WO2018166836A1

WO2018166836A1 - System and method for documenting tipping processes on a landfill site

Info

Publication number: WO2018166836A1
Application number: PCT/EP2018/055419
Authority: WO
Inventors: Jürgen DÜRNHÖFER
Original assignee: Sku Saale-Kies-Union Gmbh
Priority date: 2017-03-17
Filing date: 2018-03-06
Publication date: 2018-09-20
Also published as: DE102017105830A1; DE102017105830B4; EP3596571A1

Abstract

A system (100) for documenting tipping processes on a landfill site (99) is provided, which system has the following: a stationary computer unit (1) with a database (12) and with a first communication means (11); at least one drone (2) which is capable of flying which and has an image-recording device (22), and with a second communication means (21); at least one non-stationary target-marking unit (3) to be provided on or in a vehicle (4), wherein the target-marking unit (3) has a third communication means (31); and wherein the system (100) is configured in such a way that the drone (2) can follow the target-marking unit (3) during flight, wherein when the vehicle (4) drives onto the landfill site the target-marking unit (3) can be provided on or in the vehicle (4), and the tipping process of the vehicle (4) can be detected; and when the tipping process is detected the image-recording device (22) of the drone (2) can record the tipping process of the vehicle (4); and the drone (2) can communicate the detection and recording of the tipping process to the computer unit (1) for storage in the database (12).

Description

description

System and method for the documentation of tipping operations on one

storage facility

The invention relates to a system and a method for the documentation of Abkippvorgängen on an emplacement. A (waste) storage facility is a structural and technical facility with the aim of ensuring that the deposition of waste harms the environment as little as possible. It is also referred to as a "disposal facility" or "disposal facility". Furthermore, there are storage facilities for backfilling residual mining holes. There are different types of emplacement sites, such as household garbage or

Earthworks and rubble dumps. Together, these storage facilities have a legally regulated deposit of waste and environmental monitoring of these storage sites at regular intervals. Examples of waste are earth, building rubble, recycled material or household waste. Deposits can extend over large tracts of land; For example, the "Schkopau" high-level dump, an industrial waste storage site, covers approximately 320 hectares.

The fee for use or disposal at storage sites is usually charged on the basis of the effective waste weight by means of weighing.

Thus, before delivery, the balance is first approached in the entrance area of the emplacement site with which the vehicle weight is determined. Furthermore, usually corresponding acceptance epapers are created which contain the weight and further information about the process, for example the name of the person delivering it. In addition, an incoming inspection and a classification of the type of waste can be carried out at this point. After creating the Armahmepapiere the deliverer moves to its assigned deposition site and dumps the waste. In trucks, this tipping is usually done by tilting the bed to slipping the waste out of the vehicle.

The route between the scale at the entrance to the Einlungsstätte and the place of dumping the waste may, especially in larger storage areas, a longer journey, for example, a few miles include. In addition, the traffic volume at larger storage facilities is considerable. So several hundred tipping operations can take place daily. Also, the tipping often does not take place under personal supervision by the staff of the storage facilities, as this would be too costly. After emptying the vehicle, the balance usually has to be approached again to weigh the vehicle again, the difference weight being determined as the weight of the waste. This is omitted, for example, in the event that the unladen weight of the vehicle is pre-stored. As a result, a delivery note is created regularly in which the relevant

Information about the process, such as supplier, place of origin, waste type, weight, cost, date and time are listed.

Especially with larger storage facilities is further carried out with the help of logistics management systems, ie software solutions with electronic connection to the scales, a database-based recording and storage of individual weighing operations and automated implementation of the associated administrative operations. For example, electronic waste certificates are created, or the billing of individual orders is carried out electronically. However, there is a lack of proper and complete declaration of the delivered waste. By way of example, residues of glass wool, roofing felt, asbestos sheets or similar impermissible materials can be concealed during delivery under conventional building rubble. As another example, chemical waste, such as paint residues, may be hidden in the waste, and these are often undetected at entry control.

Complete control of the waste at the inception control (especially with the large quantities that trucks deliver) is virtually impossible or too costly.

Thus, unacceptable waste repeatedly reaches the emplacement sites and is deposited there. This type of hidden problem waste is often only discovered after many years, for example due to the legally required measurement of water samples from the emplacement site. However, once a problem has been identified, it must be eliminated even after years of storage. In many cases, the operator of the storage facility must pay for the costs of rehabilitation, not the actual cause of the damage. Thus, it is problematic for the operator of the emplacement to prove from which supplier the problem waste actually comes from or which supplier has misclassified his waste.

Next may be tipped by the delivering usually only at the specified by the operator of the emplacement site unloading. Thus, it may happen that the submitting user tilts at a location not assigned to him, which can also lead to contamination of the corresponding location of the emplacement. Also in this case, it is difficult or impossible to prove the actual cause of the damage.

Furthermore, a storage site regularly has a geography that varies with time. Depending on need and possibility change the places of tipping of the waste and the corresponding routes. For example, the garbage heap grows or new garbage pits are dug out and old garbage pits closed.

Thus, there is the further problem that stationary video surveillance systems (for example columns with attached dome cameras) are often unsuitable, too inflexible and / or too costly due to the large area of storage facilities to prevent or detect deposition of problematic waste. Furthermore, the amount of data of such stationary video surveillance systems is a problem. A continuous monitoring of such large areas with many individual processes over years is not a goal leader, since the associated video material is difficult to sift. In addition, such video material may not be usable, since the viewing angle on the portable Abkipp process can be unfavorable.

Thus, in view of the above problems, it is the object underlying the invention to provide a system for documenting dumping operations at a storage site, which is flexible and efficient.

Likewise, in view of the problems discussed above, it is the object underlying the invention to provide a method for documenting dumping operations at a storage site, which is flexible and efficient. The problem underlying the invention is achieved by a system according to

Claim 1 solved. Advantageous developments and embodiments are the subject of the independent claim and the dependent claims.

According to one aspect of the present invention, there is provided a system for documenting dumping operations at a storage facility, comprising: at least one drone capable of flight having an image capture device and having a first communication means; at least one non-stationary target marking unit for providing on or in a vehicle, the target marking unit having a second communication means; a stationary computer unit with a database and with a third communication means. A drone within the meaning of the invention is an unmanned aerial vehicle. The drone is thus set up so that an autonomous flight operation and a corresponding independent navigation can take place. Here, a (drone or ground-based) control device (preferably a digital computing n ri rect) for the autonomous flight operations and the independent navigation of the drone provide. In particular, the drone can approach and take a certain position (horizontal and vertical).

Preferably, the drone invention is hoverable. Preferably, the drone is a helicopter-type or quattro-copter type, and these particular types of drones can precisely maintain their position in the air (preferably compensating for side winds).

Furthermore, according to the invention, an airworthy drone has an image capture device, for example a digital camera with preferably adjustable viewing angle. The image capture device is used for the visual capture of the tilting operation, which is a component of the documentation of the tilting operation according to the invention. This visual capture may include, for example, digital photographs or digital video recordings. Thus, it is pictorially recorded which deposit object or waste is actually dumped and comes to rest on the emplacement site.

The image capture device according to the invention can be attached to the drone, for example fixed or with a fixed viewing area relative to the drone. Consequently, the drone itself must be properly aligned to adjust the orientation of the imaging device. Alternatively, the bi-directional detection device may be moved and aligned relative to the drone via a mechanical device in at least one axis. Such a mechanical The device may be, for example, a so-called "gimbal" with integrated three-dimensional image stabilization.Thus, the vision range of the image capture device can be adjusted independently of the orientation of the drone.An advantage of using drones is the easy scalability of the system.

Thus, several drones can be parallel or simultaneous documenting and follow a corresponding variety of vehicles. Thus, beyond the aircraft, no additional equipment is required to scale the system according to the utilization of the emplacement site.

Furthermore, in particular due to the mobility of the drones compared to fixed camera systems, significant cost savings can be achieved when it comes to capture the respective Abkippvorgang and graphically record this. For example, no change to the installation site of a fixed camera is required if the conditions or the geography of the storage site change. In addition, a drone can be positioned with an image capture device targeted with an approximately constant viewing angle relative to the vehicle. Thus, the documentation of the Abkippvorgänge with temporally constant parameters. A fixed camera assembly would have variable viewing angles depending on the location of the tilting operation, which may also include viewing angles with poor visibility of the dumped waste.

Furthermore, drones offer a high application flexibility. Drones are versatile and can easily be retrofitted if required or provided with additional facilities to perform special tasks. For example, these can be additionally equipped with night vision cameras for night operation. Likewise, the drones could be equipped with sensors, after the Abkippvorgang a sensory detection of Abkippstelle can be done. For example, chemical gas sensors could check the dumping site after dumping for harmful substances, for example, for sulfur compounds or for gasoline compounds, and the result document. Preferably, the drone could fly closer to the tipping point after detection of tipping for purposeful performance of such sensory detection ("snooping") Alternatively, spectrometric detection of the tipping point could also be performed to detect inadmissible substances in the discharged waste.

When using a variety of drones, it may be advantageous if the drones are equipped with a respective wireless module to wirelessly exchange data with each other. In this way, for example, a first aircraft transmit data to a second aircraft, which in turn transmits the data to the control center. In particular, high-speed wireless transmission technologies designed for short ranges can be used, and yet the transmission of data to a remotely located center can be ensured. The technology underlying this application is also known by the term "mesh networking" or "wireless mesh network".

The system is now arranged such that the drone can follow the target marking unit in flight, wherein the target marking unit can be provided when the vehicle enters the storage facility on or in the vehicle, and the tilting operation of the vehicle can be detected, and the image acquisition device can continue the drone recording the tilting operation of the vehicle upon detection thereof, and the drone can transmit the detection and recording of the Abkippvorgangs to the computer unit for storage in the database. A target marking unit is, for example, a battery-operated device having a computer unit in a portable housing, which can be mounted on or in a vehicle. Consequently, the vehicle is provided with the inventive targeting unit, which is part of the system according to the invention and which is moved with the vehicle.

It is therefore advantageously not necessary to detect the vehicle itself in its position or in some way via an interface in part of the system according to the invention. Thus, the system according to the invention can operate independently of the nature or nature of the vehicle. This simplifies the system according to the invention.

The attachment of the target marking unit on or in the vehicle preferably takes place manually when the vehicle enters the area of the emplacement site. For example, the target marking unit can be handed over to the balance together with the delivery documents.

The housing of the aiming unit is preferably smaller than h = 4cm, b = 7cm and 1 = 10cm to be portable. Furthermore, the housing of the target marking unit is preferably at least splash-proof (protection class IP 44) or at least designed in protection class 67, so that it can better withstand the (usually rough) operation in the storage facility.

The target marking unit furthermore preferably has an inductive transformer (for example a coil for current consumption with associated charging electronics for the battery), via which the target marking unit can be charged in a simple manner without contact.

Furthermore, the target marking unit can be manually activated or "armed" when it is attached by means of a switch or pushbutton (which also preferably satisfies at least IP 44 or IP 67) If the indicator light is on, the target marker is active.

Activation of the targeting unit is the indication to the system that this target is "marked" and is to be tracked by a drone, accordingly a radio signal is emitted from the targeting unit, whereby a drone that is not yet tracking a vehicle at the time of activation, For example, the drone can be assigned to the targeting unit for tracking independently start or take off and take a predetermined starting position at the entrance of the emplacement for the start of the pursuit flight.

Alternatively, manual activation by means of a switch may be omitted if a digital threshold, i.e., a local boundary in the (geographic) position, is established in the system. If this position-defined threshold, which is preferably provided at the exit from the scale to the emplacement site, is exceeded by the destination marking unit (and thus the vehicle), it activates automatically and a drone is assigned to the destination marking unit analogous to the above , In this case, it is advantageously only necessary to provide the target marking unit on or in the vehicle, for example when transferring the delivery papers.

Further, a deactivation of the target marking unit in the sense described above, either manually by switch or button or automatically when exceeding a further digital threshold (which is provided at the exit of the emplacement) take place. In the event that the entrance of the emplacement is identical to its exit, the two digital thresholds may coincide, thus providing a single threshold for activation and deactivation of the targeting unit.

To make the target marking units distinguishable from one another, a target marking unit preferably has a unique identification number, which is transmitted by radio, and which is pre-stored in the target marking unit, for example in a so-called FLASH memory. Thus, a clear assignment of the drones to the Zi elmark erun gsei soon take place.

Alternatively, an unambiguous identification of the classifications can also take place via their (respectively unique) position. The drones or the computer unit keep a digital list of the currently transmitted positions Targeting units and assign this list automatically unique identification numbers.

As a further alternative, an unambiguous identification of the destination marking unit can take place via its network address, in the case of an IP network preferably via a static IP address.

Furthermore, the system has, for example, one drone for each target marking unit. Alternatively and preferably, the system has more drones than target marking units, so that a continuous operation of the system is ensured even in the case of intermittent offloading or intermittent failure of some drones.

Furthermore, the drone and the targeting unit each have means for detecting their position, preferably GPS receivers. In this case, the system is set up such that the target marking unit can transmit its position to the drone via radio and the drone can align its position with the position of the target marking unit, so that the drone of the target marking unit at a predetermined (nominal) distance (for example 20 meters ) or in a predetermined (nominal) distance range (for example, 15-40 meters) can follow. Thus, according to the invention, preferably a (desired) distance or a (desired) distance range is compared with the actually present actual distance, and the flight parameters of the drone (for example flight direction, speed, acceleration, altitude) are regulated accordingly. This position adjustment can be carried out at short time intervals, for example every 50 or 500 ms, and adjusted with the aid of control elements (integral, differential or proportional elements) in terms of application technology. In this case, an integral element is preferably used in the comparison calculation for holding the (target) distance, so that the drone, which usually can reach high acceleration values (regularly> 15 m / s), does not abruptly track every pothole through which the vehicle possibly travels , The specification of a (target) distance range instead of a (Target) distance has the advantage that the drone has more freedom in determining their flight path.

The drone can also align the viewing angle of the image capture device on the target marking unit and thus on the vehicle already during the consequences.

In detail, the drone performs the necessary geometric calculations by means of a computer unit (or, alternatively, a computer unit in a stationary center) to set up the drone flight path to follow the vehicle (or targeting unit) at a predetermined distance or range , Likewise, geometrical calculations are preferably performed so that the drone or the image capture device of the drone are oriented such that the image capture device can permanently keep the vehicle in view, i.e. in the visible detection range of the image capture device, until the tilting operation. In this way, "coverage gaps" can be avoided, which can exist, for example, when stationary video systems are used, Alternatively, the orientation of the image capture device on the vehicle can only take place when the tilting process is detected.

The advantage here is that the drone has a high flexibility, and thus the Zi elm arki ing unit can follow with great reliability. Likewise, the desired viewing angle (including the height above the target, the total distance / distance range to the target, the relative angle to the direction of travel of the vehicle) may be given as desired in order to obtain records of the Abkippvorgangs with good meaning.

The respective position of the target marking unit and the drone can be determined, for example, with the aid of a satellite navigation system, preferably with the aid of GPS sensors (alternatively also GLONASS or GALILEO sensors). The calculations explained above can then be made, for example, by means of the drone's GPS coordinates and the target marking unit. Alternatively, a relative position determination with respect to a direction finding device installed on or at the location may be carried out locally on the emplacement site, wherein the drone and the destination marking unit can navigate in a common coordinate system with respect to the direction finder. For example, in the latter case, a conventional WLAN-based location can be used, which can determine a position relative to a WLAN transmitter with the aid of WLAN propagation patterns and / or radio delays. In this case, the calculations can be made according to the usual geodesy eversion. The determined position of the target marking unit, which is transmitted to the drone, thus gives the drone the position of the vehicle and also the position of the required image detail.

Thus, the drone firstly receives the information required for the tracking of the target to be tracked and secondly, the required information, whereupon the image capture device is to be aligned with its field of view.

Furthermore, the system is set up such that the tilting operation of the vehicle can be detected. This detection process concerns the determination that the waste leaves the vehicle and is dumped on the site. Such registration can take place in different ways, with three examples being explained in more detail in paragraphs 1), 2) and 3) below:

1) The field of vision of the drone image capture device is aimed at the location of the vehicle, preferably a truck, from which the waste is dumped on the emplacement site. This is preferably the back of the vehicle in the conventional trucks. The image capture device performs a continuous digital video capture. By means of suitable calculations, preferably by means of filtering and motion detection ('motion-detection-filtering') and / or

Object recognition, is optically detected that objects from the Move out the vehicle. As a result, a detection signal is generated, indicating that the tilting process has been positively detected.

2) The target marking unit is fastened with its housing and preferably with a magnetic base on the tiltable loading area of the vehicle. An inclination sensor of the target marking unit recognizes that the inclination angle of the loading surface relative to the horizontal increases. When a predetermined tilt threshold value is exceeded, it is thus sensory that the tilting process takes place. As a result, a detection signal can be generated, which is transmitted to the drone, whereby this is informed about the positive detection of Abkippvorgangs.

3) In the case of a truck with a tiltable loading surface, the overall height of the vehicle increases during tipping. This can be measured at least roughly by means of image processing and suitable filtering. If the drone's image capture device detects that the overall height of the vehicle is increasing, it may assume that a dump is taking place, and the dip signal detection signal may be triggered.

As an alternative to the abovementioned possibilities for detecting the tilting operation, it is possible, for example, to provide sensory detection (the detection of a noise, etc.) or manual detection (at the push of a button by the driver when he is about to start the tilting process).

Further, the drone's image capture device can record the vehicle's tilting operation upon detection thereof. The detection signal causes the drone to perform the imaging explained in more detail above. The period of image acquisition may be predetermined, and may, for example, include a few seconds or a few minutes. In addition, by using an on-going buffer of the image data (a whipping smear), the drone's image capture device can record prior to generation of the drone Start detection signal, for example, 10 seconds before the generation or transmission of the detection signal. This takes account of a possible time delay, which may be present in a recording according to the above-mentioned examples of paragraphs 1) to 3). For example, waste may already fall from the cargo bed at a time when the angle of inclination of the cargo bed has not yet exceeded the tilt swath 1 value.

It is advantageous that with the procedure described above, only that is recorded image, which is actually relevant information for documenting the Abkippvorgangs. For example, the mere drive of the vehicle to the dumping point is preferably not recorded. This reduces the amount of data.

The record, and preferably further relevant data such as the location (position), date, time or tag of the target tag unit, which may be provided in the drone, are further communicated to the computer unit for storage in its database.

The erfmdungsgemäße database, for example, be a common database system, which is suitable to store large amounts of data efficiently, consistently and permanently and provide required subsets in different, needs-based forms of presentation for users and application programs.

Thus, advantageously, a permanent and systematic storage of recorded events take place.

According to one embodiment of the invention, the drone is set up so that it can carry out the tracking of the vehicle autonomously. Thus, the drone can assume its flight positions calculated as set forth above without the intervention of a person or a control instruction by a person. Consequently, no personnel is required to control or fly the drones. This saves advantageous costs. Furthermore, the drone preferably has a storage device in which predefined flight corridors are stored. These flight corridors define three-dimensional geoposition areas in which the drone is allowed to fly. This ensures, for example, that the drone can not leave the area of the emplacement site without permission.

In the calculations for determining the drone's flight path, further parameters, for example a minimum and a maximum flying height, may preferably be taken into account, if necessary, in order to ensure safe flight operation. For example, a given minimum flight altitude ensures that the risk of collision with stationary or mobile obstacles (for example, trees or trucks) is greatly reduced.

An interaction of the drone with the targeting unit may include a variety of aspects, such as the transmission of information regarding the condition of the motor vehicle (eg, speed, position, acceleration, technical parameters of the vehicle) or communication or interaction with vehicle occupants or the like. According to one embodiment of the invention, the system is set up such that the drone can adopt a predetermined position relative to the vehicle and its motion vector using a determined motion vector of the tracked vehicle in order to record the Abkippvorgang from a suitable angle of view.

In particular, the means for detecting the position of the target tag unit may be arranged such that not only the position but also the speed of the vehicle is determined. For example, a GPS sensor outputs its position and velocity by default, that is, summarizes the motion vector of the vehicle. Further, this motion vector can be transmitted to the drone by radio. Alternatively, the drone can determine the motion vector itself by calculation from the time difference between two positions. Furthermore, it can be assumed, for example, that the vehicle drives forward when entering the emplacement site, with which the system can easily determine for itself whether the motion vector of the vehicle is directed forwards or backwards in the later course of the vehicle's travel in the area of the emplacement positive or negative.

Thus, the process of following through the drone can take into account not only a predetermined (target) distance or (target) distance range, but also the actual orientation / direction of travel of the vehicle. Thus, the drone can set its relative (flight) position to the vehicle so that it is calculated in its horizontal position opposite to the direction of the positive motion vector, and that in the case of a negative motion vector, it is provided in the direction of the negative motion vector. Alternatively, an angular offset horizontal position of the drone with respect to the motion vector may be calculated. Later, there is a more detailed explanation.

This advantageously ensures that the drone occupies a predetermined position relative to the vehicle, on which the Abkippvorgang can be advantageously recorded and recorded. For example, the viewing area is advantageous when the drone is behind the vehicle when the vehicle tilts backwards.

According to one development of the invention, the system has an interface to an electronic logistics management system of the emplacement site, and the system can transmit information regarding the recording of the dumping process to the electronic logistics management system.

Thus, a "digital" consolidation of the data concerning the documentation of the dumping operation with the logistic data of the logistics management system of the storage facility can take place.For example, on the final delivery note, a note may be printed for the submitter that the dumping operation is under a specific file number with location and Time is stored. Conversely, information concerning the billing of the entire process, for example the billing address, can be digitally linked to the recording of the tipping process, thus improving the informative value of the documentation.

According to one embodiment of the invention, the system has a landing platform for at least one drone at a predetermined position, wherein the landing platform and the drone have inductive transformers, which are set up so that a battery of the drone can be charged on the landing platform by means of inductive coupling.

The usual flight time for a drone with a full battery charge is between 15 and 45 minutes. Thus, one or a plurality of Abkippvorgängen be documented with a battery charge of the drone. For a continuous operation of the system, it is therefore advantageous to provide defined takeoff and landing positions for the drones, which are equipped with means that allow a non-contact charging of the battery of the drone. The provision of inductive transformers eliminates the need for manually plugging cables into the drone, which can also automate this process. Thus, the drone is charged regularly to increase the operational readiness.

The landing platform is, for example, a raised and horizontally oriented surface opposite the ground, on which at least one drone can land. The landing platform can also be called a loading platform. In the simplest case, the landing platform has a horizontal, flat surface that is dimensioned so that the drone can stand on it.

The landing platform may further include a moveable outer wall with a mechanism that covers the normally open landing surface when needed (eg, when rain sets in - see below for more details), thus protecting the drones on the landing platform from environmental impact or theft. This movable outer wall can For example, be performed similar to a movable hangar of a conventional airfield, and be pushed by means of a motor drive in case of need on the drones to cover these. The landing or loading platforms can also be in the roof of an existing

Be provided building.

According to one embodiment of the invention, the first to third communication means can communicate via WLAN or mobile in a common network. Thus, the individual components of the system according to the invention can easily exchange data with each other.

Preferably, such a network is based on the Internet Protocol (with IP-addressed drones and Zielm arki tion units). Further, the network preferably allows operation of a plurality of drones and target tag units without unduly restricting the bandwidth for transmission of the records, ie, the bandwidth of the network is preferably at least 100 kbps, resulting in the transmission of bit data from a few Drones is sufficient. Further, according to an embodiment of the invention, the drone can be assigned to the vehicle to be tracked by providing the target marking unit in or on the vehicle and activating the target marking unit, so that one drone is assigned to a vehicle for tracking. As a result, the respective assignment of the drone to the vehicle can be canceled again when the target marking unit is deactivated again. This has already been explained in detail, which is why further explanations are unnecessary here.

According to one development of the invention, the system further comprises means for obtaining meteorological parameters, for example the currently prevailing wind speed, wherein the system can prevent the flight operation of the at least one drone on the basis of an assessment of the meteorological parameters. Preferably, the means for obtaining meteorological characteristics is a weather station or an interface to a supra-regional weather service, wherein the wind speed can be determined on or above the storage facility. Exceeds the wind speed a predetermined threshold, from which a safe flight operation is no longer possible, the flight mode is stopped.

Alternatively or additionally, a rain sensor may detect whether it is raining or not, and the system will stop flying in the rain.

According to one embodiment of the invention, at least the following information is stored in the database per detected tilting operation: the position of the detection of the tilting operation; the time and date of detection of the tipping operation; the picture material of the recording of the Abkippvorgangs, and preferably the delivery note number from the parallel running management program. With this data, it is possible to associate the image material of the recording of the dumping operation with the relevant location on the storage site. Thus, for example, when locating hazardous waste at the emplacement site, it is possible to select the records by location and retrieve the individual depositions in their temporal order.

In addition, further information, which can be linked, for example via the interface to an electronic logistics management system of the emplacement site, with the information listed above. Thus, for example, the billing address, the weighed waste weight and / or the number of the delivery note can be stored in the database. This makes the documentation of the tilting operations more complete or more informative.

According to one embodiment of the invention, the drone is set up such that it can detect the tilting operation of the vehicle by means of image processing while detecting a change in the external appearance of the vehicle. For example, by means of image processing, it is possible to detect waste from the vehicle the storage facility is unloaded, as explained in more detail above. Because the drone already has an image capture device for recording the tilting process, no additional device for detecting the tilting process is required, which saves costs.

According to one embodiment of the invention, the target marking unit has the following: a housing with a fastening device, preferably a magnetic base, for fastening to the loading area of the vehicle; and an inclination sensor for detecting the inclination of the loading surface; and the target marking unit is arranged such that when the loading surface exceeds a predetermined inclination angle, the target marking unit can transmit a detection signal to the drone via the detection of the dumping operation. This purposeful design of the target marking unit for use in conventional trucks with tipping device is an effective and cost-saving solution for daily operation in the storage facility.

According to a further aspect of the invention, a method is provided for documenting dump operations on a storage site, comprising the following steps: providing a destination marking unit on or in a vehicle; Activating the target tag unit with concomitant assignment of a drone to the vehicle; Tracking the vehicle by the drone; Detecting the tilting operation; Recording the tipping operation if the tipping operation is detected; Disable and remove the targeting unit. This can be done without large personnel expenditure (which is ultimately only necessary for the provision and removal of the target marking unit on the vehicle) at the entrance of the emplacement an automated documentation of Abkippvorgängen take place in a storage facility. The further advantages have already been explained in more detail above with reference to the system according to the invention. According to one embodiment of the invention, the step of tracking the

Vehicle by the drone the following: Determining the motion vector of the vehicle; and maintaining a position of the drone at a predetermined position relative to the vehicle. Again, this has been explained in detail above with respect to the system with its advantages.

According to one embodiment of the invention, a method for documenting Abkippvorgängen is provided on a storage site, comprising the following steps: detection of the inclination of the loading area by the Zielmarkierungseinheit; Transmitting a detection signal from the target marking unit to the drone if the slope of the cargo bed exceeds a predetermined threshold; Determining the beginning of the recording of the tilting operation a predetermined period of time before the detection signal is detected. Again, this has been explained in detail above with respect to the system with its advantages.

According to one development of the invention, a method is provided for documenting tipping operations on an egg ngerungsst ätte, comprising the following steps: transmitting the position of the marking unit to the drone; Matching the position of the drone with the position of the target marking unit; Maintaining a predetermined distance range between the drone and the target marking unit using the result of the matching; Aligning a viewing angle of the image capture device to the target marker using the result of the adjustment. This has also been explained in detail above with respect to the system with its advantages.

According to one embodiment of the invention, a method for documenting Abkippvorgängen is provided on a storage site, comprising the following steps: transmitting the detection and recording of the Abkippvorgangs to the computer unit; Storing the recording and recording of the tipping process in the database. This has also been explained in detail above with respect to the system with its advantages. The above-described features and functions of the present invention, as well as other aspects and features, will be further described below with reference to a detailed description of preferred embodiments with reference to the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

Hereby shows:

Fig. 1 is a schematic view of a system of an exemplary

Embodiment of the invention;

Fig. 2 is a schematic plan view of an exemplary terrain of a

Storage facility on which another exemplary embodiment of the invention is shown at time tl;

Fig. 3 is a schematic plan view of an exemplary terrain of a

Storage facility on which another exemplary embodiment of the invention is shown at time t2;

Fig. 4 is a schematic plan view of an exemplary terrain of a

Review, in which another exemplary embodiment of the invention is shown at a time t3;

5a is a schematic side view in which the interaction between drone and target marking unit is shown from a horizontal point of view;

Fig. 5b is a schematic plan view in which the interaction between

Drone and target marking unit of Fig. 5a is shown from a vertical perspective. DETAILED DESCRIPTION OF THE INVENTION

Fig. 1 shows a schematic view of a system of an exemplary embodiment of the invention. The exemplary system comprises a stationary computer unit 1, for example a standard personal computer, with a database 12 and with a first communication means 11, at least one drone drone 2 with an image capture device 22 and with a second communication means 21, and at least one non-stationary target marker 3 for provision on or in a vehicle 4, wherein the target marking unit 3 has a third communication means 31.

The communication paths in the network 5 between the computer unit 1, the drone 2 and the target marking unit 3 are indicated by the double arrows 51, 52 and 53.

The computer unit 1 has a database in which, for example, the records of the documented tilting operations with location, date and time are stored.

The computer unit 1 further has an interface 13 to an external logistics management system in order to provide data exchange and / or comparison with a conventional logistics management system of a storage facility. It is not shown that the computer unit 1 can have a screen, keyboard, mouse, etc. for interaction with a user, preferably with the system administrator. For example, system information (for example, a map of the current positions of the drones) or information from the database can be displayed on the screen via an appropriate user interface. The drone 2 has a means for detecting its position 23, in this example a GPS receiver. Thus, the drone 2 can determine its location with high accuracy, for example, better than 0.5 meters. In addition, the drone 2 has a memory device 24, in the predefined

Flight corridors and the operating system of the drone with further Betri ebsparametern are stored. The flight corridors define two- or three-dimensional geoposition areas in the form of GPS coordinates in which the drone is allowed to perform its flight operations. This can be done a "Geofencing".

Next, the drone 2 an additional chemical sensor 25 for the detection of unauthorized chemicals, such as hydrogen sulfide, and an inductive transmission device 26, preferably in the form of a coil with charging electronics, and a battery 27 on.

The drone image capture device 22 in this embodiment is a digital and video camera having a "megapixel" sensor which can detect a high resolution horizontal and vertical field of view A. In Fig. 1, the target marker 3 is laterally attached to an exemplary one

Vehicle 4, in this case attached to a tipping truck 4, mounted by means of a magnetic base. The target marking unit 3 has a battery 32 for power supply, a GPS receiver 33, an inductive transmission device 35 and a tilt sensor 34 for measuring an angle γ.

The truck 4 has a front side 41 and wheels 46. In the case of dumping the waste from the bed 42 of the truck 4, the bed is inclined by a jack 44, resulting in the angle γ defined between the floor of the bed 45 and the horizontal. The case of tipping is indicated in Fig. 1 by the dashed lines, which indicate the present in this case position of the loading area. Furthermore, the exemplary system of FIG. 1 has an (optional) landing platform 6 on which (at least) one drone 2 can land. The landing platform 6 further comprises a fourth communication means 61 capable of communicating in the network according to the invention. For example, the landing platform 6 can pass information about landed drones 2 or the loading status of the landed drones 2 into the network and preferably to the computer unit.

Next, the landing platform 6 a S trom versorgun g 62, via which the landing platform 6 and at least one inductive transformer 66 is supplied with energy. The inductive transformer 66 is provided in the bottom surface of the landing platform such that it is located adjacent to the corresponding transformer 26 of the drone 2 after landing a drone 2. Thus, then a non-contact energy transfer from the landing platform 6 take place in the battery 27 of the drone 2, which is indicated by the double arrow 67 of FIG.

Furthermore, the exemplary embodiment of FIG. 1 has an (optional) weather station 7 which, for example, by means of a wind vane 72 (or by means of a propeller measuring device) metrologically detects the wind speed and direction currently prevailing at the emplacement site 99. Via a fifth communication means 71, which is integrated into the network according to the invention, the information or the wind speed and direction are transmitted to the stationary computer unit 1, which is indicated by the double arrow 54.

The system shown in Fig. 1 allows operation and documentation of Abkippvorgängen on an emplacement 99, as will now be explained in more detail below with reference to Figures 2 to 4. In Figs. 1 to 5, like reference characters designate like or similar devices or means, and to avoid repetition, repeated explanation thereof will be omitted. FIG. 2 illustrates a schematic plan view of an exemplary terrain of a storage facility 99, on which the exemplary embodiment of the invention of FIG. 1 is shown at a time t 1.

The quadrangular contour of the emplacement site 99 of FIG. 1 schematically indicates the outer boundary of the emplacement site 99, which may possibly represent the property boundary of the emplacement site 99. In the present case, this contour coincides with flight corridor 92 (also called flying permission zone), in which drones 2 are allowed to fly autonomously. This flight corridor 92 is pre-stored in the storage facilities 24 of the drones 2 so that the drones 2 can not leave the property of the operator of the storage facility 99 for safety reasons and for legal reasons.

Wastewater monitoring devices 94 are provided on the landfill, which monitors the wastewater quality of the emplacement site 99 at various positions. If such a sewage monitoring device 94 is triggered, unacceptable waste may have been deposited at the emplacement site 99, whereby the location of the impermissible deposit can often only be understood relatively roughly from the location of the sewage monitoring devices 94. With the system 100 according to the invention, however, the documentation of the respective storage or Abkippvorgänge in detail even after years can be followed, which facilitates the limitation of the damage location and also finding the cause of the damage.

Furthermore, it is indicated on the emplacement site 99 of FIG. 2 with the group of trees 95 that the geography of an emplacement site 99 regularly hampers monitoring of this because of, for example, restricted lines of sight. In the present example of FIG. 2, for example, a direct view from the entrance 93 or the administration building 9 of the emplacement site 99 onto the intended tilting pit 91 is not possible, which is disadvantageous in stationary video surveillance could be. In the administration building 9, the computer unit 1 according to the invention is provided.

At the entrance and exit 93 of the emplacement a scale 8 for weighing the vehicles at entry and exit and a landing platform 6 for a plurality of drones 2 are provided.

The time t 1 of FIG. 2 designates the beginning of the course of an intake process on a storage site 99. Thus, in FIG. 2, a lorry 4 arrives with waste 42. At this time, the aiming unit 3 has been attached to the rear side of the vehicle 4. Alternatively, the Zi el m arki erungsei nhei t 3 are also provided when weighing the vehicle 4 or after weighing the vehicle 4 on or in the vehicle. Next is an (optional) connected to the system 100 via the wireless network

Weather station 7 provided with a weather vane 72 for determining wind speed and direction, as explained in more detail above.

FIG. 3 is a schematic plan view of the exemplary terrain of the emplacement site 99 of FIG. 2, on which the exemplary embodiment of the invention of FIG. 1 is shown at a time t 2, which is later than the time t 1.

Thus, the vehicle 4 travels to the site of the emplacement 99 after weighing. The vehicle thereby lays the exemplary track 96, which is shown by the dashed line.

At the entrance of the emplacement site 99, a pre-stored in the system 100 threshold 97 for activating and deactivating the target marking unit 3 is provided, which is represented by the double line. In the system according to the invention, a comparison of the positions of the target marking units 3 with the predefined threshold 97 is preferably carried out. If the position of the target marking unit 3 exceeds the threshold 97 from outside the emplacement site 99 to the area of the emplacement site 99, then the target marking unit 3 is "armed" on the vehicle 4. At this time, the system 100 also "learns" which Direction of movement of the vehicle 4 represents the forward direction.

This information is transmitted via the network 51, 52, 53 of the system 100 to a drone 2, which is assigned to the destination marking unit 3. This assignment can be made, for example, according to the availability and state of charge of the drones 2.

The thus assigned drone 2 flies from the landing platform to a predefined starting point B (which is located adjacent to the entrance of the emplacement 99). The drone 2 then begins the tracking of the vehicle 4 or the activated target marking unit 3, which has already been explained in detail above. Thus, the drone can maintain a predetermined positional relationship (for example a predefined horizontal and vertical distance) between the target marking unit 3 and the drone 2. The corresponding flight path of the drone 2 is shown by the dot-dashed line in Fig. 3. The presently positive motion vector of the vehicle 4 is shown by the arrow 43 in FIG. 3.

As a result, the drone 2 follows the vehicle 4 constantly and autonomously to the pit 91. The result of this is shown in more detail in FIG.

FIG. 4 is a schematic plan view of the exemplary terrain of the emplacement site 99 of FIG. 2, on which the exemplary embodiment of the invention of FIG. 1 is shown at time t3, which is later than time t2. In FIG. 4, the vehicle travels backwards to the pit 91 to dump the waste 42 into the pit 91.

The drone 2 performs the calculations explained above in relation to the motion vector of the vehicle 4, and maintains its position behind the vehicle 4 despite the turning motion of the vehicle 4. The motion vector 43 of the vehicle 4 is now negative according to the system 100 calculations. Furthermore, the drone 2 aligns the field of view A of the camera 22 with the vehicle 4 or the target marking unit 3. In this case, the viewing area A is predefined in size such that it is irrelevant that the viewing area A of the camera 22 of the drone 2 is aligned with the target marking unit 3, since the vehicle 4 will nevertheless be located in the viewing area A. Alternatively or additionally, a predetermined position offset of the (center) position of the vehicle 4 relative to the target marking unit 3 may be defined if the target marking unit 3 is always mounted at the same position of the vehicles 4 (for example, always at the rear left).

Due to the quasi-ideal position, a recording of the tilting itself can now take place after detection (as already explained in more detail above) of the tilting operation (not shown in detail). For example, the recording of the Abkippvorgangs always for a predetermined period of time, for example, 1 minute, take place. Likewise, as already explained in more detail above, the recording can also begin by means of a time-loop technique a few seconds before the detection of the tilting operation. After the time t3 of FIG. 4, the further course of the processes can take place as follows:

After completion of the Abkippvorgangs the vehicle 4 goes back to the in / exit 93 of the emplacement 99 back and is weighed on the scale 8 again to determine the difference in weight. For example, the drone 2 may continue to follow the vehicle 4 as far as the ingress / egress 93, and finish tracking if the threshold 97 is again exceeded from the emplacement site 99 (or alternatively or additionally when the drone 2 is flying out of the flight clearance zone 92). After completion of the pursuit drone 2 flies autonomously back to their predetermined landing on the landing platform 6, where it can be reloaded.

As an alternative to the above procedure after tipping, the drone 2 can also fly back to the landing platform 6 directly after completion of the recording of the tipping operation without continuing to follow the vehicle 4.

5a shows a schematic side view, and FIG. 5b shows a schematisehe plan view of the same situation, the interaction between drone 2 and target marking unit 3 are each shown in more detail in horizontal and vertical view.

In particular, the interaction of the drone 2 with the target marking unit 3 involves the tracking of the target marking unit 3 by the drone 2. For this purpose, the target marking unit 3 determines its position and speed preferably by a GPS sensor 33. The position and the speed of the target marking unit 3 yield the (here for example, to the left) motion vector 3 of the Zielmarkierungseinhcit 3, which corresponds to that of the vehicle 4. This information is determined via radio via a network connection 53 (or alternatively indirectly via the computer unit 1) to the drone. The drone 2 determines its own position and speed by means of the GPS sensor 23.

By means of geometric calculations with the aid of, for example, a given horizontal distance x and a vertical distance z (relative to the camera 22), the drone 2 can calculate and / or regulate its flight path such that it can follow the target marking unit 3. Further, the drone 2, which may also calculate its orientation relative to the target marking unit 3, may direct the line of sight 22a of the camera 22 to the position of the target marking unit. In this case, the field of view A is selected so that the vehicle 4, on which the target marking unit 3 is mounted, is also arranged in the field of vision A of the drone.

FIG. 5 b shows two cases, with the drone 2 flying behind the vehicle 4 in the case represented by a dashed line. For this purpose, the predefined horizontal distance x is maintained in a direction which is exactly opposite (180 degrees; a) to the positive motion vector 43 (projected in the horizontal plane) (shown in FIG. 5b by the solid vector 43) of the vehicle. If the vehicle 4 is traveling backwards, the predefined horizontal distance x is maintained in the direction of the negative motion vector 43 (represented by the dashed vector 43 in FIG. 5b).

Under certain circumstances, a recording of the Abkippvorgangs may be desired from a more lateral perspective. In Fig. 5b, a corresponding second case is shown with the drone 2 shown in dashed lines. Thus, in this case, the drone 2 does not fly oppositely (180 degrees, a) to the positive (projected in the horizontal plane) motion vector 43, but in a 180 degrees different (projected into the horizontal plane) angle ß relative to the direction of Bew gsvektors 43. The angle ß can be, for example, 150 degrees (± 20 degrees). The invention allows in addition to the illustrated embodiment form to further design principles. Thus, individual features of the various embodiments can be combined with each other as long as it is technically possible. It can be transmitted to the computer unit 1, the recording of Abkippvorgangs already during the flight by radio or even after landing the drone. As a drone 2 are all autonomous aircraft in question, which can direct by their flight and / or by a device provided on the drone 2 a field of view A to a calculated position. Thus, for example, in addition to hover flyfähi multikoptem also (only) gliding (surface) flying devices in question, which can rotate autonomously over a position, as long as the image capture device can be directed to the calculated position.

Although in all embodiments only one entry / exit 93 is indicated, the principles explained above can also be applied to storage facilities 99 having a plurality of entrances / exits 93.

Although in all embodiments only one computer unit is specified with a database, the inventive system can also have a plurality of computing units with a plurality of databases.

Although only one network is indicated in all embodiments, multiple (preferably redundant) networks may be provided for communicating information in the system 100.

So that the majority of the drones 2 can fly collision-free with each other, each drone 2 can have its own flight level (ie, a corresponding allowable altitude range, for example 15-17 meters for drone # 1, 17-19 meters for drone # 2, and so on in for example two meter steps).

The altitude of the drones can also be generally limited so that they can not exceed 100 m above ground level preferably / may.

Although the landing and loading platform is referred to as a "platform", it is not essential that it has a flat surface, it is sufficient that the landing and loading platform provide a safe stand for the drones 2 when it lands For example, mechanical mounts can also be used or gripping arms for runners of a drone 2 may be provided, which can hold the drone 2 at a position without a horizontal surface is provided.

Claims

claims

A system (100) for documenting dumping operations at a storage site (99), comprising: a stationary computing unit (1) having a database (12) and first communication means (11); at least one airworthy drone (2) with an image capture device (22) and with a second communication means (21); at least one non-stationary target marking unit (3) for provision on or in a vehicle (4), the target marking unit (3) having a third communication means (31); wherein the system (100) is arranged so that the drone (2) can follow the target marking unit (3) in flight, wherein the target marking unit (3) when entering the vehicle (4) on the emplacement on or in the vehicle (4) can be, and the tilting operation of the vehicle (4) can be detected; and the drone (2) image capturing means (22) can record the tipping operation of the vehicle (4) upon detection of the tipping operation; and the drone (2) can transmit the recording and recording of the tilting operation to the computer unit (1) for storage in the database (12). System (100) according to claim 1, wherein the drone (2) and the destination marking unit (3) each have means for detecting their position (23, 33), preferably GPS receivers, and the system is set up such that the destination marking unit ( 3) can transmit their position to the drone (2) via radio and the drone (2) can adjust their position with the position of the target marking unit (3), so that the drone

(2) the targeting unit

(3) and the drone (2) can align the viewing angle (A) of the image capture device (22) with the vehicle (4).

A system (100) according to claim 1 or 2, wherein the drone (2) is adapted to autonomously track the vehicle (4), and the drone (2) comprises memory means (24) in the predefined one

Flight corridor are stored.

A system (100) according to any one of the preceding claims, wherein the drone (2) is further arranged such that the drone (2), using a detected motion vector of the tracked vehicle (4), has a predetermined position relative to the vehicle

(4), preferably behind this, can take to record the Abkippvorgang from a predetermined viewing angle (A) can.

The system (100) of any one of the preceding claims, wherein the system (100) includes an interface (13) to an electronic logistics management system of the emplacement site (99), and the system (100) includes information regarding the mapping of the dumping operation to the electronic storage facility Can transmit logistics management system.

A system (100) according to any one of the preceding claims, wherein the system (100) includes a landing platform (6) for at least one drone (2) at a predetermined position; wherein the landing platform (6) and the drone (2) each have an inductive transmission device (26, 66) which are set up such that a battery (27) of the drone (2) on the landing platform (6) by means of inductive coupling (67 ) can be charged.

The system (100) according to one of the preceding claims, wherein the first to third communication means (1 1, 21, 3 1) can communicate via WLAN or mobile in a common network (5); and an assignment of the drone (2) to the vehicle to be tracked (4) by providing the target marking unit (3) in or on the vehicle (4) and an activation of the target marking unit (3), so that in each case a drone (2) for Tracking is assigned to each vehicle (5); and the assignment of the drone (2) to the vehicle (4) is canceled when the target marking unit (3) is deactivated.

A system (100) according to any one of the preceding claims, wherein the system (100) further comprises means for obtaining meteorological characteristics (7), for example the currently prevailing wind speed, the system (100) controlling the flight operation of the at least one drone ( 2) can prevent on the basis of an assessment of the meteorological parameters (7).

The system (100) according to one of the preceding claims, wherein at least the following information is stored in the database (12) for each detected dump: a position of detection of the dump process; and a time and date of detection of the tilting operation; and the picture material of the recording of the tilting operation; and preferably the delivery note number associated with the tipping operation.

A system (100) according to any one of the preceding claims, wherein the drone (2) is adapted to detect the tilting operation of the vehicle (4) by image processing detecting a change in the external appearance of the vehicle (4).

A system (100) according to any one of the preceding claims, wherein the target marking unit (3) comprises: a housing having a fastening means, preferably a magnetic base, for attachment to a cargo bed of the vehicle (4); and a tilt sensor (34) for detecting the inclination (γ) of the cargo bed; and wherein the target marking unit (3) is arranged such that when the

Loading surface exceeds a predetermined angle of inclination, the

Target marking unit (3) can transmit a detection signal on the detection of the Abkippvorgangs to the drone (2).

12. Method for documenting dumping operations at a disposal site (99), comprising the following steps:

Providing a target marking unit (3) on or in a vehicle (4);

Activating the target marking unit (3) with concomitant assignment of a drone (2) to the vehicle (4);

Following the vehicle (4) by the drone (2);

Detecting the tilting operation;

Recording the tipping operation for a predetermined period of time if the tipping operation is detected;

Disable and remove the target marker (3). A method of documenting dumping operations at a disposal facility (99) according to claim 12, wherein the step of tracking the vehicle (4) by the drone (2) comprises the steps of:

Determining a motion vector of the vehicle (4);

Maintaining a position of the drone (2) at a predetermined position relative to the vehicle (4).

A method of documenting dumping operations at a disposal site (99) according to claim 12 or 13, wherein the step of detecting the dumping operation comprises the steps of:

Detecting an inclination (γ) of a loading surface of the vehicle (4) by the target marking unit (3);

Transmitting a detection signal from the target marking unit (3) to the drone (2), if the inclination (γ) of the loading surface a predetermined

Tilt threshold exceeds;

Determining the beginning of the recording of the tilting operation a predetermined period of time prior to the transmission of the detection signal.

A method for documenting dumping operations at a disposal site (99) according to claim 12, 13 or 14, wherein the step of tracking the vehicle (4) by the drone (2) comprises the steps of:

Transmitting the position of the marking unit to the drone (2); Matching the position of the drone (2) with the position of the target marking unit (3);

Maintaining a predetermined distance range between drone (2) and target marking unit (3) using the result of the adjustment;

Aligning a viewing angle of the image capture device (22) on the target marking unit (3) using the result of the adjustment.

A method for documenting dumping operations at a disposal site (99) according to any one of claims 12 to 15, further comprising the following steps:

Transmitting the acquisition and the recording of the Abkippvorgangs to a computer unit (1);

Storing the recording and the recording of the Abkipp operation in a database (12).