JP7162800B2 - Drone group and atmospheric environment measurement method - Google Patents

Description

The present invention relates to a group of drones formed from a plurality of first to n-th drones that fly in the air and hover in the air, and that are equipped with various atmospheric environment measuring devices and fly in the air while hovering in the air. It relates to an atmospheric environment measurement method using a drone.

a plurality of drones capable of performing flight attitude control by driving and controlling motor means; a wired cable connecting adjacent drones among the plurality of drones to each other to connect the drones in a network; A group of drones having a power supply cable with one end connected to at least one of a plurality of drones and power supply means connected to the other end of the power supply cable and placed on the ground is disclosed (Patent Document 1). reference). In the drone group, power for driving a plurality of drones is supplied from the power supply means to each drone via the power supply cable and the wired cable. By connecting multiple drones with a wired cable and supplying power via a power supply cable, the drone group as a whole can fly continuously for a long time without worrying about the capacity of the battery power supply. be possible.

JP 2017-52389 A

The group of drones disclosed in Patent Document 1 has a risk of crashing due to contact with a wired cable, and if one crashes, all the other drones will be caught in it and crash. When flying to a given point in the air or from a given point in the air to another point in the air, it is necessary to fly in formation and orderly to avoid contact with wired cables. A three-dimensional measurement formation cannot be easily organized in any measurement space in the air, and it is difficult to measure the atmospheric environment in the air while organizing a three-dimensional measurement formation.

In addition, since each drone is connected via a wired cable, if the drones are separated from each other by a long distance, the weight of the wired cable increases and the drones cannot fly or hover. The distance between them is about several meters. Therefore, even if a plurality of drones are used, it is possible to deal with some of the microscales of 0.002km to 2km, but it is not possible to deal with mesoscales of 2km to 2000km.

It is an object of the present invention to easily organize a three-dimensional measurement formation in any measured space in the air, and in the organized three-dimensional measured formation, the three-dimensional atmospheric environment of any measured space in the air. To provide a group of drones and an atmospheric environment measuring method capable of measuring Another object of the present invention is to provide a group of drones and an atmospheric environment measuring method capable of measuring the atmospheric environment on the mesoscale as well as measuring the atmospheric environment on the microscale.

A first feature of the drone group of the present invention for solving the above-mentioned problems is formed from a plurality of first to n-th drones that are equipped with a predetermined atmospheric environment measuring device and hover in the air while flying. , the 1st to n-th drones flew from a predetermined take-off point toward each target point at predetermined intervals in the vertical and horizontal directions in the air set in advance for each of the drones, and arrived at each target point. After that, at each target point in the air with a predetermined interval in the vertical direction and the horizontal direction, by hovering in a state of being lined up with the same interval in the vertical direction and the horizontal direction, the three-dimensional space to be measured Or, organize and organize three -dimensional measurement formations in any aerial measurement space by hovering side-by-side with different spacings in the vertical and horizontal directions. In the measurement formation, the atmospheric environment is measured at each target point using the atmospheric environment measuring device.

A second feature of the drone group of the present invention for solving the above problems is that the drone group is formed of a plurality of first to n-th drones mounted with a predetermined atmospheric environment measuring device and hovering in the air while flying in the air. , the 1st to n-th drones flew from a predetermined take-off point toward each target point at predetermined intervals in the vertical and horizontal directions in the air set in advance for each of the drones, and arrived at each target point. After that, by hovering in a state of lining up at predetermined intervals in the vertical and horizontal directions so as to surround predetermined targets at target points in the air at predetermined intervals in the vertical and horizontal directions, To organize a three-dimensional measurement formation surrounding a predetermined target in an arbitrary measurement object space, and to measure the atmospheric environment at each target point in the organized three-dimensional measurement formation using an air environment measuring device. .

As an example of the drone group of the present invention having the first and second features , each time the first to n-th drones complete the measurement of the atmospheric environment at each target point, a predetermined aerial vertical It flies toward each next target point at a predetermined distance in both directions and in the horizontal direction, and at each next target point it hovers at each next target point and creates a three-dimensional measured formation in the air. Each time you organize and organize a three-dimensional measurement formation at each next target point, use the air quality measuring device to measure the air quality at each target point.

As another example of the drone group of the present invention having the first and second features , after the first to n-th drones are organized in a three-dimensional measurement formation in the air, the vertical and horizontal directions of the drones A new three-dimensional measurement formation is organized in the air by increasing the distance between the two, and in the new measurement formation with the increased distance, the air environment is measured using the air environment measuring device.

As another example of the drone group of the present invention having the first and second features , after the first to n-th drones are organized in a three-dimensional measurement formation in the air, the vertical and horizontal directions of the drones A new three-dimensional measurement formation is organized in the air by reducing the distance between the two, and in the new measurement formation with the reduced distance, the atmospheric environment is measured in the air using the air environment measuring device.

As another example of the drone group of the present invention having the first and second features, in the measurement formation, the distance between the vertically adjacent drones is in the range of 20 m to 1000 m, and the horizontally adjacent drones The distance between them is in the range of 20m to 1000m.

Another example of the drone group of the present invention having the first and second features is weather data in which the atmospheric environment measuring device measures at least one weather data of wind direction, wind speed, temperature, humidity, and atmospheric pressure. Measurement equipment and airborne fine particulate matter and aerosols, airborne carbon dioxide concentration, airborne cloud particles and ice crystal particles, airborne hazardous air pollutants , and a component measuring device for measuring at least one component of radioactive substances contained in the air.

A first feature of the atmospheric environment measurement method of the present invention for solving the above problems is to use a drone that flies in the air and hovers in the air with a predetermined atmospheric environment measurement device mounted thereon. A drone flight process in which the n-th drone is flown from the takeoff point to each target point in the vertical direction and horizontal direction in the air preset for each drone at a predetermined interval, and the drone flight process to each target point A measurement formation organization step of forming a three-dimensional measurement formation in the air by hovering the 1st to n-th drones that have arrived at each target point with a predetermined distance in the vertical and horizontal directions, and a measurement formation organization step. In the measurement formation, the first to n-th drones use the air environment measurement device to measure the air environment at each target point, and the measurement formation organization process is performed in the vertical direction and the horizontal direction. At each target point in the air with a predetermined interval, the 1st to nth drones are hovered in a row with equal intervals in the vertical and horizontal directions, and three-dimensional measurement is performed in an arbitrary measurement target space in the air. Organizing formations or organizing three-dimensional measurement formations in any aerial space to be measured by hovering drones 1-n side by side with different vertical and horizontal spacings. It is in.

A second feature of the atmospheric environment measuring method of the present invention for solving the above problems is to use a drone that flies in the air and hovers in the air equipped with a predetermined atmospheric environment measuring device, A drone flight process in which the n-th drone is flown from the takeoff point to each target point in the vertical direction and horizontal direction in the air preset for each drone at a predetermined interval, and the drone flight process to each target point A measurement formation organization step of forming a three-dimensional measurement formation in the air by hovering the 1st to n-th drones that have arrived at each target point with a predetermined distance in the vertical and horizontal directions, and a measurement formation organization step. In the measurement formation, the first to n-th drones use the air environment measurement device to measure the air environment at each target point, and the measurement formation organization process is performed in the vertical direction and the horizontal direction. In a state in which the 1st to n-th drones are arranged vertically and horizontally at predetermined intervals so that the 1st to n-th drones surround the predetermined target at each target point in the air at a predetermined interval. To organize a three-dimensional measurement formation surrounding a predetermined target in an arbitrary measurement object space in the air by hovering .

As an example of the atmospheric environment measurement method of the present invention having the first and second features , the drone flight process is performed every time the measurement of the atmospheric environment at each target point is completed by the implementation of the atmospheric environment measurement process. The 1st to n-th drones are flown in the vertical and horizontal directions in the air toward the next respective target points spaced apart by a predetermined distance, and the measurement formation organization process performs the first to nth drone flight processes. Each time the n drones arrive at the next target point, the 1st to nth drones are hovered at each next target point with a predetermined distance in the vertical and horizontal directions to perform a three-dimensional measurement formation in the air. Each time the 1st to n-th drones that have arrived at each of the following target points have formed a three-dimensional measurement formation by performing the measurement formation formation process, the 1st to n-th drones Measure the atmospheric environment at each target point using an atmospheric environment measuring device.

As another example of the atmospheric environment measurement method of the present invention having the first and second features , the measurement formation organization step includes the first to n-th drones arriving at the target point forming a three-dimensional measurement formation in the air . After the formation, the vertical and horizontal distances between the first to n-th drones are expanded to form a new three-dimensional measurement formation in the air . In the measurement formation, the 1st to nth drones are made to measure the atmospheric environment in the air using the atmospheric environment measuring device.

As another example of the atmospheric environment measurement method of the present invention having the first and second features , the measurement formation organization step includes the first to n-th drones arriving at the target point forming a three-dimensional measurement formation in the air . After the formation, the vertical and horizontal distances between the first to nth drones are reduced to form a new three-dimensional measurement formation in the air . In the measurement formation, the 1st to nth drones are made to measure the atmospheric environment in the air using the atmospheric environment measuring device.

As another example of the atmospheric environment measuring method of the present invention having the first and second features, the atmospheric environment measuring method is such that the space between vertically adjacent drones in the measurement formation is in the range of 20 m to 1000 m. , the distance between the horizontally adjacent drones in the measurement formation is in the range of 20 m to 1000 m.

As another example of the atmospheric environment measuring method of the present invention having the first and second features , the atmospheric environment measuring device measures at least one meteorological data of wind direction, wind speed, temperature, humidity, and atmospheric pressure. Meteorological data measurement equipment, fine particulate matter and aerosols contained in the air, carbon dioxide concentration contained in the air, cloud particles and ice crystal particles contained in the air, hazardous atmosphere contained in the air It is at least one of a component measuring device for measuring at least one component of pollutants and radioactive substances contained in the air.

According to the drone group according to the present invention, the 1st to n-th drones fly from a predetermined take-off point toward each target point at predetermined intervals in the vertical and horizontal directions in the air, which are set in advance for each of the drones. After arriving at each target point, hovering at each target point with a predetermined distance in the vertical and horizontal directions, a three-dimensional measurement formation is organized in the air, and the atmospheric environment measuring device is placed in the formed measurement formation. Since the atmospheric environment of each target point is measured using the The three-dimensional atmospheric environment of the target space can be measured. A group of drones can measure the three-dimensional atmospheric environment in any aerial measurement target space while organizing a three-dimensional measurement formation in an arbitrary measurement target space in the air, so it is possible to measure the atmospheric environment at one point. Compared to the case of using airborne sensors, it is possible to measure the atmospheric environment more accurately in an arbitrary measurement target space in the air, improve the accuracy of weather forecasts, and investigate the accurate distribution of hazardous substances in the air. be able to. A group of drones can measure the atmospheric environment on a microscale, as well as measure the atmospheric environment on the mesoscale. Accuracy can be improved and the exact distribution of hazardous substances over a wide area can be investigated.

Each time the first to n-th drones complete the measurement of the atmospheric environment at each target point, they fly toward the next target point at a predetermined interval in the vertical and horizontal directions in the air set in advance, At each next target point, organize a three-dimensional measurement formation in the air while hovering at each next target point, and measure air quality at each next target point at each formation A group of drones that use the device to measure the atmospheric environment at each target point can organize three-dimensional measurement formations one after another in any different measurement target space in the air, and in those organized three-dimensional measurement formations , can measure the three-dimensional atmospheric environment of any different measurement object space in the air. A swarm of drones can measure the three-dimensional atmospheric environment of any different target space in the air while organizing a three-dimensional measurement formation in any different target space in the air. Compared to measuring , it is possible to measure the atmospheric environment more accurately in any different measurement target space in the air, improve the accuracy of weather forecasts, and accurately distribute hazardous substances in the air. can be investigated. The group of drones can measure the atmospheric environment at the microscale, as well as measure the atmospheric environment at the mesoscale in any different measurement target space in the air. By measuring the mesoscale atmospheric environment, it is possible to improve the accuracy of weather prediction over a wide range of different measurement spaces, and to investigate the accurate distribution of hazardous substances over a wide range of different measurement spaces. can.

A drone group that organizes a three-dimensional measurement formation by hovering the 1st to nth drones at each target point in the air at equal intervals in the vertical and horizontal directions. By setting equal intervals in the vertical and horizontal directions at each target point, the three-dimensional measurement formation in which the drones line up in an arbitrary measurement target space in the air with equal intervals in the vertical and horizontal directions can be realized. Able to organize and measure the three-dimensional atmospheric environment using those drones that are evenly spaced vertically and horizontally in an arbitrary measurement space in the air in an organized three-dimensional measurement formation. can be measured.

A drone group that organizes a three-dimensional measurement formation by hovering at each target point in the air at different intervals in the vertical and horizontal directions. By setting different distances in the vertical and horizontal directions at each target point, the drones can be arranged in a three-dimensional measurement formation with different distances in the vertical and horizontal directions in an arbitrary measurement target space in the air. and measure the atmospheric environment in three dimensions using those drones aligned at different vertical and horizontal intervals in any measurement space in the air in an organized three-dimensional measurement formation. be able to.

A drone group that organizes a three-dimensional measurement formation by hovering at each target point with a predetermined distance in the vertical and horizontal directions so that the first to nth drones surround a predetermined target. ~ The n-th drone is spaced vertically and horizontally so that it surrounds a predetermined target at each target point in the air, so that the drones move vertically and horizontally around the predetermined target. It is possible to organize three-dimensional measurement formations spaced apart at predetermined intervals, and in those organized three-dimensional measurement formations, those spaced vertically and horizontally at predetermined intervals in any aerial space to be measured. Drones can be used to measure the three-dimensional atmospheric environment around a given target.

After the 1st to nth drones have formed a measurement formation in the air, the vertical and horizontal distances between the drones are increased to organize a new measurement formation, and in the new measurement formation with increased separation. , The group of drones that measure the atmospheric environment in the air using the atmospheric environment measurement device organizes a new measurement formation that expands the vertical and horizontal distances of the drones in any measurement target space in the air. and measure the three-dimensional atmospheric environment in a newly organized three-dimensional extended measurement formation. A fleet of drones can measure the extended three-dimensional atmospheric environment of any aerial measurement space while organizing an extended three-dimensional measurement formation in the aerial measurement space, so any aerial measurement can be performed. It is possible to measure the atmospheric environment at many points in the target space, to measure the more accurate atmospheric environment in any target space in the air, and to improve the accuracy of weather forecasts. Accurate distribution of hazardous substances can be investigated.

After the 1st to nth drones have formed a measurement formation in the air, reduce the vertical and horizontal separation of the drones to form a new measurement formation, and in the new measurement formation with reduced separation. , The group of drones that measure the atmospheric environment in the air using the atmospheric environment measurement device organizes a new measurement formation that reduces the vertical and horizontal distances between the drones in any measurement target space in the air. and measure the three-dimensional atmospheric environment in a newly organized three-dimensional reduced measurement formation. A fleet of drones can measure the reduced three-dimensional atmospheric environment of any aerial measurement space while organizing a reduced three-dimensional measurement formation in the aerial measurement space, thus making any aerial measurement possible. It is possible to measure the atmospheric environment at many points in the target space, to measure the more accurate atmospheric environment in any target space in the air, and to improve the accuracy of weather forecasts. Accurate distribution of hazardous substances can be investigated.

In the measurement formation, a group of drones in which the spacing between vertically adjacent drones is in the range of 20m to 1000m, and the spacing between horizontally adjacent drones is in the range of 20m to 1000m. is within the above range, and the horizontal spacing between the drones in the measurement formation is within the above range. At the same time, by measuring the mesoscale atmospheric environment, it is possible to improve the accuracy of weather prediction over a wide area and to investigate the accurate distribution of hazardous substances over a wide area.

Meteorological data measuring device whose atmospheric environment measuring device measures at least one meteorological data of wind direction, wind speed, temperature, humidity, atmospheric pressure, fine particulate matter and aerosol contained in the air in the air, and dioxide contained in the air in the air A component measuring device that measures at least one component of carbon concentration, cloud particles and ice crystal particles contained in airborne air, harmful air pollutants contained in airborne air, and radioactive substances contained in airborne air. At least one of the drones, in an organized 3D measurement formation, collects 3D meteorological data of wind direction, wind speed, temperature, humidity, pressure, fine particulate matter, aerosols, and carbon dioxide in any aerial space to be measured. Concentrations, cloud and ice particles, noxious air pollutants, and radioactive components can be measured. While organizing a three-dimensional measurement formation in an arbitrary measurement target space in the air, the drone group collects three-dimensional weather data such as wind direction, wind speed, temperature, humidity, atmospheric pressure, and fine particulate matter in the arbitrary measurement target space in the air. , aerosols, carbon dioxide concentration, cloud particles and ice crystal particles, hazardous air pollutants, and radioactive materials. It is possible to measure data and components, improve the accuracy of weather prediction, and investigate the accurate distribution of harmful substances and carbon dioxide concentration in the air, cloud particles and ice crystal particles. A group of drones can measure not only meteorological data and components at the microscale, but also mesoscale meteorological data and components. It can improve the accuracy of meteorological forecasts, and can investigate the accurate distribution of toxic substances, carbon dioxide concentrations, cloud particles, and ice crystal particles over a wide area.

According to the atmospheric environment measuring method according to the present invention, a plurality of first to n-th drones are moved from a take-off point to each target point at predetermined intervals in the vertical and horizontal directions in the air, which are set in advance for each of the drones. The first to n-th drones that have arrived at each target point are made to hover at each target point with a predetermined interval in the vertical and horizontal directions to form a three-dimensional measurement formation in the air. In the measurement formation, the first to n-th drones use the air environment measurement device to measure the air environment at each target point, so that a three-dimensional measurement formation can be easily organized in any measurement target space in the air. It can be used to measure the three-dimensional atmospheric environment of any measurement object space in the air in an organized three-dimensional measurement formation. The atmospheric environment measurement method is to organize a three-dimensional measurement formation in an arbitrary measurement target space in the air by the first to n-th drones, and measure the three-dimensional atmospheric environment of an arbitrary measurement target space in the air by the first to n-th drones. Since it can be measured by a drone, it is possible to measure the atmospheric environment more accurately in an arbitrary measurement target space in the air compared to measuring the atmospheric environment at one point, improving the accuracy of weather forecasts. It is also possible to investigate the precise distribution of hazardous substances in the air. By using the first to n-th drones, the atmospheric environment measurement method can measure the atmospheric environment at the microscale, as well as measure the atmospheric environment at the mesoscale. By measuring the atmospheric environment, it is possible to improve the accuracy of weather prediction over a wide area and to investigate the accurate distribution of hazardous substances over a wide area.

Every time the measurement of the atmospheric environment at each target point is completed, the first to nth drones are flown toward the next target point at predetermined intervals in the vertical and horizontal directions in the air, Every time the 1st to n-th drones arrive at the next target point, the 1st to n-th drones are hovered at each next target point with a predetermined distance in the vertical direction and the horizontal direction, and are three-dimensionally in the air. Each time the 1st to n-th drones arrive at the next target point and organize the measurement formation, the 1st to n-th drones use the air environment measurement device to The atmospheric environment measuring method for measuring the atmospheric environment can make the first to n-th drones organize three-dimensional measurement formations one after another in different measurement target spaces in the air, and organize the three-dimensional measurement formations. , the three-dimensional atmospheric environment of arbitrary different measurement target spaces in the air can be measured by the first to n-th drones. The atmospheric environment measurement method uses the first to n-th drones to organize a three-dimensional measurement formation in any different measurement target space in the air, and the first to n-th drones to perform three-dimensional measurement of any different measurement target space in the air. Therefore, compared to measuring the atmospheric environment at one point, it is possible to measure the atmospheric environment more accurately in any different measurement target space in the air, improving the accuracy of weather forecasts. can be improved, and the exact distribution of hazardous substances in the air can be investigated. By using the 1st to nth drones, the atmospheric environment measurement method can measure the atmospheric environment at the microscale of any different measurement target space in the air, as well as measure the atmospheric environment at the mesoscale. and mesoscale atmospheric environment measurements in arbitrary different measurement spaces in the air can improve the accuracy of meteorological forecasts over a wide range of different measurement spaces. The precise distribution of hazardous substances over a wide area can be investigated.

In the measurement formation formation process, the first to n-th drones are hovered at each target point in the air at equal intervals in the vertical and horizontal directions to form a three-dimensional measurement formation. By spacing the 1st to n-th drones at equal intervals in the vertical and horizontal directions at each target point in the air, the drones are equally spaced in the vertical and horizontal directions in an arbitrary space to be measured in the air. It is possible to organize the drones into an orderly three-dimensional measurement formation, in which the drones are arranged orderly at equal intervals in the vertical and horizontal directions in any measurement object space in the air in the organized three-dimensional measurement formation. It can be used to measure three-dimensional atmospheric environment.

In the measurement formation formation process, the first to nth drones are hovered at each target point in the air at different intervals in the vertical direction and the horizontal direction to form a three-dimensional measurement formation. By arranging the first to n-th drones at different intervals in the vertical direction and the horizontal direction at each target point in the air, the drones are spaced at different intervals in the vertical direction and the horizontal direction in an arbitrary space to be measured in the air. It is possible to organize side-by-side three-dimensional measurement formations, and in those organized three-dimensional measurement formations, utilize those drones aligned at different vertical and horizontal spacings in any aerial space to be measured. can measure the three-dimensional atmospheric environment.

In the measurement formation organization process, the first to n-th drones are hovered at each target point at a predetermined distance in the vertical and horizontal directions in the air so that the first to n-th drones surround the predetermined target. The atmospheric environment measurement method that organizes the original measurement formation is to arrange the 1st to nth drones at predetermined intervals in the vertical and horizontal directions so as to surround predetermined targets at each target point in the air. A three-dimensional measurement formation can be organized in which the drones are spaced apart vertically and horizontally around a target, and in the three-dimensional measurement formation organized, any object to be measured in the air. The drones spaced at predetermined vertical and horizontal spacings in space can be used to measure the three-dimensional atmospheric environment around a given target.

In the measurement formation organization process, after the 1st to nth drones that have arrived at the target point organize the measurement formation, the distance between the 1st to nth drones in the vertical direction and the horizontal direction is increased to create a new measurement formation. In the air environment measurement process, in a new measurement formation with increased spacing, the air environment measurement method that uses the air environment measurement device to measure the air environment with the 1st to nth drones is the air environment measurement method. It is possible to organize a new measurement formation by enlarging the vertical and horizontal distances between the drones in an arbitrary measurement target space, and measure the three-dimensional atmospheric environment in the newly organized three-dimensional expanded measurement formation. can be measured. The atmospheric environment measurement method is to measure the expanded three-dimensional atmospheric environment of any aerial measurement target space while organizing an expanded three-dimensional measurement formation with the 1st to nth drones in the aerial measurement target space. Therefore, it is possible to measure the atmospheric environment at many points in an arbitrary measurement space in the air. can be improved and the precise distribution of hazardous substances in the air can be investigated.

In the measurement formation organization process, after the 1st to nth drones that have arrived at the target point organize the measurement formation, the distance between the vertical and horizontal directions of the 1st to nth drones is reduced to create a new measurement formation. In the air environment measurement process, in a new measurement formation with reduced spacing, the first to nth drones use the air environment measurement device to measure the air environment. It is possible to organize a new measurement formation in which the vertical and horizontal distances between the drones are reduced in an arbitrary measurement target space, and to measure the three-dimensional atmospheric environment in the newly organized three-dimensional reduced measurement formation. can do. The atmospheric environment measurement method is to measure the reduced three-dimensional atmospheric environment of any aerial measurement target space while organizing the first to nth drones into a reduced three-dimensional measurement formation in the aerial measurement target space. Therefore, it is possible to measure the atmospheric environment at many points in an arbitrary measurement space in the air. can be improved and the precise distribution of hazardous substances in the air can be investigated.

The distance between vertically adjacent drones in the measurement formation is in the range of 20m to 1000m, and the distance between horizontally adjacent drones in the measurement formation is in the range of 20m to 1000m. Since the vertical spacing between the drones in the formation is within the above range and the horizontal spacing between the drones in the measurement formation is within the above range, the atmospheric environment can be measured on the microscale as well as on the mesoscale. It is possible to measure the atmospheric environment, and by measuring the mesoscale atmospheric environment, it is possible to improve the accuracy of weather forecasts over a wide area, and to investigate the accurate distribution of hazardous substances over a wide area. can.

The atmospheric environment measuring device measures at least one meteorological data of wind direction, wind speed, temperature, humidity, and atmospheric pressure; a component measuring device for measuring at least one component of carbon dioxide concentration, cloud particles and ice crystal particles contained in airborne air, harmful air pollutants contained in airborne air, and radioactive substances contained in airborne air; The atmospheric environment measurement method, which is at least one of It can measure data and components of fine particulate matter, aerosols, carbon dioxide concentrations, cloud and ice crystal particles, hazardous air pollutants, and radioactive materials. The atmospheric environment measurement method is to organize the 1st to n-th drones into a three-dimensional measurement formation in an arbitrary measurement target space in the air, and to measure the three-dimensional wind direction, wind speed, temperature, humidity, It can measure atmospheric pressure meteorological data, fine particulate matter, aerosols, carbon dioxide concentration, cloud particles and ice crystal particles, hazardous air pollutants, and radioactive materials, so it can measure meteorological data and components at one point. Compared to conventional methods, it is possible to measure more accurate meteorological data and components, improve the accuracy of weather forecasts, and accurately distribute harmful substances and carbon dioxide concentration in the air, cloud particles, and ice crystal particles. The situation can be investigated. The atmospheric environment measurement method can measure not only meteorological data and components on the microscale, but also meteorological data and components on the mesoscale. It can improve the accuracy of weather prediction over a wide area, and can investigate the accurate distribution of hazardous substances, carbon dioxide concentrations, cloud particles, and ice crystal particles over a wide area.

1 is a perspective view of a measurement formation shown by way of example; FIG. FIG. 11 is a perspective view of first to twenty-seventh drones shown as an example; The perspective view of the measurement formation shown as another example. The perspective view of the measurement formation shown as another example. The perspective view of the measurement formation shown as another example. The perspective view of the measurement formation shown as another example. The perspective view of the measurement formation shown as another example. The perspective view of the measurement formation shown as another example.

Details of the drone fleet and atmospheric environment measurement method according to the present invention will be described below with reference to the accompanying drawings, such as FIG. 1, which is a perspective view of the measurement formation f1 shown as an example. Note that FIG. 2 is a perspective view of the first to twenty-seventh drones d1 to d27 shown as an example. In FIG. 1, arrow A indicates the vertical direction and arrow B indicates the horizontal direction.

The drone group 10A (including the drone group 10B to 10G) is formed from a plurality of first to twenty-seventh drones d1 to d27 (first to nth drones) that fly by autopilot (the drone group 10E is the 1st to 25th drones d1 to d25 (first to nth drones)). The drone group 10A (including the drone groups 10B to 10G) is used to measure various atmospheric environments in the air. The atmospheric environment measurement method uses a group of drones 10A (including groups of drones 10B to 10G) formed from a plurality of first to twenty-seventh drones d1 to d27 (first to n-th drones) to measure the atmospheric environment in the air. to measure. The first to twenty-seventh drones d1 to d27 include a body body 11, four rotor arms 12 extending from the body body 11, and rotors 13 (rotary wings) attached to the rotor arms 12, and fly in the air. While hovering in the air.

The first to twenty-seventh drones d1 to d27 are quad-type drones having four rotors 13 and four motors (not shown). It may be an octo-drone with rotors and eight motors. Also, the first to twenty-seventh drones d1 to d27 are not limited to the illustrated shapes, and the first to twenty-seventh drones d1 to d27 include all other shapes, and the first to twenty-seventh drones d1-d27 includes all future drones. Although 27 drones d1 to d27 are shown in Fig. 1, there is no particular limit to the number of drones. You can freely set the number of units.

Although not shown, the 1st to 27th drones d1 to d27 have large-capacity batteries, flight control devices, GPS (including GPS self-stabilization devices), camera-mounted gimbals, attitude control devices, IOSD (on-screen real-time display), high-definition image transmission wireless device, controller (including large-capacity storage area), high-resolution camera, real-time monitor, and various sensors such as accelerometer and gyroscope. The first to twenty-seventh drones d1 to d27 are capable of taking still images and moving images with high-resolution cameras during their flight (including hovering). An atmospheric environment measuring sensor 14 (air environment measuring device) is detachably installed (mounted) on the lower surface of the body 11 of each of the first to twenty-seventh drones d1 to d27.

The atmospheric environment measurement sensor 14 includes a wind direction sensor for measuring wind direction at each target point in the air (measurement target point in the measurement target space), and a wind speed sensor for measuring wind speed at the target point in the air (measurement target point in the measurement target space). , air temperature sensors that measure the air temperature (including dew point temperature and dry bulb temperature) at each target point in the air (measurement target point in the measurement target space), humidity at each target point (measurement target point in the measurement target space) A weather sensor (meteorological data measuring device) that measures at least one of a humidity sensor that measures the air pressure and an air pressure sensor that measures the air pressure at each target point in the air (measurement target point in the measurement target space) is used. .

Furthermore, the atmospheric environment measurement sensor 14 detects microparticulate matter (suspended particles) and aerosols (microscopic liquid or solid particles floating in gas) contained in the air at each target point (measurement target point in the measurement target space). ), a CO2 sensor that measures the concentration of carbon dioxide contained in the air, a cloud particle sensor that measures cloud particles and ice crystal particles contained in the air, Air pollution sensors that measure harmful air pollutants (soot, dust, exhaust gas, harmful air pollutants, volatile organic compounds) contained in the air at the target point (measurement target point in the measurement target space), each target point in the air ( A component measuring sensor (a component measuring device) that measures at least one component among radioactive substance measuring sensors that measure radioactive substances contained in the air at a measurement target point in a measurement target space) is used.

Sensors for measuring fine particulate matter include a PM2.5 environment measuring instrument that measures PM2.5 by light scattering, a dust meter that measures particles of 0.001 to 10.000 mg/m3 by light scattering, An airborne particle counter or the like that measures airborne particles with a particle size of 1 μm to 10.0 μm is used. Aerosol measuring (analyzing) devices such as particle counters and condensation particle counters are used as sensors for measuring aerosols (including radioactive aerosols). Sensors for measuring hazardous air pollutants include, in addition to equipment used to measure fine particulate matter, flue gas analyzers that measure combustion exhaust gas, VOC measuring instruments that measure organic chemical substances, and formaldehyde sensors that measure formaldehyde. Measuring instruments, air quality measuring instruments for measuring dust concentration, CO concentration, CO2 concentration, etc. are used. Various radiation measuring instruments and dosimeters are used as sensors for measuring radioactive substances (radiation dose). In the first to twenty-seventh drones d1 to d27, in addition to installing one type of sensor 14, two or more different types of sensors 14 can be installed to measure a plurality of measurement items. can be done.

For the first to twenty-seventh drones d1 to d27, models that fly independently (automatic self-sustaining flight) in which flight missions (flight plans) are installed in advance are used. In automatic self-sustaining flight, an automatic navigation system (application) that automatically performs takeoff, flight, hovering, measurement, and landing of the 1st to 27th drones d1 to d27 is used. The automatic navigation system is installed in a transmitter (not shown) operated by an operator (measurer) on the ground, and installed in controllers built in the 1st to 27th drones d1 to d27.

The transmitter incorporates a computer (including a virtual machine) having a central processing unit (CPU or MPU) and memory (main memory and cache memory) and operated by an independent operating system (OS). A large-capacity storage area (large-capacity hard disk, etc.) is mounted on the transmitter, and a touch panel (display) is connected.

An example of the sensing (measurement) procedure of the atmospheric environment measurement method using the drone group 10A (first to twenty-seventh drones d1 to d27) is as follows. In the sensing (measurement) shown in FIG. 1, the take-off point and the landing point are the same, and each of the target points g1 to g27 has an equal interval in the vertical and horizontal directions in the aerial measurement space 15 (equal interval). There are several locations where

When the automatic navigation system installed in the transmitter is activated, a flight mission creation (flight plan creation) screen (not shown) is displayed on the touch panel. A three-dimensional map of a predetermined area is displayed on the flight mission creation screen using three-dimensional computer graphics. The operator selects target points g1 to g27 in the aerial measurement target space 15 (first to 27th points, which are equally spaced in the vertical direction and equally spaced in the horizontal direction) on the three-dimensional map displayed on the touch panel of the transmitter. Input the target points g1 to g27) (first to n-th target points) into the transmitter (input the position coordinates and altitude of each target point g1 to g27, or position each target point g1 to g27 with a pointer), Input each landing point (1st to 27th landing point) (1st to nth landing point) on the 3D map to the transmitter (input the position coordinates of the landing point, or locate each landing point with a pointer) At the same time, a flight mission (flight plan) is created by inputting (setting) flight speed (takeoff speed, movement speed, landing speed), flight time, hovering time, measurement time, etc. to the transmitter from the touch panel.

In creating the flight mission, the target point g1 (first target point g1) in the aerial measurement space 15 corresponding to the first drone d1 is entered in the three-dimensional map, and the landing point (first landing point) is entered in the three-dimensional map. , set the flight speed (takeoff speed, movement speed, landing speed), flight time, hovering time, measurement time, etc., and set the target in the aerial measurement space 15 corresponding to the second drone d2 on the three-dimensional map Input the point g2 (the second target point g2 which is equally spaced vertically from the first target point g1 or the second target point g2 which is horizontally equally spaced from the first target point g1) and land on the 3D map. A point (second landing point) is entered, and flight speed (takeoff speed, movement speed, landing speed), flight time, hovering time, measurement time, etc. are set. In this way, for each of the first drone d1 to the twenty-seventh drone d27, each of the target points g1 to g27 in the aerial measurement space 15 corresponding to the drones d1 to d27 (spaced equally in the vertical direction and Enter the 1st to 27th target points (g1 to g27) spaced apart, enter the landing points (1st to 27th landing points), flight speed (takeoff speed, movement speed, landing speed), flight time, Enter the hovering time, measurement time, etc., and create a flight mission for each of these drones d1 to d27.

The created flight mission is stored (stored) in the large-capacity storage area of the transmitter in a state associated with a predetermined identifier, and then transmitted from the transmitter to the controllers of the first to twenty-seventh drones d1 to d27. . The controllers of the 1st to 27th drones d1 to d27 store the flight missions received from the transmitters in a large-capacity storage area while associating them with the identifiers (individual identification numbers and unique identification numbers) of the drones d1 to d27 ( Remember. In the atmospheric environment measurement method (drone group 10A), the target points g1 to g27 of the first drone d1 to the 27th drone d27 are individually set, and as shown in FIG. to each of the target points g1 to g27 set in .

After the flight missions corresponding to the 1st to 27th drones d1 to d27 are stored (stored) in the large-capacity storage areas of the 1st to 27th drones d1 to d27, the measurement start button (start flight) displayed on the touch panel button). When the measurement start button is tapped, a measurement start signal (flight start signal) is transmitted from the transmitter to the 1st to 27th drones d1 to d27. The 1st to 27th drones d1 to d27 start automatic autonomous flight upon receiving the measurement start signal transmitted from the transmitter.

The atmospheric environment measurement method is to use the 1st to 27th drones d1 to d27 (the 1st to nth drones) from the take-off point to the vertical and horizontal directions in the aerial measurement target space 15 set in advance for each of these drones d1 to d27. and each of the target points g1 to g27 (first to twenty-seventh target points g1 to g27 corresponding to each of the drones d1 to d27) (drone flight process). The 1st to 27th drones d1 to d27 (drones group 10A) are each targets that are equally spaced vertically and horizontally in the aerial measurement space 15 preset for each of the drones d1 to d27 from the takeoff point. They fly all at once toward points g1 to g27.

In the atmospheric environment measurement method, after the first to twenty-seventh drones d1 to d27 arrive at the target points g1 to g27 in the measurement target space 15 according to the drone flight process, the first to twenty-seventh drones d1 . . . d27 at each target point g1-g27 with equal spacing in the vertical and horizontal directions to form a three-dimensional measurement formation f1 in the air (measurement formation formation step). After the first to twenty-seventh drones d1 to d27 (drone group 10A) arrive at the respective target points g1 to g27 in the measurement target space 15, at the respective target points g1 to g27 at equal intervals in the vertical and horizontal directions, While hovering, a three-dimensional quadrangular prism-shaped measurement formation f1 is organized in the air. The first to twenty-seventh drones d1 to d27 are arranged at equal intervals in the vertical and horizontal directions at target points g1 to g27 in an arbitrary measurement target space 15 in the air.

In the measurement formation f1 shown in FIG. 1, the altitude of the lowest drone is 1000 m from the ground, the altitude of the middle drone is 1500 m from the ground, and the altitude of the highest drone is 1500 m above the ground. 2000 m. The altitudes of the first to twenty-seventh drones d1 to d27 can be freely set. The distance between vertically adjacent drones is 500 m, and the distance between horizontally adjacent drones is 500 m. The distance between vertically adjacent drones in the measurement formation f1 can be freely set within a range of 20 m to 1000 m. The distance between horizontally adjacent drones in the measurement formation f1 can be freely set within a range of 20 m to 1000 m.

The atmospheric environment measurement method uses the atmospheric environment measurement sensors 14 (air environment measurement devices) for the first to twenty-seventh drones d1 to d27 in the measurement formation f1 organized by the measurement formation organization process, and each The atmospheric environment of the target points g1 to g27 is measured (atmospheric environment measurement step). The 1st to 27th drones d1 to d27 (drone group 10A) use the air environment measurement sensors 14 (air environment measurement devices) to measure target points g1 to g27 in the measurement target space 15 in the organized measurement formation f1. Measure air quality.

Meteorological data (wind direction, wind speed, temperature , humidity, atmospheric pressure) and air components (at least one of fine particulate matter, aerosols, carbon dioxide concentration, cloud particles, ice crystal particles, hazardous air pollutants, and radioactive substances) be done. The meteorological data and component data of each target point g1 to g27 measured by the meteorological sensors and component measuring sensors are transmitted from the meteorological sensors and component measuring sensors to the controllers of the first to twenty-seventh drones d1 to d27.

The controllers of the 1st to 27th drones d1 to d27 control weather data (measurement data), component data (measurement data), measurement Time data, position data of target points g1 to g27 (coordinate data of target points g1 to g27), etc. are stored in a large-capacity storage area in a state associated with the identifier (individual identification number or unique identification number) of each drone d1 to d27. In addition to storing (memorizing), the flight records (flight paths) of the first to twenty-seventh drones d1 to d27 are stored in a large-capacity storage area in association with the identifiers of the drones d1 to d27.

The controllers of the 1st to 27th drones d1 to d27 store meteorological data (measurement data), component data (measurement data), measurement time data, position data of target points g1 to g27 (coordinate data of target points), etc. on the ground. Along with transmitting to the transmitter in real time, the flight records (flight routes) of the first to twenty-seventh drones d1 to d27 are also transmitted to the transmitter in real time. The transmitter receives meteorological data (measurement data) and component data (measurement data) of each target point g1 to g27 in the measurement target space 15 received from the 1st to 27th drones d1 to d27, measurement time data, target points g1 to The position data of g27 (coordinate data of target points g1 to g27) and the like are stored in the large-capacity storage area in association with the identifiers of the drones d1 to d27.

Weather data (measurement data), component data (measurement data), measurement time data, position data of target points g1 to g27, etc. of each target point g1 to g27 in the measurement space 15 are output from the transmitter (displayed on the display, printed from the printer). The output data are used to grasp the weather conditions and the distribution of each component, and are used for forecasting the weather and the distribution of the components.

In the atmospheric environment measurement method, the 1st to 27th drones d1 to d27 measure the meteorological data and components of each target point g1 to g27 in the atmospheric environment measurement process, and then the 1st to 27th drones d1 to d27 are measured. Fly toward each landing point from each target point g1 to g27 at equal intervals in the vertical and horizontal directions of the space 15, and land the first to twenty-seventh drones d1 to d27 at each landing point (drone landing process ). The 1st to 27th drones d1 to d27 (drone group 10A) fly from the target points g1 to g27 toward the landing points and land at the landing points.

The drone group 10A (atmospheric environment measurement method) operates a plurality of 1st to 27th drones d1 to d27 (1st to nth drones) from a predetermined take-off point in the air preset for each of the drones d1 to d27. Target points g1 to g27 (1st to 27th target points g1 to g27) (1st to nth target points) with equal intervals (equal intervals) in the vertical direction and horizontal direction of the arbitrary measurement object space 15 The first to twenty-seventh drones d1 to d27 that have arrived at the respective target points g1 to g27 are hovered at the respective target points g1 to g27 to form a three-dimensional measurement formation f1 in an arbitrary measurement target space 15 in the air. is organized, and in the organized measurement formation f1, the 1st to 27th drones d1 to d27 use the atmospheric environment measurement sensors 14 (air environment measurement devices) to collect weather data and air components of each target point g1 to g27 Since the (atmospheric environment) is to be measured, the drones d1 to d27 are arranged in an arbitrary space 15 to be measured in the air at equal intervals in the vertical and horizontal directions, and the three-dimensional measurement formation f1 can be easily organized. , and in the organized three-dimensional measurement formation f1, the three-dimensional Atmospheric environment can be measured.

The drone group 10A (atmospheric environment measurement method) uses the first to twenty-seventh drones d1 to d27 (first to n-th drones) in an arbitrary measurement target space 15 in the vertical and horizontal directions. While organizing the original measurement formation f1, it is possible to have the first to twenty-seventh drones d1 to d27 measure three-dimensional meteorological data and air components (atmospheric environment) in an arbitrary measurement target space 15 in the air. Compared to the case of measuring the atmospheric environment at one point, it is possible to measure the atmospheric environment more accurately in an arbitrary measurement target space 15 in the air, improve the accuracy of weather prediction, and prevent harmful substances in the air. and carbon dioxide concentration, cloud particles and ice crystal particles.

The drone group 10A (atmospheric environment measurement method) uses 1st to 27th drones d1 to d27 (1st to nth drones) to measure meteorological data and air components (atmospheric environment) on a microscale. In addition to being able to measure mesoscale meteorological data and air components (atmospheric environment), it is also possible to measure mesoscale meteorological data and air components (atmospheric environment) to cover a wide area. It is possible to improve the accuracy of weather prediction over a wide area, and to investigate the accurate distribution of harmful substances, carbon dioxide concentration, cloud particles and ice crystal particles over a wide area.

FIG. 3 is a perspective view of the measurement formation f2 shown as another example. Another example of the sensing (measurement) procedure of the atmospheric environment measurement method using the drone group 10B (first to twenty-seventh drones d1 to d27) will be described below with reference to FIG. In FIG. 3, illustration of a takeoff point and a landing point is omitted. In the sensing (measurement) shown in FIG. 3, the take-off point and the landing point are the same, and each of the target points g1 to g27 is a plurality of points separated vertically and horizontally in the measurement object space 16 in the air. be.

The operator (measuring person) displays each target point g1 to g27 (at different intervals in the vertical direction and at different intervals in the horizontal direction) in the aerial measurement target space 16 on the three-dimensional map displayed on the touch panel of the transmitter. 1 to 27th target points g1 to g27) (1st to nth target points) are input to the transmitter, and each landing point (1st to 27th landing points) (1st to nth landing points) is displayed on the three-dimensional map ) into the transmitter, and input (set) the flight speed (takeoff speed, movement speed, landing speed), flight time, hovering time, measurement time, etc. to the transmitter from the touch panel to create a flight mission (flight plan). create.

For each of the first drone d1 to the twenty-seventh drone d27, target points g1 to g27 in the aerial measurement space 16 corresponding to the drones d1 to d27 (at different intervals in the vertical direction and at different intervals in the horizontal direction) 1 to 27th target points g1 to g27), input landing points (1st to 27th landing points), flight speed (takeoff speed, movement speed, landing speed), flight time, hovering time, measurement Enter the time, etc., and create a flight mission for each of these drones d1 to d27. In the atmospheric environment measurement method (drone group 10A), target points g1 to g27 of the first to twenty-seventh drones d1 to d27 are individually set.

The created flight mission is stored (stored) in the large-capacity storage area of the transmitter in a state associated with a predetermined identifier, and then transmitted from the transmitter to the controllers of the first to twenty-seventh drones d1 to d27. . The controllers of the 1st to 27th drones d1 to d27 store the flight missions received from the transmitters in a large-capacity storage area while associating them with the identifiers (individual identification numbers and unique identification numbers) of the drones d1 to d27 ( Remember. When the measurement start button (flight start button) displayed on the touch panel is tapped, the 1st to 27th drones d1 to d27 start automatic self-sustaining flight toward the respective target points g1 to g27 in the space 16 to be measured.

The atmospheric environment measurement method is to use the 1st to 27th drones d1 to d27 (the 1st to nth drones) from the take-off point to the vertical and horizontal directions in the aerial measurement target space 16 set in advance for each of these drones d1 to d27. and fly toward respective target points g1 to g27 (first to twenty-seventh target points g1 to g27 corresponding to each of the drones d1 to d27) at different intervals (drone flight process). The 1st to 27th drones d1 to d27 (drones group 10B) each have different distances in the vertical direction and the horizontal direction in the aerial measurement space 16 preset for each of the drones d1 to d27 from the takeoff point. They fly all at once toward points g1 to g27.

In the atmospheric environment measurement method, after the first to twenty-seventh drones d1 to d27 arrive at respective target points g1 to g27 in the measurement target space 16 according to the drone flight process, the first to twenty-seventh drones d1 . . . d27 are hovered at each target point g1-g27 with different distances in the vertical and horizontal directions to form a three-dimensional measurement formation f2 in the air (measurement formation formation step). After the first to twenty-seventh drones d1 to d27 (drone group 10B) arrive at the respective target points g1 to g27 in the measurement target space 16, at the respective target points g1 to g27 with different distances in the vertical and horizontal directions, While hovering, a three-dimensional truncated pyramid-shaped measurement formation f2 is organized in the air. The first to twenty-seventh drones d1 to d27 are arranged at different intervals in the vertical and horizontal directions at target points g1 to g27 in an arbitrary measurement target space 16 in the air. It should be noted that the shape of the measurement formation f2 is not limited at times, and measurement formations of any other predetermined shape can be organized in addition to the shape of a truncated square pyramid.

In the measurement formation f2 shown in FIG. 3, the altitude of the lowest drone is 1000m from the ground, the altitude of the middle drone is 1300m from the ground, and the altitude of the highest drone is 1300m above the ground. 1500 m. The altitudes of the first to twenty-seventh drones d1 to d27 can be freely set. The distances between vertically adjacent drones are 300 m and 200 m, and the distances between horizontally adjacent drones are 500 m, 300 m and 200 m. The distance between vertically adjacent drones in the measurement formation f2 can be freely set in the range of 20 m to 1000 m. The distance between horizontally adjacent drones in the measurement formation f2 can be freely set in the range of 20 m to 1000 m.

In the atmospheric environment measurement method, in the measurement formation f2 organized by the measurement formation organization process, the 1st to 27th drones d1 to d27 are equipped with weather sensors (air environment measurement sensors 14) and component measurement sensors (air environment measurement sensors 14). Using meteorological data (at least one of wind direction, wind speed, temperature, humidity, pressure) and air components (fine particulate matter, aerosol, carbon dioxide concentration, cloud particles and ice crystals) for each target point g1 to g27 At least one of particles, hazardous air pollutants, and radioactive substances) is measured (atmospheric environment measurement step). The first to twenty-seventh drones d1 to d27 (drone group 10B) use weather sensors and component measurement sensors in a three-dimensional truncated pyramid-shaped measurement formation f2 organized at different intervals in the vertical and horizontal directions. Using meteorological data (at least one of wind direction, wind speed, temperature, humidity, pressure) and air components (fine particulate matter, aerosol, carbon dioxide concentration, cloud particles and ice crystals) for each target point g1 to g27 particles, hazardous air pollutants, and/or radioactive substances). The meteorological data and component data of each target point g1 to g27 measured by the meteorological sensors and component measuring sensors are transmitted from the meteorological sensors and component measuring sensors to the controllers of the first to twenty-seventh drones d1 to d27.

The controllers of the 1st to 27th drones d1 to d27 control the meteorological data and component data of the target points g1 to g27 in the measurement target space 16 transmitted from the weather sensors and component measurement sensors, the measurement time data, the target points g1 to g27 Position data (coordinate data of target points g1-g27) etc. are stored (stored) in a large-capacity storage area in a state associated with the identifier of each drone d1-d27, and the flight of the 1st-27th drones d1-d27 Records (flight paths) are stored in a large-capacity storage area in association with the identifiers of the drones d1 to d27. The controllers of the 1st to 27th drones d1 to d27 transmit meteorological data, component data, measurement time data, position data of target points g1 to g27 (coordinate data of target points g1 to g27), etc. to transmitters on the ground in real time. At the same time, the flight records (flight paths) of the first to twenty-seventh drones d1 to d27 are transmitted to the transmitter in real time. The transmitter receives meteorological data and component data of target points g1 to g27, measurement time data, and position data of target points g1 to g27 (target point g1 to g27) and the like are stored in the large-capacity storage area in a state associated with the identifiers of the drones d1 to d27.

Weather data (measurement data), component data (measurement data), measurement time data, position data of target points g1 to g27, etc. of each target point g1 to g27 in the measurement target space 16 are output from the transmitter (displayed on the display, printed from the printer). The output data are used to grasp the weather conditions and the distribution of each component, and are used for forecasting the weather and the distribution of the components.

In the atmospheric environment measurement method, the 1st to 27th drones d1 to d27 measure the meteorological data and components of each target point g1 to g27 through the atmospheric environment measurement process, and then the 1st to 27th drones d1 to d27 are measured. Fly from each target point g1 to g27 at different intervals in the vertical and horizontal directions of the space 16 toward each landing point, and land the first to twenty-seventh drones d1 to d27 at each landing point (drone landing process ). The first to twenty-seventh drones d1 to d27 (drone group 10B) fly from the target points g1 to g27 toward the landing points and land at the landing points.

The drone group 10B (atmospheric environment measurement method) explained based on FIG. target points g1 to g27 (first to twenty-seventh target points g1 to g27) (first to n-th targets point), and the 1st to 27th drones d1 to d27 that have arrived at each target point g1 to g27 are hovered at each target point g1 to g27 to perform three-dimensional measurement in an arbitrary measurement target space 16 in the air. Formation f2 is organized, and in the organized measurement formation f2, the 1st to 27th drones d1 to d27 use the atmospheric environment measurement sensors 14 (air environment measurement devices) to obtain meteorological data and air (atmospheric environment), the drones d1 to d27 can be easily organized into a three-dimensional measurement formation f2 in which the drones d1 to d27 are arranged at different intervals in the vertical and horizontal directions in an arbitrary measurement target space 16 in the air. 3D atmosphere using those drones d1 to d27 aligned at different vertical and horizontal spacings in any aerial measurement space 16 in an organized three-dimensional measurement formation f2. Environment can be measured.

The drone group 10B (atmospheric environment measurement method) described based on FIG. Three-dimensional meteorological data and air components (atmospheric environment) of an arbitrary measurement target space f2 in the air are sent to the first to twenty-seventh drones d1 to d27 while organizing the three-dimensional measurement formation f2 between different distances. Since it is possible to measure the atmospheric environment, it is possible to measure the atmospheric environment more accurately in an arbitrary measurement target space 16 in the air than in the case of measuring the atmospheric environment at one point, and the accuracy of weather prediction can be improved. In addition, it is possible to investigate the accurate distribution of toxic substances, carbon dioxide concentration, cloud particles and ice crystal particles in the air.

The drone group 10B (atmospheric environment measurement method) explained based on FIG. (atmospheric environment), mesoscale meteorological data and air components (atmospheric environment) can be measured, and mesoscale meteorological data and air components (atmospheric environment) can be measured. Measurements can improve the accuracy of weather forecasts over a wide area, and can investigate the accurate distribution of toxic substances, carbon dioxide concentrations, cloud particles, and ice crystal particles over a wide area.

FIG. 4 is a perspective view of measurement formations f3 to f5 shown as another example. Another example of the sensing (measurement) procedure of the atmospheric environment measurement method using the drone group 10C (first to twenty-seventh drones d1 to d27) will be described below with reference to FIG. In FIG. 4, illustration of a takeoff point and a landing point is omitted. In the sensing (measurement) shown in FIG. 4, the take-off point and the landing point are the same, and each of the target points g1 to g27 is spaced equally in the vertical direction and the horizontal direction in the first measurement object space 17a in the air. Points, a plurality of points that are equally spaced in the vertical and horizontal directions in the second measurement space 17b in the air that have moved vertically from the first measurement space 17a, and have moved vertically from the second measurement space 17b They are a plurality of points equally spaced apart in the vertical direction and the horizontal direction in the third measurement target space 17c in the air. The first to third measurement spaces 17a to 17c are arranged vertically in the air.

The operator (measuring person) displays target points g1 to g27 in the first measurement space 17a in the air on the three-dimensional map displayed on the touch panel of the transmitter. The 1st to 27th target points g1 to g27) (1st to nth target points) are input to the transmitter, and the second measurement in the air moved vertically upward from the first measurement target space 17a on the three-dimensional map Each target point g1 to g27 in the target space 17b (1st to 27th target points g1 to g27 equally spaced in the vertical direction and equally spaced in the horizontal direction) (1st to nth target points) to the transmitter While inputting, each target point g1 to g27 in the aerial third measurement space 17c moved vertically upward from the second measurement space 17b (equally spaced in the vertical direction and also in the horizontal direction) 1st to 27th target points (g1 to g27) (1st to nth target points) separated from each other are input to the transmitter. Furthermore, each landing point (1st to 27th landing point) (1st to nth landing point) is input to the transmitter on the three-dimensional map, and the flight speed (takeoff speed, movement speed, landing speed), Enter (set) flight time, hovering time, measurement time, etc. into the transmitter to create a flight mission (flight plan).

For each of the first drone d1 to the twenty-seventh drone d27, target points g1 to g27 (vertical direction Enter the 1st to 27th target points (g1 to g27) that are equally spaced in the horizontal direction, enter the landing points (1st to 27th landing points), and the flight speed (takeoff speed, (moving speed, landing speed), flight time, hovering time, measurement time, etc. are input, and flight missions are created for each of these drones d1 to d27. In the atmospheric environment measurement method (drone group 10A), the target points g1 to g27 in the first to third measurement spaces 17a to 17c of the first to twenty-seventh drones d1 to d27 are individually set.

The created flight mission is stored (stored) in the large-capacity storage area of the transmitter in a state associated with a predetermined identifier, and then transmitted from the transmitter to the controllers of the first to twenty-seventh drones d1 to d27. . The controllers of the 1st to 27th drones d1 to d27 store the flight missions received from the transmitters in a large-capacity storage area while associating them with the identifiers (individual identification numbers and unique identification numbers) of the drones d1 to d27 ( Remember. When the measurement start button (flight start button) displayed on the touch panel is tapped, the 1st to 27th drones d1 to d27 are aligned in the vertical direction in the air at the targets in the first to third measurement spaces 17a to 17c. Automatic self-sustaining flight is started toward points g1 to g27.

1st to 27th drones d1 to d27 (first to n-th drones) are spaced equally in the vertical and horizontal directions in the first aerial measurement space 17a preset for each of the drones d1 to d27 from the takeoff point. The drones are caused to fly toward the separated target points g1 to g27 (first to twenty-seventh target points g1 to g27 in the first measurement space 17a corresponding to the drones d1 to d27) (drone flight process). The first to twenty-seventh drones d1 to d27 (drones group 10C) are equally spaced from the takeoff point in the vertical direction and the horizontal direction in the first aerial measurement space 17a preset for each of the drones d1 to d27. They fly all at once toward each of the target points g1 to g27.

After the first to twenty-seventh drones d1 to d27 arrive at the respective target points g1 to g27 in the first measurement target space 17a through the drone flight process, the first to twenty-seventh drones d1 to d27 are moved vertically as shown in FIG. A three-dimensional measurement formation f3 is organized in the aerial first measurement object space 17a by hovering at each target point g1 to g27 equally spaced in the direction and the horizontal direction (measurement formation organization step). The first to twenty-seventh drones d1 to d27 (drone group 10C) arrive at the respective target points g1 to g27 in the first measurement target space 17a, and then each of the target points g1 to g27 are equally spaced vertically and horizontally. In g27, while hovering, a three-dimensional quadrangular prism-shaped measurement formation f3 is organized in the air. The first to twenty-seventh drones d1 to d27 are arranged at equal intervals in the vertical and horizontal directions at target points g1 to g27 in an arbitrary first measurement target space 17a in the air.

In the measurement formation f3 organized by the measurement formation organization step, the 1st to 27th drones d1 to d27 perform the first measurement using the weather sensors (air environment measurement sensors 14) and component measurement sensors (air environment measurement sensors 14). Meteorological data (at least one of wind direction, wind speed, temperature, humidity, atmospheric pressure) and air components (fine particulate matter, aerosol, carbon dioxide concentration, cloud particles and ice At least one of crystal particles, hazardous air pollutants, and radioactive substances) is measured (atmospheric environment measurement step). The 1st to 27th drones d1 to d27 (drone group 10C) use meteorological sensors and component measurement sensors in a three-dimensional square prism-shaped measurement formation f3 organized at equal intervals in the vertical and horizontal directions. Meteorological data (at least one of wind direction, wind speed, temperature, humidity, pressure) and air components (fine particulate matter, aerosol, carbon dioxide concentration, cloud particles and ice crystal particles, at least one of hazardous air pollutants and radioactive substances). The meteorological data and component data of each of the target points g1 to g27 measured by the meteorological sensors and component measuring sensors are transmitted from the meteorological sensors and component measuring sensors to the controllers of the first to twenty-seventh drones d1 to d27.

The controllers of the first to twenty-seventh drones d1 to d27 control the meteorological data, component data, measurement time data, target point g1 ~ g27 position data (coordinate data of target points g1 ~ g27) etc. are stored (stored) in a large capacity storage area in a state associated with the identifier of each drone d1 ~ d27, and the 1st ~ 27th drones d1 ~ d27 flight records (flight paths) of the drones d1 to d27 in association with the identifiers of the drones d1 to d27 in a large-capacity storage area. The controllers of the 1st to 27th drones d1 to d27 send meteorological data, component data, measurement time data, position data of target points g1 to g27 (coordinate data of target points g1 to g27), etc. to transmitters on the ground in real time. At the same time, the flight records (flight paths) of the 1st to 27th drones d1 to d27 are transmitted to the transmitter in real time. The transmitter receives meteorological data, component data, measurement time data, and position data (target Coordinate data of points g1 to g27) and the like are stored in a large-capacity storage area in a state associated with the identifier of each drone d1 to d27.

Next, the first to twenty-seventh drones d1 to d27 (first to n-th drones) are moved from the first measurement target space 17a to a second measurement target space 17b (first Next target points g1 to g27 (second target points corresponding to d1 to d27 for each of these drones) equidistant in the vertical and horizontal directions in the second measurement space 17b that has moved upward in the vertical direction from the measurement space 17a The drone is flown toward the first to twenty-seventh target points (g1 to g27) in the space 17b to be measured (drone flight process). Each target point g1-g27 of the second measurement object space 17b is located vertically above each target point g1-g27 of the first measurement object space 17a. The first to twenty-seventh drones d1 to d27 (drone group 10C) move from the first measurement target space 17a to the vertical direction and the horizontal direction in the aerial second measurement target space 17b preset for each of the drones d1 to d27. They fly all at once toward the next target points g1 to g27 which are equally spaced apart.

After the 1st to 27th drones d1 to d27 move vertically upward from the first measurement object space 17a by the drone flight process and arrive at the respective target points g1 to g27 in the second measurement object space 17b, as shown in FIG. As shown, the first to twenty-seventh drones d1 to d27 are made to hover at target points g1 to g27 equally spaced apart in the vertical and horizontal directions to form a three-dimensional measurement formation f4 in the second measurement target space 17b in the air. (measurement formation organization step). The first to twenty-seventh drones d1 to d27 (drone group 10C) reach the respective target points g1 to g27 in the second measurement target space 17b, and then the target points g1 to g27 are equally spaced in the vertical and horizontal directions. In g27, while hovering, a three-dimensional quadrangular prism-shaped measurement formation f4 is organized in the air. The first to twenty-seventh drones d1 to d27 are arranged at equal intervals in the vertical and horizontal directions at target points g1 to g27 in an arbitrary second measurement target space 17b in the air.

In the measurement formation f4 organized by the measurement formation organization step, the first to twenty-seventh drones d1 to d27 use weather sensors (air environment measurement sensors 14) and component measurement sensors (air environment measurement sensors 14) to perform the first measurement. Meteorological data (at least one of wind direction, wind speed, temperature, humidity, atmospheric pressure) and air components (fine particles atmospheric substances, aerosols, carbon dioxide concentration, cloud particles and ice crystal particles, harmful air pollutants, and radioactive substances) are measured (atmospheric environment measurement step). The 1st to 27th drones d1 to d27 (drone group 10C) use meteorological sensors and component measurement sensors in a three-dimensional quadrangular prism-shaped measurement formation f4 organized at equal intervals in the vertical and horizontal directions. Meteorological data (at least one of wind direction, wind speed, temperature, humidity, pressure) and air components (fine particulate matter, aerosol, carbon dioxide concentration, cloud particles and ice crystal particles, at least one of hazardous air pollutants and radioactive substances). The meteorological data and component data of each of the target points g1 to g27 measured by the meteorological sensors and component measuring sensors are transmitted from the meteorological sensors and component measuring sensors to the controllers of the first to twenty-seventh drones d1 to d27.

The controllers of the first to twenty-seventh drones d1 to d27 control the meteorological data, component data, measurement time data, target point g1 ~ g27 position data (coordinate data of target points g1 ~ g27) etc. are stored (stored) in a large capacity storage area in a state associated with the identifier of each drone d1 ~ d27, and the 1st ~ 27th drones d1 ~ d27 flight records (flight paths) of the drones d1 to d27 in association with the identifiers of the drones d1 to d27 in the large-capacity storage area. The controllers of the 1st to 27th drones d1 to d27 transmit meteorological data, component data, measurement time data, position data of target points g1 to g27 (coordinate data of target points g1 to g27), etc. to transmitters on the ground in real time. At the same time, the flight records (flight paths) of the first to twenty-seventh drones d1 to d27 are transmitted to the transmitter in real time. The transmitter receives meteorological data, component data, measurement time data, and position data (target Coordinate data of points g1 to g27) and the like are stored in a large-capacity storage area in a state associated with the identifier of each drone d1 to d27.

Next, the first to twenty-seventh drones d1 to d27 (first to n-th drones) are moved from the second measurement space 17b to a third measurement space 17c (second Each of the following target points g1 to g27 (third target points g1 to g27 corresponding to each of the drones d1 to d27) equally spaced in the vertical and horizontal directions in the third measurement space 17c that has moved upward in the vertical direction from the measurement space 17b The drone is flown toward the first to twenty-seventh target points (g1 to g27) in the space 17c to be measured (drone flight process). Each target point g1-g27 of the third measurement object space 17c is positioned vertically above each target point g1-g27 of the second measurement object space 17b. The first to twenty-seventh drones d1 to d27 (drone group 10C) move from the second measurement space 17b to the vertical and horizontal directions in the third aerial measurement space 17c preset for each of the drones d1 to d27. They fly all at once toward the next target points g1 to g27 which are equally spaced apart.

After the 1st to 27th drones d1 to d27 move upward in the vertical direction from the second measurement space 17b by the drone flight process and arrive at the respective target points g1 to g27 in the third measurement space 17c, as shown in FIG. As shown, the first to twenty-seventh drones d1 to d27 are made to hover at target points g1 to g27 equally spaced apart in the vertical and horizontal directions to form a three-dimensional measurement formation f5 in the third measurement target space 17c in the air. (measurement formation organization step). The first to twenty-seventh drones d1 to d27 (drone group 10C) arrive at the respective target points g1 to g27 in the third measurement target space 17c, and then each target point g1 to In g27, while hovering, a three-dimensional quadrangular prism-shaped measurement formation f5 is organized in the air. The first to twenty-seventh drones d1 to d27 are arranged at equal intervals in the vertical and horizontal directions at target points g1 to g27 in an arbitrary third measurement target space 17c in the air.

In the measurement formation f5 organized by the measurement formation organization step, the first to twenty-seventh drones d1 to d27 use weather sensors (air environment measurement sensors 14) and component measurement sensors (air environment measurement sensors 14) to perform the second measurement. Meteorological data (at least one of wind direction, wind speed, temperature, humidity, atmospheric pressure) and air components (fine particle atmospheric substances, aerosols, carbon dioxide concentration, cloud particles and ice crystal particles, harmful air pollutants, and radioactive substances) are measured (atmospheric environment measurement step). The 1st to 27th drones d1 to d27 (drone group 10C) use meteorological sensors and component measurement sensors in a three-dimensional quadrangular prism-shaped measurement formation f5 organized at equal intervals in the vertical and horizontal directions. Meteorological data (at least one of wind direction, wind speed, temperature, humidity, pressure) and air components (fine particulate matter, aerosol, carbon dioxide concentration, cloud particles and ice crystal particles, at least one of hazardous air pollutants and radioactive substances). The meteorological data and component data of each target point g1 to g27 measured by the meteorological sensors and component measuring sensors are transmitted from the meteorological sensors and component measuring sensors to the controllers of the first to twenty-seventh drones d1 to d27.

The controllers of the first to twenty-seventh drones d1 to d27 control the meteorological data, component data, measurement time data, target point g1 ~ g27 position data (coordinate data of target points g1 ~ g27) etc. are stored (stored) in a large capacity storage area in a state associated with the identifier of each drone d1 ~ d27, and the 1st ~ 27th drones d1 ~ d27 flight records (flight paths) of the drones d1 to d27 in association with the identifiers of the drones d1 to d27 in the large-capacity storage area. The controllers of the 1st to 27th drones d1 to d27 transmit meteorological data, component data, measurement time data, position data of target points g1 to g27 (coordinate data of target points g1 to g27), etc. to transmitters on the ground in real time. At the same time, the flight records (flight paths) of the first to twenty-seventh drones d1 to d27 are transmitted to the transmitter in real time. The transmitter receives meteorological data, component data, measurement time data, and position data of the target points g1 to g27 of the target points g1 to g27 in the third measurement space 17c received from the controllers of the first to twenty-seventh drones d1 to d27. (coordinate data of target points g1 to g27) and the like are stored in the large-capacity storage area in a state associated with the identifier of each drone d1 to d27.

Meteorological data (measurement data), component data (measurement data), measurement time data, position data of target points g1 to g27, etc. of each target point g1 to g27 in the measurement target space 17a to 17c are output from the transmitter (on the display displayed, printed from a printer). The output data are used to grasp the weather conditions and the distribution of each component, and are used for forecasting the weather and the distribution of the components.

After having the first to twenty-seventh drones d1 to d27 measure the meteorological data and components of each target point g1 to g27 in the third measurement target space 17c by the atmospheric environment measurement process, the first to twenty-seventh drones d1 to d27 3 Fly from each target point g1 to g27 equally spaced in the vertical and horizontal directions of the measurement target space 17c toward each landing point, and land the first to 27th drones d1 to d27 at each landing point ( drone landing process). The first to twenty-seventh drones d1 to d27 (drone group 10C) fly from target points g1 to g27 in the third measurement space 17c toward landing points and land at the landing points.

In the measurement formations f3-f5 shown in FIG. 4, each target point g1-g27 can be organized into measurement formations with different vertical and horizontal spacings, as shown in FIG. Also, after the measuring formation has moved vertically, the measuring formation can move horizontally, as shown in FIG. In addition, the measurement formation can be expanded, as shown in FIG. 7, or contracted, as shown in FIG.

FIG. 5 is a perspective view of measurement formations f6 to f8 shown as another example. Another example of the sensing (measurement) procedure of the atmospheric environment measurement method using the drone group 10D (first to twenty-seventh drones d1 to d27) will be described below with reference to FIG. In FIG. 5, illustration of a takeoff point and a landing point is omitted. In the sensing (measurement) shown in FIG. 5, the take-off point and the landing point are the same, and each of the target points g1 to g27 is spaced equally in the vertical direction and the horizontal direction in the aerial first measurement object space 18a. Points, a plurality of points equally spaced in the vertical and horizontal directions in the second space 18b to be measured in the air, moved horizontally from the first space 18a to be measured, and points moved horizontally from the second space 18b to be measured They are a plurality of points equally spaced apart in the vertical direction and the horizontal direction in the third measurement target space 18c in the air. The first to third measurement spaces 18a to 18c are arranged horizontally in the air.

The operator (measuring person) displays target points g1 to g27 in the first measurement space 18a in the air on the three-dimensional map displayed on the touch panel of the transmitter. The 1st to 27th target points g1 to g27) (1st to nth target points) are input to the transmitter, and the second measurement object in the air moved horizontally from the first measurement object space 18a on the three-dimensional map Each target point g1 to g27 in the space 18b (1st to 27th target points g1 to g27 equally spaced in the vertical direction and equally spaced in the horizontal direction) (1st to nth target points) is input to the transmitter. At the same time, each target point g1 to g27 in the aerial third measurement space 18c moved horizontally from the second measurement space 18b on the three-dimensional map (equally spaced vertically and horizontally 1st to 27th target points (g1 to g27) (1st to nth target points) are input to the transmitter. Furthermore, each landing point (1st to 27th landing point) (1st to nth landing point) is input to the transmitter on the three-dimensional map, and the flight speed (takeoff speed, movement speed, landing speed), Enter (set) flight time, hovering time, measurement time, etc. into the transmitter to create a flight mission (flight plan).

For each of the first drone d1 to the twenty-seventh drone d27, target points g1 to g27 (vertically Enter the 1st to 27th target points (g1 to g27) that are equally spaced apart in the horizontal direction, enter the landing points (1st to 27th landing points), and the flight speed (takeoff speed, (moving speed, landing speed), flight time, hovering time, measurement time, etc. are input, and flight missions are created for each of these drones d1 to d27. In the atmospheric environment measurement method (drone group 10D), target points g1 to g27 in the first to third measurement spaces 18a to 18c of the first drone d1 to the 27th drone d27 are individually set.

The created flight mission is stored (stored) in the large-capacity storage area of the transmitter in a state associated with a predetermined identifier, and then transmitted from the transmitter to the controllers of the first to twenty-seventh drones d1 to d27. . The controllers of the 1st to 27th drones d1 to d27 store the flight missions received from the transmitters in a large-capacity storage area while associating them with the identifiers (individual identification numbers and unique identification numbers) of the drones d1 to d27 ( Remember. When the measurement start button (flight start button) displayed on the touch panel is tapped, the 1st to 27th drones d1 to d27 line up in the horizontal direction in the air. Automatic self-sustaining flight is started toward points g1 to g27.

1st to 27th drones d1 to d27 (first to n-th drones) are spaced vertically and horizontally in the first aerial measurement space 18a preset for each of the drones d1 to d27 from the takeoff point. The drones are caused to fly toward the separated target points g1 to g27 (first to twenty-seventh target points g1 to g27 in the first measurement space 18a corresponding to the drones d1 to d27) (drone flight process). The 1st to 27th drones d1 to d27 (drone group 10D) are equally spaced from the takeoff point in the vertical direction and the horizontal direction in the first aerial measurement space 18a preset for each of the drones d1 to d27. They fly all at once toward each of the target points g1 to g27.

After the first to twenty-seventh drones d1 to d27 have arrived at the respective target points g1 to g27 in the first measurement target space 18a through the drone flight process, the first to twenty-seventh drones d1 to d27 are moved vertically as shown in FIG. A three-dimensional measurement formation f6 is organized in the aerial first measurement object space 18a by hovering at each target point g1 to g27 equally spaced in the direction and the horizontal direction (measurement formation organization step). The first to twenty-seventh drones d1 to d27 (drone group 10D) arrive at the respective target points g1 to g27 in the first measurement target space 18a, and then the target points g1 to g27 are equally spaced in the vertical and horizontal directions. At g27, while hovering, a three-dimensional quadrangular prism-shaped measurement formation f6 is organized in the air. The first to twenty-seventh drones d1 to d27 are arranged at equal intervals in the vertical and horizontal directions at target points g1 to g27 in an arbitrary first measurement target space 18a in the air.

In the measurement formation f6 organized by the measurement formation organization step, the 1st to 27th drones d1 to d27 perform the first measurement using the weather sensors (air environment measurement sensors 14) and component measurement sensors (air environment measurement sensors 14). Meteorological data (at least one of wind direction, wind speed, temperature, humidity, atmospheric pressure) and air components (fine particulate matter, aerosol, carbon dioxide concentration, cloud particles and ice At least one of crystal particles, hazardous air pollutants, and radioactive substances) is measured (atmospheric environment measurement step). The 1st to 27th drones d1 to d27 (drone group 10D) use meteorological sensors and component measurement sensors in a three-dimensional quadrangular prism-shaped measurement formation f6 organized at equal intervals in the vertical and horizontal directions. Meteorological data (at least one of wind direction, wind speed, temperature, humidity, pressure) and air components (fine particulate matter, aerosol, carbon dioxide concentration, cloud particles and ice crystal particles, at least one of hazardous air pollutants and radioactive substances). The meteorological data and component data of each target point g1 to g27 measured by the meteorological sensors and component measuring sensors are transmitted from the meteorological sensors and component measuring sensors to the controllers of the first to twenty-seventh drones d1 to d27.

The controllers of the first to twenty-seventh drones d1 to d27 control the meteorological data and component data of the target points g1 to g27, the measurement time data, the target point g1 ~ g27 position data (coordinate data of target points g1 ~ g27) etc. are stored (stored) in a large capacity storage area in a state associated with the identifier of each drone d1 ~ d27, and the 1st ~ 27th drones d1 ~ d27 flight records (flight paths) of the drones d1 to d27 in association with the identifiers of the drones d1 to d27 in the large-capacity storage area. The controllers of the 1st to 27th drones d1 to d27 transmit meteorological data, component data, measurement time data, position data of target points g1 to g27 (coordinate data of target points g1 to g27), etc. to transmitters on the ground in real time. At the same time, the flight records (flight paths) of the first to twenty-seventh drones d1 to d27 are transmitted to the transmitter in real time. The transmitter receives meteorological data, component data, measurement time data, and position data (target Coordinate data of points g1 to g27) and the like are stored in a large-capacity storage area in a state associated with the identifier of each drone d1 to d27.

Next, the first to twenty-seventh drones d1 to d27 (first to n-th drones) are moved from the first measurement target space 18a to a second measurement target space 18b (first Each of the following target points g1 to g27 (second measurement corresponding to each of these drones d1 to d27) equally spaced in the vertical and horizontal directions in the second measurement space 18b that has moved horizontally from the measurement space 18a It is made to fly toward the first to twenty-seventh target points (g1 to g27) in the target space 18b (drone flight process). Each of the target points g1 to g27 of the second measurement object space 18b is located horizontally to the side of each of the target points g1 to g27 of the first measurement object space 18a. The first to twenty-seventh drones d1 to d27 (drone group 10D) move from the first measurement target space 18a to the vertical and horizontal directions in the second measurement target space 18b in the air, which is preset for each of the drones d1 to d27. They fly all at once toward the next target points g1 to g27 which are equally spaced apart.

After the first to twenty-seventh drones d1 to d27 have moved laterally from the first measurement space 18a by the drone flight process and have arrived at the target points g1 to g27 in the next second measurement space 18b, As shown in , the first to twenty-seventh drones d1 to d27 are hovered at each target point equally spaced in the vertical and horizontal directions, and a three-dimensional measurement formation f7 is organized in the second measurement target space 18b in the air. (measurement formation organization step). The first to twenty-seventh drones d1 to d27 (drone group 10D) reach the respective target points g1 to g27 in the second measurement target space 18b, and then the target points g1 to g27 are equally spaced in the vertical and horizontal directions. At g27, while hovering, a three-dimensional quadrangular prism-shaped measurement formation f7 is organized in the air. The first to twenty-seventh drones d1 to d27 are arranged at equal intervals in the vertical and horizontal directions at target points g1 to g27 in an arbitrary second measurement target space 18b in the air.

In the measurement formation f7 organized by the measurement formation organization step, the first to twenty-seventh drones d1 to d27 use weather sensors (air environment measurement sensors 14) and component measurement sensors (air environment measurement sensors 14) to perform the first measurement. Meteorological data (at least one of wind direction, wind speed, temperature, humidity, atmospheric pressure) and air components (very At least one of particulate matter, aerosol, carbon dioxide concentration, cloud particles and ice crystal particles, harmful air pollutants, and radioactive substances) is measured (atmospheric environment measurement step). The 1st to 27th drones d1 to d27 (drone group 10D) use meteorological sensors and component measurement sensors in a three-dimensional quadrangular prism-shaped measurement formation f7 organized at equal intervals in the vertical and horizontal directions. Meteorological data (at least one of wind direction, wind speed, temperature, humidity, pressure) and air components (fine particulate matter, aerosol, carbon dioxide concentration, cloud particles and ice crystal particles, at least one of hazardous air pollutants and radioactive substances). The meteorological data and component data of each of the target points g1 to g27 measured by the meteorological sensors and component measuring sensors are transmitted from the meteorological sensors and component measuring sensors to the controllers of the first to twenty-seventh drones d1 to d27.

The controllers of the first to twenty-seventh drones d1 to d27 control the meteorological data, component data, measurement time data, target point g1 ~ g27 position data (coordinate data of target points g1 ~ g27) etc. are stored (stored) in a large capacity storage area in a state associated with the identifier of each drone d1 ~ d27, and the 1st ~ 27th drones d1 ~ d27 flight records (flight paths) of the drones d1 to d27 in association with the identifiers of the drones d1 to d27 in the large-capacity storage area. The controllers of the 1st to 27th drones d1 to d27 transmit meteorological data, component data, measurement time data, position data of target points g1 to g27 (coordinate data of target points g1 to g27), etc. to transmitters on the ground in real time. At the same time, the flight records (flight paths) of the first to twenty-seventh drones d1 to d27 are transmitted to the transmitter in real time. The transmitter receives meteorological data, component data, measurement time data, and location data (target Coordinate data of points g1 to g27) and the like are stored in a large-capacity storage area in a state associated with the identifier of each drone d1 to d27.

Next, the first to twenty-seventh drones d1 to d27 (first to n-th drones) are moved from the second measurement space 18b to a third measurement space 18c (second Each of the following target points g1 to g27 (the third measurement corresponding to each of these drones d1 to d27) equally spaced in the vertical and horizontal directions in the third measurement object space 18c that has moved horizontally from the measurement object space 18b The drone is made to fly toward the first to twenty-seventh target points (g1 to g27) in the target space 18c (drone flight process). The target points g1 to g27 of the third measurement object space 18c are located horizontally to the sides of the target points g1 to g27 of the second measurement object space 18b. The first to twenty-seventh drones d1 to d27 (drone group 10D) move from the second measurement space 18b to the vertical direction and the horizontal direction in the aerial third measurement space 18c preset for each of the drones d1 to d27. They fly all at once toward the next target points g1 to g27 which are equally spaced apart.

After the first to twenty-seventh drones d1 to d27 move laterally from the second measurement space 18b by the drone flight process and arrive at the respective target points g1 to g27 in the next third measurement space 18c, , the first to twenty-seventh drones d1 to d27 are hovered at target points g1 to g27 equally spaced in the vertical and horizontal directions to form a three-dimensional measurement formation in the third measurement target space 18c in the air. Organize f8 (measurement formation organization step). After the first to twenty-seventh drones d1 to d27 (drone group 10D) arrive at the respective target points g1 to g27 in the third measurement target space 18c, the respective target points g1 to g27 are equally spaced in the vertical and horizontal directions. At g27, while hovering, a three-dimensional quadrangular prism-shaped measurement formation f8 is organized in the air. The first to twenty-seventh drones d1 to d27 are arranged at equal intervals in the vertical and horizontal directions at target points g1 to g27 in an arbitrary third measurement target space 18c in the air.

In the measurement formation f8 organized by the measurement formation organization step, the first to twenty-seventh drones d1 to d27 use weather sensors (air environment measurement sensors 14) and component measurement sensors (air environment measurement sensors 14) to perform the second measurement. Meteorological data (at least one of wind direction, wind speed, temperature, humidity, atmospheric pressure) and air components (very small At least one of particulate matter, aerosol, carbon dioxide concentration, cloud particles and ice crystal particles, harmful air pollutants, and radioactive substances) is measured (atmospheric environment measurement step). The 1st to 27th drones d1 to d27 (drone group 10D) use meteorological sensors and component measurement sensors in a three-dimensional square prism-shaped measurement formation f8 organized at equal intervals in the vertical and horizontal directions. Meteorological data (at least one of wind direction, wind speed, temperature, humidity, atmospheric pressure) and air components (fine particulate matter, aerosol, carbon dioxide concentration, at least one of cloud particles and ice crystal particles, hazardous air pollutants, and radioactive materials). The meteorological data and component data of each target point g1 to g27 measured by the meteorological sensors and component measuring sensors are transmitted from the meteorological sensors and component measuring sensors to the controllers of the first to twenty-seventh drones d1 to d27.

The controllers of the first to twenty-seventh drones d1 to d27 control the meteorological data, component data, measurement time data, target point g1 ~ g27 position data (coordinate data of target points g1 ~ g27) etc. are stored (stored) in a large capacity storage area in a state associated with the identifier of each drone d1 ~ d27, and the 1st ~ 27th drones d1 ~ d27 flight records (flight paths) of the drones d1 to d27 in association with the identifiers of the drones d1 to d27 in the large-capacity storage area. The controllers of the 1st to 27th drones d1 to d27 transmit meteorological data, component data, measurement time data, position data of target points g1 to g27 (coordinate data of target points g1 to g27), etc. to transmitters on the ground in real time. At the same time, the flight records (flight paths) of the first to twenty-seventh drones d1 to d27 are transmitted to the transmitter in real time. The transmitter receives meteorological data, component data, measurement time data, and location data (target Coordinate data of points g1 to g27) and the like are stored in a large-capacity storage area in a state associated with the identifier of each drone d1 to d27.

Meteorological data (measurement data), component data (measurement data), measurement time data, position data of target points g1 to g27, etc. of each target point g1 to g27 in the measurement target space 18a to 18c are output from the transmitter (on the display displayed, printed from a printer). The output data are used to grasp the weather conditions and the distribution of each component, and are used for forecasting the weather and the distribution of the components.

After having the first to twenty-seventh drones d1 to d27 measure the meteorological data and components of each target point g1 to g27 in the third measurement target space 18c by the atmospheric environment measurement process, the first to twenty-seventh drones d1 to d27 3 Fly from each target point g1 to g27 equally spaced in the vertical direction and horizontal direction of the measurement target space 18c toward each landing point, and land the first to 27th drones d1 to d27 at each landing point ( drone landing process). The first to twenty-seventh drones d1 to d27 (drone group 10D) fly from target points g1 to g27 in the third measurement space 18c toward landing points and land at the landing points.

In the measurement formations f6-f8 shown in FIG. 5, each target point g1-g27 can be organized into measurement formations with different vertical and horizontal spacings, as shown in FIG. Also, after the measuring formation moves horizontally, the measuring formation can move vertically, as shown in FIG. In addition, the measurement formation can be expanded, as shown in FIG. 7, or contracted, as shown in FIG.

In the measurement formations f3-f5 and f6-f7 shown in FIGS. 4 and 5, the altitude of the lowest drone, the altitude of the middle drone, the altitude of the highest drone, and the altitude of the vertically adjacent drone The separation distance between drones and the separation distance between horizontally adjacent drones are the same as that of the measurement formation f1 shown in FIG. The distance between the vertically adjacent drones in the measurement formations f3 to f5 and f6 to f7 can be freely set in the range of 20m to 1000m, and the horizontal distance in the measurement formations f3 to f5 and f6 to f7 can be set freely. The distance between the drones can be freely set within the range of 20m to 1000m.

The drone groups 10C and 10D (atmospheric environment measurement method) described based on FIGS. Vertical and horizontal directions of arbitrary first to third measurement spaces 17a to 17c, 18a to 18c (first measurement space to n-th measurement space) in the air preset for each drone d1 to d27 Fly toward each target point g1 to g27 (1st to 27th target points g1 to g27) (1st to nth target points) equidistantly spaced in the direction and direction, 1st measurement object space to 3rd measurement object The 1st to 27th drones d1 to d27 that have arrived at the target points g1 to g27 in the spaces 17a to 17c and 18a to 18c are hovered at the target points g1 to g27 to hover over any of the first to third measurement target spaces in the air. Three-dimensional measurement formations f3 to f5 and f6 to f7 are organized in the measurement target spaces 17a to 17c and 18a to 18c, and in the organized measurement formations f3 to f5 and f6 to f7, first to twenty-seventh drones d1 to d27 Since the atmospheric environment measurement sensor 14 (air environment measurement device) is used to measure the meteorological data and air components (atmospheric environment) of each target point g1 to g27, any different measurement target space in the air to the first 3 Three-dimensional measurement formations f3 to f5 and f6 to f7 in which the drones d1 to d27 are arranged at equal intervals in the vertical and horizontal directions in the measurement target spaces 17a to 17c and 18a to 18c can be organized one after another. can, in their organized three-dimensional measurement formations f3-f5, f6-f7, vertically and horizontally in any first to third measurement space 17a-17c, 18a-18c in the air The three-dimensional atmospheric environment can be measured using the drones d1 to d27 arranged at regular intervals.

The drone groups 10C and 10D (atmospheric environment measurement method) described based on FIGS. Three-dimensional measurement formations f3-f5, f6-, which are equally spaced in the vertical and horizontal directions in the space to the third measurement object space 17a to 17c, 18a to 18c (the first measurement object space to the n-th measurement object space) While organizing f7, three-dimensional meteorological data and air components (atmospheric environment) of arbitrary first measurement space to third measurement space 17a to 17c, 18a to 18c in the air are collected by the first to 27th drones d1 ~ d27 can be measured, compared to the case of measuring the atmospheric environment at one point, the atmosphere of the arbitrary first measurement object space to third measurement object space 17a to 17c, 18a to 18c in the air is more accurate The environment can be measured, the accuracy of weather prediction can be improved, and the accurate distribution of harmful substances and carbon dioxide concentrations in the air, cloud particles, and ice crystal particles can be investigated.

The drone groups 10C and 10D (atmospheric environment measurement method) described based on FIGS. It is possible to measure the atmospheric environment in the microscale of different first to third measurement spaces 17a to 17c, 18a to 18c (first measurement space to n-th measurement space). In addition to being able to measure the atmospheric environment in the air, by measuring the mesoscale atmospheric environment in any different first measurement space to third measurement space 17a to 17c, 18a to 18c in the air, different It is possible to improve the accuracy of weather prediction over a wide range of the first measurement space to the third measurement space 17a to 17c, 18a to 18c, and to improve the accuracy of the weather prediction over a wide range of the first measurement space to the third measurement space 17a to 17c, 18a to 18c. It is possible to investigate the precise distribution of toxic substances, carbon dioxide concentrations, cloud particles and ice crystal particles over a wide range of

FIG. 6 is a perspective view of the measurement formation f9 shown as another example. Another example of the sensing (measurement) procedure of the atmospheric environment measurement method using the drone group 10E (first to twenty-fifth drones d1 to d25) will be described with reference to FIG. In FIG. 6, illustration of a takeoff point and a landing point is omitted. In the sensing (measurement) shown in FIG. 6, the take-off point and the landing point are the same, and each of the target points g1 to g25 is vertically positioned so as to surround the volcano crater 20 (predetermined target) in the measurement space 19 in the air. A plurality of points spaced apart in the direction and in the horizontal direction. In addition to the crater 20 of the volcano, the predetermined targets include all targets such as buildings that have caught fire, nuclear power plants that have leaked radiation, areas that generate toxic gas, and the like.

The operator (measuring person) locates each target point g1 to g25 (vertical direction, etc.) surrounding the crater 20 (predetermined target) of the volcano in the aerial measurement target space 19 on the three-dimensional map displayed on the touch panel of the transmitter. The 1st to 25th target points (g1 to g25) (1st to nth target points) that are spaced horizontally and are spaced equally apart are input to the transmitter, and each landing point (1st to 1st 25 landing points) (1st to nth landing points) are input to the transmitter, and the flight speed (takeoff speed, movement speed, landing speed), flight time, hovering time, measurement time, etc. are input to the transmitter from the touch panel. (Settings) to create a flight mission (flight plan).

For each of the first drone d1 to the twenty-fifth drone d25, target points g1 to g25 surrounding the crater 20 of the volcano in the aerial measurement space 19 corresponding to the drones d1 to d25 (separated vertically and horizontally Enter the 1st to 25th target points (g1 to g25) that are separated by a predetermined distance, enter the landing points (1st to 25th landing points), flight speed (takeoff speed, movement speed, landing speed), flight Enter the time, hovering time, measurement time, etc., and create a flight mission for each of these drones d1 to d25. In the atmospheric environment measurement method (drone group 10E), target points g1 to g25 of the first to twenty-fifth drones d1 to d25 are individually set.

The created flight mission is stored (stored) in the large-capacity storage area of the transmitter in a state associated with a predetermined identifier, and then transmitted from the transmitter to the controllers of the first to twenty-fifth drones d1 to d25. . The controllers of the 1st to 25th drones d1 to d25 store the flight missions received from the transmitters in a large-capacity storage area while associating them with the identifiers (individual identification numbers and unique identification numbers) of the drones d1 to d25 ( Remember. When the measurement start button (flight start button) displayed on the touch panel is tapped, the 1st to 25th drones d1 to d25 automatically self-fly towards the target points g1 to g25 surrounding the crater 20 in the measurement target space 19 in the air. to start.

Each target point g1 to g25 ( Each of the drones d1 to d25 is flown toward the first to twenty-fifth target points g1 to g25 surrounding the crater 20 in the space 19 to be measured (drone flight process). The first to twenty-fifth drones d1 to d25 (drone group 10E) are directed from the take-off point to target points g1 to g25 surrounding the crater 20 in the aerial measurement space 10 preset for each of the drones d1 to d25. fly together.

After the 1st to 25th drones d1 to d25 arrive at the respective target points g1 to g25 surrounding the crater 20 of the measurement target space 19 through the drone flight process, the 1st to 25th drones d1 to d25 are operated as shown in FIG. are hovered at target points g1 to g25 at predetermined intervals in the vertical and horizontal directions, and a three-dimensional measurement formation f9 surrounding the crater 20 (predetermined target) is organized in the measurement space 19 in the air (measurement formation organization process). After the first to twenty-fifth drones d1 to d25 (drone group 10E) arrive at the target points g1 to g25 surrounding the crater 20 in the measurement target space 19, the target points are separated by a predetermined distance in the vertical and horizontal directions. Organize a three-dimensional measurement formation f9 in the air while hovering from g1 to g25. The first to twenty-fifth drones d1 to d25 are arranged at predetermined intervals in the vertical direction and the horizontal direction at target points g1 to g25 surrounding the crater 20 of the arbitrary first measurement target space 19 in the air.

In the measurement formation f9 organized by the measurement formation organization step, the 1st to 25th drones d1 to d25 use the weather sensors (air environment measurement sensors 14) and component measurement sensors (air environment measurement sensors 14) to perform the first measurement. Meteorological data (at least one of wind direction, wind speed, temperature, humidity, atmospheric pressure) and air components (fine particulate matter, aerosol, carbon dioxide concentration, At least one of cloud particles, ice crystal particles, harmful air pollutants, and radioactive substances) is measured (atmospheric environment measurement step). The first to twenty-fifth drones d1 to d25 (drone group 10E) are arranged in a three-dimensional measurement formation f9 organized at predetermined intervals in the vertical and horizontal directions. Meteorological data (at least one of wind direction, wind speed, temperature, humidity, pressure) and air components (fine particulate matter, aerosol, carbon dioxide concentration, cloud particles and ice crystal particles , hazardous air pollutants, and radioactive substances). The meteorological data and component data of each target point g1 to g25 surrounding the crater 20 in the first measurement target space 19 measured by the meteorological sensors and component measurement sensors are sent from the meteorological sensors and component measurement sensors to the first to twenty-fifth drones d1 to d25 controller.

The controllers of the 1st to 25th drones d1 to d25 are the meteorological data, component data, measurement time data, target Position data of points g1 to g25 (coordinate data of target points g1 to g25) and the like are stored (stored) in a large-capacity storage area in a state associated with the identifier of each drone d1 to d25, and the first to twenty-fifth drones d1 The flight records (flight paths) of d25 are stored in the large-capacity storage area in association with the identifiers of the drones d1 to d25. The controllers of the 1st to 25th drones d1 to d25 transmit meteorological data, component data, measurement time data, position data of target points g1 to g25 (coordinate data of target points g1 to g25), etc. to transmitters on the ground in real time. At the same time, the flight records (flight paths) of the first to twenty-fifth drones d1 to d25 are transmitted to the transmitter in real time. The transmitter receives meteorological data and composition data of target points g1 to g25 surrounding the crater 20 in the measurement target space 19 received from the first to twenty-fifth drones d1 to d25, measurement time data, and position data of the target points g1 to g25. (coordinate data of target points g1 to g25) and the like are stored in the large-capacity storage area in a state associated with the identifier of each drone d1 to d25.

Meteorological data (measurement data), component data (measurement data), measurement time data, position data of target points g1 to g25, etc. of each target point g1 to g25 surrounding the crater 20 in the measurement target space 19 are output from the transmitter ( displayed on the display and printed from the printer). The output data are used to grasp the weather conditions and the distribution of each component, and are used for forecasting the weather and the distribution of the components.

After having the first to twenty-fifth drones d1 to d25 measure the meteorological data and components of each target point g1 to g25 surrounding the crater 20 in the measurement target space 19 by the atmospheric environment measurement process, the first to twenty-fifth drones d1 to d25 is made to fly toward each landing point from each target point g1 to g25 at a predetermined distance in the vertical and horizontal directions of the measurement target space 19, and the first to twenty-fifth drones d1 to d25 are landed at each landing point ( drone landing process). The first to twenty-fifth drones d1 to d25 (drone group 10E) fly from target points g1 to g25 surrounding the crater 20 of the measurement target space 19 toward each landing point and land at each landing point.

In the measurement formation f9 shown in FIG. 6, after the measurement formation moves vertically as shown in FIG. 4, the measurement formation can also move horizontally as shown in FIG. Also, after the measuring formation has moved horizontally, the measuring formation can also move vertically, as shown in FIG. In addition, the measurement formation can be expanded, as shown in FIG. 7, or contracted, as shown in FIG.

In the measurement formation f9 shown in FIG. 6, the altitude of the lowest drone, the altitude of the middle drone, and the altitude of the highest drone are the same as those of the measurement formation f1 shown in FIG. The distance between vertically adjacent drones in the measurement formation f9 can be freely set in the range of 20m to 1000m, and the distance between horizontally adjacent drones in the measurement formation f9 is 20m to 1000m. can be set freely within the range of

The drone group 10E (atmospheric environment measurement method) explained based on FIG. Target points g1 to g25 (1st to 25th target points g1 to g25) (1st to nth target points ), and the first to twenty-fifth drones d1 to d25 that have arrived at each target point g1 to g25 are hovered at each target point g1 to g25 to surround the crater 20 in an arbitrary measurement space 19 in the air. The original measurement formation f9 is organized, and in the organized measurement formation f9, the 1st to 25th drones d1 to d25 use the atmospheric environment measurement sensors 15 (air environment measurement devices) to measure the weather of each target point g1 to g25. Since data and components of the air (atmospheric environment) are measured, the drones d1 to d25 are arranged vertically and horizontally at predetermined intervals in an arbitrary measurement target space 19, and a three-dimensional measurement formation f9 is organized. In an organized three-dimensional measurement formation f9, the crater 20 ( It is possible to measure the three-dimensional atmospheric environment around a given target).

The drone group 10E (atmospheric environment measurement method) described based on FIG. While organizing a three-dimensional measurement formation f9 with a predetermined distance between and, three-dimensional meteorological data and air components (atmospheric environment) surrounding the crater 20 (predetermined target) in an arbitrary measurement target space 19 in the air Since it can be measured by the 1st to 25th drones d1 to d25, it is possible to measure the atmospheric environment more accurately than in the case of measuring the atmospheric environment at one point, It is possible to improve the accuracy of weather prediction and to investigate the accurate distribution of harmful substances, carbon dioxide concentration, cloud particles and ice crystal particles in the air.

The drone group 10E (atmospheric environment measurement method) described based on FIG. It is possible to measure the atmospheric environment in the microscale surrounding the crater 20 (predetermined target), as well as to measure the atmospheric environment in the mesoscale, and to measure the crater 20 in any measurement target space 19 in the air By measuring the mesoscale atmospheric environment surrounding (predetermined target), it is possible to improve the accuracy of meteorological prediction over a wide range of the measurement target space 19. Accurate distribution of concentrations, cloud particles and ice crystal particles can be investigated.

FIG. 7 is a perspective view of measurement formations f10 and f11 shown as another example. Another example of the sensing (measurement) procedure of the atmospheric environment measurement method using the drone group 10F (first to twenty-seventh drones d1 to d27) will be described below with reference to FIG. In FIG. 7, illustration of a takeoff point and a landing point is omitted. In the sensing (measurement) shown in FIG. 7, the take-off point and the landing point are the same, and each target point is a plurality of points equally spaced in the vertical and horizontal directions in the first measurement space 21a in the air. A plurality of points equally spaced in the vertical and horizontal directions in a second space 21b to be measured in the air, which is obtained by moving vertically from the first space 21a to be measured and increasing the distance between the vertical and horizontal directions. The first measurement target space 21a and the second measurement target space 21b are arranged vertically in the air.

The operator (measuring person) displays target points g1 to g27 in the first measurement space 21a in the air on the three-dimensional map displayed on the touch panel of the transmitter. The 1st to 27th target points g1 to g27) (1st to nth target points) are input to the transmitter, and the vertical and horizontal Each target point g1 to g27 in the second measurement space 21b in the air with an enlarged separation distance from the direction (first to twenty-seventh target points g1 to g27 equally spaced in the vertical direction and equally spaced in the horizontal direction) (1st to nth target points) are input to the transmitter. Furthermore, each landing point (1st to 27th landing points g1 to g27) (1st to nth landing points) is input to the transmitter on the three-dimensional map, and the flight speed (takeoff speed, movement speed, landing speed), flight time, hovering time, measurement time, etc. are input (set) to the transmitter to create a flight mission (flight plan).

For each of the first drone d1 to the twenty-seventh drone d27, the first measurement target space 21a aligned in the vertical direction in the air corresponding to the drones d1 to d27 and the separation distance in the vertical direction and the horizontal direction from the first measurement target space 21a is expanded in the second measurement space 21b (first to 27th target points g1 to g27 equally spaced in the vertical direction and equally spaced in the horizontal direction), and the landing point ( 1st to 27th landing point), flight speed (takeoff speed, movement speed, landing speed), flight time, hovering time, measurement time, etc., and create a flight mission for each of these drones d1 to d27 do. In the atmospheric environment measurement method (drone group 10F), target points g1 to g27 of the first drone d1 to the 27th drone d27 are individually set.

The created flight mission is stored (stored) in the large-capacity storage area of the transmitter in a state associated with a predetermined identifier, and then transmitted from the transmitter to the controllers of the first to twenty-seventh drones d1 to d27. . The controllers of the 1st to 27th drones d1 to d27 store (memorize) the flight missions received from the transmitter in a large-capacity storage area in a state of being associated with the identifier (individual identification number or unique identification number) of each drone. . When the measurement start button (flight start button) displayed on the touch panel is tapped, the 1st to 27th drones d1 to d27 are arranged in the vertical direction in the air, and the first measurement space 21a and the distance between the vertical direction and the horizontal direction are displayed. Automatic self-supporting flight is started toward each target point g1 to g27 in the expanded second measurement object space 21b.

1st to 27th drones d1 to d27 (1st to nth drones) are spaced vertically and horizontally in the first aerial measurement space 21a preset for each of the drones d1 to d27 from the takeoff point. The drones are caused to fly toward the separated target points g1 to g27 (first to twenty-seventh target points in the first measurement space 21a corresponding to the drones d1 to d27) (drone flight process). The 1st to 27th drones d1 to d27 (drone group 10F) are equally spaced from the takeoff point in the vertical direction and the horizontal direction in the first aerial measurement space 21a preset for each of the drones d1 to d27. They fly all at once toward each of the target points g1 to g27.

After the first to twenty-seventh drones d1 to d27 arrive at the respective target points g1 to g27 in the first measurement target space 21a through the drone flight process, the first to twenty-seventh drones d1 to d27 are moved vertically as shown in FIG. A three-dimensional measurement formation f10 is organized in the aerial first measurement object space 21a by hovering at each of the target points g1 to g27 equally spaced in the direction and the horizontal direction (measurement formation organization step). The first to twenty-seventh drones d1 to d27 (drone group 10F) arrive at the respective target points g1 to g27 in the first measurement target space 21a, and then each target point g1 to In g27, while hovering, a three-dimensional quadrangular prism-shaped measurement formation f10 is organized in the air. The first to twenty-seventh drones d1 to d27 are arranged at equal intervals in the vertical and horizontal directions at target points g1 to g27 in an arbitrary first measurement target space 21a in the air.

In the measurement formation 10f organized by the measurement formation organization step, the 1st to 27th drones d1 to d27 perform the first measurement using the weather sensor (air environment measurement sensor 14) and component measurement sensor (air environment measurement sensor 14). Meteorological data (at least one of wind direction, wind speed, temperature, humidity, atmospheric pressure) and air components (fine particulate matter, aerosol, carbon dioxide concentration, cloud particles and ice At least one of crystal particles, hazardous air pollutants, and radioactive substances) is measured (atmospheric environment measurement step). The 1st to 27th drones d1 to d27 (drone group 10F) use meteorological sensors and component measurement sensors in a three-dimensional quadrangular prism-shaped measurement formation 10f organized at equal intervals in the vertical and horizontal directions. Meteorological data (at least one of wind direction, wind speed, temperature, humidity, pressure) and air components (fine particulate matter, aerosol, carbon dioxide concentration, cloud particles and ice crystal particles, at least one of hazardous air pollutants and radioactive substances). The meteorological data and component data of each of the target points g1 to g27 measured by the meteorological sensors and component measuring sensors are transmitted from the meteorological sensors and component measuring sensors to the controllers of the first to twenty-seventh drones d1 to d27.

The controllers of the first to twenty-seventh drones d1 to d27 control the meteorological data and component data of the target points g1 to g27, the measurement time data, the target point g1 ~ g27 position data (coordinate data of target points g1 ~ g27) etc. are stored (stored) in a large capacity storage area in a state associated with the identifier of each drone d1 ~ d27, and the 1st ~ 27th drones d1 ~ d27 flight records (flight paths) of the drones d1 to d27 in association with the identifiers of the drones d1 to d27 in the large-capacity storage area. The controllers of the 1st to 27th drones d1 to d27 transmit meteorological data, component data, measurement time data, position data of target points g1 to g27 (coordinate data of target points g1 to g27), etc. to transmitters on the ground in real time. At the same time, the flight records (flight paths) of the first to twenty-seventh drones d1 to d27 are transmitted to the transmitter in real time. The transmitter receives meteorological data, component data, measurement time data, and position data (target Coordinate data of points g1 to g27) and the like are stored in a large-capacity storage area in a state associated with the identifier of each drone d1 to d27.

Next, the first to twenty-seventh drones d1 to d27 (first to n-th drones) are moved from the first measurement target space 21a to a second measurement target space 21b (first Equal intervals in the vertical and horizontal directions in a second measurement space 21b), which moves upward in the vertical direction from the measurement space 21a and expands the distance between the vertical direction and the horizontal direction more than the first measurement space 21a. Then, each of the drones d1 to d27 is flown toward the next target points g1 to g27 (first to twenty-seventh target points g1 to g27 in the second measurement space 21b corresponding to each of the drones d1 to d27) (drone flight process). The target points g1 to g27 of the second measurement space 21b are located vertically above the target points g1 to g27 of the first measurement space 21a, and are positioned above the target points g1 to g27 of the first measurement space 21a. Also, the distance between the vertical direction and the horizontal direction is enlarged. The first to twenty-seventh drones d1 to d27 (drone group 10F) move from the first measurement space 21a to the vertical and horizontal directions in a second aerial measurement space 21b preset for each of the drones d1 to d27. They fly all at once toward the next target points g1 to g27 which are equally spaced apart.

According to the drone flight process, the first to twenty-seventh drones d1 to d27 move vertically upward from the first measurement object space 21a and move vertically and horizontally above the respective target points g1 to g27 in the first measurement object space 21a. After arriving at each of the target points g1 to g27 in the next second measurement space 21b with the increased spacing, the first to twenty-seventh drones d1 to d27 are moved vertically and horizontally, etc. A three-dimensional measurement formation f11 is formed in the second space 21b to be measured in the air by hovering at each of the target points g1 to g27 spaced apart (measurement formation formation step). The first to twenty-seventh drones d1 to d27 (drone group 10F) arrive at the respective target points g1 to g27 in the second measurement target space 21b, and then the respective target points g1 to g27 are equally spaced vertically and horizontally. In g27, while hovering, a three-dimensional quadrangular prism-shaped measurement formation f11 is organized in the air. The first to twenty-seventh drones d1 to d27 are arranged at equal intervals in the vertical and horizontal directions at target points g1 to g27 in an arbitrary second measurement target space 21b in the air.

In the measurement formation f11 organized by the measurement formation organization process, the first to twenty-seventh drones d1 to d27 use weather sensors (air environment measurement sensors 14) and component measurement sensors (air environment measurement sensors 14) to perform the first measurement. Meteorological data (at least one of wind direction, wind speed, temperature, humidity, atmospheric pressure) and air components (fine particles atmospheric substances, aerosols, carbon dioxide concentration, cloud particles and ice crystal particles, harmful air pollutants, and radioactive substances) are measured (atmospheric environment measurement step). The 1st to 27th drones d1 to d27 (drone group 10F) use meteorological sensors and component measurement sensors in a three-dimensional square prism-shaped measurement formation f11 organized at equal intervals in the vertical and horizontal directions. Meteorological data (at least one of wind direction, wind speed, temperature, humidity, pressure) and air components (fine particulate matter, aerosol, carbon dioxide concentration, cloud particles and ice crystal particles, at least one of hazardous air pollutants and radioactive substances). The meteorological data and component data of each of the target points g1 to g27 measured by the meteorological sensors and component measuring sensors are transmitted from the meteorological sensors and component measuring sensors to the controllers of the first to twenty-seventh drones d1 to d27.

The controllers of the first to twenty-seventh drones d1 to d27 control the meteorological data, component data, measurement time data, target point g1 ~ g27 position data (coordinate data of target points g1 ~ g27) etc. are stored (stored) in a large capacity storage area in a state associated with the identifier of each drone d1 ~ d27, and the 1st ~ 27th drones d1 ~ d27 flight records (flight paths) of the drones d1 to d27 in association with the identifiers of the drones d1 to d27 in the large-capacity storage area. The controllers of the 1st to 27th drones d1 to d27 transmit meteorological data, component data, measurement time data, position data of target points g1 to g27 (coordinate data of target points g1 to g27), etc. to transmitters on the ground in real time. At the same time, the flight records (flight paths) of the first to twenty-seventh drones d1 to d27 are transmitted to the transmitter in real time. The transmitter receives meteorological data, component data, measurement time data, and location data (target Coordinate data of points g1 to g27) and the like are stored in a large-capacity storage area in a state associated with the identifier of each drone d1 to d27.

Meteorological data (measurement data), component data (measurement data), measurement time data, position data of target points g1 to g27, etc. of each target point g1 to g27 in the measurement target space 21a, 21b are output from the transmitter (on the display displayed, printed from a printer). The output data are used to grasp the weather conditions and the distribution of each component, and are used for forecasting the weather and the distribution of the components.

After having the first to twenty-seventh drones d1 to d27 measure the meteorological data and components of each target point g1 to g27 in the second measurement target space 21b by the atmospheric environment measurement process, the first to twenty-seventh drones d1 to d27 2 Fly from each target point g1 to g27 equally spaced in the vertical and horizontal directions of the measurement target space 21b toward each landing point, and land the first to 27th drones d1 to d27 at each landing point ( drone landing process). The first to twenty-seventh drones d1 to d27 (drone group 10F) fly from target points g1 to g27 in the second measurement space 21b toward landing points and land at the landing points.

In the measurement formations f10 and f11 shown in FIG. 7, the separation in the vertical and horizontal directions may be increased on the spot without the measurement formations moving. After the measuring formation moves vertically with increasing spacing, as shown in FIG. 4, the measuring formation can also move horizontally with increasing spacing, as shown in FIG. After the measuring formation moves horizontally with increasing spacing, as shown in FIG. 4, the measuring formation can also move vertically with increasing spacing, as shown in FIG. Furthermore, as shown in FIG. 3, it is also possible to organize measurement formations in which each target point g1-g27 is spaced differently in the vertical and horizontal directions.

In the measurement formation f10 shown in FIG. 7, the altitude of the lowest drone, the altitude of the middle drone, the altitude of the highest drone, the distance between vertically adjacent drones, and the distance between adjacent drones in the horizontal direction The distance between the drones to be detected is the same as that of the measurement formation f1 shown in FIG. In the measurement formation f11, the distance between vertically adjacent drones and the distance between horizontally adjacent drones are double those of the measurement formation f10 shown in FIG. The distance between vertically adjacent drones in the measurement formations f10 and f11 can be freely set in the range of 20m to 1000m, and the distance between the horizontally adjacent drones in the measurement formations f10 and f11 is It can be freely set in the range of 20m to 1000m.

The drone group 10F (atmospheric environment measurement method) explained based on FIG. The distance between the vertical direction and the horizontal direction is expanded more than each of the target points g1 to g27 of the first measurement space 21a and each of the target points g1 to g27 of the first measurement space 21a preset in the air Target points g1 to g27 (first to twenty-seventh target points g1 to g27) ( 1st to nth target points), and the 1st to 27th drones d1 to d27 that have arrived at the respective target points g1 to g27 are hovered at the respective target points g1 to g27 to perform an arbitrary first measurement in the air. A three-dimensional measurement formation is organized in the target space 21a and the second measurement target space 21b. ) is used to measure meteorological data and air components (atmospheric environment) at each target point g1 to g27, any different first measurement space 21a in the air and each target point g1 in the first measurement space 21a Three-dimensional measurement formations f10 and f11 in which the drones d1 to d27 are arranged at equal intervals in the vertical and horizontal directions in the second measurement target space 21b in which the spacing in the vertical direction and the horizontal direction is larger than g27. can be organized, and in the organized three-dimensional measurement formations f10 and f11, the space is equally spaced in the vertical and horizontal directions in any first measurement space 21a and second measurement space 21b in the air. Three-dimensional atmospheric environment can be measured using the drones d1 to d27 lined up.

The drone group 10F (atmospheric environment measurement method) described based on FIG. Vertical and horizontal directions in a second measurement space 21b (first measurement space to n-th measurement space) in which the distance between the vertical and horizontal directions is larger than each of the target points g1 to g27 in the measurement space 21a While organizing the three-dimensional measurement formations f10 and f11 equidistantly spaced apart, three-dimensional meteorological data and air components (atmospheric environment) in arbitrary first measurement space 21a and second measurement space 21b in the air can be measured by the 1st to 27th drones d1 to d27. It is possible to accurately measure the atmospheric environment, improve the accuracy of weather prediction, and investigate the accurate distribution of harmful substances and carbon dioxide concentrations in the air, cloud particles, and ice crystal particles.

The drone group 10F (atmospheric environment measurement method) described based on FIG. A second measurement space 21b (first measurement space to n-th measurement space) in which the vertical and horizontal distances are larger than the target points g1 to g27 of the space 21a and the first measurement space 21a. In addition to being able to measure the atmospheric environment on the microscale, it is also possible to measure the atmospheric environment on the mesoscale, and the mesoscale measurement of any different first measurement space 21a and second measurement space 21b in the air is possible. By measuring the atmospheric environment, it is possible to improve the accuracy of weather prediction over a wide range of the different first measurement space 21a and the second measurement space 21b, and the different first measurement space 21a and the second measurement space Accurate distribution conditions of harmful substances, carbon dioxide concentrations, cloud particles, and ice crystal particles over a wide area of the space 21b can be investigated.

FIG. 8 shows measurement formations f12 and f13 as another example.
1 is a perspective view of FIG. Another example of the sensing (measurement) procedure of the atmospheric environment measurement method using the drone group 10G (first to twenty-seventh drones d1 to d27) will be described below with reference to FIG. In FIG. 8, illustration of a takeoff point and a landing point is omitted. In the sensing (measurement) shown in FIG. 8, the take-off point and the landing point are the same, and each of the target points g1 to g27 is spaced equally in the vertical direction and the horizontal direction in the aerial first measurement object space 22a. points, a plurality of points equally spaced apart in the vertical and horizontal directions in the second space 22b to be measured in the air where the distance between the vertical and horizontal directions is reduced while moving in the vertical direction from the first space 22a to be measured is. The first measurement target space 22a and the second measurement target space 22b are arranged vertically in the air.

The operator (measuring person) displays target points g1 to g27 in the first measurement space 22a in the air on the three-dimensional map displayed on the touch panel of the transmitter. The 1st to 27th target points g1 to g27) (1st to nth target points) are input to the transmitter, and the vertical and horizontal Each target point g1 to g27 in the second measurement space 22b in the air with reduced distance from the direction (first to twenty-seventh target points g1 to g27 equally spaced in the vertical direction and equally spaced in the horizontal direction) (1st to nth target points) are input to the transmitter. In addition, each landing point (1st to 27th landing point) (1st to nth landing point) is input to the transmitter on the three-dimensional map, and the flight speed (takeoff speed, movement speed, landing speed), Enter (set) the flight time, hovering time, measurement time, etc. into the transmitter to create a flight mission (flight plan).

For each of the first drone d1 to the twenty-seventh drone d27, the first measurement target space 22a aligned in the vertical direction in the air corresponding to the drones d1 to d27 and the separation distance in the vertical direction and the horizontal direction from the first measurement target space 22a (1st to 27th target points g1 to g27 equally spaced in the vertical direction and equally spaced in the horizontal direction) in the reduced second measurement space 22b are input, and the landing point ( 1st to 27th landing points), flight speed (takeoff speed, movement speed, landing speed), flight time, hovering time, measurement time, etc., and create a flight mission for each drone. In the atmospheric environment measurement method (drone group 10G), target points g1 to g27 of the first drone d1 to the 27th drone d27 are individually set.

The created flight mission is stored (stored) in the large-capacity storage area of the transmitter in a state associated with a predetermined identifier, and then transmitted from the transmitter to the controllers of the first to twenty-seventh drones d1 to d27. . The controllers of the 1st to 27th drones d1 to d27 store the flight missions received from the transmitters in a large-capacity storage area while associating them with the identifiers (individual identification numbers and unique identification numbers) of the drones d1 to d27 ( Remember. When the measurement start button (flight start button) displayed on the touch panel is tapped, the 1st to 27th drones d1 to d27 line up in the vertical direction in the air, and the first measurement space 22a and the distance between the vertical direction and the horizontal direction are displayed. Automatic autonomous flight is started toward target points g1 to g27 in the enlarged second measurement object space 22b.

1st to 27th drones d1 to d27 (first to n-th drones) are spaced vertically and horizontally in the first aerial measurement space 22a preset for each of the drones d1 to d27 from the takeoff point. The drones are caused to fly toward the separated target points g1 to g27 (first to twenty-seventh target points g1 to g27 in the first measurement space 22a corresponding to the drones d1 to d27) (drone flight process). The 1st to 27th drones d1 to d27 (drone group 10G) are equally spaced from the takeoff point in the vertical direction and the horizontal direction in the first aerial measurement space 22a preset for each of the drones d1 to d27. They fly all at once toward each of the target points g1 to g27.

After the first to twenty-seventh drones d1 to d27 arrive at the respective target points g1 to g27 in the first measurement target space 22a through the drone flight process, the first to twenty-seventh drones d1 to d27 are moved vertically as shown in FIG. A three-dimensional measurement formation f12 is formed in the first space 22a to be measured in the air by hovering at each of the target points g1 to g27 equally spaced in the direction and the horizontal direction (measurement formation formation step). The first to twenty-seventh drones d1 to d27 (drone group 10G) arrive at the respective target points g1 to g27 in the first measurement target space 22a, and then each of the target points g1 to g27 are equally spaced in the vertical and horizontal directions. In g27, while hovering, a three-dimensional quadrangular prism-shaped measurement formation f12 is organized in the air. The first to twenty-seventh drones d1 to d27 are arranged at equal intervals in the vertical and horizontal directions at target points g1 to g27 in an arbitrary first measurement target space 22a in the air.

In the measurement formation f12 organized by the measurement formation organization step, the 1st to 27th drones d1 to d27 use weather sensors (air environment measurement sensors 14) and component measurement sensors (air environment measurement sensors 14) to perform the first measurement. Meteorological data (at least one of wind direction, wind speed, temperature, humidity, atmospheric pressure) and air components (fine particulate matter, aerosol, carbon dioxide concentration, cloud particles and ice At least one of crystal particles, hazardous air pollutants, and radioactive substances) is measured (atmospheric environment measurement step). The 1st to 27th drones d1 to d27 (drone group 10G) use meteorological sensors and component measurement sensors in a three-dimensional square prism-shaped measurement formation f12 organized at equal intervals in the vertical and horizontal directions. Meteorological data (at least one of wind direction, wind speed, temperature, humidity, pressure) and air components (fine particulate matter, aerosol, carbon dioxide concentration, cloud particles and ice crystal particles, at least one of hazardous air pollutants and radioactive substances). The meteorological data and component data of each of the target points g1 to g27 measured by the meteorological sensors and component measuring sensors are transmitted from the meteorological sensors and component measuring sensors to the controllers of the first to twenty-seventh drones d1 to d27.

The controllers of the 1st to 27th drones d1 to d27 control the weather data, component data, measurement time data, target point g1 ~ g27 position data (coordinate data of target points g1 ~ g27) etc. are stored (stored) in a large capacity storage area in a state associated with the identifier of each drone d1 ~ d27, and the 1st ~ 27th drones d1 ~ d27 flight records (flight paths) of the drones d1 to d27 in association with the identifiers of the drones d1 to d27 in the large-capacity storage area. The controllers of the 1st to 27th drones d1 to d27 transmit meteorological data, component data, measurement time data, position data of target points g1 to g27 (coordinate data of target points g1 to g27), etc. to transmitters on the ground in real time. At the same time, the flight records (flight paths) of the first to twenty-seventh drones d1 to d27 are transmitted to the transmitter in real time. The transmitter receives meteorological data and component data of target points g1-g27, measurement time data, and position data of target points g1-g27 in the first measurement space 22a received from the controllers of the first to twenty-seventh drones d1 to d27. (coordinate data of target points g1 to g27) and the like are stored in the large-capacity storage area in a state associated with the identifier of each drone d1 to d27.

Next, the first to twenty-seventh drones d1 to d27 (first to n-th drones) are moved from the first measurement target space 22a to a second measurement target space 22b (first Equal intervals in the vertical and horizontal directions in a second measurement space 22b) that moves upward in the vertical direction from the measurement space 22a and that is smaller in the vertical and horizontal intervals than in the first measurement space 22a. Then, each of the drones d1 to d27 is flown toward the next target points g1 to g27 (first to twenty-seventh target points g1 to g27 in the second measurement space 22b corresponding to the drones d1 to d27) (drone flight process). The target points g1 to g27 of the second measurement space 22b are located vertically above the target points g1 to g27 of the first measurement space 22a, and are positioned above the target points g1 to g27 of the first measurement space 22a. Also, the spacing between the vertical and horizontal directions is reduced. The first to twenty-seventh drones d1 to d27 (drone group 10G) move from the first measurement target space 22a to the vertical direction and the horizontal direction in the aerial second measurement target space 22b preset for each of the drones d1 to d27. They fly all at once toward the next target points g1 to g27 which are equally spaced apart.

According to the drone flight process, the first to twenty-seventh drones d1 to d27 move vertically upward from the first measurement space 22a, and move vertically and horizontally above the respective target points g1 to g27 in the first measurement space 22a. After arriving at each of the target points g1 to g27 in the next second measurement space 22b with reduced spacing, the first to twenty-seventh drones d1 to d27 are moved vertically and horizontally, etc. A three-dimensional measurement formation f13 is formed in the second space 22b to be measured in the air by hovering at each of the target points g1 to g27 spaced apart (measurement formation formation process). After the first to twenty-seventh drones d1 to d27 (drone group 10G) arrive at the target points g1 to g27 in the second measurement target space 22b, the target points g1 to g27 are equally spaced in the vertical and horizontal directions. In g27, while hovering, a three-dimensional quadrangular prism-shaped measurement formation f13 is organized in the air. The first to twenty-seventh drones d1 to d27 are arranged at equal intervals in the vertical and horizontal directions at target points g1 to g27 in an arbitrary second measurement target space 22b in the air.

In the measurement formation f13 organized by the measurement formation organization step, the first to twenty-seventh drones d1 to d27 use weather sensors (air environment measurement sensors 14) and component measurement sensors (air environment measurement sensors 14) to perform the first measurement. Meteorological data (at least one of wind direction, wind speed, temperature, humidity, atmospheric pressure) and air components (fine particles atmospheric substances, aerosols, carbon dioxide concentration, cloud particles and ice crystal particles, harmful air pollutants, and radioactive substances) are measured (atmospheric environment measurement step). The 1st to 27th drones d1 to d27 (drone group 10G) use meteorological sensors and component measurement sensors in a three-dimensional square prism-shaped measurement formation f13 organized at equal intervals in the vertical and horizontal directions. Meteorological data (at least one of wind direction, wind speed, temperature, humidity, pressure) and air components (fine particulate matter, aerosol, carbon dioxide concentration, cloud particles and ice crystal particles, at least one of hazardous air pollutants and radioactive substances). The meteorological data and component data of each of the target points g1 to g27 measured by the meteorological sensors and component measuring sensors are transmitted from the meteorological sensors and component measuring sensors to the controllers of the first to twenty-seventh drones d1 to d27.

The controllers of the first to twenty-seventh drones d1 to d27 control the meteorological data, component data, measurement time data, target point g1 Position data (coordinate data of the target point) etc. of ~g27 are stored (stored) in a large capacity storage area in a state associated with the identifier of each drone d1 ~ d27, and flight records of the 1st ~ 27th drones d1 ~ d27 (flight paths) are stored in the large-capacity storage area in association with the identifiers of the drones d1 to d27. The controllers of the 1st to 27th drones d1 to d27 transmit meteorological data, component data, measurement time data, position data of target points g1 to g27 (coordinate data of target points g1 to g27), etc. to transmitters on the ground in real time. At the same time, the flight records (flight paths) of the first to twenty-seventh drones d1 to d27 are transmitted to the transmitter in real time. The transmitter receives meteorological data, component data, measurement time data, and location data (target Coordinate data of points g1 to g27) and the like are stored in a large-capacity storage area in a state associated with the identifier of each drone d1 to d27.

Meteorological data (measurement data), component data (measurement data), measurement time data, position data of target points g1 to g27, etc. of each target point g1 to g27 in the measurement target space 22a, 22b are output from the transmitter (on the display displayed, printed from a printer). The output data are used to grasp the weather conditions and the distribution of each component, and are used for forecasting the weather and the distribution of the components.

After having the first to twenty-seventh drones d1 to d27 measure the meteorological data and components of each target point g1 to g27 in the second measurement target space 22b by the atmospheric environment measurement process, the first to twenty-seventh drones d1 to d27 2 Fly from each target point g1 to g27 equally spaced in the vertical and horizontal directions of the measurement target space 22b toward each landing point, and land the first to 27th drones d1 to d27 at each landing point ( drone landing process). The first to twenty-seventh drones d1 to d27 (drone group 10G) fly from target points g1 to g27 in the second measurement space 22b toward landing points and land at the landing points.

In the measurement formations f12 and f13 shown in FIG. 8, the vertical and horizontal separation may be reduced on the spot without the measurement formations moving. After the vertical movement of the measuring formation with decreasing spacing as shown in FIG. 4, it is also possible to move the measuring formation horizontally with decreasing spacing as shown in FIG. After the horizontal movement of the measurement formation with decreasing spacing, as shown in FIG. 4, it is also possible to move the measurement formation vertically with decreasing spacing, as shown in FIG. Furthermore, as shown in FIG. 3, it is also possible to organize measurement formations in which each target point g1-g27 is spaced differently in the vertical and horizontal directions.

In the measurement formation f12 shown in FIG. 8, the altitude of the lowest drone, the altitude of the middle drone, the altitude of the highest drone, the distance between vertically adjacent drones, The distance between the drones to be detected is the same as that of the measurement formation f1 shown in FIG. In the measurement formation f13, the distance between vertically adjacent drones and the distance between horizontally adjacent drones are 1/2 of those in the measurement formation f12. The distance between the vertically adjacent drones in the measurement formations f12 and f13 can be freely set in the range of 20m to 1000m, and the distance between the horizontally adjacent drones in the measurement formations f12 and f13 is It can be freely set in the range of 20m to 1000m.

The drone group 10G (atmospheric environment measurement method) described based on FIG. A second measurement space 22b ( Each target point g1 to g27 (1st to 27th target points g1 to g27) (1st to nth target point ), and the first to twenty-seventh drones d1 to d27 that have arrived at the respective target points g1 to g27 are hovered at the respective target points g1 to g27 to determine an arbitrary first measurement target space 22a in the air and the second measurement Three-dimensional measurement formations f12 and f13 are organized in the target space 22b, and in the organized measurement formations f12 and f13, the first to twenty-seventh drones d1 to d27 use the atmospheric environment measurement sensors 14 (air environment measurement devices). meteorological data and air components (atmospheric environment) at each of the target points g1 to g27. Organize the three-dimensional measurement formations f12 and f13 in which the drones d1 to d27 are arranged at equal intervals in the vertical and horizontal directions in the second measurement target space 22b with reduced vertical and horizontal intervals. , in their organized three-dimensional measurement formations f12, f13, those drones lined up at equal intervals vertically and horizontally in any first measurement space 22a and second measurement space 22b in the air Three-dimensional atmospheric environment can be measured using d1 to d27.

The drone group 10G (atmospheric environment measurement method) described based on FIG. Vertical and horizontal directions in a second measurement space 22b (first measurement space to n-th measurement space) in which the vertical and horizontal distances are smaller than the respective target points g1 to g27 in the measurement space 22a While organizing the three-dimensional measurement formations f12 and f13 equally spaced apart, three-dimensional meteorological data and air components (atmospheric environment) of arbitrary first measurement space 22a and second measurement space 22b in the air can be measured by the 1st to 27th drones d1 to d27. It is possible to accurately measure the atmospheric environment, improve the accuracy of weather prediction, and investigate the accurate distribution of harmful substances and carbon dioxide concentrations in the air, cloud particles, and ice crystal particles.

The drone group 10G (atmospheric environment measurement method) described based on FIG. A second measurement space 22b (first measurement space to n-th measurement space) in which the vertical and horizontal distances are smaller than the target points g1 to g27 of the space 22a and the first measurement space 22a. In addition to being able to measure the atmospheric environment on the microscale, it is also possible to measure the atmospheric environment on the mesoscale, as well as measuring the mesoscale of any different first measurement space 22a and second measurement space 22b in the air. By measuring the atmospheric environment, it is possible to improve the accuracy of weather prediction over a wide range of the different first measurement space 22a and the second measurement space 22b, and the different first measurement space 22a and the second measurement space Accurate distribution of toxic substances, carbon dioxide concentration, cloud particles and ice crystal particles over a wide area of the space 22b can be investigated.

10A drone group 10B drone group 10C drone group 10D drone group 10E drone group 10F drone group 10G drone group 11 body 12 rotor arm 13 rotor 14 atmospheric environment measurement sensor 15 space to be measured 16 space to be measured 17a to 17c first to third Space to be measured 18a-18c First to third space to be measured 19 Space to be measured 20 Crater 21a, 21b First and second space to be measured 22a, 22b First and second space to be measured d1-d27 First to 27th space Drone f1 to f13 Measurement formation g1 to g27 1st to 27th target points

Claims (14)

It is formed from a plurality of first to n-th drones that fly in the air and hover in the air equipped with a predetermined atmospheric environment measurement device,
The first to n-th drones flew from a predetermined take-off point toward each target point at predetermined intervals in the vertical direction and horizontal direction in the air set in advance for each of the drones, and arrived at each target point. and then, at each target point in the air spaced apart in the vertical direction and the horizontal direction, by hovering side by side at the same spaced distance in the vertical direction and the horizontal direction, to perform any measurement in the air. By organizing a three-dimensional square prism-shaped measurement formation in the object space, or by hovering in a state of being lined up at different intervals in the vertical direction and the horizontal direction, the object space can be three-dimensionally measured in the arbitrary aerial space. and measuring the atmospheric environment at each of the target points using the atmospheric environment measuring device in the organized three-dimensional measurement formation. It is formed from a plurality of first to n-th drones that fly in the air and hover in the air equipped with a predetermined atmospheric environment measurement device,
The first to n-th drones flew from a predetermined take-off point toward each target point at predetermined intervals in the vertical direction and horizontal direction in the air set in advance for each of the drones, and arrived at each target point. After that, it hovers in a state in which it is arranged at a predetermined interval in the vertical direction and the horizontal direction so as to surround a predetermined target at each target point in the air spaced at the predetermined interval in the vertical direction and the horizontal direction. By doing so, a three-dimensional measurement formation surrounding a predetermined target object is organized in the arbitrary space to be measured in the air, and in the organized three-dimensional measurement formation, the atmospheric environment measurement device is used to measure each of the target points. A group of drones characterized by measuring the atmospheric environment. Every time the measurement of the atmospheric environment at each target point is completed, the first to n-th drones fly to the next target point that is a predetermined distance in the vertical direction and the horizontal direction in the air. As each next target point is flown toward and each subsequent target point is reached, forming said three-dimensional measurement formation in the air while hovering at each next target point, and forming said three- dimensional measurement formation at each next target point. 3. The group of drones according to claim 1 or 2, wherein the atmospheric environment of each target point is measured using the atmospheric environment measuring device each time the group of drones is organized. After the first to n-th drones form a three-dimensional measurement formation in the air, the vertical and horizontal distances between the drones are increased to form a new three-dimensional measurement formation in the air. 4. The group of drones according to claim 1, claim 2, and claim 3, wherein the air environment is measured using the air environment measurement device in the new measurement formation with the increased spacing. After the first to n-th drones form a three-dimensional measurement formation in the air, the vertical and horizontal distances between the drones are reduced to form a new three-dimensional measurement formation in the air. 4. The group of drones according to claim 1, claim 2, or claim 3, wherein the atmospheric environment is measured using the atmospheric environment measuring device in a new measurement formation with a reduced spacing. 1 to claim 1, wherein in the measurement formation, the space between the vertically adjacent drones is in the range of 20 m to 1000 m, and the space between the horizontally adjacent drones is in the range of 20 m to 1000 m. 5. The drone group according to any one of 5. The atmospheric environment measuring device includes a meteorological data measuring device that measures at least one meteorological data of wind direction, wind speed, temperature, humidity, and atmospheric pressure; Component measurement that measures at least one of the following: carbon dioxide concentration, cloud particles and ice crystal particles in airborne air, hazardous air pollutants in airborne air, and radioactive substances in airborne air. A fleet of drones according to any one of claims 1 to 6, at least one of which is an apparatus. In the atmospheric environment measurement method for measuring the air environment by using a drone that flies in the air and hovers in the air with a predetermined air environment measurement device,
The atmospheric environment measurement method includes flying a plurality of first to n-th drones from a take-off point to respective target points at predetermined intervals in the vertical and horizontal directions in the air, which are set in advance for each of the drones. A flight step, and the first to n-th drones that have arrived at each target point by the drone flight step are hovered at each target point separated by a predetermined distance in the vertical direction and the horizontal direction, and the three-dimensional measurement is performed in the air. a measured formation organization step of organizing a formation; and said formed by said measured formation organization step.three-dimensionalIn the measurement formation, an air environment measurement step of measuring the air environment of each of the target points using the air environment measurement device by the first to n-th drones.death,
The measuring formation organization step arranges the first to nth drones at equal intervals in the vertical direction and the horizontal direction at each target point in the air spaced at a predetermined interval in the vertical direction and the horizontal direction. hovering in this state to organize a three-dimensional quadrangular prism-shaped measurement formation in the arbitrary measurement target space in the air, or the first to n-th drones are spaced at different intervals in the vertical direction and the horizontal direction. and hovering in a row to organize a three-dimensional measurement formation in an arbitrary measurement target space in the air. An atmospheric environment measuring method characterized by: In the atmospheric environment measurement method for measuring the air environment by using a drone that flies in the air and hovers in the air with a predetermined air environment measurement device,
The atmospheric environment measurement method includes flying a plurality of first to n-th drones from a take-off point to respective target points at predetermined intervals in the vertical and horizontal directions in the air, which are set in advance for each of the drones. A flight step, and the first to n-th drones that have arrived at each target point by the drone flight step are hovered at each target point separated by a predetermined distance in the vertical direction and the horizontal direction, and the three-dimensional measurement is performed in the air. In the measurement formation organization step of organizing the formation and the three-dimensional measurement formation organized by the measurement formation organization step, the first to n-th drones use the air environment measurement devices to measure the atmosphere of each target point an air environment measurement step to measure the environment ,
The first to n-th drones surround a predetermined target at each target point in the air spaced apart by a predetermined distance in the vertical direction and the horizontal direction. are aligned in the vertical direction and the horizontal direction at a predetermined interval to organize a three-dimensional measurement formation surrounding a predetermined target in an arbitrary space to be measured in the air. Air quality measurement method. In the drone flight step, each time measurement of the atmospheric environment at each target point is completed by performing the atmospheric environment measurement step, the first to n-th drones fly in the predetermined vertical direction and horizontal direction in the air. Each time the first to n-th drones arrive at the next target point by performing the drone flight step, the measurement formation organization step is performed. , the first to n-th drones are hovered at each target point spaced apart by a predetermined distance in the vertical direction and the horizontal direction to form a three-dimensional measurement formation in the air; each time the first to n-th drones arrive at each of the next target locations and organize the three-dimensional measurement formation by performing the measurement formation formation step, causing the first to n-th drones to measure the atmospheric environment; 10. The atmospheric environment measuring method according to claim 8 or 9, wherein an apparatus is used to measure the atmospheric environment at each target point. After the first to n-th drones arrive at the target point and form a three-dimensional measurement formation in the air, the measurement formation formation step separates the first to n-th drones in the vertical direction and the horizontal direction. expanding the distance to form a new three-dimensional measurement formation in the air ; and in the air environment measurement step, the first to n-th drones are used to measure the air environment in the new measurement formation with the increased distance. 11. The atmospheric environment measuring method according to claim 8, claim 9, or claim 10, wherein the apparatus is used to measure the atmospheric environment in the air. After the first to n-th drones arrive at the target point and form a three-dimensional measurement formation in the air, the measurement formation formation step separates the first to n-th drones in the vertical direction and the horizontal direction. reducing the spacing to organize a new three-dimensional measurement formation in the air , and in the atmospheric environment measurement step, the first to n-th drones are used to measure the atmospheric environment in the new measurement formation with the reduced spacing. 11. The atmospheric environment measuring method according to claim 8, claim 9, or claim 10, wherein the apparatus is used to measure the atmospheric environment in the air. In the atmospheric environment measurement method, the space between the vertically adjacent drones in the measurement formation is in the range of 20 m to 1000 m, and the space between the horizontally adjacent drones in the measurement formation is in the range of 20 m to 1000 m. 13. The atmospheric environment measuring method according to any one of claims 8 to 12, which is in the range of The atmospheric environment measuring device includes a meteorological data measuring device that measures at least one meteorological data of wind direction, wind speed, temperature, humidity, and atmospheric pressure; Component measurement that measures at least one of the following: carbon dioxide concentration, cloud particles and ice crystal particles in airborne air, hazardous air pollutants in airborne air, and radioactive substances in airborne air. 14. The atmospheric environment measuring method according to any one of claims 8 to 13, which is at least one of an apparatus.

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