JP5633799B2 - Weather observation equipment - Google Patents

Description

  The present invention relates to a weather observation apparatus.

  Conventionally, there are various weather observation methods. For example, as a method of weather observation, there is a method of performing observation at a relatively low altitude using an aircraft such as a helicopter or an airplane or a rocket. This method using a helicopter or the like is costly, has many restrictions due to structural reasons of the airframe, and the airframe becomes large.

  As a weather observation method, there is a radiosonde method for observing meteorological data up to a relatively high altitude while being attached to a balloon or the like. The radiosonde method is advantageous in terms of cost compared to the helicopter method, but basically it is difficult or impossible to collect the observation device, so it requires a fixed cost and cannot be said to be low cost. In addition, the radiosonde eventually becomes a fallen object, limiting the observation point. Furthermore, when a radiosonde is used, it is necessary to install a receiving facility for receiving observation results transmitted from the radiosonde.

  In addition, as a method of weather observation, there is a method using a tethered balloon that is tethered by a tether such as a rope. According to the method using the tethered balloon, it is easier to collect and observe the observation device than the method using the radiosonde. However, since the tether is an obstacle such as an aircraft, countermeasures are required, especially at night. It is necessary to install an aviation obstruction light, making observation difficult. In addition, the method using the tethered balloon is disadvantageous in that the height of the observation position cannot be increased too much.

  As a method for weather observation, there is a method using a remotely controlled flying object. In the case of this method, the range in which the flying object can be controlled by remote control is limited to a range (about several hundreds of meters) that can be visually recognized by the operator, and thus the observation range by the flying object is limited. In addition, it is generally difficult to maneuver an aircraft by remote control, and skill is required for maneuvering.

  By the way, one of the meteorological phenomena that has been regarded as a problem in recent years is the heat island phenomenon. The heat island phenomenon is a phenomenon in which the temperature in an urban area becomes abnormally high compared to the temperature in the surrounding suburbs. In order to observe the heat island phenomenon, it is necessary to measure the temperature distribution in the vertical direction of the atmosphere, and the temperature distribution and the like are measured in a relatively populated place such as an urban area in an urban area. In order to measure such a heat island phenomenon, for example, it is conceivable to use a flying body technique as described in Patent Document 1 and Patent Document 2.

  Patent Document 1 and Patent Document 2 are technologies related to a so-called unmanned aerial vehicle (UAV), and in particular, a double rotor having two rotors that are supported coaxially and rotate in opposite directions to obtain lift. This is a technology related to a reversing rotor type flying body. In a double-reversed rotor type flying body, the rotation of one rotor is used to cancel the torque around the rotation axis generated as a reaction force caused by the rotation of the other rotor.

JP 2005-319970 A JP 2008-094278 A

  According to the flying object disclosed in Patent Document 1 and Patent Document 2, it is possible to move in the vertical direction in a state where the rotation axis direction of the rotor is the vertical direction. It is considered that safety can be ensured even when flying in an urban area. However, the flying object as disclosed in Patent Document 1 and Patent Document 2 has a large number of parts and a complicated structure. In particular, in the case of the double reversing rotor type configuration, as described above, a configuration for canceling the torque as a reaction force due to the rotation of the rotor is required.

  In this regard, there is a single-rotor type helicopter mainly composed of a single rotor disposed at the top of the fuselage. However, even in a single rotor type helicopter, for example, a configuration for canceling torque as a reaction of rotation of the main rotor, such as a tail rotor provided at the rear of the aircraft, is required.

  In this way, in a flying object that moves by obtaining lift by the rotation of the rotor, the torque as a reaction of the rotation of the rotor is canceled to suppress the rotation of the aircraft itself, and the position of the aircraft Controllability and maneuverability are ensured. For this reason, the structure of the airframe is complicated and large. If the structure of the fuselage is complex and large, it tends to cause many failures and maintenance becomes difficult.

  The present invention has been made in view of the above problems, and the problem to be solved is to control the position of the airframe without canceling the torque as a reaction of the rotation of the rotor to obtain lift. Another object of the present invention is to provide a meteorological observation apparatus that can easily be realized with a simple structure, a small size and a light weight, has few failures, is easy to maintain, and can be manufactured at low cost.

The meteorological observation device according to the present invention includes a rotor that generates lift by rotating, a drive source that rotates the rotor, a rotor and the drive source, and a reaction force generated by the rotation of the rotor. The aircraft rotates in a direction opposite to the rotation direction of the rotor, and the aircraft flies by lift obtained by the rotation of the rotor, and is provided to be movable with respect to the aircraft, and the aircraft rotates by the reaction force. By changing the flow of the airflow that receives resistance, the movable body is tilted in a predetermined tilting direction in which the rotation axis of the rotor is tilted, and the orientation that the aircraft is facing is detected. a direction detecting means for, provided in the body, based on the direction detected by said direction detecting means, advance of the aircraft said aircraft which is rotated by the reaction force At the timing when the timing toward a predetermined instruction orientation indicated as the direction, and the machine body faces the direction opposite the indicated direction, such that the movable blade is tilted toward the indication orientation relative to said body, said The movement of the aircraft is controlled by controlling the operation of the movable wing in synchronization with the rotation of the aircraft, and periodically moving the movable wing so that the aircraft tilts with the tilt direction corresponding to the indicated direction. A controller to be controlled, and a measuring instrument that is provided in the airframe and measures a predetermined meteorological element to be observed.

  The weather observation apparatus of the present invention preferably includes a GPS sensor that receives a signal from a GPS satellite, and the controller detects the current position of the aircraft based on the signal received by the GPS sensor, The movement of the aircraft is controlled using the detected current position.

  In addition, the weather observation apparatus of the present invention preferably includes a receiver that receives a radio signal for remotely operating at least one of the drive source and the movable wing, and the controller receives the signal from the receiver. Based on the wireless signal, the operation of at least one of the drive source and the movable blade is controlled.

  In addition, the meteorological observation apparatus of the present invention preferably includes altitude detection means for detecting the altitude of the aircraft, and the controller detects the target value for the altitude of the aircraft input in advance and the altitude detection means. The operation of the drive source is controlled so as to maintain the altitude of the aircraft at the target value by performing feedback control by comparison with the detected value.

  In the meteorological observation device of the present invention, preferably, the controller, based on the signal received by the GPS sensor, the current position of the aircraft at a predetermined measurement start time, and a predetermined time elapsed from the measurement start time. At least one of the wind direction and the wind speed is measured from the current position of the aircraft at a later measurement time.

  In addition, the meteorological observation apparatus of the present invention preferably includes a height position detection unit that detects a distance of the aircraft relative to the ground surface, and the controller inputs the distance detected by the height position detection unit in advance. When the predetermined distance is reached, the operation of the drive source is controlled so that the airframe will hover.

  According to the present invention, it is possible to control the position of the airframe without canceling the torque as a reaction of the rotation of the rotor for obtaining lift, and it is possible to easily realize a simple structure, a small size and a light weight configuration. Can be produced at low cost with few failures and easy maintenance.

The figure which shows the structure of the weather observation apparatus which concerns on one Embodiment of this invention. The block diagram which shows the structure of the weather observation apparatus which concerns on one Embodiment of this invention. Explanatory drawing explaining operation | movement of the weather observation apparatus which concerns on one Embodiment of this invention. Explanatory drawing explaining operation | movement of the weather observation apparatus which concerns on one Embodiment of this invention. Explanatory drawing explaining operation | movement of the weather observation apparatus which concerns on one Embodiment of this invention. Explanatory drawing which shows an example of the navigation control of the weather observation apparatus which concerns on one Embodiment of this invention.

  The present invention pays attention to the fact that as a weather observation device, it is only necessary to develop a flying body that specializes the movement of the aircraft in vertical ascent and descent movements and can also move in the horizontal direction (horizontal direction). It was made. In the meteorological observation apparatus configured as a flying object including a rotor for obtaining lift, the present invention makes use of the torque as a reaction force of the rotation of the rotor, which is offset by some configuration in a normal flying object, and It realizes a configuration that sails autonomously while rotating the aircraft.

  The meteorological observation apparatus of the present invention moves the aircraft vertically up and down by rotation control of the rotor to obtain lift. Further, the meteorological observation device of the present invention changes the airflow around the fuselage rotating by the reaction torque of the rotor while flying by receiving lift due to the rotation of the rotor, and tilting the fuselage by moving the movable wings. A horizontal component of the lift force generated by the rotor is generated to move laterally. For this reason, the meteorological observation device of the present invention intermittently flows the airflow that inclines the airframe according to the traveling direction in the lateral direction of the airframe by periodically operating the movable wing in synchronization with the rotation of the airframe. To make it happen.

  With such a configuration, the meteorological observation device of the present invention realizes an autonomously stable airframe structure. This airframe structure has a simple principle and a mechanical control mechanism, so that failure is reduced and maintenance is also performed. It becomes easy. Embodiments of the present invention will be described below.

  The structure of the weather observation apparatus 1 of this embodiment is demonstrated using FIG.1 and FIG.2. The meteorological observation apparatus 1 according to the present embodiment is used for meteorological observation in a relatively low sky of about 3000 m above the ground.

  As shown in FIG. 1, the meteorological observation apparatus 1 is configured as a single-propeller type autonomous flying body having one propeller 3 provided on one end side of an airframe 2. The meteorological observation apparatus 1 includes an airframe 2, a propeller 3, a motor 4, a tail 5, a geomagnetic sensor 6, a microcomputer 7, and a temperature sensor 8.

  The airframe 2 is comprised by the plate-shaped member of a substantially isosceles triangle shape. The machine body 2 holds a propeller 3 and a motor 4.

  The propeller 3 functions as a rotor that generates lift by rotating. In the present embodiment, the propeller 3 includes two blades 3a for obtaining lift and a hub 3b that supports these blades 3a. The two blades 3a are provided at symmetrical positions with respect to the position of the rotation axis of the propeller 3.

  The propeller 3 is disposed on the bottom side (upper side in FIG. 1) of the outer shape of the isosceles triangle with respect to the airframe 2. The propeller 3 has a direction of the rotation axis that is substantially parallel to the plate surface of the body 2 and is substantially perpendicular to the base of the substantially isosceles triangular shape of the body 2, and the rotation axis is substantially the same as that of the body 2. It is provided so as to be positioned substantially at the center of the bottom of the equilateral triangular shape. The propeller 3 is rotated by the motor 4.

  The motor 4 functions as a drive source that rotates the propeller 3. The motor 4 has a drive shaft 4 a and connects the drive shaft 4 a to the hub 3 b of the propeller 3 to transmit a rotational driving force to the propeller 3. The motor 4 is, for example, a relatively small brushless motor. The motor 4 is driven by power supplied from the battery 10. The battery 10 is held at a predetermined position of the machine body 2.

  As shown in FIG. 1, the motor 4 is provided in a state of being supported by a support pillar 11 included in the machine body 2. The support pillar 11 is a linear ridge portion provided along the direction of the rotation axis of the propeller 3 in the airframe 2. The support pillar 11 is configured, for example, by attaching a rod-shaped member to the body 2. The motor 4 is fixed to the end portion on the side where the propeller 3 is located with respect to the support column 11 via a predetermined support member or the like.

  As described above, the motor 4 is held by the body 2 while being supported by the support pillars 11 provided in the body 2. Further, the propeller 3 connected to the motor 4 is held by the machine body 2 via the motor 4 fixed to the machine body 2.

  As shown in FIG. 2, the motor 4 is controlled by the microcomputer 7 via the motor amplifier 12. The motor amplifier 12 receives a signal from the microcomputer 7, senses the voltage of the battery 10, and adjusts the voltage supplied to the motor 4. Therefore, the battery 10 is connected to the motor amplifier 12 and supplies power to the motor 4 via the motor amplifier 12.

  As described above, the meteorological observation apparatus 1 including the airframe 2, the propeller 3 held by the airframe 2, and the motor 4 rises and flies due to the lift generated by the rotation of the propeller 3 driven by the motor 4. For this reason, the meteorological observation apparatus 1 flies in a posture in which the side on which the propeller 3 is disposed with respect to the airframe 2, that is, the bottom side in the substantially isosceles triangular shape of the airframe 2 is the upper side.

  In the following description, in the weather observation apparatus 1, the side (upper side in FIG. 1) on which the propeller 3 is arranged is the upper side, and the opposite side (lower side in the same figure) is the lower side. Moreover, in the weather observation apparatus 1, regarding the airframe 2 configured in a plate shape, the side where the support pillar 11 is provided (the side shown in FIG. 1) is the front side, and the opposite side is the back side.

  In the meteorological observation device 1, as described above, the airframe 2 holding the propeller 3 and the motor 4 flies while rotating in the opposite direction to the propeller 3 as the propeller 3 rotates. That is, the airframe 2 receives a reaction force caused by the rotation of the propeller 3 and rotates in a direction opposite to the rotation direction of the propeller 3 and also flies by a lift obtained by the rotation of the propeller 3.

  Specifically, as shown in FIG. 1, when the propeller 3 rotates in a predetermined direction (see arrow A <b> 1) to give lift to the airframe 2, the rotation axis of the propeller 3 is a reaction of the rotation of the propeller 3. Around the torque is generated. The torque as a reaction of the rotation of the propeller 3 acts as a force for rotating the airframe 2 around the rotation axis of the propeller 3 in the direction opposite to the propeller 3 (see arrow A2).

  The meteorological observation device 1 obtains lift by the rotation of the propeller 3 and flies while rotating the airframe 2 in a direction opposite to the propeller 3 by a torque as a reaction of the rotation of the propeller 3. The meteorological observation apparatus 1 flying in this way flies in a posture in which the propeller 3 side is on the upper side as described above. The airframe 2 rotates at a rotation speed of, for example, about 1/10 to 1/100 of the rotation speed (rotation speed) of the propeller 3.

  The airframe 2 functions as a resistance body that maintains the attitude of the weather observation device 1 by receiving air resistance against the reaction force caused by the rotation of the propeller 3 while rotating in the opposite direction to the propeller 3. In the present embodiment, the plate-shaped airframe 2 rotates while receiving air resistance mainly by the plate surfaces on both sides due to the reaction force of the rotating propeller 3, and the propeller 3 side is on the upper side as described above. Hold in posture.

  As described above, the meteorological observation device 1 obtains lift by the rotation of the propeller 3, so that the airframe 2 is rotated by the reaction of the rotation of the propeller 3, and autonomously stable, vertically moving up and down Fly in a stopped state (hovering). In the meteorological observation device 1 in a state of flying by the rotation of the propeller 3, the lower part of the propeller 3 including the airframe 2 and the motor 4 is suspended from the propeller 3 by its own weight, and the attitude Is stable.

  The meteorological observation device 1 is configured such that, in the flight state, the plate surface of the airframe 2 is substantially in the vertical direction due to the air resistance received by the reaction force of the rotation of the propeller 3 and the weight of the airframe 2 itself. Get autonomous stability with a simple posture. For this reason, the airframe 2 takes into account the air resistance received by rotating by the reaction torque of the propeller 3 in relation to the size of the propeller 3 and the moment generated by the rotation of the propeller 3, etc. The device 1 is configured to have a shape, size, weight, and the like that can provide a stable posture during flight.

  Specifically, in the airframe 2, when the area and weight that receive the air resistance that generates resistance against the reaction force caused by the rotation of the propeller 3 are not sufficiently secured, the airframe 2 obtains the lift of the propeller 3 and floats. Can not do. Conversely, when the size and weight of the airframe 2 are too large compared to the propeller 3, the airframe 2 cannot float due to the lift of the propeller 3 due to the air resistance received by the airframe 2, the weight of the airframe 2, and the like. Therefore, the shape, size, weight, etc. of the airframe 2 are set in consideration of the balance in relation to the propeller 3 so that the airframe 2 can lift with the propeller 3 and fly in a stable posture. The

  Further, the smaller the resistance force against the reaction force caused by the rotation of the propeller 3 is, the faster the rotational speed of the airframe 2 is. Conversely, the greater the resistance force is, the slower the rotational speed of the airframe 2 is. The meteorological observation device 1 controls the operation of the tail 5 in synchronization with the rotation of the airframe 2, although details will be described later. Therefore, in the control synchronized with the rotation of the airframe 2 due to the reaction force of the propeller 3, the rotational speed of the airframe 2 is taken into consideration so that the rotational speed of the airframe 2 is controllable, and the shape of the airframe 2 is Is set.

  In the meteorological observation device 1, from the viewpoint of flying in an autonomous and stable posture due to the relationship between the airframe 2 and the propeller 3 rotating in opposite directions, the airframe 2 is substantially isosceles as in the present embodiment. A triangular shape or a substantially equilateral triangular shape is preferable. The meteorological observation device 1 has a lift obtained by rotation of a propeller 3 provided on the bottom side with the apex angle side (one corner side in the case of a substantially equilateral triangle) as the lower side and the base side as the upper side. Fly by.

  However, the configuration of the airframe 2 is not particularly limited as long as the meteorological observation device 1 can fly in a state in which the attitude is stable in relation to the propeller 3. The number, shape, etc. of the blades 3a constituting the propeller 3 are also particularly limited as long as the weather observation device 1 can fly in a state in which the attitude is stable in relation to the airframe 2. It is not something. That is, the airframe 2 and the propeller 3 are configured in consideration of the balance between each other so that the weather observation apparatus 1 can fly in a state in which the attitude is stabilized by the lift obtained by the propeller 3. .

  The tail 5 is configured to move the meteorological observation device 1 flying by obtaining lift by rotation of the propeller 3 in the lateral direction (horizontal direction). The meteorological observation device 1 leans the airframe 2 by changing the airflow around the airframe 2 rotating by the reaction torque of the propeller 3 by the operation of the tail 5 while flying under the lift of the propeller 3. Thus, a horizontal component of the lift force generated by the propeller 3 is generated to move in the lateral direction.

  The tail 5 is provided so as to be movable with respect to the body 2. As shown in FIG. 1, in the meteorological observation device 1 of the present embodiment, the tail 5 is constituted by a plate-like member having an isosceles triangle shape, and an apex angle that is the lower end side in the substantially isosceles triangle-shaped airframe 2. Provided on the side.

  Specifically, the tail wing 5 has substantially the same thickness as that of the airframe 2 and constitutes a substantially isosceles triangular outer shape integrally with the airframe 2 (see FIG. 1). In other words, the portion forming the apex in the substantially isosceles triangular outer shape of the airframe 2 is constituted by the isosceles triangular tail wing 5. That is, in the meteorological observation apparatus 1 of the present embodiment, the airframe 2 having a substantially isosceles triangular shape has a configuration having the tail 5 as a portion constituting the lower end portion serving as the apex angle portion in the outer shape. . Therefore, the tail wing 5 is arranged on the lower side of the airframe 2 with the bottom side of the isosceles triangular shape facing the lower end side of the airframe 2 with respect to the airframe 2.

  As shown in FIG. 1, the tail wing 5 is movably connected to the airframe 2 by the connecting portion 13 in a state of being arranged below the airframe 2 as described above. The connecting portion 13 connects the lower end side of the airframe 2 and the upper end side of the tail 5 that face each other.

  The connecting portion 13 connects the tail 5 to the body 2 so that the tail 5 tilts with respect to the body 2 on both the front side and the back side of the body 2 within a predetermined angle range. Therefore, the integral isosceles triangular plate-like body constituted by the airframe 2 and the tail 5 is formed such that the tail 5 is tilted to the front side or the back side by the connecting portion 13, so The portion is bent to the front side or the back side.

  In this way, the connecting portion 13 connects and supports the tail wing 5 so as to be tiltable with respect to the airframe 2 so as to be bent on both the front and back sides. The connection part 13 is comprised as a hinge part which supports the tail 5 so that rotation with respect to the body 2 is possible in a predetermined angle range so that rotation is possible.

  The tail 5 is in a straight state (not tilted) with respect to the fuselage 2 when the weather observation device 1 is moving vertically up and down and hovering, and the weather observation device 1 is in the lateral direction. In the state of moving in the (horizontal direction), it tilts periodically corresponding to the rotation of the airframe 2.

  As shown in FIG. 2, the operation of the tail 5, that is, the tilting operation of the tail 5 with respect to the body 2 is controlled by the microcomputer 7. Specifically, the operation of the tail 5 is controlled by a servo motor 14 that receives a signal from the microcomputer 7.

  The servo motor 14 has a built-in control unit. Based on a signal (for example, a pulse signal) received from the microcomputer 7 by the control unit, the rotation shaft 14a serving as the output shaft of the servo motor 14 is arbitrarily set within a predetermined angle range. Rotate to an angle of. As shown in FIG. 1, the servo motor 14 is connected to the tail 5 via a link mechanism 15. Then, the rotation of the rotating shaft 14 a of the servo motor 14 is converted by the link mechanism 15 into a movement of tilting the tail 5 with respect to the body 2 by the connecting portion 13, and transmitted to the tail 5.

  One end of the link mechanism 15 is connected to the rotating shaft 14 a of the servo motor 14, and the other end of the link mechanism 15 is connected to a connecting portion 5 a provided at a predetermined position of the tail blade 5. The operation of the tail 5 is controlled so as to have an arbitrary tilt angle according to the rotation of the rotating shaft 14a of the servo motor 14. As the configuration of the link mechanism 15, an appropriate configuration can be adopted as long as the rotation of the rotating shaft 14 a of the servo motor 14 can be transmitted as a tilting operation with respect to the body 2 by the connecting portion 13 of the tail 5. .

  The geomagnetic sensor 6 is provided in the machine body 2 and functions as an azimuth detecting unit that detects the azimuth in which the machine body 2 is facing. In the present embodiment, the geomagnetic sensor 6 is held in a fixed state at a predetermined position on the front side surface of the machine body 2. The geomagnetic sensor 6 detects the azimuth (azimuth angle) that the machine body 2 that rotates by the reaction force of the propeller 3 is currently facing by detecting the geomagnetism.

  Specifically, in the present embodiment, the geomagnetic sensor 6 detects the orientation of the aircraft 2 in the state of flying while rotating by the lift of the propeller 3 with reference to the orientation of the front surface of the aircraft 2. To do. That is, the geomagnetic sensor 6 detects which direction the surface on the front side of the airframe 2 rotating in flight is facing.

  In other words, the geomagnetic sensor 6 is provided in the airframe 2 so that it can detect which direction the surface on the front side of the airframe 2 rotating in flight is facing. However, the orientation of the airframe 2 that serves as a reference when detecting the orientation by the geomagnetic sensor 6 is not limited to the orientation of the surface on the front side of the airframe 2 and is appropriately set depending on the shape of the airframe 2 and the like.

  As shown in FIG. 2, the detection signal from the geomagnetic sensor 6 is input to the microcomputer 7. Then, based on the sensor output from the geomagnetic sensor 6, the microcomputer 7 calculates the direction in which the machine body 2 is facing. In the following description, the azimuth of the airframe 2 detected by the geomagnetic sensor 6 is also simply referred to as “the azimuth of the airframe 2”.

  The microcomputer 7 functions as a controller that controls each part of the weather observation apparatus 1. The microcomputer 7 includes a CPU, a flash memory, a ROM, and the like, and controls each unit of the weather observation apparatus 1 by executing predetermined arithmetic processing according to a program written in advance. That is, the microcomputer 7 controls the autonomous navigation of the weather observation apparatus 1 by controlling the operations of the propeller 3 and the tail 5 according to a predetermined program inputted in advance.

  The microcomputer 7 is provided in the machine body 2. In the present embodiment, the microcomputer 7 is held in a fixed state at a predetermined position on the front surface of the body 2.

  The temperature sensor 8 is provided in the airframe 2 and functions as a measuring instrument for measuring an air temperature that is one of predetermined weather elements to be observed. In the present embodiment, the temperature sensor 8 is held in a fixed state at a predetermined position on the front surface of the body 2.

  The temperature detected by the temperature sensor 8 is detected as the temperature at the position (specific point / altitude) where the weather observation apparatus 1 exists. Information about the temperature detected by the temperature sensor 8 is recorded in the microcomputer 7 as weather observation information at each point and altitude in association with the position where the weather observation apparatus 1 exists.

As described above, the weather observation apparatus 1 according to the present embodiment employs the temperature detected by the temperature sensor 8 as a predetermined weather element to be observed. In the meteorological observation apparatus 1, one or more measuring instruments for meteorological observation are provided as appropriate according to the meteorological element to be observed. Examples of meteorological elements to be observed by the meteorological observation apparatus 1 include temperature, concentration of a specific gas such as humidity, atmospheric pressure, CO ₂ , NOx, wind direction, wind speed, and the like.

  Therefore, the meteorological observation apparatus 1 is equipped with various devices such as sensors capable of measuring each meteorological element in accordance with the meteorological element to be observed instead of or in addition to the temperature sensor 8. Is done. Thereby, meteorological elements at each point and altitude in the flight path of the weather observation apparatus 1 are observed.

  The flight operation of the weather observation apparatus 1 having the above configuration will be described with reference to FIGS. First, among the flight operations of the meteorological observation apparatus 1, the vertical ascent / descent movement and the hovering (hereinafter collectively referred to as “vertical flight operation”) of the meteorological observation apparatus 1 will be described. As described above, the meteorological observation device 1 in flight is in a state in which the airframe 2 is rotated in the direction opposite to the propeller 3 by the reaction force of the rotation of the propeller 3 while obtaining lift by the rotation of the propeller 3.

  The vertical flight operation of the weather observation apparatus 1 is performed by rotation control of the propeller 3 for obtaining lift. Therefore, in a state where the weather observation device 1 is performing a vertical flight operation, the output of the motor 4 that drives the propeller 3 is controlled, whereby the weather observation device 1 moves vertically, moves vertically, and hovers. Is performed and the altitude of the weather observation apparatus 1 is adjusted.

  As shown in FIG. 3A, in the weather observation apparatus 1 during the vertical flight operation, the tail 5 is in a straight state (not tilted) with respect to the airframe 2. The meteorological observation device 1 during the vertical flight operation is in such a posture that the plate surfaces of the airframe 2 and the tail 5 are substantially along the vertical direction due to the air resistance received by the rotation of the airframe 2 and the weight of the airframe 2 itself. .

  Next, movement in the lateral direction (horizontal direction) of the weather observation apparatus 1 (hereinafter referred to as “horizontal flight operation”) will be described. The horizontal flight operation of the meteorological observation device 1 changes the airflow around the airframe 2 that is rotated by the reaction torque of the propeller 3 while flying by receiving the lift of the propeller 3, and the airframe 2 changes the airflow around the airframe 2. This is done by causing the propeller 3 to generate a horizontal component of lift and moving it laterally.

  Therefore, in the weather observation apparatus 1 during the horizontal flight operation, the tilting operation of the tail 5 with respect to the body 2 is performed. That is, as shown in FIG. 3A, the tail 5 is tilted with respect to the fuselage 2 from the straight state with respect to the fuselage 2 as shown in FIG. 3B (see arrow B1). ). In FIG. 3, the tail 5 is tilted toward the front side with respect to the body 2.

  As shown in FIG. 3B, when the tail 5 tilts, the airflow received by the airframe 2 changes, and as shown in FIG. 3C, the weather observation apparatus 1 is tilted. Here, the meteorological observation apparatus 1 is tilted in a direction corresponding to the tilting direction of the tail 5 with respect to the airframe 2 so that the rotation axis of the propeller 3 is tilted. That is, as shown in FIG. 3 (b), when the tail 5 tilts toward the front side with respect to the airframe 2, as shown in FIG. 3 (c), the meteorological observation device 1 moves to the front side (left side in FIG. 3). ) To tilt forward.

  As shown in FIG. 3 (c), when the weather observation apparatus 1 is inclined to the front side, a horizontal component of the lift by the propeller 3 is generated in the front direction (left direction in FIG. 3), and the meteorological observation apparatus 1 advances toward the front side. It becomes. That is, as shown in FIGS. 3A and 3B, in the weather observation apparatus 1, the tilt of the tail 5 is tilted from the state during the vertical flight operation in which the lift generated by the rotation of the propeller 3 is represented by the vertically upward vector V0. By performing the operation, the weather observation apparatus 1 is tilted and proceeds to the tilted side, as shown in FIG.

  As the meteorological observation device 1 is tilted, the direction of the vector V0 is also tilted as the rotation axis of the propeller 3 is tilted, as shown in FIG. 3C, and the vertically upward vector V1 and the horizontal vector V2 Occurs. Thereby, the weather observation apparatus 1 obtains a thrust (see vector V2) that proceeds in the lateral direction (horizontal direction).

  As described above, the tail 5 changes the flow of the airflow that is resisted by the rotation of the airframe 2 by the reaction force caused by the rotation of the propeller 3, thereby causing the airfoil 2 to tilt in a predetermined tilt direction in which the rotation axis of the propeller 3 is inclined. It functions as a movable wing that can be tilted. Here, the predetermined tilting direction of the airframe 2 corresponds to the direction in which the weather observation apparatus 1 that performs the horizontal flight operation travels. Therefore, the predetermined tilt direction of the airframe 2 corresponds to the direction in which the tail 5 tilts with respect to the airframe 2 (front side / back side direction).

  In the meteorological observation device 1 during the horizontal flight operation, the tilting operation of the tail 5 as described above is periodically performed corresponding to the rotation of the airframe 2. In other words, the tilt of the tail 5 is performed as a vibration operation having the same cycle as the rotation of the airframe 2 due to the reaction force of the propeller 3, so that the airframe 2 is always tilted in a certain direction, and the weather observation apparatus 1 is horizontal. Movement in the direction becomes possible. Here, the fixed direction in which the airframe 2 tilts is a predetermined tilting direction with respect to the airframe 2, and corresponds to the direction in which the weather observation apparatus 1 that performs the horizontal flight operation travels.

  Specifically, the case where the weather observation apparatus 1 proceeds in a predetermined movement direction in the horizontal direction will be described. As shown in FIGS. 4 (a) and 5 (a), in the horizontal flight operation of the meteorological observation device 1, the timing when the direction of the airframe 2 rotating by the reaction force of the propeller 3 faces a predetermined moving direction, in other words, At the timing when the front side of the fuselage 2 faces the predetermined movement direction, the tail 5 tilts to the predetermined movement direction side, that is, the front side.

  Then, as shown in FIGS. 4B and 5B, in the process in which the airframe 2 is rotated by the reaction force of the propeller 3, the airframe 2 is rotated 180 °, and the orientation of the airframe 2 is set to a predetermined movement direction. The tail 5 tilts to the predetermined movement direction side, that is, the back side at the timing when facing the opposite direction, in other words, the timing when the back side of the airframe 2 faces the predetermined movement direction side. Similarly, as shown in FIGS. 4 (c) and 5 (c), when the fuselage 2 is further rotated 180 ° and the orientation of the fuselage 2 is directed to a predetermined movement direction, the tail 5 is Tilt to the moving direction side.

  Thus, in the horizontal flight operation of the meteorological observation device 1, every time the airframe 2 rotates 180 ° in synchronization with the rotational motion of the airframe 2 that is rotated by the reaction force of the propeller 3, a predetermined moving direction of the tail 5 is obtained. The tilting motion toward is performed as a periodic vibration motion. That is, the tail 5 is tilted in the direction opposite to the front side and the back side with respect to the airframe 2 as an operation that vibrates sinusoidally in synchronization with the rotation of the airframe 2, and the tilt direction is always the direction of the predetermined moving direction. By doing so, the state in which the weather observation apparatus 1 is tilted in the predetermined moving direction is maintained, and the weather observation apparatus 1 proceeds in the tilting direction.

  As described above, the meteorological observation device 1 periodically moves the tail 5 in synchronization with the rotation of the airframe 2, so that the airframe 2 moves in the horizontal direction (predetermined moving direction). The flow of the airflow which inclines 2 is produced intermittently. Thereby, the weather observation apparatus 1 moves in a predetermined movement direction in the horizontal flight operation. And the horizontal flight operation | movement of the weather observation apparatus 1 also stops because the periodic operation | movement of the tail 5 synchronized with rotation of the body 2 stops. In this way, the horizontal position of the weather observation apparatus 1 is controlled.

  The periodic operation of the tail 5 synchronized with the rotation of the airframe 2 due to the reaction force of the propeller 3 is performed under the control of the microcomputer 7 based on the detection signal from the geomagnetic sensor 6. The microcomputer 7 uses the geomagnetic sensor 6 to detect which direction the surface on the front side of the body 2 is currently facing. In the microcomputer 7, the moving direction of the meteorological observation device 1 in the horizontal direction is designated as a predetermined pointing direction by a program or the like input in advance.

  Therefore, the microcomputer 7 has a servo motor so that the tail 5 is tilted toward the indicated direction at the timing when the direction of the body 2 is directed to the indicated direction and the timing at which the direction of the body 2 is directed to the opposite direction to the indicated direction. The operation of the tail 5 is controlled by sending a control signal to 14. That is, the microcomputer 7 synchronizes with the rotation of the airframe 2 due to the reaction force of the propeller 3 in accordance with the orientation of the airframe 2 detected by the geomagnetic sensor 6, and the tail 5 The operation of the tail 5 is controlled so as to tilt toward a predetermined pointing direction.

  For example, when the predetermined designated direction designated in the microcomputer 7 is “south”, the microcomputer 7 has a timing when the direction of the airframe 2 becomes “south” and a timing when the direction of the airframe 2 becomes “north”. At both timings, the tail 5 is tilted toward the “south”. Thereby, the weather observation apparatus 1 moves toward “south” while maintaining a state of tilting toward “south”.

  As described above, the microcomputer 7 determines that the machine body 2 rotated by the reaction force of the propeller 3 is based on the direction of the machine body 2 detected by the geomagnetic sensor 6 (the direction in which the machine body 2 is directed). The movement of the airframe 2 is controlled by operating the tail 5 periodically so that the airframe 2 tilts in accordance with the instructed direction in synchronism with the timing when the instructed direction is directed. In the horizontal flight operation of the meteorological observation apparatus 1, the vertical component of the lift of the propeller 3 is reduced by the tilt of the airframe 2 (see FIG. 3C). When maintaining the above, control for increasing the rotation speed of the motor 4 is appropriately performed.

  In addition, the weather observation apparatus 1 of the present embodiment autonomously navigates between designated points or between designated points by performing navigation control using GPS (Global Positioning System). Therefore, as shown in FIGS. 1 and 2, the weather observation apparatus 1 includes a GPS sensor 16 that receives a signal (GPS signal) from the GPS satellite 20. In the present embodiment, the GPS sensor 16 is held in a fixed state at a predetermined position on the front surface of the body 2.

  The GPS sensor 16 has a function as a GPS receiver and a function as a GPS antenna, and communicates with a plurality of GPS satellites 20. The GPS signal from the GPS satellite 20 received by the GPS sensor 16 is input to the microcomputer 7 and detected as the current position of the weather observation apparatus 1.

  The microcomputer 7 is based on the GPS signal received by the GPS sensor 16, the spatial coordinates of the position where the airframe 2 of the weather observation apparatus 1 currently exists (current position of the weather observation apparatus 1), the latitude, and the altitude, the time, Is detected. For this reason, the microcomputer 7 has a function part which detects a space coordinate and time based on the GPS signal which the GPS sensor 16 received.

  The spatial coordinates and time of the current position of the weather observation apparatus 1 acquired by the GPS sensor 16 are used for autonomous navigation control of the weather observation apparatus 1 performed by the microcomputer 7 according to a predetermined program.

  For example, the microcomputer 7 updates the control amounts for the propeller 3 and the tail 5 based on the signals sent from the geomagnetic sensor 6 and the GPS sensor 16 as needed, with the target of the route of navigation performed according to a predetermined program. Perform feedback control. As a result, the microcomputer 7 causes the horizontal position (latitude, longitude) of the weather observation apparatus 1, the vertical position (altitude) of the weather observation apparatus 1, the moving direction (traveling direction) of the weather observation apparatus 1, and the weather observation. The moving speed of the device 1 is controlled.

  As described above, the microcomputer 7 detects the current position of the airframe 2 based on the GPS signal received by the GPS sensor 16, and controls the movement of the airframe 2 using the detected current position of the airframe 2.

  As described above, the weather observation apparatus 1 has a GPS communication function, and performs navigation control using the GPS communication function, thereby reducing the influence of weather conditions and the like in autonomous navigation of the weather observation apparatus 1. And can conduct accurate navigation. For example, if the wind is strong as the weather condition, the weather observation device 1 is swept away by the wind and the deviation from the predetermined navigation route increases, but the current position of the airframe 2 detected by the GPS function is navigated by the weather observation device 1. By using it for control, it becomes possible to navigate while correcting the navigation route of the meteorological observation device 1, and it is possible to perform accurate navigation.

  Moreover, the weather observation apparatus 1 of this embodiment is equipped with the structure for performing radio | wireless operation (remote control) in addition to the autonomous navigation control by the microcomputer 7. FIG. Therefore, as shown in FIGS. 1 and 2, the weather observation apparatus 1 includes an RC receiver 17 as a receiver that receives a radio signal for remotely operating at least one of the motor 4 and the tail 5. The RC receiver 17 is held in a fixed state at a predetermined position on the front side surface of the body 2.

  As shown in FIG. 2, the RC receiver 17 receives a radio signal from a radio pilot 30 operated by a pilot operating the weather observation apparatus 1. The radio signal received by the RC receiver 17 from the radio pilot 30 includes a control signal for controlling at least one of the operation of the motor 4 that drives the propeller 3 and the operation of the tail 5. A radio signal from the radio pilot 30 received by the RC receiver 17 is input to the microcomputer 7 and used for controlling the operation of the motor 4 or the tail 5.

  Specifically, when the microcomputer 7 controls the operation of the motor 4 based on the radio signal received by the RC receiver 17, the microcomputer 7 corresponds to the control amount instructed by the operation of the radio pilot 30. A control amount of the motor 4 is determined via the amplifier 12, and the rotational speed (rotational speed) of the motor 4 is controlled. When the microcomputer 7 controls the operation of the tail 5 based on the radio signal received by the RC receiver 17, the microcomputer 7 corresponds to the control amount instructed by the operation of the radio pilot 30. A control amount is determined, and the tilt angle of the tail 5 is controlled.

  In order to perform such control by radio control, the microcomputer 7 has a functional unit for controlling the operation of the motor 4 or the tail 5 based on the radio signal received by the RC receiver 17. As described above, the microcomputer 7 controls the operation of at least one of the motor 4 and the tail 5 based on the radio signal received by the RC receiver 17. The radio piloting by the radio pilot 30 using the RC receiver 17 is used, for example, as an aid for airframe control when the weather observation apparatus 1 takes off and landing.

  As described above, since the weather observation apparatus 1 includes the configuration for performing the wireless operation, the weather observation apparatus 1 can be remotely operated within a range that is visible to the operator of the weather observation apparatus 1. Thereby, safety can be ensured in the navigation control of the weather observation apparatus 1.

  Thus, according to the weather observation apparatus 1 capable of autonomous navigation, it is possible to navigate altitudes and distances that cannot be controlled by wireless maneuvering and to automatically acquire weather observation data, but to enable radio maneuvering. As a result, it is possible to perform navigation control arbitrarily by the pilot within a range that can be visually recognized by the pilot. From the viewpoint of ensuring safety, a configuration in which control by radio control by the radio pilot 30 using the RC receiver 17 is preferentially performed with respect to autonomous navigation control and can be instantaneously switched to manual flight. It is preferable to adopt. In the present embodiment, the RC receiver 17 may be configured by hardware common to a controller realized by the microcomputer 7.

  In the meteorological observation device 1 of the present embodiment, control for maintaining the altitude of the airframe 2 (hereinafter referred to as “altitude maintenance control”) is performed during the vertical flight operation or the horizontal flight operation. For this reason, the meteorological observation apparatus 1 includes altitude detection means for detecting the altitude of the airframe 2. The altitude maintenance control is performed by the microcomputer 7 based on the altitude of the airframe 2 detected by the altitude detecting means.

  The meteorological observation device 1 of the present embodiment uses the altitude of the current position of the airframe 2 detected by the GPS sensor 16 as described above in altitude maintenance control. That is, in this embodiment, the GPS sensor 16 functions as an altitude detecting unit that detects the altitude of the airframe 2.

  In altitude maintenance control, the microcomputer 7 targets the altitude of the airframe 2 by performing feedback control by comparing the target value for the altitude of the airframe 2 input in advance with the detection value detected by the GPS sensor 16. The operation of the motor 4 is controlled so as to hold the value.

  Therefore, at the time of altitude maintenance control, a target value for the altitude of the airframe 2 is input to the microcomputer 7 in advance. The target value for the altitude of the airframe 2 used for altitude maintenance control is input as part of a program for autonomous navigation of the weather observation apparatus 1, for example.

  The microcomputer 7 compares the altitude target value of the airframe 2 input in advance with the current altitude detection value of the airframe 2 detected by the GPS sensor 16, and based on the comparison result, The control amount of the motor 4 is adjusted via the motor amplifier 12 so that the value matches the detected value. The microcomputer 7 has a functional unit for performing altitude maintenance control based on the GPS signal received by the GPS sensor 16 as described above.

  As described above, the altitude maintenance control is performed in the meteorological observation apparatus 1, so that the influence of the weather conditions and the like can be reduced in the autonomous navigation of the meteorological observation apparatus 1. More accurate navigation can be performed.

  In the present embodiment, the GPS sensor 16 is used as the altitude detecting means for detecting the altitude of the airframe 2, but the altitude detecting means for performing altitude maintenance control is provided separately from the GPS sensor 16. An altimeter may be used. In this case, the microcomputer 7 performs feedback control on the altitude of the airframe 2 as described above based on the altitude information of the airframe 2 obtained by the altimeter.

  Moreover, in the weather observation apparatus 1 of this embodiment, observation of at least one of a wind direction and a wind speed is performed by utilizing a GPS function. When the weather observation apparatus 1 does not intentionally perform a horizontal flight operation, the wind direction and the wind speed are observed using the property of passively moving in response to the wind.

  Specifically, the observation of the wind direction and the wind speed is performed by the microcomputer 7 based on the GPS signal received by the GPS sensor 16. Based on the GPS signal received by the GPS sensor 16, the microcomputer 7 detects the current position P1 of the airframe 2 at the predetermined measurement start time T1 and the airframe 2 at the measurement time T2 after a predetermined time ΔT has elapsed from the measurement start time T1. And at least one of the wind direction and the wind speed is measured from the current position P2.

  That is, under the condition that the horizontal flight operation is not performed, the movement of the meteorological observation device 1 is passive due to the wind. Therefore, from the positional relationship between the current position P1 of the airframe 2 and the current position P2 of the airframe 2, the direction in which the weather observation device 1 has moved during the predetermined time ΔT can be detected, and the weather observation device has moved. The direction corresponds to the wind direction. Therefore, the wind direction is measured based on the direction in which the weather observation apparatus 1 has moved during the predetermined time ΔT.

  Further, the moving speed of the weather observation apparatus 1 can be detected from the distance between the current position P1 of the airframe 2 and the current position P2 of the airframe 2. Then, the wind speed is measured based on the distance traveled by the weather observation apparatus 1 during the predetermined time ΔT.

  A functional unit for measuring the wind direction and the wind speed is provided in the microcomputer 7. When measuring the wind direction and the wind speed, the microcomputer 7 measures, for example, the value of the unit measurement time corresponding to the time (predetermined time ΔT) from the measurement start time T1 to the measurement time T2, and the weather during the unit measurement time. An arithmetic expression for converting the moving direction of the observation device 1 into the wind direction, an arithmetic expression for converting the moving distance of the weather observation device 1 during the unit measurement time into the wind speed, etc. as a series of programs, data tables, etc. Pre-filled.

  As described above, in the weather observation device 1, when the wind direction and the wind speed are observed by the weather observation device 1 by observing the wind direction and the wind speed based on the GPS signal, the wind direction and the wind speed are measured. It is possible to observe wind direction and wind speed as meteorological elements without providing a measuring instrument. Thereby, it becomes possible to make the structure of the weather observation apparatus 1 simpler.

  Note that the wind speed and direction can also be measured by the following method. As described above, the movement of the meteorological observation device 1 is passive due to the wind under the condition that the horizontal flight operation is not performed. Therefore, the operation of the propeller 3 and the tail 5 is controlled so that the weather observation apparatus 1 stays at a predetermined position without being blown by the wind.

  Such fixed point holding control of the weather observation apparatus 1 is performed by the microcomputer 7 based on the GPS signal received by the GPS sensor 16. Then, the wind direction and the wind speed are measured by calculating back the wind direction and the wind speed from the control amounts input in the operation control of the propeller 3 and the tail blade 5 in order to keep the weather observation apparatus 1 at a predetermined position.

  When performing such wind direction / wind speed measurement, the microcomputer 7 uses a predetermined unit measurement time value, the relationship between the control amount input to the motor 4 driving the propeller 3 and the wind direction / wind speed, the tail 5 The relationship between the control amount input to the servo motor 14 for operating the wind direction and the wind speed, etc. is input in advance as a series of programs, data tables, and the like. Also by measuring the wind direction and wind speed by such a method, the structure of the weather observation apparatus 1 can be made simpler as described above.

  In addition, the meteorological observation apparatus 1 according to the present embodiment controls the hovering when the aircraft 2 reaches a predetermined height position from the ground in order to buffer the momentum that the aircraft 2 falls to the ground surface when landing after finishing a predetermined navigation. (Hereinafter referred to as “landing control”). In order to perform landing control, the weather observation apparatus 1 includes an ultrasonic sensor 18 that functions as a height position detection unit that detects the distance of the airframe 2 with respect to the ground surface, as shown in FIGS. 1 and 2. The ultrasonic sensor 18 is held in a state of being fixed at a predetermined position on the front surface of the body 2.

  The ultrasonic sensor 18 oscillates ultrasonic waves from the sensor head, receives ultrasonic waves reflected from the ground surface by the sensor head, and measures the time from transmission to reception of the ultrasonic waves, that is, the distance to the ground surface, that is, the aircraft 2 height position is detected. For this reason, the ultrasonic sensor 18 is provided in the airframe 2 so that the sensor head faces downward.

  The microcomputer 7 performs landing control based on the distance to the ground surface detected by the ultrasonic sensor 18 in the process of descending movement performed when the weather observation apparatus 1 is landing. Specifically, the microcomputer 7 is a motor that drives the propeller 3 so that the meteorological observation device 1 is in a hovering state when the distance from the ground surface of the airframe 2 reaches a predetermined distance in landing control. 4 is controlled.

  The microcomputer 7 controls the operation of the motor 4 so that the meteorological observation apparatus 1 is slowly lowered after the meteorological observation apparatus 1 is temporarily hovered when the meteorological observation apparatus 1 is landed. The predetermined distance with respect to the ground surface of the airframe 2 set in such landing control is set to a distance of about 5 to 10 m, for example.

  A functional unit for performing such landing control is provided in the microcomputer 7. At the time of landing control, in the microcomputer 7, as described above, the distance from the ground surface of the airframe 2 (the height position of the airframe 2) where the meteorological observation device 1 is once hovered is previously stored as a series of programs, data tables, and the like. Entered.

  Thus, the microcomputer 7 controls the operation of the motor 4 so that the airframe 2 will hover when the distance to the ground surface detected by the ultrasonic sensor 18 reaches a predetermined distance inputted in advance.

  By performing the landing control as described above in the meteorological observation device 1, the meteorological observation device 1 can be landed gently with respect to the ground surface, and failure or damage due to the landing of the meteorological observation device 1 can be prevented. it can. Thereby, the lifetime of the weather observation apparatus 1 can be improved, and cost reduction can be performed more effectively. As the height position detection means used for landing control by the weather observation apparatus 1, well-known sensors such as a photoelectric sensor and a proximity sensor can be used as appropriate in addition to the ultrasonic sensor as in the present embodiment. .

  An example of a series of navigation controls in weather observation by the weather observation apparatus 1 of the present embodiment having the above-described configuration will be described with reference to FIG. As shown in FIG. 6, in the navigation control of the weather observation apparatus 1 according to this example, first, the weather observation apparatus 1 is turned on, whereby the microcomputer 7 is initialized, and the GPS The sensor 16 starts receiving a GPS signal from the GPS satellite 20.

  Next, the driving of the propeller 3 by the motor 4 is started, and the meteorological observation device 1 is vertically moved at a predetermined rate of increase (rising speed) set in advance ((A) → (B)). In the process of ascending the weather observation device 1, the temperature sensor 8 measures the temperature at each altitude point while detecting the spatial coordinates of the weather observation device 1 based on the GPS signal received by the GPS sensor 16. To be recorded.

  Next, the weather observation apparatus 1 performs a horizontal flight operation ((B) → (C) → (D)) toward a predetermined pointing direction. That is, the periodic vibration operation of the tail 5 synchronized with the rotation of the airframe 2 due to the reaction force of the rotation of the propeller 3 is performed, and the meteorological observation device 1 moves horizontally toward a predetermined pointing direction. Even in the course of such horizontal movement of the weather observation apparatus 1, the temperature at each altitude point by the temperature sensor 8 is detected while detecting the spatial coordinates of the weather observation apparatus 1 based on the GPS signal received by the GPS sensor 16. Is measured and recorded. Further, in the process of horizontal movement of the weather observation apparatus 1, navigation control and altitude maintenance control using the GPS function as described above are appropriately performed.

  When the weather observation device 1 reaches a predetermined return point set in advance by horizontal movement ((B) → (C) → (D)), the weather observation device 1 returns to the observation start point (( D) → (C) → (B)), and moves vertically downward ((B) → (A)) at a predetermined lowering rate (lowering speed) set in advance. In the descending process of the meteorological observation device 1, the landing control as described above is performed, and when the distance of the airframe 2 with respect to the ground surface 40 reaches a preset distance, the meteorological observation device 1 is once in a hovering state. And then land gently on the surface 40.

  Such a series of navigation control for the weather observation apparatus 1 is performed as autonomous navigation based on a program or the like input in advance in the microcomputer 7 using GPS signals. However, the RC receiver 17 is used in a range where the operator of the weather observation apparatus 1 can visually recognize, and radio control by the radio control unit 30 is appropriately performed.

  In the navigation control of the meteorological observation device 1, the observation start point of meteorological observation and the collection point for collecting the meteorological observation device 1 that has finished the observation can be set to different points. In this case, for example, as shown in FIG. 6, when the weather observation apparatus 1 reaches a predetermined return point set in advance by horizontal movement ((B) → (C) → (D)), the weather observation apparatus 1 starts descending at that point and lands on the ground surface 40 ((D) → (E)).

  The meteorological observation device 1 that has landed on the ground surface 40 is stopped. The microcomputer 7 of the meteorological observation apparatus 1 is connected to a computer or the like, and the observation data stored in the memory of the microcomputer 7 is read. As described above, the observation data is collected and the weather observation by the weather observation apparatus 1 is performed.

  The meteorological observation apparatus 1 according to the present embodiment described above is an embodiment of the present invention, and various modifications can be considered. For example, the meteorological observation device 1 of the present embodiment employs the motor 4 as a drive source for driving the propeller 3, but the drive source for driving the propeller 3 may be an engine (internal combustion engine). In this case, the battery 10 can be omitted.

  Moreover, although the weather observation apparatus 1 of this embodiment is provided with the tail wing 5 as a movable wing | blade which is a structure for moving to a horizontal direction, a movable wing | blade is not limited to this. For example, the movable wing for moving the airframe 2 in the lateral direction may be provided on a corner side (base angle side) other than the apex angle side in the isosceles triangular airframe 2. That is, as a movable wing for moving the airframe 2 in the lateral direction, depending on the configuration of the airframe 2, by changing the flow of the airflow that receives resistance as the airframe 2 rotates by the reaction force of the propeller 3, Any structure that can tilt the machine body 2 in a predetermined tilting direction in which the rotation axis of the propeller 3 tilts may be used.

  Moreover, although the weather observation apparatus 1 of this embodiment employs the geomagnetic sensor 6 as a means for detecting the orientation of the airframe 2, examples of the means for detecting the orientation of the airframe 2 include a gyro sensor and an acceleration sensor. Various sensors can be used. Moreover, the function as a means to detect the azimuth | direction of the body 2 can also be acquired by arrange | positioning and providing a several GPS sensor in a mutually different position.

  In addition, the arrangement of various devices such as the geomagnetic sensor 6 and the microcomputer 7 provided in the airframe 2 in the weather observation apparatus 1 is not particularly limited, and is appropriately set in the airframe 2 in relation to other devices. For example, various devices provided in the airframe 2 are arranged so that the weight of the airframe 2 due to the reaction force of the propeller 3 is considered, and the left and right weights are centered on the support pillar 11.

  According to the meteorological observation device 1 of the present embodiment as described above, the position control of the airframe 2 can be performed without canceling the torque as the reaction of the rotation of the propeller 3 for obtaining lift, and the simple structure, A compact and lightweight configuration can be easily realized, and there are few failures and maintenance is easy, and it can be manufactured at low cost.

  The meteorological observation apparatus 1 of the present embodiment employs a unique airframe structure in which the airframe 2 is rotated while rotating by the reaction torque of the propeller 3 by electronic technology. In particular, the meteorological observation device 1 of the present embodiment is essentially different from existing aircraft such as a rotary wing aircraft due to the relationship between the center of gravity of the aircraft and the center of pressure. The flying objects such as the existing rotorcraft have canceled the reaction force of the propeller to ensure the maneuverability. However, according to the meteorological observation device 1 of the present embodiment, the reaction force of the propeller is obtained by the GPS function or various sensors. It is possible to greatly simplify the airframe structure by electronically controlling the airframe even when the vehicle is spinning.

  And the meteorological observation apparatus 1 of this embodiment is limited only by the physical size and loading weight of measuring instruments, various sensors, etc., and can carry out autonomous flight, and weather elements as environmental information Can be measured automatically. For this reason, the meteorological observation apparatus 1 according to the present embodiment is preferably used for, for example, observation of a heat island phenomenon that is measured in a relatively large population such as an urban area, and is used to elucidate a heat island phenomenon that has been regarded as a problem in recent years. Can contribute. Moreover, the observation data acquired by the meteorological observation apparatus 1 of this embodiment also contributes to the short-term weather forecast of a specific point.

  Furthermore, according to the weather observation apparatus 1 of this embodiment, the following advantages are obtained. The space required for take-off and landing can be as small as a tatami mat, so it can be observed from the roof of a building. Further, since the ascending / descending is performed by a simple mechanism, the device is inexpensive and robust. In addition, since it is lighter and smaller than the prior art, it is possible to reduce the influence on others when dropped. In addition, no mooring lines are required, and obstacles to the aircraft are minimized, making it possible to observe the atmosphere at night. Further, the cost can be reduced by collection and reuse. Further, since the mechanical structure and the control structure are simple, the cost is low, the reliability is high, and the maintenance is easy. In addition, since it is autonomous navigation, it is not necessary to see it, and it can observe to altitudes that cannot be remotely controlled. In addition, restrictions on aviation laws are relaxed. In addition, weather can be observed even in an environment where a balloon, radiosonde, or the like cannot be used, such as an environment where it is difficult to obtain helium gas.

1 Meteorological observation device 2 Airframe 3 Propeller (rotor)
4 Motor (drive source)
5 Tail (movable wing)
6 Geomagnetic sensor (azimuth detection means)
7 Microcomputer (controller)
8 Temperature sensor (measuring instrument)
16 GPS sensor 17 RC receiver 18 Ultrasonic sensor (height position detecting means)
20 GPS satellite 30 Radio pilot

Claims (6)

A rotor that generates lift by rotating;
A drive source for rotating the rotor;
A body that holds the rotor and the drive source, receives a reaction force caused by rotation of the rotor, rotates in a direction opposite to the rotation direction of the rotor, and flies by lift obtained by rotation of the rotor; ,
By changing the flow of the airflow that is provided so as to be movable with respect to the airframe and receives resistance as the airframe rotates by the reaction force, the airframe is moved in a predetermined tilting direction in which the rotation axis of the rotor is inclined. Tilting movable wings,
Azimuth detecting means provided on the airframe for detecting the azimuth facing the airframe;
Provided in the body, based on the direction detected by said azimuth detection means, said timing the machine body which is rotated by a reaction force faces the predetermined instruction orientation is indicated as the direction of travel of the aircraft, and the aircraft said Controlling the operation of the movable wing in synchronism with the rotation of the airframe so that the movable wing tilts toward the indicated azimuth with respect to the airframe at a timing opposite to the indicated azimuth. A controller that controls the movement of the airframe by periodically operating the movable wing so that the tilt direction is tilted in correspondence with the indicated direction;
A measuring instrument for measuring a predetermined meteorological element which is provided in the aircraft and is an observation target;
Meteorological observation equipment. A GPS sensor for receiving signals from GPS satellites,
The controller detects the current position of the aircraft based on the signal received by the GPS sensor, and controls the movement of the aircraft using the detected current position.
The weather observation apparatus according to claim 1. A receiver for receiving a radio signal for remotely operating at least one of the drive source and the movable blade;
The controller controls the operation of at least one of the drive source and the movable blade based on the radio signal received by the receiver.
The weather observation apparatus according to claim 1 or 2. Comprising altitude detection means for detecting the altitude of the aircraft,
The controller holds the altitude of the airframe at the target value by performing feedback control by comparing a target value for the altitude of the airframe input in advance and a detection value detected by the altitude detecting means. Controlling the operation of the drive source,
The weather observation apparatus of any one of Claims 1-3. The controller, based on the signal received by the GPS sensor, from the current position of the aircraft at a predetermined measurement start time and the current position of the aircraft at a measurement time after a predetermined time has elapsed from the measurement start time Measure at least one of wind direction and wind speed,
The meteorological observation apparatus according to claim 2. A height position detecting means for detecting a distance of the aircraft relative to the ground surface;
The controller controls the operation of the driving source so that the airframe hovers when the distance detected by the height position detection means reaches a predetermined distance input in advance.
The weather observation apparatus according to any one of claims 1 to 5.

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