect the delivery.

2 shows a possible embodiment of a landing device according to the invention 10 , Here is the landing gear 10 only by a terminal 40 realized by a customer. This terminal 40 has a data connection D to the delivery system 30 on. The terminal 40 is configured such that it can emit a signal pattern S, which from the camera system 21 the delivery device 20 is perceived.

3 discloses a further alternative embodiment of the landing device according to the invention 10 , This points the landing gear 10 a passive optical marker 12b on which of the camera system 21 the delivery device is perceived. About a terminal 40 Be information about the passive optical marker 12b via a data connection D to the delivery system 30 passed. The delivery device 20 sends the recording of the passive optical marker 12b to the delivery system 30 containing the information about the passive optical marker 12b compared with the recordings.

4 shows a further preferred embodiment of the landing device according to the invention 10 , In this embodiment, in addition to the passive optical marker 12b an active optical marker 12a used. This becomes the active optical marker 12a via a terminal 40 realized, which emits a signal pattern S and in communicative connection to the delivery system 30 stands.

In 5 is another preferred embodiment of the landing device 10 shown. In this device are several active optical markers 12a into the landing gear 10 integrated, which emit a signal pattern S. Furthermore, a data communication device 13 shown. The communication between landing gear 10 and delivery system 30 takes place via an intermediary terminal 40 instead of.

6 shows the same embodiment of the landing device as 5 , Here, the landing device communicates 10 however, directly with the delivery system 30 , but also with a terminal 40 communicate.

LIST OF REFERENCE NUMBERS

10

landing device

11

identification feature

12

optical marker

12a

active optical marker

12b

passive optical marker

13

Data communication device

14

position sensors

20

delivery device

21

camera system

22

navigation system

30

delivery system

40

terminal

D

Data Connection

S

signal pattern

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• US 2015/0120094 A1 [0003]

Claims (16)

Landing device ( 10 ) for optically conducting a delivery device ( 20 ) with a camera system ( 21 ) and a navigation system ( 22 ), the landing device ( 10 ) a system of active and / or passive optical markers ( 12 ) for outputting a characteristic signal pattern (S) about the delivery process, and wherein the camera system ( 21 ) of the delivery device ( 20 ) for capturing the characteristic information from the system of active and / or passive optical markers ( 12 ) is set up. Landing device ( 10 ) according to claim 1, characterized in that the landing device ( 10 ) and / or the delivery device ( 20 ) each with a delivery system ( 30 ) are at least temporarily communicatively connected, and wherein the landing device ( 10 ) and the delivery device ( 20 ) are not communicatively connected with each other. Landing device ( 10 ) according to one of the preceding claims, characterized in that the landing device ( 10 ) an identification feature ( 11 ) for identification by the delivery system ( 30 ) having. Landing device ( 10 ) according to one of the preceding claims, characterized in that a delivery information an identification feature ( 11 ) and preferably a specific ID code of the landing device ( 10 ). Landing device ( 10 ) according to any one of the preceding claims. characterized in that the optical mark system comprises a plurality of active and / or passive optical markers ( 12 ) in a defined position to each other, so that for Beilungs- / navigation purposes, a characteristic pattern of the optical markers ( 12 ). Landing device ( 10 ) according to one of the preceding claims, characterized in that at least one active optical marker ( 12 ) is designed as a light source and / or as a sound emitter. Landing device ( 10 ) according to any one of the preceding claims, characterized in that by the at least one active optical marker ( 12 ), in particular a temporally sequential signal pattern (S) can be generated. Landing device ( 10 ) according to one of the preceding claims, characterized in that the landing device ( 10 ) a data communication device ( 13 ) having. Landing device ( 10 ) according to one of the preceding claims, characterized in that the landing device ( 10 ) an integrated and / or separate position sensor system ( 14 ) having. Landing device ( 10 ) according to one of the preceding claims, characterized in that the landing device ( 10 ) additionally a facility ( 15 ) for detecting a shipment receipt. Landing device ( 10 ) according to one of the preceding claims, characterized in that the landing device ( 10 ) additionally a facility ( 16 ) to protect the consignment. Method for optically conducting a delivery device ( 20 ) with a camera system ( 21 ) comprising the following steps: - identifying the landing device ( 10 ) through the delivery system ( 30 ) based on an identification characteristic ( 11 ) and / or delivery information; Transmission of location information about a position of the landing device ( 10 ) to the delivery device ( 20 ) through the delivery system ( 30 ); - activate a camera system ( 21 ) of the delivery device ( 20 ) upon reaching the landing gear position ( 10 ); Representing a specific signal pattern (S) by at least one active and / or passive optical marker ( 12 ) of the landing device ( 10 ); Detecting the signal pattern (S) of the at least one optical marker ( 12 ) by the camera system ( 21 ) of the delivery device ( 20 ); - transmitting the detected signal pattern (S) by the delivery device ( 20 ) to the delivery system ( 30 ) - Determining an actual signal code from the signal pattern (S) by the delivery system ( 30 ); and - release by the delivery system ( 30 ) for landing and unloading the cargo to the delivery device ( 20 ) if the actual signal code and the desired signal code match. A method according to claim 12, characterized in that of the delivery system ( 30 ) a specific desired signal code to the landing device ( 10 ) from which the specific signal pattern (S) is generated. Method according to claim 12 or 13, characterized in that the landing device ( 10 ) through the delivery system ( 30 ) based on an identification characteristic ( 11 ) and / or delivery information. Method according to one of Claims 12-14, characterized in that, if the reference signal code and the actual signal code are in negative agreement, the process is aborted. Method according to one of claims 12-15, characterized in that the landing device ( 10 ) via the data communication device ( 13 ) a consignment entrance to the delivery system ( 30 ) and / or a terminal ( 40 ) of a customer.

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