CN116311886A - Method for sending warning signal, method, device and storage medium for sending environmental data - Google Patents

Abstract

The invention relates to a method for transmitting a warning signal, comprising the following steps: receiving a request for performing a monitoring action; checking the availability of at least one mobile unit to perform a monitoring action; selecting at least one mobile unit from the fleet operation based on the inspection results; transmitting a delegate for performing the monitoring action to the selected at least one mobile unit; receiving environmental data of the selected at least one mobile unit or data derived from the environmental data; obtaining the result of the monitoring action from the environmental data and/or derived data; and sending a warning signal based on the result. The invention also relates to a method for transmitting environment data, to a device, to a computer program for performing the method, and to a machine-readable storage medium.

Description

Method for sending warning signal, method, device and storage medium for sending environmental data

technical field

The invention relates to a method for triggering a warning signal, a method for transmitting environmental data, a device arranged to carry out the method, a computer program for carrying out the method and a A machine-readable storage medium on which this computer program is stored.

Background technique

A method for operating an automated vehicle is known from the prior art.

For example, DE 10 2018 222 559 A1 discloses a method for triggering a check, said method having the following steps:

• Receiving environmental data sensed by at least one mobile unit and representing the environment of the mobile unit.

• Receiving position data representing at least the position of the mobile unit and/or objects recognized from the environment data.

• Comparing the data received by the mobile unit with expected data.

A check is triggered if the received data deviates from the expected data in a predeterminable manner.

Contents of the invention

The challenge for successfully conducting fleet operations from automated mobile units is to achieve the highest possible load rate of the mobile units and to minimize downtimes. There is therefore a need to provide new methods which expand the possibilities of use of mobile units. The present invention is related to this need.

The invention describes a method for sending a warning signal, said method comprising the following steps:

receiving a request to perform a monitoring action;

checking the availability of at least one mobile unit from a fleet operation for automated transport of people and/or goods to perform said monitoring actions;

selecting at least one mobile unit from said fleet operation based on the results of said inspection;

Sending a commission to perform monitoring actions to at least one selected mobile unit;

receiving environmental data or data derived therefrom for at least one selected mobile unit;

Deriving the results of monitoring actions from environmental data and/or derived data;

• Send a warning signal based on the result.

The monitoring action can include, for example, the monitoring of the status of buildings and external installations, in particular the opening status of gates and/or doors and/or windows at the entrance to the ground. Furthermore, the presence of persons and/or vehicles can be monitored. As another example, the cleanliness and/or damage of vehicles and/or exterior facilities and/or the progress of construction projects can be monitored. As a further example, it can be monitored whether a waste container is located at the location provided for this or at the edge of the road.

A request to perform a monitoring action can be received, for example, by a mobile terminal. The request can be made for a one-time monitoring action or for repeated monitoring actions with a predetermined frequency and duration. If the monitoring action occurs on a regular basis, eg daily, the monitoring action is thus only requested once and not re-requested every day.

A "mobile unit" can be understood, for example, to mean an unmanned aircraft, marine vehicle or motor vehicle which moves autonomously in three-dimensional space or on a surface. In particular, this can be a fully automated passenger vehicle.

A fleet operation for the automated transport of people and/or goods can include, for example, the ensemble of all mobile units that are coordinated at a central location for the transport of people and/or goods. This can be, for example, robotaxi operation, ie a fleet operation based on fully automated passenger vehicles designed for the transport of people. However, this can also involve convoy operations designed for cargo transport on the basis of drones.

The availability of the mobile unit can be limited, for example, by the fact that the mobile unit has to be charged or refueled or is in maintenance.

Environmental data can be a digital abstract description of the physical surroundings, such as image data, video data, point clouds or polygonal surfaces. Data derived from environmental data can contain classified objects such as people, vehicles, buildings and their locations. Furthermore, object descriptions can also be included, such as damage to a vehicle or the opening state of a window on a building.

Sending the request to perform the monitoring action and receiving the environmental data can eg take place wirelessly with at least one mobile unit, eg via a radio network.

The ascertainment of the results of the monitoring action includes the analysis and evaluation of the environmental data or data derived from the environmental data with regard to the task of saving the monitoring action, said determination has, for example, the aim of determining the state of buildings and external installations, for example at the entrance of the ground The opening status of gates and/or doors and/or windows, the presence of persons and/or vehicles, the cleanliness and/or damage of vehicles and/or external facilities and/or the progress of the construction project. For this purpose, objects can be detected from the environmental data and their properties can be determined, for example by means of image recognition methods.

The warning signal can be sent, for example, wirelessly to the mobile terminal. Based on the warning signal, an optical and/or tactile and/or acoustic alarm can be triggered. A possible need for treatment can thus be signaled.

The method can be executed, for example, in a server.

The method offers, inter alia, the advantage that, on the one hand, the use possibilities for fleet operations for automated transport of people and/or goods are extended beyond monitoring actions. As a result, the load factor of the mobile unit can be increased. On the other hand, compared with dispatching personnel to perform the monitoring action, the response speed to the request for the monitoring action can be greatly improved. The increased reaction speed is primarily achieved by the fact that the mobile units for the automated transport of people and/or goods in a fleet operation are already distributed over a large area during operation. This increases the probability that the mobile unit only needs a short drive-in duration to carry out a monitoring action.

In a further embodiment of the method it is provided that in the selection step at least one mobile unit is selected for which no delivery of goods and/or personnel has been requested for the duration required for the monitoring action. Thereby, in particular, the advantage arises that the free capacity of the mobile unit can be used to carry out monitoring actions. For example, a drop in personnel transport orders is expected precisely at night, in which case the need for monitoring actions can increase.

In a further embodiment of the method, it is provided that the required duration is determined from the entry duration to the monitoring location and the duration for carrying out the monitoring action, wherein for determining the entry duration it is possible to take into account traffic condition. This results in the advantage that the time planning is particularly reliable.

In a further embodiment of the method it is provided that a geographically restricted area is assigned to a monitoring action. It is particularly advantageous here if the surroundings data include at least part of a geographically restricted area assigned to the monitoring action. A "geographically restricted area" can be a built-up area of land. The geographically restricted area can comprise eg an area of 1 m ² to 100 000 m ² , preferably 10 m ² to 10 000 m ² . Such an area is therefore particularly advantageous, since monitoring actions can be performed with a small number of mobile units.

In a further embodiment of the method it is provided that in the selecting step at least two mobile units are selected for carrying out the monitoring action. As a result, the amount of environmental data can be increased and the ascertainment of the results of monitoring actions can thus be improved. This is particularly advantageous when the surrounding data of an individual mobile unit do not completely cover the geographically restricted area assigned to the monitoring action. By selecting at least two mobile units it is possible to increase the proportion of geographically restricted areas included in the environment data. A further advantage is that the method can be continued by using the environment data of at least one further mobile unit with limited monitoring capabilities of the mobile unit. A limited monitoring capability of a mobile unit can be triggered, for example, by a technical defect. Furthermore, external influences can make sensing and/or transmitting environmental data difficult. Limited surveillance capabilities can also be caused by vandalism of mobile units.

In a further embodiment of the method it is provided that the warning signal is only sent if the result of the monitoring action deviates from a predetermined result description. The predetermined result description can include, for example, the opening state of the gate and/or the door and/or the window at the entrance to the plot. Additionally, the resulting description can include the presence of people and/or vehicles. As another example, the result description can include the cleanliness and/or damage of the vehicle and/or exterior fixtures. Additionally, the result description can include the progress of the construction project.

This embodiment of the method offers the advantage that a warning signal is only sent if a need for treatment may be necessary, for example due to an undesired result of a monitoring action.

The invention also relates to a method for transmitting environmental data by a mobile unit, said method comprising the following steps:

Receiving signals based on the transport status of the mobile unit as a commission for performing monitoring actions in geographically restricted areas;

providing within the observation area a mobile unit suitable for at least partially sensing the geographically restricted area assigned to the monitoring action by means of at least one environmental sensor arranged on the mobile unit;

Receiving and analyzing and evaluating the environmental data sensed by the environmental sensors installed on the mobile unit;

• Evaluate the sending of environmental data or data derived based on the environmental data based on the analysis.

The delivery status describes, for example, whether a mobile unit is reserved or free by an active delivery request.

The provision of the mobile unit can be effected by an automated movement of the unmanned mobile unit from the current position of the mobile unit to a position within the viewing area.

For environmental sensors, in particular sensors are provided which are already mounted on mobile units for the automated transport of people and/or goods. This can be, for example, a camera including a stereo video camera, in particular a camera for the near-range and/or far-range, as well as a lidar sensor, an ultrasonic sensor or a radar sensor. Likewise, all of these sensors can be used in combination. This has the advantage that no additional sensor means need to be attached to the mobile unit in order to sense the ambient data required for the monitoring action. In other words, this creates the possibility of using existing fleets of vehicles for automated transport of people and/or goods without further hardware adjustments to the mobile units for monitoring movements.

The method can be executed, for example, in a controller which is located in the mobile unit.

In a further embodiment of the method it is provided that the mobile unit outputs an alarm on the basis of an evaluation of environmental sensors mounted on the mobile unit. Alternatively, it is provided that the additional step of receiving a warning signal and outputting an alarm based on the warning signal, which has already been issued on the basis of an evaluation of the environmental data or on the basis of data derived from the environmental data, is introduced. Such a warning can in particular be a visual and/or acoustic warning, for example by means of a horn or a siren or by means of a searchlight mounted on the mobile unit. This results in the advantage that effective warnings can be achieved in observation areas, especially in geographically restricted areas. This is particularly advantageous if, for example, persons who are to be expelled from the geographically restricted area have been identified.

In a further embodiment of the method it is provided that at least one mobile unit is substantially stationary during the monitoring action. This is provided, for example, in such a way that after the at least one mobile unit has arrived in the viewing area, the at least one mobile unit is brought to a standstill by a parking procedure. Advantageously, a parking surface provided for this purpose is used. "Essentially at a standstill" means that the monitoring action can also start already during driving into a parking surface or during the parking process, especially if during this phase the geographically restricted area can be placed on at least one mobile unit detected by environmental sensors. This configuration has the advantage that the monitoring action can be carried out in a particularly energy-efficient and unobtrusive manner.

In another configuration, it is provided that the geographically restricted area assigned to the monitoring action can be seen outside the enclosed building. In other words, this describes a geographically restricted area that can be sensed by the environmental sensors of the mobile unit outside of an enclosed building.

In another configuration, it is provided that at least one mobile unit activates the lighting device before or during the step of receiving environmental data sensed by an environmental sensor mounted on the mobile unit, so that the geographically limited area assigned to the monitoring action is at least partially illuminated. This has in particular the advantage that ambient data can be sensed with higher quality.

The solution presented here also provides a device configured for carrying out, actuating or carrying out the steps of variants of the method presented here in a corresponding device. The object on which the invention is based can also be solved quickly and efficiently by means of the embodiment variants of the invention in the form of devices.

For this purpose, the device can have at least one computing unit for processing signals or data, at least one memory unit for storing signals or data, at least one interface to sensors or actuators and/or for reading in or outputting At least one communication interface for data embedded in the communication protocol for reading in sensor signals from the sensor or for outputting data or control signals to the actuator. The computing unit can be, for example, a signal processor, a microcontroller, etc., wherein the storage unit can be a flash memory, an EEPROM or a magnetic storage unit. The communication interface can be configured to read in or output data wirelessly and/or wiredly, wherein a communication interface capable of reading in or outputting data connected via a wired connection can, for example, read in these data electrically or optically from a corresponding data transmission line or transfer These data are output to the corresponding data transmission lines.

A “device” is understood to mean an electrical appliance which processes sensor signals and outputs control and/or data signals as a function of the sensor signals. The device can have an interface, which can be designed as hardware and/or as software. In a hardware-compatible design, the interface can be part of a so-called system ASIC, for example, which includes the various functions of the device. However, it is also possible for the interface to be a separate integrated circuit or to be formed at least partially from separate components. In a software-compliant embodiment, the interface can be a software module that is present on the microcontroller, for example, alongside other software modules.

Also advantageous is a computer program product or computer program with a program code which can be stored on a machine-readable carrier or a storage medium such as a semiconductor memory, hard disk memory or optical memory and is used for execution, implementation and/or To carry out the steps of the method according to one of the above-described embodiments, in particular when said program product or program is executed on a computer or device.

Description of drawings

Figure 1 shows a schematic diagram of the surrounding environment of a mobile unit during a monitoring action according to one embodiment;

Figure 2 shows a flow chart of a method for sending a warning signal according to one embodiment;

Figure 3 shows a flowchart of a method for transmitting environmental data by a mobile unit according to one embodiment;

Figure 4 shows a schematic diagram of the surroundings of two mobile units during a monitoring action according to one embodiment.

Detailed ways

FIG. 1 shows the surroundings of a mobile unit in the form of an automated passenger vehicle 102 in a first exemplary embodiment. Within the geographically restricted area 101 are vehicles 104 and buildings 105 . In this first embodiment, the presence of vehicles and the open state of windows on buildings 105 within the geographically restricted area 101 have been selected as monitoring actions. An environmental sensor mounted on the mobile unit 102 has a sensing area 103 . Video and radar sensors are positioned on the mobile unit 102 as environmental sensors. The mobile unit 102 is located in a viewing area 106 which is suitable for sensing the geographically restricted area 101 assigned to the monitoring action, at least in part by means of environmental sensors arranged on the mobile unit 102 .

Fig. 2 shows a flowchart of a method for sending a warning signal according to a first embodiment. The method is executed by a server in a computing center and starts at step 201 .

In step 202, a request to perform a monitoring action is received. In this embodiment, the mobile terminal device is requested to monitor the presence of vehicles and the opening status of windows on buildings 105 within geographically restricted area 101 once, ie non-repeatedly.

In step 203, the availability of mobile units from fleet operations for automated personnel transport is checked for the execution of monitoring actions. Mobile units that are being charged or refueled, or that are under maintenance are not available.

In step 204, a mobile unit 102 is selected from the fleet operation based on the results of the check. The mobile unit 102 does not have an active request for transport of personnel for the duration required for the monitoring action. This duration is ascertained from the travel duration from the current position of the mobile unit 102 to the position in the observation area 106 and the duration required for the monitoring action, the traffic situation being taken into account.

In step 205, a commission is sent to the selected mobile unit 102 to perform a monitoring action. The sending takes place via a wireless interface.

In step 206, environmental data of the mobile unit 102 is received. This is video data and a point cloud which are recorded by video and radar sensors mounted on the mobile unit 102 .

In step 207, the result of the monitoring action is obtained from the environmental data. For this purpose, objects are recognized from video data and point clouds by means of image recognition methods and their properties are determined. In this exemplary embodiment, the presence of vehicle 104 is ascertained in this way and it is further ascertained that windows on building 105 are open.

In step 208, a warning signal is sent based on the result. This takes place wirelessly to the mobile terminal.

The method ends at step 209 .

FIG. 3 shows a flowchart of a method for transmitting environmental data according to a first exemplary embodiment. The method is performed in a controller, the controller being in a mobile unit.

After the start step 301 , a signal is received in step 302 as a commission for performing monitoring actions in the geographically restricted area 101 . This signal has been sent by the server according to the method described in FIG. 2 .

In step 303 , mobile unit 102 is provided within viewing area 106 . In this case, the mobile unit 102 travels automatically from its current position to a position within the observation area 106 . In this manner, the mobile unit 102 is able to sense the geographically restricted area 101 at least in part by means of environmental sensors disposed on the mobile unit 102 .

Environmental data that has been sensed by environmental sensors disposed on the mobile unit 102 is received in step 304 .

In step 305 the environmental data is sent. In this case, the receiver is a server in which the method described in FIG. 2 is carried out.

In this embodiment, the method ends with step 306 .

In another embodiment, the method of FIG. 3 proceeds to step 315 after the step 305 of sending environmental data, wherein an alert signal is received. The warning signal has been sent by the server in which the method described in FIG. 2 is executed.

In a subsequent step 325, an alarm is output based on the warning signal. The warning is effected acoustically by activating a horn and optically by activating searchlights on the mobile unit 102 .

According to this embodiment, the method ends with step 306 .

FIG. 4 shows the surroundings of a first mobile unit 401 with a sensing area 402 and the surroundings of a second mobile unit 403 with a sensing area 404 in another embodiment. In this second embodiment, the monitoring action is extended to the monitoring of the presence of persons within the geographically restricted area 101 . For this purpose, a person 407 is shown which is outside the sensing range 402 of the first mobile unit 401 . This means that the presence of person 407 cannot be ascertained on the basis of environmental data detected by environmental sensors attached to first mobile unit 401 . In this example, two mobile units 401 and 402 for performing monitoring actions are selected in a selection step 204 by the server in which the method described in FIG. 2 is performed. In this embodiment, the provision of the second mobile unit 403 is chosen such that the sensing areas 402 and 404 complement each other such that these sensing areas overlap as large a part of the geographically restricted area 101 as possible. In this way, the presence of a person 407 can be ascertained on the basis of environmental data sensed by environmental sensors arranged on the second mobile unit 403 .

Furthermore, the first mobile unit 401 and the second mobile unit 403 are substantially at rest during the monitoring action. Mobile units 401 and 403 are provided here in parking surfaces 405 and 406 provided for this purpose. “Essentially at a standstill” means that the monitoring action has already started while driving to parking surfaces 405 and 406 , since sensing areas 402 and 404 already overlap geographically restricted area 101 during driving.

Claims (15)

1. A method for transmitting a warning signal, the method comprising the steps of:

-receiving (202) a request for performing a monitoring action;

-checking (203) the availability of at least one mobile unit (102, 401, 406) from a fleet operation for automated personnel and/or cargo transportation for performing the monitoring action;

-selecting (204) at least one mobile unit (102, 401, 406) from the fleet operation based on the result of the inspection;

-sending (205) a delegate for performing the monitoring action to the selected at least one mobile unit (102, 401, 406);

-receiving (206) environmental data of the selected at least one mobile unit (102, 401, 406) or data derived from the environmental data;

-deriving (207) a result of the monitoring action from the environmental data and/or the derived data;

-sending (208) the warning signal based on the result.

2. Method according to claim 1, characterized in that in the step of selecting (204) at least one mobile unit (102, 401, 406) is selected for which there is no consignment of goods and/or persons for the duration required for the monitoring action.

3. The method according to any of the preceding claims, characterized in that a geographically limited area (101) is assigned to the monitoring action.

4. A method according to claim 3, characterized in that the environmental data comprises at least parts of a geographically limited area (101) assigned to the monitoring action.

5. The method according to any of the preceding claims, characterized in that in the selecting (204) step at least two mobile units (102, 401, 406) are selected for performing the monitoring action.

6. A method according to any of the preceding claims, characterized in that the warning signal is sent only if the result of the monitoring action deviates from a predefined result description.

7. A method for transmitting environmental data by a mobile unit (102, 401, 406), the method comprising the steps of:

-receiving (302) a signal based on the delivery status of the mobile unit (102, 401, 406) as a delegate for performing a monitoring action in a geographically limited region (101);

-providing (303) a mobile unit within the observation area (106), the mobile unit being adapted to at least partially sense a geographically limited area (101) assigned to the monitoring action by means of at least one of the environmental sensors arranged on the mobile unit (102, 401, 406);

-receiving (304) and analytically evaluating environmental data sensed by environmental sensors disposed on the mobile unit (102, 401, 406);

-transmitting (305) environmental data or data derived based on said environmental data based on said analytical evaluation.

8. The method of claim 7, wherein the mobile unit (102, 401, 406) outputs an alert based on the analysis evaluation.

9. The method of claim 7, with the additional steps of receiving (315) a warning signal based on an analytical evaluation of the environmental data or based on data derived from the environmental data, and outputting (325) an alarm based on the warning signal.

10. The method according to any of the preceding claims, wherein the at least one mobile unit (102, 401, 406) is substantially in a stationary state during the monitoring action.

11. The method according to any of the preceding claims, wherein the at least one mobile unit (102, 401, 406) is a motor vehicle.

12. The method according to any of the preceding claims, characterized in that the geographically limited area (101) assigned to the monitoring action can be seen outside the enclosed building.

13. An apparatus arranged to perform the method of any one of claims 1 to 12.

14. A computer program comprising instructions which, when the computer program is implemented by a computer, cause the computer to perform the method according to any one of claims 1 to 12.

15. A machine readable storage medium on which is stored a computer program according to claim 14.

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