DE102018205578A1 - Method for forming a convoy comprising at least one unmanned, autonomously movable object, as well as correspondingly designed, movable object - Google Patents

Abstract

The present invention relates to a method for forming a convoy (14) comprising at least one unmanned, autonomously movable object (12, 18), comprising the following steps: a) determining a planned route for the at least one unmanned, autonomously movable object (12, 18 B) receiving a planned route of at least one other movable object (10; 12; 18) (step S2); c) comparing the planned route of the at least one unmanned autonomously movable object (12,18) with the if the planned route of the at least one unmanned, autonomously movable object (12, 18) and the planned route of the at least one other movable object 10, 12, 18) fulfill at least one predetermined similarity criterion: forming a convoy (14) from the at least one unmanned, autonomously movable object (12, 18) and the at least one other movable object (10; 12; 18) (step S4). The invention further relates to a movable object designed for such a method.

Description

The present invention relates to a method for forming a convoy comprising at least one unmanned, autonomously movable object. It also relates to a movable object designed for such a method.

Under an unmanned, autonomously movable object are primarily drones and delivery robot to understand. Such unmanned, autonomously movable objects are increasingly in demand in the business and private environment. The number of drones sold worldwide in 2016 was about two million. In 2020, a sale of nearly six million is forecast. Various concepts for the delivery of food or items are already known today. In addition, the demand for supplies is steadily increasing. Today also already known and technically implemented for example with the applicant is a so-called Predictive Navigation. No concrete navigation needs to be started manually anymore. Like Google Now, the car predicts a route or a targeted destination based on historical data.

Furthermore, today's vehicles already have a large part of a Wi-Fi hotspot and will in the future for Car2X communication implement additional wireless standards to communicate with their environment. Many drones already have a Wi-Fi receiver and transmitter today, for example, to transmit control signals or video data.

Sometimes drones are very limited in their carrying capacity. This means that in urban areas, where in the future several shipments per day will be carried out, it could lead to a kind of "air pollution" by drones. Thousands of deliveries daily could mean thousands of drones. So there will be traffic jams in the sky. Already, more and more bans in the airspace are required and implemented. Even with rolling / moving delivery robots, congestion and utilization on sidewalks or even on lanes can increasingly occur.

From the DE 10 2015 008 353 A1 It is known to select at least one suitable partner vehicle for a column drive with slipstreams via inter-vehicle communication. The choice of partner is based on the area ratios. The autonomously driving vehicle transmits data relating to a navigation destination to other vehicles in the environment via a communication interface, with the autonomously driving vehicle merging with the other vehicles to form a column. An economic balance between a slipstream and a slipstream is proposed.

From the DE 20 2017 101 730 U1 is a drone with a signal output unit known to provide signals and messages well in hard to reach terrain and at great distances well noticeable. The unmanned flying object can track a target object. Mechanical and electrical coupling between a land vehicle and an unmanned flying object is also proposed. In this case, the vehicle represents the base or the evaluation station. In the vehicle, there may be an operator who monitors or controls the use of the unmanned aerial vehicle. The system may be configured so that the operator can terminate an autonomous or semi-autonomous operating mode of the unmanned aerial vehicle at any time and take over the control.

The DE 10 2010 042 089 A1 relates to a navigation system and a method for route guidance for a motor vehicle. A planned navigation route of a first vehicle is compared with a navigation route of another vehicle, wherein if the navigation routes of both vehicles match, a driver of the first vehicle is requested to follow the further vehicle. As a result, the following does not have to focus on the instructions of his navigation system, but merely to follow another vehicle.

The object of the present invention is to reduce the risk of the formation of congestion by unmanned, autonomously movable objects.

This object is achieved by a method having the features of claim 1 and by a movable object designed for such a method.

The present invention is based on the finding that unmanned, autonomously movable objects can be combined with other movable objects in convoys for at least a large part of their distance to be covered, thereby reducing a perceived traffic density. The unmanned, autonomously movable object can thus move alongside, close to or even below the other movable object, ie to fly, to roll along or ride along. When a plurality of unmanned, autonomously movable objects implement this method, a plurality of unmanned, autonomously movable objects move with the same other movable object. Thus, if several unmanned, autonomously movable objects form a convoy with another movable object, in the case of drones the Free airspace, in the case of delivery robots, the roads. Of course, drones with a motor vehicle as a further movable object can form a convoy.

With the large number of motor vehicles traveling on our roads, it is easily possible to form a convoy by the method according to the invention, i.e. to make a convoy. that in particular in cities where there is a high traffic density, each unmanned, autonomously movable object covers at least a major part of a route to be covered in the form of a convoy. Since a convoy is perceived as a single moving object, on the one hand, the perceived traffic density is reduced, on the other hand, the free space between the convoys is increased many times. Although, therefore, just as many unmanned, autonomously movable objects use the roads or the airspace, the perceived utilization of the traffic routes, i. the airspace, the sidewalks or even the carriageways back.

According to the invention, a planned route for the at least one unmanned, autonomously movable object is therefore initially determined in a step a). This can be done by entering an origin and a destination in a navigation system of the unmanned, autonomously movable object. Alternatively, the route can also be created externally in a central server and transmitted to the unmanned, autonomously movable object. In a subsequent step b) will receive a scheduled route of at least one other movable object. Subsequently, in one step c) the planned route of the at least one unmanned, autonomously movable object compared with the planned route of the at least one other object and in one step d) if the planned route of the at least one unmanned, autonomously movable object and the planned route of the at least one other movable object meet at least one predetermined similarity criterion, a convoy formed from the at least one unmanned, autonomously movable object and the at least one other movable object.

Despite an increased volume of unmanned, autonomously movable objects, additional traffic jams can be avoided. The similarity criterion can consist in that the two planned routes coincide over a predefinable route length or at least, even if there is no match, the unmanned, autonomously movable object is brought closer to its destination if the route of the other mobile object follows a predefinable route length , The route length may be, for example, in densely populated areas at least 200 m, in particular 500 m, more preferably at least 1 km.

Only when the route of the other movable object, i. of the "host" means a greater deviation from the planned route of the unmanned, autonomously movable object, the unmanned, autonomously movable object leaves its "host" and joins the next "host".

In this way, with increasing number of unmanned, autonomously movable objects of the traffic area, especially walkways, lanes and airspace, kept free. In a potential prohibition of aircraft drones at high altitude, the existing traffic routes, such as roads, can be better used and in particular with an arrangement above or below a motor vehicle as another movable object no "space" is lost.

As already mentioned, the drone or a delivery robot is preferably provided as the at least one unmanned, autonomously movable object. In this context, mixed convoys, i. Convoys comprising drones and delivery robots, are formed.

As already mentioned, a motor vehicle can be provided as the at least one further movable object. Motor vehicles are particularly well suited, since the size of the unmanned, autonomously movable objects is usually almost negligible compared to the size of a motor vehicle. Viewed from a certain distance, the convoy of a motor vehicle and at least one unmanned, autonomously movable object still acts just like a motor vehicle.

In this context, it is preferred if the convoy is formed in such a way that the at least one unmanned, autonomously movable object occupies a position above, behind and / or below the motor vehicle, in particular at a distance from the motor vehicle which is smaller than a predefinable maximum distance , The predeterminable maximum distance can be, for example, 1 m, preferably 50 cm. Unmanned, autonomously movable objects arranged behind or under the motor vehicle are virtually non-visible. The convoy acts like a motor vehicle alone. Moreover, the at least one unmanned, autonomously movable object can exploit the slipstream of the motor vehicle, so that the energy requirement for moving the unmanned, autonomously movable object is reduced.

It is furthermore preferred if the at least one unmanned, autonomously movable object and the motor vehicle are at least mechanically pair with each other. In this way, during the time in which the unmanned, autonomously movable object and the motor vehicle are moving in a convoy, the energy expenditure for driving the unmanned, autonomously movable object can be reduced to zero. It can be provided that such a mechanical coupling, in particular also a mechanical and electrical coupling, is detected by means of a detection device and the holder of the motor vehicle receives financial compensation in order to set an incentive that holders of motor vehicles permit such a mechanical coupling.

An unmanned, autonomously movable object, in particular a drone or a delivery robot, can also be provided as the at least one further movable object. In other words, several unmanned, autonomously movable objects can come together to form a convoy, especially if no suitable motor vehicle is present as another movable object. Even if several unmanned, autonomously movable objects form a convoy, the perceived traffic density can be reduced.

In this context, it is preferred if the convoy is formed in such a way that the at least two unmanned, autonomously movable objects move at a distance that is smaller than a predefinable maximum distance. The predefinable maximum distance may be 1 m, preferably 50 cm, more preferably 30 cm. In this way, a plurality of unmanned, autonomously movable objects that merge into a convoy are perceived as merely an object.

In this context, it has further proven to be advantageous if the convoy is formed by a plurality of unmanned, autonomously movable objects, wherein the unmanned, autonomously movable objects arrange in such a way that they form a vehicle silhouette. Accordingly, the familiar appearance of a motor vehicle is formed over a greater distance by a multiplicity of unmanned, autonomously movable objects. In this way, the multiplicity of unmanned, autonomously movable objects which are arranged in this way are extremely disturbing.

Furthermore, preferably, a central data processing device is provided, wherein the at least one unmanned, autonomously movable object and the at least one further movable object transmit their planned routes to the central data processing device, wherein the data processing device at least the transmitted to them routes, in particular continue identification and / or Provides position data on the objects of the transmitted routes to convoy-interested objects. In this way, unmanned, autonomously movable objects can easily find and identify suitable movable objects. Positional data can be obtained by providing each movable object with a positioning system, for example based on GPS. Other identification data may be the color of the other movable object, the mark and the like.

Alternatively or additionally, it can be provided that the at least one unmanned, autonomously movable object and the at least one further object transmit their planned routes to one another, in particular wirelessly, preferably by WLAN, Bluetooth or NFC. In this way a central data processing device and the communication with it can be avoided. This opens up the possibility of a local local interaction. In this decentralized variant, an unmanned, autonomously movable object waits for a passing other movable object, the routes being exchanged as the other movable object approaches the unmanned, autonomously movable object. If a predefinable similarity criterion is met, then the unmanned, autonomously movable object still has sufficient time to form a convoy with the other movable object.

Preferably, the movable objects communicate their respective positions in the convoy, in particular their relative and / or absolute positions, to the other movable objects of the convoy. In this way, the movable objects can form a densely packed convoy, which takes up the smallest possible space, without running the risk that the movable objects inadvertently abut each other and thereby be damaged.

Further preferred embodiments emerge from the subclaims.

The preferred embodiments presented in connection with the method according to the invention for forming a convoy and their advantages apply correspondingly, if applicable, to a movable object designed according to the invention for such a method.

• 1 eine schematische Darstellung zur Erläuterung eines Aspekts des erfindungsgemäßen Verfahrens zum Bilden eines Konvois;
• 2 unterschiedliche Konvois gebildet nach dem erfindungsgemäßen Verfahren; und
• 3 ein Signalflussdiagramm zur Erläuterung eines Ausführungsbeispiels eines erfindungsgemäßen Verfahrens zum Bilden eines Konvois.

Hereinafter, embodiments of the present invention will be described in more detail with reference to the accompanying drawings. These show in:

• 1 a schematic representation for explaining an aspect of the method according to the invention for forming a convoy;
• 2 different convoys formed by the method according to the invention; and
• 3 a signal flow diagram for explaining an embodiment of a method according to the invention for forming a convoy.

1 shows a schematic representation for explaining an aspect of the method according to the invention for forming a convoy. Shown is a motor vehicle 10 as well as a first and a second drone 12a . 12b , Each of these three objects would like to move to a specific destination, the motor vehicle to the destination A, the drone 12a to destination B and the drone 12b to the destination C. To reach the respective destinations, each of the three participants plans a route there. As by the arrows P1 . P2 . P3 Expressed, the three objects transmit their planned routes each other wirelessly, in particular by WLAN, Bluetooth or NFC. Furthermore, the motor vehicle transmits 10 to the drones 12a and 12b Identification data and / or position data relating to the motor vehicle 10 ,

First, the drone compares 12a that of the motor vehicle 10 received planned route with its planned route. The comparison shows that the planned route of the drone 12a and the planned route of the motor vehicle 10 meet at least one predetermined similarity criterion, the drone closes 12a the motor vehicle 10 and thus forms a convoy with him. As a similarity criterion, for example, it can be checked whether the two planned routes coincide in a starting range or over a minimum length or over a minimum number of matching driving maneuvers. This can be the drone 12a be designed, the route originally planned by her to the motor vehicle 10 adapted route to meet a predetermined similarity criterion. In other words: Represents the drone 12a that they are on the motor vehicle 10 planned route closer to a destination, although that of the motor vehicle 10 planned route the drone 12a not to the destination of the drone 12a leads, so the drone 12a modify their originally planned route. As far as the drone 12b when comparing her planned route with that of the motor vehicle 10 planned route comes to the conclusion that a similarity criterion is met, it joins the convoy of motor vehicle 10 and drone 12a at. The convoy already comprises three movable objects.

In none of these ways is the fulfillment of one of the predetermined similarity criteria with that of the motor vehicle 10 met planned route, comparing the drone 12a the drone 12b transmitted planned route with the planned route. If a similarity criterion is met, the drone forms 12a with the drone 12b a convoy. While getting in the formation of a convoy from the motor vehicle 10 and the drone 12a the drone 12a the motor vehicle 10 follows, so follows him, is in the case that the drones 12a and 12b form a convoy, a mutual agreement between the two drones 12a . 12b necessary. Are both drones 12a . 12b agree to the formation of a convoy, they move together away from the starting point. To form a convoy, the objects involved move at a distance which is smaller than a predefinable maximum distance, for example 0.5 m.

In the event that the drones 12a . 12b form a convoy and this convoy in the further course by further drones 12i is extended, arrange the drones so that they form a vehicle silhouette, in particular behave like a vehicle. To prevent collisions, the movable objects transmit their respective positions in the convoy, in particular their relative and / or absolute positions, to the other movable objects of the convoy. In this context, a predefinable minimum distance must not be fallen below.

As an alternative to this decentralized solution, a central data processing device 22 be provided, wherein the motor vehicle 10 and the drones 12a . 12b their planned routes to the central data processing device 22 to transfer. The data processing device 22 provides the transmitted to them routes, in particular continue identification and / or position data to the motor vehicle 10 and the drones 12a . 12b , ready for convoy-interested objects.

2 shows four variants to form a convoy 14 , In the variants of 2a) to c ) is in each case a motor vehicle 10 Part of the convoy 14 while in the variant of 2d ) a plurality of unmanned, autonomously movable objects 12 , present drones, to a convoy 14 have joined together.

In the variant of 2a) fly four drones 12 , each one a cargo 16 transport, at a small distance above the motor vehicle 10 , In the variant of 2 B) a drone is flying 12 and drive three delivery robots 18 under the motor vehicle 10 ,

In the variant of 2c ) is a drone 12 and a delivery robot 18 mechanically with the motor vehicle 10 coupled. The delivery robot 18 is also electrically connected to the motor vehicle 10 coupled, in particular via a plug one Towbar, the delivery robot 18 is designed, electrical energy to charge its energy storage via the plug of the trailer hitch of the motor vehicle 10 from the electrical system of the motor vehicle 10 refer to. For a safe hold of the drone 12 on the roof of the motor vehicle 10 can on the roof 20 of the motor vehicle 10 a docking device for at least one drone 12 be provided. Such a docking device can be a plug-in device for removing electrical energy from the electrical system of the motor vehicle 10 to charge an energy storage device of the drone 12 include, wherein the plug-in device is preferably designed so that a drone 12 when landing on the docking device automatically brings a drone-side plug with a vehicle-side socket or vice versa in mechanical and electrical contact.

In the variant of 2d ) have a variety of drones 12 to a convoy 14 together and in such a way that they have a vehicle silhouette 24 form. Every drone 12 transmits its relative and / or absolute position to the other drones 12 of the convoy 14 to avoid collisions. In this way, it is ensured that a predefinable minimum distance is not undershot. For longer distances acts such a drone swarm as a motor vehicle.

Furthermore, such a drone swarm can behave like a motor vehicle, for example, as regards the lighting or signal lights. This is possible when the drones 12 equipped with appropriate lighting devices. Thus, such a drone swarm when stopping, for example, in front of a traffic light in the rear of the drone swarm generate a "stop light" and simulate a low beam at night in the front. In this case, within the drone swarm communicates which drones 12 at the "rear of the vehicle" and which drones 12 are arranged on the "vehicle front" of the vehicle silhouette.

3 shows a signal flow graph for an embodiment of a method according to the invention for forming a convoy 14 , In step S1 On the basis of a starting location and a destination, a planned route for an unmanned, autonomously movable object 12 . 18 certainly. In step S2 becomes a planned route of at least one other movable object, for example a motor vehicle 10 , received. In step S3 become the planned routes of the unmanned, autonomously movable object 12 . 18 with the planned route of the other object 10 compared. If the planned route of at least one unmanned, autonomous movable object 12 . 18 and the planned route of the other movable object 10 at least meet a predetermined similarity criterion is branched back to step S2 , However, if at least one predetermined similarity criterion is met, the method continues to step S4 in which a convoy 14 is formed from the at least one unmanned, autonomously movable object 12 . 18 and another object 10 ,

In the course of the movement of the convoy 14 will be in step S5 checked whether the similarity criterion is still met, ie a maintenance of the convoy for the unmanned, autonomous movable object 12 . 18 still makes sense. This can be done by checking whether for the unmanned, autonomously movable object 12 . 18 a previously determined separation point for leaving the convoy 14 not yet reached. If yes, the process branches back to step S4 However, this is denied, ie the separation point point, where the paths of the unmanned, autonomously movable object 12 . 18 and the other movable object 10 disconnect is reached, so in step S6 the convoy 14 be resolved or leaves the unmanned, autonomous movable object 12 . 18 the convoy (in the event that several unmanned, autonomously movable objects 12 . 18 Part of the convoy 14 are). In this case, the process branches back to step S2 ie the unmanned, autonomously movable object 12 . 18 attempts to find other "hosts" with routes that meet at least one predetermined similarity criterion.

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

• DE 102015008353 A1 [0005]
• DE 202017101730 U1 [0006]
• DE 102010042089 A1 [0007]

Claims (12)

Method for forming a convoy (14) comprising at least one unmanned, autonomously movable object (12, 18), comprising the following steps: a) determining a planned route for the at least one unmanned, autonomously movable object (12, 18) (step S1); b) receiving a planned route of at least one other movable object (10; 12; 18) (step S2); c) comparing the planned route of the at least one unmanned, autonomously movable object (12, 18) with the planned route of the at least one other movable object (10, 12, 18) (step S3); d) if the planned route of the at least one unmanned, autonomously movable object (12, 18) and the planned route of the at least one other movable object (10, 12, 18) meet at least one predetermined similarity criterion: forming a convoy (14) from the at least one unmanned, autonomously movable object (12, 18) and the at least one other movable object (10, 12, 18) (step S4). Method according to Claim 1 , characterized in that as the at least one unmanned, autonomously movable object, a drone (12) or a delivery robot (18) is provided. Method according to one of the preceding claims, characterized in that as the at least one further movable object, a motor vehicle (10) is provided. Method according to Claim 3 , characterized in that the convoy (14) is formed such that the at least one unmanned, autonomously movable object (12, 18) occupies a position above, behind and / or below the motor vehicle (10), in particular at a distance from the motor vehicle (10), which is smaller than a predetermined maximum distance. Method according to one of Claims 3 or 4 , characterized in that the at least one unmanned, autonomously movable object (12, 18) and the motor vehicle (10) at least mechanically couple with each other. Method according to one of Claims 1 or 2 , characterized in that as the at least one further movable object an unmanned, autonomously movable object, in particular a drone (12) or a delivery robot (18) is provided. Method according to Claim 6 , characterized in that the convoy (14) is formed such that the at least two unmanned, autonomously movable objects (12, 18) move at a distance which is smaller than a predeterminable maximum distance. Method according to one of Claims 6 or 7 , characterized in that the convoy (14) is formed by a plurality of unmanned, autonomously movable objects (12, 18), wherein the unmanned, autonomously movable objects (12, 18) arrange such that they form a vehicle silhouette (24). form. Method according to one of the preceding claims, characterized in that a central data processing device (22) is provided, wherein the at least one unmanned, autonomously movable object (12, 18) and the at least one further movable object (10; 12; Routes to the central data processing device (22), wherein the data processing device (22) at least provides the transmitted to them routes, in particular further identification and / or position data to the objects of the transmitted routes to convoy-interested objects. Method according to one of the preceding claims, characterized in that the at least one unmanned, autonomously movable object (12, 18) and the at least one further movable object (10, 12; 18) transmit their planned routes to each other, in particular wirelessly, preferably by WLAN , Bluetooth or NFC. Method according to one of the preceding claims, characterized in that the movable objects (10; 12; 18) communicate their respective positions in the convoy (14), in particular their relative and / or absolute positions, to the other movable objects of the convoy (14) , A movable object (10; 12; 18) adapted for a method according to one of the preceding claims.

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