KR20180031298A - The drone with the real time weather complex observation sensors such as self sensing of the direction and velocity of wind - Google Patents

Abstract

The present invention relates to a technique of observing a weather element such as atmospheric pressure, temperature, humidity, wind velocity and direction or the like according to each altitude in real time by using a weather observation complex sensor based on a multi-copter (drone) substituted for a one-time radiosonde used for observing weather and allowing reduction of costs. Specifically, since each propeller of the multi-copter is differently driven in accordance with a flight condition and a multi-copter manufacturing characteristic, it is difficult to correct turbulence (or eddy) due to rotation of propellers with data from a wind tunnel test performed by changing the wind strength. To solve this problem, if a wind velocity sensor (in a wind tunnel type) instead of a wind-velocity and direction sensor (a 3-cup and rudder rotation type-weathercock/wind gauge and an ultrasonic wave type-weathercock/wind gauge) used on the ground is applied to the inside of a long axial tube having a light weight and installed in a direction that the multi-copter progresses, it is possible to remove an effect of turbulence due to rotation of the propellers. The present invention is a method for determining the direction with the highest velocity of wind, which is measured by a wind velocity sensor (an azimuth sensor), in a type of a long axial tube having a light weight through rotation in a yawing mode of a multi-copter, as a wind direction. In addition, a drone parachute is attached to the multi-copter rising up to a height of 2,500 m or higher. In a case that the speed of the multi-copter exceeds a normal descending speed during a predetermined time period, the drone parachute is operated to reduce the descending speed. In a case that the one-time radiosonde is replaced, it is possible to measure a weather element such as atmospheric pressure, temperature, humidity, wind velocity and direction, fine dust or the like according to each altitude in real time in further lots of places (in present, domestic radiosondes perform measurement at 7 observation places two times per day) to allow local weather monitoring, prediction, and study.

Description

Technical Field [0002] The present invention relates to a drones and a weather observation system using the same,

The Korea Meteorological Administration (KMA) has recently introduced a multi-point laser design, non-contact ground surface observation system, myeongjeon celestial system, fog detector, wave observation buoy, drift buoy, X band dual polarized weather radar, Satellite meteorological data receiving system, global environmental 3D visualization system, stratospheric unmanned aerial meteorological payload, two channel fine dust meter, dust counting machine, rotary monoclays, high precision hygrometer, soil thermometer moisture meter, freezing sensor, frost dew sensor, Wireless IP rain gauge, cloud automatic observation system, MEMS multifunction device, the post-sensor, the mixed gas sensor, the onboard multifunction sensor, the USN based integrated automatic weather observation station, the greenhouse gas remote monitoring system, Vibration Monitoring System, Mobile Submarine Seismometer, Image Correction Distance Meter, Smartphone Based Weather Data It announced that it had developed the app. The stratified structure of the atmosphere consists of the troposphere and the stratosphere at an altitude of 12 to 50 km. The Korea Meteorological Administration (KMA) floods radiosonde with temperature, humidity, and air pressure sensors twice a day at seven observatories across the country, including Jeju, to determine the state of the atmosphere. The balloon, called radio-sonde, detects weather information such as air pressure, temperature, humidity, wind direction, and wind velocity in the sky and sends it to the ground. Radio sonde, about $ 300 per piece, can only be used once when it reaches 30 km above the ground, and radio-sonde falling on the ground is difficult to recover and there is concern about environmental pollution. 90% of the world radiosonde market is occupied by the Finnish company Vaisala.

The drones are collectively referred to as helicopter-shaped unmanned aerial vehicles (UAVs) that can fly and steer by induction of radio waves, and have been used in various civilian and military applications before and after the 2010s. In the case of a flying object, such as a helicopter or a drone, which generates lift by rotation of the propeller, the reaction of the propeller rotation causes the body to rotate in the opposite direction of rotation of the propeller. In the case of a single rotor helicopter, a tail rotor is required to solve this problem, but the drones are based on the principle of counteracting the reaction caused by propeller rotation by reversing the propeller rotation. That is, the drones control the rotation of each rotor propeller so that the ascending, descending, forward, backward, right, left, It is available in roll left, yaw left, and yaw right modes. The drones use a relatively small number of propellers to gain lift and adjust the lift from each propeller to advance and backward and redirect.

In recent years, meteorological observations using multi - copter (drone) have been actively carried out in the United States for the purpose of replacing disposable radiosondes at low altitude (atmospheric boundary layer) observations near the surface of the earth. In other words, real-time observation of the meteorological factors such as atmospheric pressure, temperature, humidity, wind direction, and wind velocity is needed for local weather surveillance, weather forecast, and weather study. It is also necessary to calibrate high altitude observations such as expensive weather radar, windward radar, and meteorological observation tower. It is also necessary to have an image system for detecting weather phenomena such as fog and fine dust. At present, most of the meteorological observations at the altitude are using radiosondes, but because they move upward according to the winds of the sky, continuous and accurate meteorological observations at specific altitudes (atmospheric boundary layer) are impossible for purpose observation. As a solution to this problem, a vertical takeoff and landing type UAV-based weather observation combined sensor that can save cost by replacing the one-time radiosonde that is used for meteorological observation is needed.

The present invention relates to a real-time observation method and a weather observation system for an altitude of a meteorological element such as atmospheric pressure, temperature, humidity, wind direction and wind speed using a multi-copter (drone) type small unmanned aerial observation system and a composite sensor.

Recently, drone control technology, flight design technology, material technology, and wireless communication technology have been developed. As a result, a dragon, a small flying object, is being produced. It is about 10cm in size and weighs about 50g. , It captures the image of the ground with the camera sensor attached to the propeller and sends it wirelessly, so remote control is possible while looking at the screen within the wireless reach distance, the propeller is moved through the motor, There is a possibility of being used. EDAS, a European air carrier, developed a 65 x 65 cm quadropter with four rotating blades. In addition to its own weight of 550 g, it can be equipped with various sensors and video cameras within a range of 50 g, We developed a flight capable of stopping flight in early 2000. Recently, drone technology has been rapidly developed and various kinds of drones have been commercialized. In the case of courier and logistics, stopping flight is possible even at an air speed of 12m / s and a payload of 30kg or more is being supplied. The number of propellers is up to octa-copter installed from one to eight. A multi-copter (a drone) to replace disposable radio sonde is equipped with a combined gas sensor of around 1kg and requires a flight performance of around 2,500m, operating radius of 1,000m and vertical and horizontal position accuracy of around 0.5m . In commercial drones, it takes 250 ~ 500 seconds to rise to an altitude of 2,500 m for meteorological observations and 500 to 1000 seconds to descend to the ground because the maximum rise rate is 5 ~ 10m / s and descending speed is 2 ~ 5m / Do. Power consumption is the highest for flying at maximum climb speed.

Mission equipment to be installed on a multi-copter (drones) for meteorological observation to replace disposable radio-sonde requires a combined meteorological sensor to measure air pressure, temperature, humidity, wind direction and wind speed. (WXT520) of Finland Vaisala, which occupies 90% of the world radiosonde market, has high reliability and precision, and is equipped with temperature (Accuracy ± 0.3 ℃), Humidity (Accuracy ± 0.3%), 3 °), wind velocity (resolution ± 0.3m / s), atmospheric pressure (± 0.5hPa) and rainfall (accuracy 5%) at low power. Wind direction and wind speed are measured with three ultrasonic sensors installed at the top. If the moving speed of the balloon ascending according to the wind and buoyancy can be corrected, the above-mentioned weather transmitter (combined gas sensor) can be applied to a radio zone in which the payload is relatively large. However, in order to mount on a multi-copter, in which the flight time decreases rapidly as the payload increases, the air flow correction due to the inertia speed and the propeller rotation must be basically reduced in weight.

The present invention relates to a meteorological observation method using a multi-copter (drone) based meteorological sensor capable of reducing costs by replacing the one-time radiosonde used for meteorological observation, This is about real-time observation technology by altitude. Reynolds observer is an observation technique that simultaneously performs radio-zone observations and radio-wind observations (upper wind observations). Radio wind observation is a method of determining upper wind direction and wind speed with the result of tracking an instrument using an electronic device. Reynolds stresses the pressure, temperature and humidity of the upper layer and the received signal at a frequency of 400 ~ 406MHz (at a frequency of 300 ~ 400m / min, Equation, pulse time interval equation). Ground receivers decode received signals to calculate air pressure, temperature, humidity, altitude and wind direction, wind velocity.

The weather-related mission equipments mounted on the multi-copter include a control board and wireless transceiver for processing sensor measurement data, video cameras (detecting weather phenomenon such as fog and fine dust), multi-copter operation (rising / Down flight) and real-time measurement and data transmission functions are required. It is basically concerned with the mission equipment, such as precision wind direction and velocity sensor technology, sensor low temperature operation technology, sensor optimum positioning technology through computer analysis, wind direction and wind speed sensor correction technology through computer analysis and wind tunnel test, wind direction and wind speed considering multi- Data calculation technology is needed. MICROCAPTER navigation and flight control for meteorological observations include automatic landing and autonomous flight of designated routes, night flight and fog, flight control under temporary GPS malfunction condition, safety zone set at the time of loss of specific time control signal or It will also be necessary to automatically return to the take-off point, to maintain the multi-copter attitude control function when the propeller can not be operated, and to set up a local dedicated flight area for emergency landing and safe operation. In addition to this, it is necessary to set a mission map including stop flight altitude and time according to sensor characteristics, multi-copter performance, operational weather conditions, and operational requirements.

Although the necessary conditions and techniques of the meteorological observation multi-copter are basically provided, there is a problem that complicated air flow due to rotation of a plurality of propellers occurs in the multi-copter throughout the multi-copter. Since the complicated air flow that overlaps with each propeller rotation condition occurs in a strong vortex form over and under the propeller, it is difficult to measure the wind direction and wind speed using the conventional meteorological observing composite sensor and to calculate the correction by the wind tunnel test result. Particularly, it is necessary to solve the problem that the wind speed due to the multi-copter propeller is relatively higher than that of the gas-phase wind speed. That is, instead of measuring the wind in the sky, it measures the wind generated from the propeller. In order to solve the above problem, it is proposed to install the meteorological observation complex sensor far enough away from the center of the multi-copter. However, as the meteorological observation complex sensor around 500 g is farther away, the momentum (distance x load) Copter posture and flight control become difficult. Installing a wind block on the sensor has the adverse effect of pushing the multi-copter in the gravity direction. Therefore, in order to measure the wind direction and the wind speed by installing a weather-observation complex sensor on the multi-copter, unlike the radiosonde (movement trajectory per hour) which calculates the wind direction and wind speed by measuring the moving trajectory ascending with the wind direction and wind speed, Should be resolved first.

First, the complex airflow resulting from the propeller rotation of the multi-copter should not affect the sensing area, which measures wind direction and wind speed. Depending on the flight conditions and the characteristics of the multi-copter, each propeller of the multi-copter is driven differently (as determined by the gyro sensor-based attitude control). Especially, it is difficult to measure accurately because the propeller wind speed is relatively strong in the vicinity of the air vehicle compared with the meteorological wind speed.

Second, unlike radiosonde, which calculates the wind direction and wind speed by measuring the moving trajectory ascending according to the wind direction and wind speed, when wind direction and wind speed are measured in a multi-copter by installing wind direction and wind speed sensors, The influence of the inerial velocity of the copter should be considered.

Third, in the case of a multi-copter (drones) for meteorological observation flying at a maximum operating altitude of 2,500 m, active safety measures against falling are required. This is because a terrestrial observation multi-copter weighing about 2kg at 2,500m above the ground is hit by a bad weather, a battery and a controller failure, and collides with a vehicle or a person.

The present invention has been proposed in order to solve the above-mentioned problems. 1) The wind direction is measured by combining a tubular wind speed sensor and a multi-copter yawing mode instead of an open type wind speed / The copter measures the wind speed and the direction of the wind in the stop flight state so that there is no influence of the inertia velocity of the multi-copter. 3) When attaching the drone parachute to the multi-copter and the normal descending speed exceeds the set time, So as to reduce the descending speed, thereby achieving the purpose of the weather observation by using the multi-copter.

First, according to the flight conditions and the characteristics of the multi-copter, the propellers of the multi-copter are operated differently (gyro sensor based flight attitude control), wind tunnel test data varying the wind intensity, vortex correction method is not suitable considering the repeatability and reliability of the sensor. Especially, it is difficult to measure accurately because the propeller rotating wind velocity is relatively strong in the vicinity of the aircraft (sensor installation site) compared to the gas wind velocity. If a lightweight long axis tube and an internal wind speed sensor (wind tunnel type) are applied in the direction of the multiprocoder, instead of the open type wind speed and direction sensor (3Cup and Rudder rotation type wind direction anemometer, ultrasonic type wind direction anemometer) Can be removed. The multi-copter determines the wind direction (azimuth sensor) as the wind direction by measuring the wind speed while measuring the wind speed with the lightweight long axis tube type wind speed sensor while rotating in the rotating flight mode (Yawing). The combination of lightweight long axis tube (less than 50g in diameter 20mm x 1m thin tube) and internal air velocity sensor (less than 10g in case of MEMS type) can be provided within 100g in total, thus lowering the payload of multi-copter.

Second, unlike radiosonde, which calculates the wind direction and wind speed by measuring the moving trajectory rising according to the wind direction and wind speed, when an air speed sensor is installed on the aircraft to measure wind speed during flight, ) Are calculated considering the influence. However, when the weather information such as wind direction and wind velocity is measured using a multi-copter, it is configured to measure in a stationary state. Therefore, it is not necessary to consider the inertia velocity unlike the air speed sensor of the airplane (pitot tube).

Third, in case of a multi-copter (drone) for a weather observation flying at a maximum operating altitude of 2,500 m, a drone chute is needed as an active safety measure against a fall. A multi-copter is attached to the drone parachute, and when the normal descending speed exceeds the predetermined time, the parachute is operated to reduce the multicoperator fall speed. Normal operation In the case of the multi-copter, if the descent speed is designed to 3m / s, if the descent rate is higher than the predetermined descent rate (for example, 3 seconds), it is determined that the paratroop is automatically operated. In this case, the GPS station is periodically transmitted to the ground station so that the multi-copter can be recovered even if the multi-copter goes down. In the parachute module, an acceleration sensor, a GPS receiver, and a wireless communication module for speed sensing can be independently installed and configured to operate with a multi-copter control computer.

As described above, the present invention can be applied to a meteorological observatory based on a multi-copter (drone) based meteorological sensor capable of reducing cost by replacing the one-time radiosonde used for meteorological observation, This is about the real-time observation technology of the element by elevation. In particular, it is difficult to correct turbulence (or turbulence) due to propeller rotation with wind tunnel test data, which is tested by varying the wind intensity, since the propellers of each multi-copter are driven differently depending on the flight condition and the characteristics of multi-copter production. In order to solve this problem, a wind speed sensor (wind tunnel type) is installed inside a lightweight long axis tube which is installed in the direction of the multi-copter in place of the open type wind speed and direction sensor (3Cup and Rudder rotation type wind direction and anemometer, ultrasonic type wind direction and anemometer) If applied, turbulence effects due to propeller rotation can be eliminated. The present invention is a method for determining the direction (azimuth sensor) having the highest wind speed to be measured by the lightweight long-axis tube type wind speed sensor as the wind direction while rotating by the rotating mode (Yawing) of the multi-copter. In addition, a multi-copter that rises more than 2,500 meters is attached to a drone parachute, and when the normal descending speed exceeds the predetermined time, the parachute is operated to reduce the descending speed. Through this, the following effects are expected.

First, we use real-time observations of meteorological factors such as air pressure, temperature, humidity, wind direction, and wind velocity using multi-copter (drones) based meteorological observing composite sensors to measure the wind velocity and wind direction, You can replace radio-sonde.

Second, by applying the method of determining the direction (azimuth sensor) having the highest wind velocity measured by the lightweight long axis tube type wind speed sensor as the wind direction while rotating in the multi-copter rotation mode (Yawing) in the stopped flight state, The weight of the sensor can be reduced.

Third, a multi-copter is equipped with a parachute, and when a normal descending speed exceeds a predetermined time, the parachute is operated. In the case of a multi-copter (drone) for meteorological observation flying at a maximum operating altitude of 2,500 m, Provide safety measures.

Fourth, current discovery of meteorological observations using disposable radiosondes can solve the problem that the observations can not be continuously performed at a specific altitude for the purpose of observation because it moves upward with the wind of the sky.

Fifth, when the one-time radio-sonde is replaced, more regions (currently domestic radio-sonde) are used for local weather surveillance, weather forecasting, weather forecasting, temperature, humidity, wind direction, wind speed, And two times a day at 7 stations).

Fig. 1 is a block diagram of a disposable radio zone for weather observation.
Figure 2 is a schematic diagram of a high-rise observatory Otosonde with remote control and automatic reconnaissance of the radiosonde in Finland.
The third figure is a 3 cup (CUP) type and an ultrasonic type wind direction and anemometer image.
Figure 4 is an image of a meteorological observation composite sensor with a weight of 650g, which simultaneously measures the temperature, humidity, wind direction, wind speed, rainfall, and air pressure of the Finnish Vaisala Company.
FIG. 5 is an image view of the air flow around the multi-copter (three and four propellers) as the propeller rotates.
FIG. 6 is an outline view of a multi-copter for meteorological observations in which the wind speed and the wind direction are measured using the multi-copter rotation yawing of the present invention.
FIG. 7 is a schematic view of a multi-copter for meteorological observations in which the wind speed and the wind direction are measured using the rotation flight of the multi-copter of the present invention.
FIG. 8 is a flow chart of the wind direction and the wind speed according to the rotation of the wind speed measuring tube about the Yaw axis of the multi-copter or gimbal of the present invention.

The present invention relates to a meteorological observation apparatus for monitoring meteorological elements such as atmospheric pressure, temperature, humidity, wind direction, wind speed and the like using a multi-copter (dron) -based meteorological observation composite sensor capable of reducing costs by replacing the disposable radiosonde used for meteorological observation This is about real-time observation technology by altitude. In a multi-copter, a complex air flow due to the rotation of a plurality of propellers occurs throughout the multi-copter. Since the complicated air flow generated by the propeller rotation characteristics occurs in the form of turbulent flow and eddy current over the upper and lower parts, it is difficult to measure the wind direction and the wind speed using the conventional meteorological observation composite sensor, . Particularly, it is necessary to solve the problem that the wind speed due to the multi-copter propeller is relatively higher than that of the gas-phase wind speed. The present invention has been proposed in order to solve the above-mentioned problems. 1) The wind speed and direction are measured by combining a tubular wind speed sensor and a multi-copter yawing mode instead of an open type wind speed / In order to avoid the influence of the inertial velocity of the multi-copter by measuring the wind speed and direction in the stopping flight state of the multi-copter, 3) attaching a drone parachute to the multi-copter, By operating the parachute, the fall speed is reduced so as to achieve the purpose of the meteorological observation using a multi-copter.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary terms, and the inventor should appropriately interpret the concept of the term appropriately in order to describe its own invention in the best way. The present invention should be construed in accordance with the meaning and concept consistent with the technical idea of the present invention.

Therefore, the embodiments described in this specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention and do not represent all the technical ideas of the present invention. Therefore, It is to be understood that equivalents and modifications are possible.

Fig. 1 is a block diagram of a disposable radio zone for weather observation. The Korea Meteorological Administration (KMA) floods Radiosonde with weather observation sensors twice a day at seven observatories across the country, including Jeju Island, to determine the atmospheric conditions. The balloon, called radio-sonde, detects weather information such as air pressure, temperature, humidity, wind direction, and wind velocity in the sky and sends it to the ground. The wind direction and the wind speed are calculated by tracking the radio locus moving locus (GPS). Figure 2 is a schematic diagram of a high-rise observatory Otosonde with remote control and automatic reconnaissance of the radiosonde in Finland. The third figure is a 3 cup (CUP) type and an ultrasonic type wind direction and anemometer image. 3 cup (CUP) type wind direction and anemometer measures wind direction and speed in real time through rotation of 3 cup (CUP) and rudder, and ultrasonic type measures wind direction and wind speed by using ultrasonic principle . Figure 4 is an image of a meteorological observation composite sensor with a weight of 650g, which simultaneously measures the temperature, humidity, wind direction, wind speed, rainfall, and air pressure of the Finland Vaisala Company. It was made for use on the ground and ship, but the weight of similar products was lighter than 1 ~ 2kg.

FIG. 5 is an image view of the air flow around the multi-copter (three or four propellers) as the propeller rotates. Generally, in the Pitot tube installed on an aircraft, wind direction and wind speed sensor design through computational analysis and wind tunnel test, and wind direction and wind speed data correction technique considering the inertial velocity are applied. However, as shown in the figure, the multi-copter has a complicated air flow caused by the rotation of a plurality of propellers throughout the multi-copter. In other words, the complicated air flow generated according to each propeller rotation condition occurs in a turbulent / vortical form over and under. Therefore, unlike an airplane, it is difficult to calibrate the wind direction test data with the wind direction test data There are many. In order to solve the above problem, it is possible to propose a method of installing the meteorological observation composite sensor far enough away from the center of the multi-copter. However, the momentum (distance x load) Copter posture and flight control become difficult.

FIG. 6 is an outline view of a multi-copter for meteorological observations, which measures the wind speed and direction using the rotating flight of the multi-copter of the present invention. As the propeller of each multi-copter is driven differently (gyro-sensor-based flight attitude control) according to flight conditions and multi-copter production characteristics, wind tunnel test data to test wind tur- bines vary, This method is not suitable considering the repeatability and reliability of the sensor. Especially, it is more difficult to measure accurately because the propeller rotating wind speed is relatively strong in the vicinity of the air vehicle (sensor installation place), compared with the gas wind speed. If an airflow sensor (wind tunnel type) is applied inside a lightweight long axis tube in the direction of multi-copter, instead of the open type wind speed and direction sensor (3 Cup and Rudder rotation type wind direction anemometer, ultrasonic type wind direction and anemometer) used on the ground, Turbulence / vortex effects can be eliminated. The wind direction is determined by the lightest long axis tube type wind speed sensor while rotating with the multi-copter's rotating flight mode (yawing) and the direction of the highest wind speed (azimuth sensor) as the wind direction. The combination of a lightweight long axis tube (within 20mm diameter x 1m thin tube 50g) and an internal air velocity sensor (within 10g in case of MEMS type) can be provided within 100g, which also reduces the payload of the multi-copter. Unlike radiosondes (movement trajectories per hour), which measures the wind direction and wind speed by measuring the moving trajectory rising according to the wind direction and wind speed, it is configured to measure in the stop flying state when measuring weather information such as wind direction and wind speed using multi- Unlike the airplane's pitot tube, there is no need to consider inertia speed. That is, in the multi-copter equipped with the meteorological measurement sensor, a multi-copter having a function of controlling the rotation of each propeller 2 by a plurality of propeller drive motors 6 and flying or stopping to a desired position (including hovering) One); A position sensor (3) comprising a satellite coordinate receiver for controlling the flight path and attitude of the drone or an inertial sensor or an altitude sensor; Multi-copter (1) Propeller (2) Wind speed measuring tube (5) and internal wind speed measuring sensor (7) installed in the area without turbulence / vortex caused by rotation; Means for finding an azimuth angle (output of the azimuth sensor) at which the wind speed of the wind speed measuring sensor 7 is the maximum while moving (or rotating) the wind speed measuring pipe 5; A weather sensor (4) for measuring temperature, air pressure, altitude and humidity; Optionally, a camera sensor (8) means for observing the conditions of the sky and the ground; Alternatively, it may be constituted by a drone chute 9 which operates when the descending speed of the multi-copter 1 is abnormal. That is, the present invention relates to a method for measuring the wind speed while measuring the wind speed while rotating and moving the wind speed measuring pipe 5, and for measuring the wind direction by finding the direction of the maximum wind speed, and a multi-copter for meteorological measurement. In this case, a plurality of wind speed measurement tubes 5 are installed at different angles in a multi-copter (1) region where no turbulence is caused by rotation of the propeller (2), wind speeds at various angles are simultaneously set, The wind speed measuring pipe 5 can be moved in a strong direction to find the wind direction. Multi-copter (1) Propeller (2) The wind speed measuring pipe (5) installed in the area free from turbulence caused by rotation is fixed to the Yaw axis of the multi-copter (1). In this case, the multi-copter 1 can be realized by a method of rotating the multi-copter 1 by Yaw operation by means of moving the wind speed measuring pipe 5. The multi-copter is equipped with a gimbal at the bottom to control the camera in the desired direction. Instead of fixing the wind speed measuring tube 5 to the body of the multi-copter 1, it is possible to measure the wind direction precisely (the accuracy of the Osmo gimbal vibration control of the Chinese DJI company is ± 0.3 °). That is, the wind speed measuring pipe 5 installed in an area free from the turbulence caused by rotation of the multi-copter 1 propeller 2 is configured to be fixed to a gimbal attached to the multi-copter 1, The wind direction and the wind speed are measured by the control. In this case, the gimbals are controlled to rotate around the Yaw axis of the multi-copter 1 by means of moving the wind speed measuring pipe 5. In such a case, in the means for finding the azimuth angle at which the wind speed of the wind speed measuring sensor 7 is maximum while rotating the wind speed measuring tube 5 around the yaw axis of the multi-copter 1 in one step, The maximum azimuth angle is the wind direction at that location and elevation; The maximum wind speed is determined by the wind speed at that location and altitude. The azimuth angle corresponding to the maximum wind speed is the wind direction at the corresponding position and altitude; The speed of the wind speed measuring sensor 7 is increased by moving the wind speed measuring pipe 5 up and down around the multi-copter 1 or the pitch axis of the gimbals in the second stage after the maximum wind speed is determined by the wind speed at the corresponding position and altitude. It is possible to determine the three-dimensional wind direction and the corresponding wind speed by means of finding a pitch angle which is the maximum wind speed. In other words, it is possible to find the three-dimensional direction of the wind considering the vertical direction rather than the two-dimensional direction. Multi-copter (1) Propeller (2) A weather measurement sensor (4) for measuring temperature, air pressure and humidity can be installed on a wind speed measurement pipe (5) installed in an area free from turbulence caused by rotation. Alternatively, an azimuth sensor may be installed on a wind speed measuring pipe 5 installed in an area free from the influence of turbulence caused by rotation of the multi-copter (1) propeller (2), so that the wind direction can be accurately measured.

       When a multi-copter makes a stop flight to a given azimuth angle, the propeller's rotation characteristics must be controlled differently depending on the payload and wind. In the absence of wind (in an indoor environment), each propeller motor is normally controlled, but if the wind is blowing, the propeller motor must be controlled differently to win the wind. By using these characteristics in reverse, the wind speed and wind speed can be measured, though the accuracy is low. That is, in the multi-copter equipped with the meteorological measurement sensor, a multi-copter having a function of controlling the rotation of each propeller 2 by a plurality of propeller drive motors 6 and flying or stopping to a desired position (including hovering) One); A position measuring sensor (3) for controlling the flight path and attitude of the drones; And a means for inversely calculating the wind direction and the wind speed by the rotation control value of each propeller for maintaining the stop flight at a specific azimuth angle. As a result, wind direction and wind speed can be measured by the propeller rotation control value of each multi-copter.

In case of a multi-copter (drone) for meteorological observation flying at a maximum operating altitude of 2,500 m, active safety measures against falling are necessary. This is due to the occurrence of large-scale disasters in the case of a weather-observing multi-copter at 2,500m above the ground and weighing about 2kg, which can be caused by a bad weather, battery or control device failure, collision with vehicles or people. Means for determining that the multi-copter (1) is in an inoperable state when the multi-copter (1) is out of the normal descending speed for a predetermined period of time or longer; The drone chute 9 is operated to unfold the parachute so as to lower the fall speed. It is possible to wirelessly transmit the coordinate value of the satellite measurement sensor 3 to the ground control computer wirelessly so that the multi-copter can be recovered when the multi-copter reaches the ground .

FIG. 7 is a schematic view of a multi-copter for meteorological observations in which the wind speed and the wind direction are measured using the rotation flight of the multi-copter of the present invention. That is, in a multi-copter equipped with a gas-phase measurement sensor, a multi-copter having a function of controlling the rotation of each propeller by a plurality of propeller driving motors to fly or stop (including hovering) to a desired position; A satellite coordinate receiver and inertial sensor (19) means and a flight control computer (10) means for controlling the flight path and attitude of the drones; Means for maintaining a stop flight state when the position and altitude of the weather measurement are reached; Means for reading the position information of the wind speed measurement sensor (13) with the satellite coordinate receiver and the inertial sensor (19) and the azimuth sensor (20); Means for reading temperature, humidity, and weather information measurement values of the air pressure sensor 15; Means for determining the wind direction by rotating the wind speed measurement sensor (13) in the wind speed measurement tube installed on the multi-copter or the gimbal by a Yaw axis; (12) for transmitting the position information (coordinates, altitude, and orientation) of the multi-copter and the measured weather information (temperature, humidity, air pressure, wind velocity, wind direction) to the ground control and weather information analysis computer ); Optionally, a camera sensor 11 means for observing the conditions of the air and ground (for example, fine dust, mist); Alternatively, it may be constituted by a drone chute actuating device 16 and a parachute 17 which operate when the descending speed of the multi-copter 1 is abnormal. In this case, even when the flight control computer 10 is in an inoperable state, the drone descending speed detecting device 18 including the satellite coordinate receiver or the inertial sensor that operates independently can detect an abnormality in the descending speed of the multi- A drones chute actuating device 16 and a parachute 17 which are operated when they are present.

FIG. 8 is a program flow chart for measuring the wind direction and wind speed according to the rotation of the wind speed measuring tube around the Yaw axis of the multi-copter or the gimbals of the present invention. That is, in a multi-copter equipped with a meteorological sensor, measuring satellite coordinates and altitude; A step of stopping flight at a position where the meteorological measurement is to be performed; Rotating the wind speed measuring tube fixed to the multi-copter or the gimbal about the yaw axis of the multi-copter or the gimbal; Measuring the wind speed in the wind speed measuring pipe; Measuring an azimuth angle; Storing the wind speed for each azimuth angle; Determining whether the wind speed measuring tube has rotated 360 revolutions about the yaw axis of the multi-copter; Determining a corresponding azimuth angle at which the wind speed is the maximum at a corresponding position and a wind direction at an altitude; And determining the maximum wind speed at the corresponding position and the wind speed at the altitude.

As described above, when the technology capable of measuring weather information, especially the wind velocity and the wind direction, is implemented in the multi-copter, it is possible to reduce the expenditure (disadvantage of KRW 2 billion or more per year for the Korea Meteorological Administration) / Aerial radiosonde is measured twice a day in seven locations), and can be applied to meteorological data collection for local weather monitoring and forecasting by measuring weather information at altitude. It can be utilized as a research data on minimization of disaster damage and the atmospheric state of the air in each area by securing real-time data for observation, monitoring and forecast of meteorological phenomena in inaccessible areas due to dangerous weather and disasters.

1: Multi-copter 2: Propeller
3: Position measurement sensor 4: Weather measurement sensor
5: Velocity measurement tube 6: Motor
7: wind speed sensor 8: camera sensor
9: Drones Parachute 10: Flight Control Computer
11: camera sensor 12: wireless communication means
13: Wind speed measurement sensor 14: Steering and weather information analysis computer
15: Temperature, humidity, air pressure sensor 16: Drones Parachute actuating device
17: Parachute 18: Drone descent rate sensing device
19: satellite coordinate receiver and inertial sensor 20: azimuth sensor

Claims (16)

In a multi-copter equipped with a meteorological sensor,
A multi-copter (1) having a function of controlling the rotation of each propeller (2) by a plurality of propeller drive motors (6) to fly or stop to a desired position (including hovering);
A position measuring sensor (3) for controlling the flight path and attitude of the drones;
Multi-copter (1) Propeller (2) Wind speed measurement tube (5) and internal wind speed measurement sensor (7) installed in a region free from turbulence caused by rotation;
Means for finding an azimuth angle (azimuth sensor output) at which the wind speed of the wind speed measuring sensor 7 is the maximum while moving (or rotating) the wind speed measuring pipe 5;
Meteorological sensors measuring temperature, pressure, altitude, humidity (4)
Optionally, a camera sensor (8) means for observing the conditions of the sky and the ground;
And a drone chute 9 for operating when the descending speed of the multi-copter 1 is abnormal. The multi-copter for measuring a wind direction and the wind speed and the wind velocity and wind direction measurement Way
The method according to claim 1,
Multi-copter (1) Propeller (2) A plurality of wind speed measurement tubes (5) installed at different angles are installed in an area free from turbulence caused by rotation,
By installing winds at different angles simultaneously
And the wind speed measuring pipe (5) is moved in the direction of strong wind speed to detect the wind direction. The multi-copter and the wind speed and wind direction measuring method for measuring the wind direction and the wind speed
The method according to claim 1,
Multi-copter (1) Propeller (2) Wind speed measurement tube (5) installed in a region free from turbulence caused by rotation
A multi-copter and a wind speed / wind direction measurement method for measuring a wind direction and a wind speed by a wind speed measuring pipe movement, characterized by being installed toward a Yaw axis of a multi-copter (1)
The method of claim 3,
As means for moving the wind speed measuring pipe 5
A multi-copter yaw rotation that features a multi-copter (1) and a yaw rotation propeller, and a multi-copter and a wind speed and wind direction measurement method for measuring wind direction and wind velocity
The method according to claim 1,
Multi-copter (1) Propeller (2) Wind speed measurement tube (5) installed in a region free from turbulence caused by rotation
A multi-copter for measuring a wind direction and a wind velocity by means of a gimbal posture control which is fixed to a gimbal attached to a multi-copter (1)
6. The method of claim 5,
As means for moving the wind speed measuring pipe 5
Wherein the gimbals are controlled so as to rotate around a Yaw axis of the multi-copter (1), and a multi-copter and a wind velocity / wind direction measurement method for measuring a wind direction and a wind speed
The method according to claim 1,
Means for finding the azimuth angle at which the wind speed of the wind speed measuring sensor 7 is the maximum while rotating the wind speed measuring tube 5 around the Yaw axis of the multi-
The azimuth angle corresponding to the maximum wind speed is the wind direction at the corresponding position and altitude;
A method for measuring a wind speed and a wind speed by measuring a wind speed and a wind speed by measuring the wind speed at a predetermined position and an altitude
8. The method of claim 7,
The azimuth angle corresponding to the maximum wind speed is the wind direction at the corresponding position and altitude;
After the maximum wind speed is determined by the wind speed at that location and altitude
Means for finding a PITCH angle at which the wind speed of the wind speed measuring sensor 7 is the maximum while moving the wind speed measuring pipe 5 up and down about the multi-copter 1 or the pitch axis of the gimbals
And a wind velocity measurement method characterized by determining a three-dimensional wind direction and a corresponding wind velocity by a corresponding pitch angle. The multi-copter and the wind speed and wind direction measurement method for measuring the wind direction and the wind speed by the pitch direction movement method
The method according to claim 1,
Multi-copter (1) Propeller (2) Turbulence on the turbulence caused by the rotation.
(4) for measuring temperature, air pressure, and humidity is installed on the surface of the housing. The multi-copter and the wind velocity / direction measurement method for measuring the weather and wind speed
The method according to claim 1,
Multi-copter (1) Propeller (2) Turbulence on the turbulence caused by the rotation.
And an azimuth sensor is installed. The multi-copter and the wind velocity and wind direction measurement method for measuring the wind direction and the wind speed by the movement of the wind speed measurement pipe
The method according to claim 1,
If the multi-copter (1) continues beyond the normal descent speed for more than the specified time
Means for determining that the multi-copter (1) is in an inoperable state;
(9) is operated to lower the descent speed of the parachute. The multi-copter and the wind speed and wind direction measurement method for measuring the wind direction and the wind speed by the movement of the wind speed measuring pipe
12. The method of claim 11,
The drones 9 are operated to lower the descent speed by unfolding the parachute
The coordinate value of the satellite measurement sensor (3) is periodically transmitted to a ground control computer by radio, and is recovered when the ground is reached. The multi-copter for measuring a wind direction and the wind speed How to measure wind velocity and wind direction
In a multi-copter equipped with a meteorological sensor,
A multi-copter (1) having a function of controlling the rotation of each propeller (2) by a plurality of propeller drive motors (6) to fly or stop to a desired position (including hovering);
A position measuring sensor (3) for controlling the flight path and attitude of the drones;
And a means for inversely multiplying the wind direction and the wind speed by each propeller rotation control value for maintaining the stop flight at a specific azimuth angle. The multi-copter propeller rotation control value is a multi-copter for weather measurement and a wind speed · Wind direction measurement method
In a multi-copter equipped with a meteorological sensor,
A multi-copter having a function of controlling the rotation of each propeller by a plurality of propeller drive motors to fly or stop (including hovering) to a desired position;
A satellite coordinate receiver and inertial sensor (19) means and a flight control computer (10) means for controlling the flight path and attitude of the drones;
Means for maintaining a stop flight state when the position and altitude of the weather measurement are reached;
Means for reading the position information of the wind speed measurement sensor (13) with the satellite coordinate receiver and the inertial sensor (19) and the azimuth sensor (20);
Means for reading temperature, humidity, and weather information measurement values of the air pressure sensor 15;
Means for determining the wind direction by rotating the wind speed measurement sensor (13) in the wind speed measurement tube installed on the multi-copter or the gimbal by a Yaw axis;
(12) for transmitting the position information (coordinates, altitude, and orientation) of the multi-copter and the measured weather information (temperature, humidity, air pressure, wind velocity, wind direction) to the ground control and weather information analysis computer );
Optionally, a camera sensor 11 means for observing the conditions of the air and ground (for example, fine dust, mist);
Alternatively, a droplet chute actuating device (16) and a parachute (17) that operate when there is an abnormality in the descending speed of the multi-copter (1). The wind speed measurement sensor measures the wind speed and wind speed Multicopter and measuring method
15. The method of claim 14,
When the flight control computer 10 is in an inoperable state
The independently operating drone descending speed sensing device 18
And a parachute operation unit (16) for operating when a descending speed of the multi-copter (1) is abnormal. The multi-copter (1) for measuring a wind direction and the wind speed And measurement method
In a multi-copter equipped with a meteorological sensor,
Measuring satellite coordinates and altitude;
A step of stopping flight at a position where the meteorological measurement is to be performed;
Rotating the wind speed measuring tube fixed to the multi-copter or the gimbal about the yaw axis of the multi-copter or the gimbal;
Measuring the azimuth angle and measuring the wind speed in the wind speed measurement pipe;
Storing the wind speed for each azimuth angle;
Determining whether the wind speed measuring tube has rotated 360 revolutions about the yaw axis of the multi-copter;
Determining a corresponding azimuth angle at which the wind speed is the maximum at the position and the wind direction at the altitude;
A method for measuring the wind direction and wind speed by measuring a wind speed in a multi-copter, characterized in that the maximum wind speed is determined by the wind speed at the corresponding position and altitude

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