JP2019090741A - Measuring system and measuring method using drone - Google Patents

Abstract

To provide a measuring system with which can easily create a distribution of measured values of a measurement object such as a wind velocity in a wide area.SOLUTION: The measuring system comprises: a drone 1; a measuring instrument 3 attached to the drone 1; a position detector 4 for detecting the position of the drone 1; a drone controller 5 for sequentially moving the drone 1 to a plurality of predetermined measurement points and causing a measurement object to be measured at each of the measurement points by the measuring instrument; a storage device 11 for recording a plurality of measured values obtained at the plurality of measurement points; a data processing unit 12 for creating a distribution of measured values on the basis of the plurality of measured values and the positions of the plurality of measurement points; and a communication device 15 for connecting the measuring instrument 3 and the storage device 11.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a measurement system and a measurement method for measuring the distribution of physical quantities or chemical quantities such as wind speed, pressure, temperature, and particulate concentration at a measurement site.

  In urban design, analysis of wind blowing through high-rise buildings is performed. In order to measure the flow velocity of such wind, an anemometer such as a mechanical anemometer, a hot-wire anemometer, a laser Doppler anemometer (LDV), a particle image anemometer (PIV), or a pitot tube is used. However, it is difficult to measure the flow velocity distribution over a wide range of tens to hundreds of meters using an anemometer.

  Similarly, it is difficult to measure the distribution of physical quantities or stoichiometries such as pressure, temperature, and particle concentration in a huge space using a measuring instrument. In particular, it is extremely difficult to install a large number of measuring instruments in four sides or cubic space of several tens of meters to several hundreds of meters in size.

  Therefore, an object of the present invention is to provide a measurement system and a measurement method capable of easily creating a distribution of measurement values of a measurement target such as a wind speed in a wide area.

  One aspect of the present invention is a drone, a measuring instrument attached to the drone, a position detection device for detecting the position of the drone, and sequentially moving the drone to a plurality of predetermined measurement points. A drone controller that causes the measuring instrument to measure a measurement target at a measurement point, a storage device that records a plurality of measurement values obtained at the plurality of measurement points, the plurality of measurement values, and the positions of the plurality of measurement points And a communication device for connecting the measuring instrument and the storage device.

The meter is at least one of an anemometer, a pressure gauge, a thermometer, a hygrometer, and a densitometer.
The data processing unit is configured to calculate an average of the plurality of measurement values, and to calculate a difference between the average and each measurement value.

  In one aspect of the present invention, the drone is sequentially moved to a plurality of predetermined measurement points, the measurement object is measured by each measuring point at each measurement point, and the plurality of measurement values obtained at the plurality of measurement points are measured. According to another aspect of the present invention, there is provided a measuring method, wherein the distribution of the measurement values is created based on the plurality of measurement values and the positions of the plurality of measurement points.

The measurement target is at least one of flow velocity, pressure, temperature, humidity, concentration of components in air, and concentration of particulates in air.
The measurement method further includes a step of calculating an average of the plurality of measurement values and calculating a difference between the average and each measurement value.

  Measurement using a drone eliminates the need to install multiple measuring devices in the measurement field. Therefore, the measurement system according to the present invention can easily create the distribution of the measurement values of the measurement object in a huge measurement field.

It is a schematic diagram which shows one Embodiment of the measurement system which concerns on this invention. It is a schematic diagram which shows other embodiment of a measurement system. It is a schematic diagram which shows an example which measures the flow velocity of the wind which blows between high-rise buildings using the measurement system of embodiment shown in FIG. 1 or FIG. It is a figure which shows the several measurement point set in the cubic space shown in FIG. It is a flow chart explaining operation of a measurement system. It is a schematic diagram which shows the other embodiment of a measurement system.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a schematic view showing an embodiment of a measurement system according to the present invention. As shown in FIG. 1, the measurement system includes a drone 1, an anemometer 3 attached to the drone 1, a GPS receiver 4 as a position detection device for detecting the position of the drone 1, and the drone 1 in advance. The drone controller 5 which causes the anemometer 3 to measure the wind speed at each measurement point by sequentially moving to a plurality of measurement points, and a storage device 11 which records a plurality of measurement values of the wind speed obtained at the plurality of measurement points. A communication device for connecting the anemometer 3 and the storage device 11 with the data processing unit 12 for creating the distribution of the measurement values (that is, the wind velocity distribution) based on the positions of the plurality of measurement points corresponding to the plurality of measurement values It has 15 and.

  The drone 1 includes three or more propellers 21, a plurality of motors 22 respectively connected to the propellers 21, and a flight controller 23 that controls the attitude of the drone 1. Although four propellers 21 and four motors 22 are provided in the present embodiment, only two propellers 21 and two motors 22 are illustrated in FIG. The four propellers 21 are independently rotated by the four motors 22. The rotational speed of the motor 22, that is, the rotational speed of the propeller 21 is controlled by the flight controller 23.

  An anemometer 3 as a measuring instrument is fixed to the drone 1. The anemometer 3 is a device that measures the flow velocity of a gas such as air. The type of the anemometer 3 is not particularly limited. For example, the anemometer 3 may be a mechanical anemometer, a hot-wire anemometer, a laser Doppler anemometer (LDV), a particle image anemometer (PIV), or a pitot tube.

  The anemometer 3 is held at the tip of an arm 26 extending outward from the drone 1 so as not to be affected by the downward flow generated by the propeller 21. By changing the direction of the drone 1 at each measurement point, the anemometer 3 can measure the wind speed in multiple directions.

  The wind speed is an example of the measurement target, and the measuring instrument of the present invention is not limited to the anemometer 3. The present invention is also applicable to a measurement system that measures a measurement target other than wind speed. In one embodiment, the meter may be an anemometer, a pressure gauge, a thermometer, a hygrometer, a densitometer, or a combination thereof.

  The GPS receiver 4 is a position detection device that detects the position of the drone 1. The GPS receiver 4 can detect the position of the drone 1 by receiving a plurality of signals emitted from a plurality of GPS satellites. In one embodiment, instead of the GPS receiver 4, the position detection device may be an inertial navigation system, a radar, an optical range finder, or an imaging system. A plurality of laser range finders can be used as the optical range finder. The imaging system comprises a plurality of cameras arranged at different positions, and an image processing device for specifying the position of the drone 1 from a plurality of images of the drone 1 generated by the cameras.

  In the present embodiment, the drone controller 5 is incorporated in the drone 1 and connected to the flight controller 23. When the drone 1 starts flying, it automatically moves sequentially to a plurality of measurement points, measures the wind speed with the anemometer 3 at each measurement point, and automatically finishes the measurement of the wind speed at all measurement points. Go back to Such operation of the drone 1 is controlled by the drone controller 5. The plurality of measurement points are measurement points preset in the space. Position information of each measurement point is stored in advance in a memory (not shown) of the drone controller 5.

  The position information of the drone 1 detected by the GPS receiver 4 is sent to the drone controller 5. The drone controller 5 sequentially moves the drone 1 to the measurement point based on the position information of each measurement point stored in its own memory and the position information of the drone 1 sent from the GPS receiver 4 In this way, a command is issued to the flight controller 23. The flight controller 23 receives an instruction from the drone controller 5, controls the operation of the motor 22, and moves the drone 1 to each measurement point.

  In one embodiment, the drone controller 5 may be located on the ground. In this case, the drone controller 5 is connected to the flight controller 23 of the drone 1 by a wireless communication device or a wired communication device (not shown).

  The measured value of the wind speed is transmitted from the anemometer 3 to the storage device 11 by the communication device 15. The communication device 15 includes a data transmitter 15A incorporated in the drone 1 and a data receiver 15B disposed on the ground. In the present embodiment, the communication device 15 is a wireless communication device. In one embodiment, communication device 15 may be a wired communication device such as a data transmission cable. The drone controller 5 transmits the position information of the measurement point at which the measurement value is obtained to the storage device 11 via the communication device 15. The storage unit 11 records the measured value of the wind speed and the position information of the corresponding measurement point.

  In the present embodiment, the storage device 11 and the data processing unit 12 are configured by a dedicated or general-purpose computer 27. The storage device 11 is connected to the data receiver 15 B of the communication device 15, and the storage device 11 is also connected to the data processing unit 12. In the present embodiment, the storage device 11 is configured of a solid state drive (SSD) or a hard disk drive (HDD), and the data processing unit 12 is configured of a central processing unit (CPU).

  FIG. 2 is a schematic view showing another embodiment of the measurement system. The configuration and operation of the present embodiment, which is not particularly described, is the same as that of the embodiment shown in FIG. In the present embodiment, the storage device 11 is incorporated in the drone 1. The anemometer 3 is connected to the storage device 11 via a data transmission cable 28. The data transmission cable 28 is an example of a communication device that connects the anemometer 3 and the storage device 11. The drone controller 5 is connected to the storage device 11 via a data transmission cable 29 as a communication device. The drone controller 5 transmits the position information of the measurement point at which the measurement value is obtained to the storage device 11 via the data transmission cable 29. The measured value of the wind speed and the position information of the corresponding measurement point are recorded in the storage device 11 in the drone 1. After the drone 1 returns to the ground, the measurement value of the wind speed recorded in the storage unit 11 and the position information of the corresponding measurement point are read into the data processing unit 12.

  FIG. 3: is a schematic diagram which shows an example which measures the flow velocity of the wind which blows between high-rise buildings using the measurement system of embodiment shown in FIG. 1 or FIG. The plurality of measurement points are set in the cubic space 33 between the high-rise building 31 and the high-rise building 32. The width, height, and depth of the cubic space 33 are each in the range of several tens of meters to several hundreds of meters. In one embodiment, the plurality of measurement points may be set on a plane between the high-rise building and the high-rise building.

  FIG. 4 is a view showing a plurality of measurement points set in the cubic space 33 shown in FIG. As shown in FIG. 4, measurement points MP represented by black circles are arranged in a grid on the surface and inside of the cubic space 33. Although only the measurement points MP on the surface of the cubic space 33 are drawn in FIG. 4, the measurement points MP are similarly arranged in the cubic space 33 as well. These measurement points MP are preset. Position information of each measurement point MP is stored in advance in a memory (not shown) of the drone controller 5. The drone controller 5 moves the drone 1 to all the measurement points MP shown in FIG. 4 in order, and causes the anemometer 3 to measure the wind speed at each measurement point MP.

  The measurement points may be arranged on the surface and inside of other shaped spaces, such as spheres. In one embodiment, the measurement points may be arranged on a plane such as a square, a rectangle, a triangle, or a circle. The arrangement pattern of the measurement points may have various patterns such as lattice-like and radial.

  Next, the operation of the measurement system configured as described above will be described with reference to the flowchart shown in FIG. In step 1, position information of a plurality of measurement points set in advance is stored in the drone controller 5. In step 2, the flight of the drone 1 is started. In step 3, the drone controller 5 moves the drone 1 to a predetermined one of the plurality of measurement points. In step 4, the wind speed is measured by the anemometer 3 at the measurement point. The drone 1 may be rotated at a measurement point to measure the wind speed in multiple directions.

  Steps 3 and 4 are repeated until the measurement of the wind speed is completed at all measurement points. The measurement of the wind speed is performed with the drone 1 remaining at each measurement point (hovered). When the anemometer 3 can measure the wind speed instantaneously, the anemometer 3 may measure the wind speed at each measurement point while continuously moving the drone 1 without staying at the measurement point.

  After the measurement of the wind speed at all the measurement points is completed, in step 5, the drone controller 5 returns the drone 1 to the ground. In step 6, the data processing unit 12 reads the measured value and the position information of the measured point from the storage device 11, and based on the measured value and the position information of the corresponding measured point, Create a distribution.

  The data processing unit 12 may calculate the average of the measurement values acquired at all the measurement points, and obtain the difference between the average and each measurement value. The difference between the average and each measured value indicates the disturbance of the wind speed at the measurement site and contributes to the analysis of the wind flow. Moreover, it is also possible to acquire the time change of the wind speed in a measurement place by repeating the said step 2-step 6 multiple times.

  Although the anemometer 3 is used in the embodiment described above, the current (hereinafter referred to as the motor current) flowing through the motor 22 of the drone 1 as the measuring device for measuring the wind speed, as shown in FIG. A wind speed detector 35 may be used to estimate the wind speed from the inclination angle of. The wind speed detector 35 is incorporated in the drone 1. Hereinafter, an embodiment using the wind speed detector 35 will be described.

  During wind speed measurement, the drone 1 hovers at one measurement point. The motor current required to hover the drone 1 at its measuring point and the tilt angle of the drone 1 with respect to the horizontal direction can vary depending on the wind speed. Therefore, the wind speed detector 35 estimates the wind speed and the wind direction based on the motor current, the inclination angle of the drone 1 with respect to the horizontal direction, and the hovering attitude data. The hovering attitude data is data indicating the relationship between the wind speed, the wind direction, the motor current, and the inclination angle of the drone 1 with respect to the horizontal direction, and is created in advance by experiment. The hovering attitude data is stored in advance in a memory (not shown) of the wind speed detector 35. The tilt angle of the drone 1 with respect to the horizontal direction can be obtained from a tilt sensor (not shown) provided in the flight controller 23. The wind speed detector 35 can reduce the weight of the entire drone 1 since the anemometer 3 does not have to be disposed outside the drone 1. The wind speed detector 35 shown in FIG. 6 can also be applied to the embodiment shown in FIG.

  The measurement object of the present invention is not limited to the flow velocity of gas. For example, the measurement target may be pressure, temperature, humidity, concentration of components in air, or concentration of particulates in air. The pressure, temperature and humidity are, for example, the pressure, temperature and humidity of the atmosphere. The pressure, temperature and humidity may be the pressure, temperature and humidity of the gas in the closed space. The concentration of the component in the air is, for example, the concentration of nitrogen in the air, oxygen, carbon dioxide, or other components contained in the air. Furthermore, the measurement target may be a combination of flow velocity, pressure, temperature, humidity, concentration of components in air, and concentration of particles in air.

  The measurement using the drone 1 eliminates the need to install a plurality of measuring devices in the measurement field. Therefore, the measurement system according to each of the above embodiments can easily create the distribution of the measurement values of the measurement target in a huge measurement field.

  The embodiments described above are described for the purpose of enabling one skilled in the art to which the present invention belongs to to practice the present invention. Various modifications of the above-described embodiment can naturally be made by those skilled in the art, and the technical idea of the present invention can be applied to other embodiments. Accordingly, the present invention is not limited to the described embodiments, but is to be construed in the broadest scope in accordance with the technical concept defined by the claims.

1 Drone 3 Anemometer (instrument)
4 GPS receiver (position detection device)
5 drone controller 11 storage device 12 data processing unit 15 communication device 15A data transmitter 15B data receiver 21 propeller 22 motor 23 flight controller 26 arm 27 computer 28 29 data transmission cable (communication device)
31, 32 high-rise building 33 cubic space 35 wind speed detector MP measurement point

Claims (6)

With drone,
An instrument attached to the drone,
A position detection device for detecting the position of the drone;
A drone controller which sequentially moves the drone to a plurality of predetermined measurement points and causes the measuring instrument to measure a measurement target at each measurement point;
A storage device for recording a plurality of measurement values obtained at the plurality of measurement points;
A data processing unit that creates a distribution of the measurement values based on the plurality of measurement values and the positions of the plurality of measurement points;
A measurement system comprising: a communication device for connecting the measuring instrument and the storage device.   The measurement system according to claim 1, wherein the measurement device is at least one of an anemometer, a pressure gauge, a thermometer, a hygrometer, and a densitometer.   The measurement system according to claim 1, wherein the data processing unit is configured to calculate an average of the plurality of measurement values and to calculate a difference between the average and each measurement value. . The drone is sequentially moved to a plurality of predetermined measurement points, and the measuring object measures the measurement object at each measurement point,
Recording a plurality of measurement values obtained at the plurality of measurement points in a storage device;
A measurement method comprising: creating a distribution of the measurement values based on the plurality of measurement values and the positions of the plurality of measurement points.   The measurement method according to claim 4, wherein the measurement object is at least one of flow velocity, pressure, temperature, humidity, concentration of components in air, and concentration of particulates in air.   The measurement method according to claim 4 or 5, further comprising the step of calculating an average of the plurality of measurement values and calculating a difference between the average and each measurement value.

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