JP7033618B2 - 能動的な空気伝播音の低減 - Google Patents
能動的な空気伝播音の低減 Download PDFInfo
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Description
Claims (13)
- フレームと、
前記フレームに関連する全地球測位システム(GPS)センサと、
前記フレームに取り付けられた少なくとも1つの音センサと、
前記フレームに取り付けられた複数のモータと、
前記複数のモータのそれぞれに連結される複数のプロペラと、
前記フレームの少なくとも1つ、または前記複数のモータの1つに取り付けられた発音器と、
メモリと1つまたは複数のコンピュータプロセッサを含むコンピュータデバイスと、を備える無人航空機(UAV)であって、
前記1つまたは複数のコンピュータプロセッサが、少なくとも
前記少なくとも1つの音センサを使用して前記複数のモータ及び前記複数のプロペラの音に関するデータを取り込み、
前記データに基づき、音圧レベル及び周波数を判定し、
前記GPSセンサによって前記UAVの位置を判定し、
前記位置に関連する少なくとも1つの環境条件を判定し、
前記位置に関連する、前記複数のモータのうちの少なくとも1つのモータ、または前記複数のプロペラのうちの少なくとも1つのプロペラの動作特性を判定し、
前記環境条件もしくは前記動作特性の少なくとも1つ、並びに前記音圧レベル、前記周波数、及び前記GPSセンサで判定された前記UAVの位置に基づき、アンチノイズの音圧レベル及び前記アンチノイズの周波数を判定し、
前記UAVの発音器からアンチノイズを発音する、UAV。 - フレームと、
前記フレームに関連する全地球測位システム(GPS)センサと、
前記フレームに取り付けられた少なくとも1つの音センサと、
前記フレームに取り付けられた複数のモータと、
前記複数のモータのそれぞれに連結される複数のプロペラと、
前記フレームまたは前記複数のモータの1つに取り付けられた第1の発音器と、
を含む第1の航空機の操作方法であって、前記方法は、
第1の時間より前に、少なくとも1つのコンピュータプロセッサにより
第1の予測位置または前記第1の時間における第1の予測環境条件、又は前記第1の予測位置または前記第1の時間における前記第1の航空機の第1の予測動作特性、の少なくとも1つを予測し、
前記少なくとも1つのコンピュータプロセッサにより、前記第1の時間の前記第1の航空機の第1の予測位置、及び前記第1の予測環境条件または前記第1の予測動作特性の少なくとも一方に基づき、前記第1の時間で前記第1の航空機の前記複数のモータ及び前記複数のプロペラにより発音された第1の音を予測し、
前記GPSセンサにより、前記第1の航空機が前記第1の時間で前記第1の予測位置にあることを判定し、
前記少なくとも1つのコンピュータプロセッサにより、前記第1の音に基づく第2の音であり、前記第2の音の第2の音圧レベルは前記第1の音の第1の音圧レベルより大きくなく、前記第2の音の第2の周波数は実質的に前記第1の音の第1の周波数に関して実質的に大きさが等しく、前記第1の音の第1の周波数に関して逆極性であり、
前記少なくとも1つのコンピュータプロセッサにより、前記第1の航空機が前記第1の時間で前記第1の予測位置にあるとの判定に応答して、前記第1の発音器により発音される第2の音を引き起こす、第1の航空機を操作する方法。 - 前記第2の音が第1の時間で第1の発音器により発音される、請求項2に記載の方法。
- 前記第1の時間で前記第1の航空機の前記フレーム、前記複数のモータ及び前記複数のプロペラにより発音される第1の音を予測し、
前記少なくとも1つのコンピュータプロセッサにより、前記第1の予測位置に関する第1の情報、前記第1の予測環境条件、前記第1の予測動作特性が少なくとも1つの機械学習システムへ入力として提供し、
前記少なくとも1つの機械学習システムから前記第1の音に関する、前記第1の音圧レベルと前記第1の周波数を含む第2の情報を出力として受信する、請求項2に記載の方法。 - 前記第2の音を判定することをさらに含み、
前記第1の音に関する情報を前記少なくとも1つの機械学習システムに入力として提供し、
前記少なくとも1つの機械学習システムから前記第2の音を第2の情報の出力として受信し、
前記第2の音が第1の発音器により発音を引き起こす、請求項4に記載の方法。 - 前記第1の時間に前記第1の航空機の前記第1の予測位置、前記第1の予測環境条件及び前記第1の予測動作特性の少なくとも1つを予測することは、
第2の航空機が前記第1の時間に先立つ第2の時間で第1の予測位置にあったことを判定し、
前記第2の時間で前記第1の予測位置で前記第2の航空機により観察された第2の環境条件または第2の動作特性の少なくとも1つに関する情報を判定し、
前記第1の時間で前記第1の航空機の前記複数のモータ及び前記複数のプロペラにより発音される前記第1の音が、前記第2の環境条件または前記第2の動作特性の少なくとも1つに関する情報に基づき予測される、請求項2に記載の方法。 - 前記第1の音が前記第1の時間で前記第1の航空機の前記複数のモータ及び前記複数のプロペラにより発音されることが、前記第2の航空機で供給される少なくとも1つのプロセッサにより予測される、請求項6に記載の方法。
- 請求項2に記載の方法はさらに、
前記第1の予測位置の付近でしきい値の騒音を判定し、
前記第2の音が、前記第1の予測位置の付近で第1の音としきい値の騒音に基づき判定されることを含む、前記方法 - 前記第1の予測環境条件が、
前記第1の予測位置または前記第1の時間で第1の気温、
前記第1の予測位置または前記第1の時間で第1の気圧、
前記第1の予測位置または前記第1の時間で第1の風速、
前記第1の予測位置または前記第1の時間で第1の湿度、
前記第1の予測位置または前記第1の時間で第1の雲量のレベル、
前記第1の予測位置または前記第1の時間で第1の日照のレベル、
前記第1の予測位置または前記第1の時間で第1の地上条件のうち少なくとも1つを含む、請求項2に記載の方法。 - 前記第1の予測動作特性が、
前記第1の予測位置または前記第1の時間で前記第1の航空機に供給される第1のモータの第1の回転速度、
前記第1の予測位置または前記第1の時間における前記第1の航空機の第1の高度、
前記第1の予測位置または前記第1の時間における前記第1の航空機の第1の針路、
前記第1の予測位置または前記第1の時間における前記第1の航空機の第1の対気速度、
前記第1の予測位置または前記第1の時間における前記第1の航空機の第1の上昇率、
前記第1の予測位置または前記第1の時間における前記第1の航空機の第1の降下率、
前記第1の予測位置または前記第1の時間における前記第1の航空機の第1の旋回率、のうち少なくとも1つを含む、請求項2に記載の方法。 - 少なくとも1つのコンピュータプロセッサにより、
第1位置及び第1の時間における第1の航空機の高度、
前記第1位置及び第1の時間における第1の航空機の針路、
前記第1位置及び第1の時間における第1の航空機の対気速度、
前記第1位置及び第1の時間における第1の航空機の上昇率、
前記第1位置及び第1の時間における第1の航空機の降下率、
前記第1位置及び第1の時間における第1の航空機の旋回率、もしくは
前記第1位置及び第1の時間における第1の航空機の加速度のうち少なくとも1つの動作特性、又は第1位置及び第1の時間により一致した第1の環境条件と、
前記第1の航空機のフレームに取り付けれた第1のモータ及び前記第1のモータに取り付けられた第1のプロペラにより生じる、前記第1位置及び前記第1の時間における第1の音センサにより取り込んだ周波数及び音圧レベルと、
全地球測位システム(GPS)センサで判定された前記第1の航空機の前記第1位置と、を含む情報に関する情報を特定すること、
前記少なくとも1つのコンピュータプロセッサにより、前記環境条件もしくは前記動作特性の少なくとも1つ、並びに前記GPSセンサで判定された前記第1位置、前記第1位置の前記音圧レベル及び前記第1位置の前記周波数に基づき、第2の音の少なくとも1つの周波数及び少なくとも1つの音圧レベルを判定すること、
前記少なくとも1つのコンピュータプロセッサにより、第2の時間に第2の航空機で前記第1位置を移動する第2の移動のための移動計画を生成すること、及び
前記移動計画が、
前記第2の航空機に設けられた発音器により、前記第2の時間または前記第2の航空機が前記第1位置の付近にある判定における前記第2の音を発音するための指示を含み、
前記第2の時間の前に、前記第2の航空機の機内メモリに前記移動計画を保存することを備える、方法。 - 前記少なくとも1つのコンピュータプロセッサにより、前記第1の航空機の前記環境条件もしくは前記動作特性を入力として少なくとも1つの機械学習システムの供給し、
前記少なくとも1つの機械学習システムからの出力として、前記第2の音の少なくとも1つの周波数および少なくとも1つの音圧レベルを含む前記第2の音に関する情報を受信する、請求項11に記載の方法。 - 前記少なくとも1つのコンピュータプロセッサにより、前記第1位置の付近の騒音しきい値を識別し、
前記第2の音の音圧レベルまたは周波数が前記第1位置の付近の前記騒音しきい値に基づき決定する、請求項11に記載の方法。
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WO2017048464A1 (en) | 2017-03-23 |
JP2018534188A (ja) | 2018-11-22 |
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CA2998207A1 (en) | 2017-03-23 |
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EP3350800B1 (en) | 2023-05-24 |
US9786265B2 (en) | 2017-10-10 |
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