WO2019157545A1

WO2019157545A1 - Swarm control of vehicles

Info

Publication number: WO2019157545A1
Application number: PCT/AT2019/060052
Authority: WO
Inventors: Horst HÖRTNER
Original assignee: Ars Electronica Linz Gmbh & Co Kg
Priority date: 2018-02-13
Filing date: 2019-02-12
Publication date: 2019-08-22
Also published as: AT16518U1

Abstract

The invention relates to a system (10) for carrying out a mission, comprising a plurality of vehicles (2) with a control unit (3) and a drive unit for autonomously moving in the space. The vehicles form at least one swarm, wherein each vehicle has a swarm communication module (5), the vehicles within the swarm have at least two different technical configurations, each vehicle of a specific technical configuration can be assigned a specific mission component of the mission being carried out, and vice versa, and at least one vehicle within the swarm is designed to be the primary vehicle and comprises a primary control unit, which is designed: - to receive and evaluate mission data that can be stored, and/or transmitted by the swarm communication module; - to evaluate real-time data determined by at least one sensor module (8) of the primary vehicle; - to determine specific mission component data for each vehicle of a swarm, using the evaluated mission data and/or real-time data; and - to allocate and transmit the specific mission component data to the vehicle in question with a corresponding specific technical configuration.

Description

GROUND CONTROL OF VEHICLES

The invention relates to a system and a method for the coordinated execution of a mission consisting of a sum or sequence of sub-missions, comprising a plurality of vehicles, each vehicle having a control unit designed to control a propulsion unit for autonomous movement of the vehicle in space is.

Systems are known from the prior art for carrying out a monitoring mission, in which a certain, usually relatively small number of highly complex and specialized autonomous aircraft, so-called "drones", which are also known in the English as "unmanned aerial vehicle (UAV)" be controlled by a central control unit on the ground. For the UAVs to be able to carry the necessary monitoring equipment, especially color and infrared cameras, they must be correspondingly large and powerful. Likewise, wireless controllability over a certain distance requires correspondingly high-performance communication and communication

Power supply units. Consequently, such systems are usually reserved for government and military reasons for regulatory and economic reasons.

Alternatively, systems are known in which a variety of similar ETAVs, for example, commercial "multicopters" are used, which have a relatively small size, technically less complex and correspondingly inexpensive. As disclosed in US 2014/0233099 A1, swarms of up to more than one hundred such UAVs, which are controlled by a ground based control unit, may provide for mapping in the airspace. Either the UAVs form the image in the airspace by means of a coordinated formation itself, or they carry and place a canvas onto which the image can be projected. A disadvantage of this system is that the carrying capacity of the individual UAVs is low, whereby a large number of these is necessary, which in turn dramatically increases the technical complexity. In addition, the operational area of the system is limited by the performance of the communication units of the UAVs. If, for example, the control unit on the ground fails, the entire system may fail. The invention has for its object to provide a system for the coordinated execution of a mission by means of a plurality of vehicles in the air, on the ground and / or on water, which overcomes the above disadvantages and / or limitations.

According to the invention, this object is achieved with a system in which the vehicles form at least one herd, with each vehicle

Herd communication module for communication within the herd, the vehicle within the herd at least two different technical configurations, each vehicle of a specific technical design of a specific submission mission to be performed is assignable and vice versa, and wherein at least one vehicle is formed within the herd as Leitvehikel and a master control unit, wherein the master control unit

for receiving and evaluating mission data, which can be stored in a memory module of the master control unit and / or transmitted to the master vehicle by means of the herd communication module, of the mission to be carried out;

- For evaluating determined by means of at least one sensor module of the Leitvehikels real-time data;

for determining specific partial mission data of a specific partial mission for each vehicle of the herd on the basis of the analyzed mission data and real time data;

- To assign the specific partial mission data to the respective vehicle with a corresponding specific technical design; and

for transmitting the specific partial mission data to the respective vehicles with the corresponding specific technical design by means of the

Herd communication modules is formed.

The system according to the invention is advantageously able to carry out a mission autonomously, ie without any human intervention, in accordance with the transmitted mission data, which can also consist of abstracted action specifications. The lead vehicle processes and synchronizes the data and distributes it as specific

Partial mission data to the most appropriate vehicle (s) available to the system. Here, the entire communication effort of the system is carried out by the vehicles completely autonomous. According to the invention, the lead vehicle has as far as possible all the technical components necessary for the successful execution of the mission, for example a memory module, the control unit and the

Sensor module. In particular, the evaluation of the real-time data of the sensor module and their inclusion of this real-time data in the determination and / or adaptation of the specific partial mission data for collaborative, autonomous coordination of the movement of Vehicles through space are not known in the art. The

Thus, for example, the control unit or the lead vehicle can steer all vehicles of the herd under her control completely safely and without collision, whereby the vehicles of the herd, which can be of very different technical design, only have to transmit their current position to the lead vehicle 6 and otherwise almost or even completely blind "- so you can get by with significantly less built-in sensors. As a result, all other vehicles can be optimized with regard to their applicability and their technical design. This means, for example, in the case of a Transportvehikels that this has only the most necessary technical components, such as a control unit and a herd communication module to save weight and space and to be able to carry a corresponding load. By evaluating the real-time data, which are determined by means of the sensor module of the Leitvehikels, the system can respond promptly to possible changes and the

Missions data and / or the specific partial mission data for one, several, or all vehicles of the system adapt, thereby increasing the likelihood of successful

Carrying out the mission are significantly improved.

Suitably, the at least one sensor module of the Leitvehikels is selected from the following group: Cartography unit; Navigation unit, in particular

Satellite navigation unit; acoustic sensor, in particular loudspeakers; optical sensor, in particular optical camera; Image recognition unit; Proximity sensor;

Temperature sensor; Humidity sensor; Data processing unit for processing data from the Internet; Infrared sensor; UV sensor; Ultrasonic or sound sensor,

Geiger counter, sensor for measuring air pollution, sensor for measuring water quality.

Particularly advantageously, the Leitvehikel a cartography unit, for example, camera-based image recognition or laser measurement data (LID AR), and a navigation unit, such as a GPS receiver, as a sensor module, wherein the navigation unit can be integrated into the cartography unit. The lead vehicle may thus advantageously provide paths for itself and all other vehicles of the system in real time, or at runtime of the system, with the other vehicles of the system having only one navigation unit, such as a GPS receiver.

Suitably, the specific technical embodiment of the vehicle is at least one selected from the following group: transport vehicle, communication vehicle for interaction with humans, communication vehicle for data transmission, Signaling vehicles, surveillance and locating vehicles, extinguishing vehicles, rescue vehicles, measuring vehicles, seed, water or fertilizer distribution vehicles. This allows at least the following (partial) missions to be performed:

- transport and / or auxiliary mission;

- search and / or rescue mission;

- mission to carry out an information transfer;

- mission to carry out and / or support a public event and / or leisure and sport event;

- observation and / or surveillance mission;

- Extinguishing Mission and / or Civil Protection Mission;

- scientific mission;

- Exploration mission and / or mapping mission;

- mission in and / or for agriculture and / or forestry;

For this purpose, at least one of the vehicles expediently has a vehicle configuration selected from the following group: unmanned aerial vehicle, in particular a drone, a balloon or an airship, unmanned watercraft, in particular a water drone, an underwater drone or a naval buoy, unmanned land vehicle, in particular a robotic vehicle.

In a preferred embodiment, the mission data and / or the

Partial mission data at least one type of abstracted information selected from the following group:

System specification data, in particular information regarding the number and type of specific technical configurations of the vehicles and / or number of vehicles per specific technical embodiment;

Vehicle specification data, in particular vehicle design information, mobility dimensions, speed, fuel stock, battery condition,

Energy consumption, transport weight, and / or communication range;

- action requirements, in particular information regarding system deployment location, system deployment path, system deployment time, system deployment duration, system deployment type, system termination criteria, system restart criteria and / or system decision criteria;

- Charge specification data, in particular information on the type, quantity and / or weight of a cargo.

Based on this information of a mission, the system can perform this mission completely independently and autonomously, whereby the lead vehicle processes all data, synchronized and specific to a specific sub-mission

Distribute partial mission data to the appropriate vehicle (s) of the system.

In a particularly preferred embodiment, the mission data and / or the specific partial mission data contain at least one action item selected from the following group: mission objective and / or partial mission objective, vehicle deployment site, vehicle deployment path, vehicle deployment time, vehicle deployment duration, vehicle Action (s), vehicle termination criteria, vehicle restart criteria, and / or vehicle decision criteria. The Leitvehikel sends, if necessary by means of

Herd communication module, the specific submission mission data corresponding to a specific submission mission to the appropriate vehicle, which can then perform the specific submission mission completely independently and autonomously.

In a preferred embodiment, at least one vehicle has the specific technical design of a monitoring and locating vehicle, and at least one vehicle has the specific technical design of a rescue vehicle, wherein the Leitvehikel the navigation unit and a data processing unit for processing data from the Internet, the cartography unit of the Leitvehikels, the duration of the Leitvehikel and / or the term of all other vehicles, and wherein the monitoring and tracking vehicle has a navigation unit, an optical camera and / or an image recognition unit and / or an infrared sensor, and

Rescue vehicle has a navigation unit and bandages and / or a defibrillator. The system can thus be completely independent and autonomous

For example, perform a search and rescue mission for a missing person.

In a preferred embodiment, at least one vehicle has the specific technical design of a transport vehicle, wherein the Leitvehikel the

Navigation unit and / or the data processing unit for processing data from the Internet, the cartography unit, the duration of the Leitvehikels and / or the life of all other vehicles, and wherein the transport vehicle has a navigation unit and a transport unit. The system can thus advantageously completely independently and autonomously execute, for example, a transport mission.

In a preferred embodiment, at least one vehicle has the specific technical design of an extinguishing vehicle, wherein the Leitvehikel the

Navigation unit and the data processing unit for processing data from the Internet, the cartography unit, the life of Leitvehikels and / or the life of all other vehicles, and wherein the extinguishing vehicle has a navigation unit and a fire water tank for extinguishing water. The system can thus advantageously completely independently and autonomously execute, for example, a deletion mission.

In a preferred embodiment, at least two vehicles have the specific technical design of a surveillance and tracking vehicle, wherein at least one of the vehicles has a vehicle design as an unmanned aerial vehicle and at least one of the vehicles has a vehicle design as an unmanned watercraft, the navigation vehicle comprising the navigation unit and the data processing unit for processing data from the Internet, the mapping unit, the duration of the lead vehicle and / or the term of all other vehicles, the unmanned

A navigation unit, an optical camera and possibly an image recognition unit and / or an infrared sensor, and the unmanned watercraft has a navigation unit and an ultrasonic or sound sensor and optionally an optical camera. The system can thus advantageously perform, for example, completely autonomously and autonomously, for example, a surveillance mission of a coastal sea-crossing mission.

Preferably, a flock is formed from multiple swarms of vehicles and the vehicle has a swarm module for controlling the movement of the vehicle with respect to the vehicles of the associated swarm and / or the associated flock. The system, in particular the lead vehicle, can thus advantageously control a plurality of vehicles, wherein the lead vehicle must always communicate with only one vehicle or a few vehicles per swarm, and with the remaining vehicles of the corresponding swarm communicating and following by means of swarm intelligence.

In a preferred embodiment, the system has a control center for transmitting the mission data to the control unit of the herd, wherein the Leitvehikel and the control center have a Leitkommunikationsmodul for mutual communication. In this way, advantageously, the mission data can be transmitted and / or changed during the mission, possibly taking into account real-time data, which was determined by the sensor module of the lead vehicle and / or a vehicle.

In a further preferred embodiment, the system comprises at least one further vehicle independent of the herd, wherein the control station is adapted for direct transmission of specific partial mission data to the independent vehicle. This can Advantageously, at least one partial mission was carried out by means of the independent vehicle, possibly taking into account real-time data generated by the

Sensor module of the Leitvehikels and / or a vehicle were determined.

Preferably, the control center has a charging station for charging electrical

Energy storage units, in particular accumulators, the vehicle and / or Ersatzvehikel for replacing defective or aufzuladender vehicle. Individual vehicles can thus be loaded or replaced as necessary during the execution of a mission.

In a preferred embodiment, the system and / or the control center has a user interface, wherein the user interface for entering and / or

Changing, in particular by a user, the mission data and / or the specific partial mission data is formed. This advantageously allows the mission data to be changed and transmitted by the user during the mission, possibly taking into account real-time data determined by the sensor module of the lead vehicle and / or a vehicle.

According to the invention, the problem is also solved by a method

characterized by the following process steps:

A) transmission or storage of mission data of the mission to be performed to the / in the Leitsteuerkels of the Leitvehikels;

B) receiving and evaluating the mission data by the master control unit;

C) evaluating real-time data of a sensor module of the Leitvehikels;

D) determining specific partial mission data of a partial mission for each vehicle of the herd by the master control unit on the basis of the evaluated mission data and / or real-time data;

E) assigning the specific partial mission data to the respective vehicles with a corresponding specific technical design; and

F) transmitting the specific partial mission data to the respective vehicles with the corresponding specific technical design,

wherein the method steps A), B), C), D), E) and / or F) are optionally carried out simultaneously and / or substantially simultaneously or in random order.

Further exemplary embodiments of the invention will be described with reference to the following figures. Shown schematically in each case:

Fig. 1 shows an inventive system according to a first embodiment. Fig. 2 shows an inventive system according to a second embodiment

Fig. 3 shows an inventive system according to a third embodiment, in particular for carrying out a search and rescue mission.

4 shows an inventive system according to a fourth embodiment, in particular for carrying out a transport mission.

Fig. 5 shows an inventive system according to a fifth embodiment, in particular for carrying out a deletion mission

Fig. 6 shows an inventive system according to a sixth Ausführungsbei game, in particular for carrying out a monitoring mission

1 shows a schematic representation of a system 1 for the coordinated execution of a mission consisting of a sum or a sequence of partial missions. The system 1 has a plurality of vehicles 2. Each vehicle 2 has a control unit 3, which is designed at least for controlling a drive unit (not shown) for the autonomous movement of the vehicle 2 in space.

The control unit 3 is preferably designed as a modular control unit which

For example, housed protected in a housing from the weather. The modular control unit may be connected to commercially available or non-standard vehicles 2, for example an unmanned aerial vehicle, in particular a drone, a balloon or an airship, an unmanned watercraft, in particular a water drone, an underwater drone or a naval buoy, an unmanned land vehicle, in particular a robotic vehicle to be docked. For this purpose, the modular control unit can be attached, for example, to the vehicle 2 and optionally also removed from it. This can be carried out by means of any type of releasable or non-detachable attachment, for example by a magnetic, plug, adhesive, Velcro, thread, or

Screw connection. Alternatively, the modular control unit may be incorporated into a one-piece housing of the vehicle 2, for example accessible via a cover.

The modular control unit can communicate with the drive unit of the vehicle 2 via a wired or wireless interface. A person skilled in the art knows corresponding drive units, for example a motor with wheels, a motor with rotors or a motor with a propeller, wherein the wheels, the rotors and the propeller can be deflected if necessary.

The vehicles 2 form a herd 4, each vehicle 2 having a herd communication module 5 for communication within the herd 4. The vehicle 2 within the herd 4 may have different specific technical configurations, wherein the specific technical embodiment of the vehicle is at least one selected from the following group: transport vehicle, communication vehicle for interaction with

People, Communication vehicles for data transmission, Signaling vehicles,

Surveillance and tracking vehicles, extinguishing vehicles, rescue vehicles, measuring vehicles, seed, water or fertilizer distribution vehicles.

In the first exemplary embodiment according to FIG. 1, a vehicle 2 is formed within the hearth 4 as a lead vehicle 6 and has a lead control unit 7. The Leitvehikel 6 has for this purpose both the control unit 3 and the control unit 7. In this case, the control unit 3 is designed as a modular control unit and is used to control the

Drive unit of Leitvehikels 6. The modular control unit can advantageously communicate with the control unit 7 via an interface. Alternatively, the

Lead control unit 7 include the control unit 3, wherein the control unit 7 may also be formed as a modular control unit in the sense of the modular control unit described above.

The Leitvehikel 6 has a sensor module 8. By means of the sensor module 8, the Leitvehikel 6 determines real-time data. Alternatively, the Leitvehikel 6 have multiple sensor modules 8. The sensor module (s) 8 is / are selected, for example, from the following group: Cartography unit; Navigation unit, in particular

Satellite navigation unit; acoustic sensor, in particular loudspeakers; optical sensor, in particular camera; Image recognition unit; Proximity sensor; Temperature sensor; Humidity sensor; Data processing unit for processing data from the

Internet; Infrared sensor; UV sensor; Ultrasonic or sound sensor, Geiger counter, sensor for measuring air pollution, sensor for measuring the water quality. Accordingly, the real-time data is selected, for example, from the following group: coordinates; Height in relation to the sea level; analog / digital audio data; Sound; Light intensity; analog / digital image data; Distance; Temperature; Humidity; digital data from the internet; Wavelength and / or frequency of the light; Radioactivity; Air or water quality.

The system 1 according to FIG. 1 also has a control station 9. The Leitvehikel 6 and the control center 9 each have a Leitkommunikationsmodul 10 for mutual

Communication on. The control center 9 has a user interface 11, wherein a user (not shown) can enter and / or modify mission data and / or specific partial mission data via the user interface 11. A user can manually start the execution of a mission via the user interface 11. After that runs the mission, according to the respective mission plan, from autonomously, wherein advantageously the user can intervene at any time via the user interface 11. The system 1 and / or the control center 9 may have further user interfaces 11.

The control center 9 may additionally have a charging station for charging electrical

Energy storage units, in particular accumulators, the vehicles 2 and 6 or

Replacement vehicle for replacing defective or aufzuladender vehicle 2 and 6 have.

With a system 1 according to the invention according to FIG. 1, a method for the

coordinated implementation of a mission consisting of a sum or a sequence of sub-missions, such a procedure being described below.

In a method step A), mission data of the mission to be carried out is transmitted to the master control unit 7 and / or stored in a memory module of the master control unit 7. The mission data can be transmitted by means of the herd communication modules 5 and / or the Leitkommunikationsmodule 10 and optionally stored, or stored directly in the memory module of the control unit 7, for example by transmitting the data through network services or by means of a portable storage medium, such as a USB stick , and / or by manual input via the user interface 11. The missions may be "programmed" missions, which in particular have already been performed using other, technically identical or similar systems.

The mission data and / or the partial mission data are in an abstracted

Data structure transmitted or abstracted from the control center 9 and / or the control unit 7. The abstraction takes place by a classification of the system components and / or of modules, in particular:

• System specification data: specify, in particular, information regarding the number and type of specific technical designs of vehicles 2 and 6 and / or the number of vehicles 2 or 6 per specific technical design.

Preferably, vehicle specification data is provided, including mobility dimensions, such as 2D or 3D, the motion medium, eg, land, water and / or air, maximum / minimum speed, energy / fuel stock and / or consumption, charge specification data, in particular information on the type, quantity and / or weight of a load, the maximum, still available transport weight and / or the communication range.

The control unit 3: Depending on the specific technical design of the vehicle 2 or 6, the control unit 3 can have a different potential for autonomy, for example (i) complete autonomy in the movement within the vehicle

Mobility dimensions, as with corresponding sensor units and / or the

Sensor module equipped or (ii) no autonomy and thus to concrete

Waypoint communication directed from outside. In the case of the control unit 7, it is able to control the control units 3 of the remaining vehicles 2 of the associated stoves 4. This is a difference to the swarm communication. Advantageously, the remaining computing power of the control unit 7 and / or the control units 3, after deducting the computing power for the own operation, can be assigned to the total computing power of the system 1. Advantageously, for example, information on the system status of the control unit 3 and / or the control unit 7 can be made available.

• Action requirements of vehicles 2 and 6: These relate favorably to the

specific technical embodiment of the vehicle 2 and 6 and therefore particularly advantageous on their technical feasibility. A policy setting may include information on: mission objective and / or sub-mission objective, vehicle deployment location, vehicle deployment path, vehicle deployment time, vehicle deployment duration, vehicle action (s), vehicle termination criteria, vehicle restart criteria, and / or vehicle decision criteria. An action specification for a vehicle 2 with a camera would be, for example, "time hhl mmLssl - coordinate X: Y: Z" and "action

Camera: hh2: mm2: ss2 - Mission End ", which would cause a vehicle 2 carrying a camera to move to coordinate X: Y: Z at time hhl mml: ssl and from time hh2 : mm2: ss2 until the end of the mission would activate the camera.

• A mission plan, which can consist of a large number of structured statements and can be implemented as an object-oriented interface. As a result, it is possible for a user, for example, to describe certain pathfinding algorithms and assign them to a mission, without using these algorithms on all modules

to implement. The mission plan can have corresponding action requirements, as described above. Advantageously, possible partial mission plans may be made available, for example in a search and rescue mission: (i) Find and (ii) action (s) to perform when someone is found.

Each partial mission plan can be a mission plan, which is referred to by object-oriented procedure.

• The mission to perform and related actions: for example, system location information, preferably including self-calculated or defaulted mission geofence, system mission path, system mission time,

System usage duration, system deployment type, system termination criteria, system restart criteria, and / or system decision criteria. Preference is given to providing action regarding the (sub-) missions, and whether the mission is executed once, repeatedly, or continuously in a loop.

In a method step B), the mission data is received by the control unit 7, for example by means of the Leitkommunikationsmodule 10, and evaluated, or it is already evaluated, for example, in a memory module of the control unit 7, data.

At any time during the mission, the control unit 7 in a method step C) can evaluate the real-time data of the sensor module 8 of the Leitvehikels 6. Consequently, the method step C) can be carried out before, after or substantially simultaneously with the method step B) and / or with all other method steps.

In a method step D), specific partial mission data for each vehicle 2 are determined and / or adapted on the basis of the evaluated mission data and / or the real-time data by the master control unit.

In particular, the evaluation of the real-time data of the sensor module and their inclusion of this real-time data in the determination and / or adaptation of the specific

Partial mission data, inter alia, for coordinating the movement of a plurality of vehicles through space, according to method steps C) and D), are not known in the prior art. The master control unit 7 or the Leitvehikel 6 can thus for example control all vehicles 2 of her imputed herd 4 completely safe and collision-free, the vehicle 2 of the cooker 4 must transmit only their current position to the Leitvehikel 6 and otherwise be almost or completely "blind" can. In a method step E), the specific partial emission data are assigned to the respective vehicles 2 with a corresponding specific technical design by the control unit 7. Each vehicle 2 of a specific technical

Design can be more than a specific partial mission of one or more

assigned to mission (s) to be performed. Also, the Leitvehikel 6 can be assigned one or more than a specific partial mission.

In a method step F), the specific partial emission data are transmitted to the respective vehicles 2 with the corresponding specific technical design, for example by means of the herd communication modules 5.

The mission data and / or the specific partial mission data may be changed and / or reassigned at any time to the mission, for example from the

Leitsteuereinheit 7 based on evaluated mission data using the

User interface 11 were entered, or on the basis of evaluated real-time data, which were determined by means of the sensor module 8.

The process steps A), B), C), D), E) and / or F) may optionally in

Essentially simultaneously or in random order.

In a system according to the invention, a plurality of vehicles 2 may be formed within a herd 4 as Leitvehikel 6 and / or there may be several herds 4.

FIG. 2 shows a system 20 according to a second exemplary embodiment of the invention. The system 20 has three stoves 4, with a herd 4, shown on the left in Figure 2, being formed of two flocks 12 of vehicles 2. The vehicles 2 can for this purpose have a swarm module (not shown), whereby the control of the movement of the vehicle 2 with respect to the vehicle 2 of the associated swarm and / or the associated herd 4 is controlled. A person skilled in the art knows the basic principles of swarm intelligence. The Leivehikel 6 of the corresponding herd 4 must control this under LTmständen only one vehicle 2 per swarm 12. These swarm modules can communicate with or be integrated into the control units 3 of the vehicle 2.

The system 20 has another vehicle 13 independent of the stoves 4, which can be controlled directly by the control station 9. Such a vehicle 13 may be designed to carry out a partial mission, or may be a defective or

replace lead vehicle 6 or vehicle 2 to be refueled / charged. The inventive systems 1 and 20 shown in FIG. 1 and FIG. 2 have the following features and advantages:

1) Any number of control units 3 and / or master control units 7 on

any vehicles 2 and / or 6 different technical design are attached;

2) A mission or one / more sub-mission (s) of this mission may be operated by the most technically appropriate vehicle / s 2 of System 1 or 20;

3) The control units 3 of the vehicle 2 can be coordinated by means of the control unit (s) 7 and / or by means of swarm control units;

4) The tasks of the mission / s can be abstracted and (i) autonomous

carried out and / or (ii) the (arithmetic) burden of the necessary procedural steps and / or action requirements to carry out the mission autonomously on the

System components, such as Leitsteuereinheit / s 7, control units 3 and / or control center 9, are distributed;

5) The Leitsteuereinheit / en 7 have (a) sensor module / e 8, wherein means

Real-time data of the / the sensor module / e 8 the mission data and / or specific partial mission can be adapted and transmitted in a timely manner.

6) A user interface 11 allows the creation, modification and / or

Perform the mission by a user.

7) "programmed" missions, for example, which have already been carried out using other, technically identical or similar systems, can be carried out, with the programmed missions being able to be imported and / or distributed via the user interface 11 and / or via "cloud" services ,

8) The abstraction of the mission data and the communication between the vehicles 2 are carried out completely and autonomously, whereby a user can simply describe, optimize and input the respective mission without getting in,

possibly losing unnecessary technical details to the user.

In the following, systems according to the invention will now be described with reference to four others

described exemplary embodiments.

FIG. 3 shows a system 30 according to a third exemplary embodiment of the invention. For example, with the system 30, as described above, a search and rescue mission for a missing person may be performed. The system 30 has a control center 9, which communicates by means of a Leitkommunikationsmodul 10 with the Leitkommunikationsmodul 10 Leitvehikels 6. The Leitvehikel 6, preferably a multicopter, has a navigation unit 12, for example, a GPS receiver, and a data processing unit, which is integrated in a master control unit 7 on. The data processing unit and consequently the control unit 7 is designed to process data from the Internet, a cartography unit 13, the travel time of the Leitvehikels 6 and all other vehicles 2. The cartography unit 13 has sensors for constantly scanning the surrounding space, such as room sensors, in particular laser sensors or optical cameras. The cartography unit 13 can alternatively also have the navigation unit 12, that is to say the navigation unit 12 is integrated in the cartography unit 13.

A vehicle 2 of the system 30, preferably a multicopter, has the specific technical design of a monitoring and locating vehicle 14, which comprises a navigation unit 12, for example a GPS receiver, an optical camera 15 with an infrared sensor and an image recognition unit, which are integrated in a control unit 3 is integrated on. Another vehicle 2 of the system 30, preferably a multicopter, has the specific technical design of a Rettungsvehikels 17, which a

Navigation unit 12 and a transport means 18 with bandage material and a

Defibrillator has.

The lead vehicle 6 communicates with the monitoring and locating vehicle 14 and the rescue vehicle 17 by means of the herd communication modules 5. The monitoring and locating vehicle 14 searches the terrain and continuously transmits its position to the lead vehicle 6 via the navigation unit 12 and the corresponding data from the camera 15 The lead vehicle 6 is continuously updated by means of the navigation units 12,

Cartography unit 13 and the data processing unit, possibly based on the runtime, which may be synchronized system-wide, the positions of all the vehicles 2 of the system 30. The Leitvehikel 6 coordinates the monitoring and tracking vehicle 14 accordingly. Once the monitoring and tracking vehicle 14 has found the missing person, the lead vehicle 6 sends the rescue vehicle 17 to the appropriate position.

The lead vehicle 6 creates all paths for itself and all other vehicles 2 of the system 30 in real time, or coordinated with the running time of the system 30. The other vehicles 2 of the system 30 are totally "blind" and have only the ones in this regard

Navigation unit 12, which may be, for example, a GPS receiver. Thus, the vehicles 2 of the system 30 only "know" their own current position, in the case of conventional GPS receiver so for example approximately to +/- 3m accurate. The vehicles 2 may include more precise navigation units 12, such as a Galileo receiver or other positioning methods, such as camera-based or radio-based positioning methods. The Leitvehikel 6 gets by means of

Herd communication modules 5 sent at a mission duration of the vehicles 2 its corresponding position, and thus knows where all the vehicles 2 of the herd 4 and / or the system 30 are located. If the Leitvehikel 6 now for example by means of the sensors of the cartography unit 13 detects a current obstacle that was not located in any existing map of the corresponding area, so for example a tree, a bird, a system-foreign vehicle or a swinging crane, or if this area of the space has not yet been mapped, the lead vehicle 6 now calculates the next waypoint for each vehicle 2 of the herd 4 in accordance with the time of flight and considering the obstacle. The vehicles 2 of the herd 4 fly almost or completely "blind" to this new one Waypoint, taking into account the acceleration ramp, and so can avoid any possible collision with an obstacle or each other, because the Leitvehikel 6 sends the vehicle 2 of his herd 4 only along safe paths. Here are among others

Kollsionsvermeidungsalgorithmen, in particular ORCA "Optimal Reciprocal Collision Avoidance", can be used. Consequently, the lead vehicle 6, with the inclusion of the

Real time data of the / the sensor module / s 8 not only its own path through space, but also the paths of all vehicles 2 of the associated cookers 4.

In addition, the data processing unit can incorporate up-to-date information from the control center 9 or from the Internet, for example from platforms such as Twitter ™ or Facebook ™.

FIG. 4 shows a system 40 according to a fourth exemplary embodiment of the invention. With the system 40, as described above, for example, a

Transport mission to be carried out. The system has two stoves 4, each with one, as described above to the system 30, formed Leitvehikel 6. All other vehicles 2 of the system 30, preferably multicopters, have the specific technical design of a transport vehicle 19 and are organized in swarms 12 of three transport vehicles 19 each. The transport vehicle 19 have a

Navigation unit (not shown), a transport unit (not shown) and a weight sensor (not shown) on. Each Leitvehikel 6 communicates with a respective transport vehicle 19 from the respective swarm 12 by means of the herd communication modules 5 and coordinates the movement of this Transportvehikels 19. The remaining Transportvehikel 19 of the same swarm 12 follow by Schwarmintelligencez. The guidance vehicle 6 is constantly updating, as described above for the system 30, the locations of all of the transport vehicles 19 of the system 40. In addition, the computing device may have up-to-date information from the control center 9 or from the Internet, such as platforms such as Twitter ™, Facebook ™ or online weather data , let flow. With the system 40, for example, large transport missions, in particular aid missions for disaster areas can be carried out by means of commercial drones and accurately controlled using the latest information from the Internet.

FIG. 5 shows a system 50 according to a fifth exemplary embodiment of the invention. With the system 50, for example, a deletion mission may be performed as described above. The system 50 includes a control station 9 and a lead vehicle 6, both of which are formed to the system 30 as described above. All other vehicles 2 of the system 50, preferably multicopters, extinguishing robots and / or automated

Fire trucks, have the specific technical design of a Löschvehikels 21 with a navigation unit 12 and a fire water tank 22 for extinguishing water.

The Leitvehikel 6 communicates with the Löschvehikeln 21 by means of

Herd communication modules 5. The lead vehicle 6, as described above, coordinates to the system 30 the locations of the deletion vehicles 21 at the scene. In addition, the data processing unit can incorporate current information from the control center 9, for example via the user interface 11. Advantageously, the system 50 can be used to carry out difficult and dangerous extinguishing missions, for example in nuclear power plants or in industrial complexes, by means of autonomous vehicles.

FIG. 6 shows a system 60 according to a sixth embodiment of the invention. With the system 60, as described above, for example, a

Monitoring mission of a Meerab section to be carried out on the coast. The system 60 includes a control station 9 and a lead vehicle 6, both of which are formed to the system 30 as described above. Three vehicles 2 of the system 60 have the specific technical design of a surveillance and tracking vehicle 14, with one of the vehicles 2 having a vehicle configuration as an unmanned aerial vehicle 23, preferably a drone, and two of the vehicles 2 being a vehicle vessel unmanned vessel 24, such as robotic vessels , respectively. The unmanned Aircraft 23 has a navigation unit 12 and an optical camera 15 with an infrared sensor and an image recognition unit. The unmanned watercraft 24 have a navigation unit 12 and an ultrasonic sensor 25 with a corresponding analysis software. The system 60 additionally includes a signaling vehicle 26, such as a robotic car or a stationary vehicle in the vicinity of

Coastal section, which has a lighting means 27 and an emergency signal means 28, preferably an acoustic horn.

The lead vehicle 6 communicates with the monitoring and locating vehicles and the signaling vehicle 26 by means of the herd communication modules 5. The unmanned aerial vehicle 23 seeks the ocean section from the air and the unmanned aerial vehicle

Watercraft 24 choose the sea section from water, with all

Surveillance and Ortungsvehikel 14 by means of the navigation unit 12 continuously transmit their position and the corresponding data of the camera 15 to the Leitvehikel 6. The lead vehicle 6 continuously updates and coordinates, as described above for the system 30, the positions of all of the vehicles 2 of the system 60

Data processing unit can incorporate current information from the control center 9, for example, when the section is to be changed for monitoring.

Monitoring and locating vehicle 14 with low energy reserve can be directed to the coast, in particular to the control center 9, to charge this, while other monitoring and Ortungsvehikel 14 continue the task as a replacement. As soon as, for example, a monitoring and positioning vehicle 14 has identified an imminent danger, for example a shark, near the coast, the lead vehicle 6 activates the signaling vehicle 26 so that it is acoustically by means of the light source 27 optically and / or by the emergency signal means 28, ie the horn Alarm gives. With the system 60, a permanent protective wall can be realized against possible imminent dangers.

Claims

claims:

A system (1, 20, 30, 40, 50, 60) for coordinately performing a mission consisting of a sum or a sequence of sub-missions, comprising a plurality of vehicles (2), each vehicle (2) comprising a control unit (2). 3), which is designed to control a drive unit for the autonomous movement of the vehicle (2) in space, characterized in that

the vehicles (2) form at least one herd (4), each vehicle (2) one

Herd communication module (5) for communication within the herd (4), the vehicle (2) within the herd (4) at least two different technical

Embodiments, each vehicle (2) of a specific technical

Embodiment of a specific submission of the mission to be performed is assigned and vice versa, and that at least one vehicle (2) within the hearth (4) as a Leitvehikel (6) is formed and a Leitsteuereinheit (7), wherein the Leitsteuereinheit (7) is formed:

- For receiving and evaluating, in a memory module of the control unit (7) storable and / or by means of the herd communication module (5) to the Leitvehikel (6) transmissible, mission data of the mission to be performed;

- For evaluating by means of at least one sensor module (8) of the Leitvehikels (6) determined real-time data;

- for determining specific partial mission data of a specific partial mission for each vehicle (2) of the herd (4) on the basis of the evaluated mission data and real-time data;

- To assign the specific partial mission data to the respective vehicle (2) with a corresponding specific technical design; and

- To transmit the specific partial mission data to the respective vehicle (2) with the corresponding specific technical embodiment by means of

Herd communication modules (5).

2. System (1, 20, 30, 40, 50, 60) according to claim 1, characterized in that at least one sensor module (8) of the Leitvehikels (6) is selected from the following group: Cartography unit (13); Navigation unit (12), in particular

Satellite navigation unit; acoustic sensor, in particular loudspeakers; optical sensor, in particular optical camera (15); Image recognition unit; Proximity sensor;

Temperature sensor; Humidity sensor; Data processing unit for processing data from the Internet; Infrared sensor; UV sensor; Ultrasonic or sound sensor (25), Geiger counter, sensor for measuring air pollution, sensor for measuring the water quality.

3. System (1, 20, 30, 40, 50, 60) according to claim 1 or 2, characterized in that the specific technical embodiment of the vehicle (2) is at least one selected from the following group: Transportvehikel (19), Kommunikationsvehikel on interaction with humans, communication vehicles for data transmission, signaling vehicles (26), surveillance and detection vehicles (14), extinguishing vehicles (21), rescue vehicles (17),

Measuring vehicles, seed, water or fertilizer distribution vehicles.

A system (1, 20, 30, 40, 50, 60) according to any one of the preceding claims, characterized in that at least one of the vehicles (2) comprises a vehicle configuration selected from the following group: unmanned aerial vehicle (23), in particular a drone, a balloon or an airship, unmanned watercraft (24), in particular a water drone, an underwater drone or a marine buoy, unmanned aerial vehicle

Land vehicle, in particular a robotic vehicle.

5. System (1, 20, 30, 40, 50, 60) according to one of the preceding claims, characterized in that the mission data and / or the partial mission data contain at least one type of abstracted information selected from the following group:

System specification data, in particular information regarding the number and type of specific technical configurations of the vehicles (2) and / or number of vehicles (2) per specific technical design;

Energy consumption, transport weight, and / or communication range;

6. System (1, 20, 30, 40, 50, 60) according to one of the preceding claims, characterized in that the mission data and / or the specific partial mission data contain at least one course of action, selected from the following group:

A mission objective and / or sub-mission objective, vehicle deployment location, vehicle deployment pathway, vehicle deployment time, vehicle deployment duration, vehicle action (s), vehicle termination criteria, vehicle restart criteria, and / or vehicle decision criteria.

7. System (30) according to any one of claims 3 to 6, characterized in that at least one vehicle (2), the specific technical design of the monitoring and

Locating vehicle (14), and that at least one vehicle (2) has the specific technical design of the Rettungsvehikels (17), the Leitvehikel (6) the navigation unit (12) and a data processing unit for processing data from the Internet, the mapping unit ( 13) of the Leitvehikels (6), the duration of the Leitvehikels (6) and / or the duration of all other vehicles (2), and wherein the monitoring and Ortungsvehikel (14) a navigation unit (12), the optical camera (15) and / or an image recognition unit and / or an infrared sensor, and the rescue vehicle (17) has a navigation unit (12) and bandage material and / or a defibrillator.

8. System (40) according to one of claims 3 to 6, characterized in that at least one vehicle (2), the specific technical embodiment of the Transportvehikels (19), wherein the Leitvehikel (6) the navigation unit (12) and / or a

Data processing unit for processing data from the Internet, the

Cartography unit (13), the duration of the Leitvehikels (6) and / or the duration of all other vehicles (2), and wherein the transport vehicle (19) comprises the navigation unit (12) and a transport unit.

9. System (50) according to one of claims 3 to 6, characterized in that at least one vehicle (2) has the specific technical design of the extinguishing vehicle (21), the Leitvehikel (6) the navigation unit (12) and the data processing unit for Processing of data from the Internet, the cartographic unit (13), the duration of the Leitvehikels (6) and / or the life of all other vehicles (2), and wherein the deletion vehicle (21) the navigation unit (21) and a fire water tank (22 ) for extinguishing water.

10. System (60) according to one of claims 4 to 6, characterized in that at least two vehicles (2) have the specific technical design of the monitoring and locating vehicle (14), wherein at least one of the vehicles a

Vehicle configuration as an unmanned aerial vehicle (23) and at least one of the vehicle (2) has a vehicle design as an unmanned watercraft (24), wherein the Leitvehikel (6), the navigation unit (12) and the data processing unit for processing data from the Internet, the mapping unit (13), the duration of the Leitvehikels (6) and / or the duration of all other vehicles (2), the unmanned aerial vehicle, the navigation unit (12), the optical camera (15) and optionally one Having image recognition unit and / or an infrared sensor, and the unmanned watercraft (24), the navigation unit (12) and an ultrasonic or sound sensor (25) and optionally has an optical camera.

A system (1, 20, 30, 40, 50, 60) according to any one of the preceding claims, characterized in that a hearth (4) is formed of a plurality of swarms (12) of vehicles (2, 19) and in that the vehicles (2) a swarm module for controlling the movement of the vehicle (2, 19) relative to the vehicle (2) of the associated swarm (12) and / or associated herd (4).

12. System (1, 20, 30, 40, 50, 60) according to one of the preceding claims, characterized in that the system (1, 20, 30, 40, 50, 60) has a control center (9) for transmitting the mission data to the control unit (7) of the hearth (4), wherein the Leitvehikel (6) and the control center (9) a Leitkommunikationsmodul (10) to the mutual

Communicate.

13. System (1, 20, 30, 40, 50, 60) according to claim 12, characterized in that the system (1, 20, 30, 40, 50, 60) at least one further, independent of the hearth (4) Vehicle (13), wherein the control center (9) for direct transmission of specific partial emission data to the independent vehicle (13) is formed.

14. System (1, 20, 30, 40, 50, 60) according to any one of claims 12 or 13, characterized in that the control center (9) has a charging station for charging electrical energy storage units, in particular accumulators, the vehicle (2) and / or

Replacement vehicle for replacing defective or aufzuladender vehicle (2).

15. System (1, 20, 30, 40, 50, 60) according to one of claims 12 to 14, characterized in that the system (1, 20, 30, 40, 50, 60) and / or the control center (9 ) has a user interface (11), wherein the user interface (11) is designed for entering and / or changing, in particular by a user, the mission data and / or the specific partial mission data.

A method for the coordinated execution of a mission consisting of a sum or a sequence of sub-missions, comprising a plurality of vehicles (2) with a control unit (3), a drive unit and a herd communication module (5), the vehicles (2) at least form a hearth (4) and within the hearth (4) have at least two different technical embodiments, and wherein at least one vehicle (2) is formed within the hearth (4) as Leitvehikel (6) and a Leitsteuereinheit (7), characterized by the following method steps:

A) transmission and / or storage of mission data of the mission to be performed on / in the control unit (7) of the Leitvehikels (6);

B) receiving and evaluating the mission data by the control unit (7);

C) evaluating real-time data of a sensor module (8) of the Leitvehikels (7);

D) determining specific partial emission data of a partial mission for each vehicle (2) of the herd (4) by the master control unit (7) on the basis of the evaluated mission data and the real-time data;

E) assigning the specific partial mission data to the respective vehicles (2) with a corresponding specific technical design; and

F) transmitting the specific partial mission data to the respective vehicles (2) with the corresponding specific technical design,

wherein the method steps A), B), C), D), E) and / or F) are optionally carried out several times and / or substantially simultaneously or in random order.