WO2021009826A1 - 環境情報分析方法 - Google Patents

環境情報分析方法 Download PDF

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Publication number
WO2021009826A1
WO2021009826A1 PCT/JP2019/027843 JP2019027843W WO2021009826A1 WO 2021009826 A1 WO2021009826 A1 WO 2021009826A1 JP 2019027843 W JP2019027843 W JP 2019027843W WO 2021009826 A1 WO2021009826 A1 WO 2021009826A1
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WO
WIPO (PCT)
Prior art keywords
environmental information
analysis method
information
flying object
information analysis
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2019/027843
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English (en)
French (fr)
Japanese (ja)
Inventor
鈴木陽一
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Aeronext Inc
Original Assignee
Aeronext Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Aeronext Inc filed Critical Aeronext Inc
Priority to PCT/JP2019/027843 priority Critical patent/WO2021009826A1/ja
Priority to JP2019547527A priority patent/JP7368840B2/ja
Publication of WO2021009826A1 publication Critical patent/WO2021009826A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/70—Constructional aspects of the UAV body
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports

Definitions

  • the present invention relates to an environmental information analysis method capable of generating environmental information around an air vehicle.
  • Patent Document 1 discloses a delivery system using an air vehicle (see, for example, Patent Document 1).
  • an object of the present invention is to acquire environmental information around the flying object with a simple configuration.
  • a sensor information acquisition step of acquiring sensor information from an air vehicle provided with a sensor unit and A state analysis step that analyzes state information regarding the state around the flying object based on the sensor information, and An environmental information generation step that generates environmental information around the flying object based on the analysis result, and An environmental information analysis method can be obtained.
  • an environmental information analysis method for analyzing environmental information of an air vehicle using an air vehicle including a control unit.
  • the control unit causes the flying object to return from the second state to the first state when an action of transitioning from the first state to the second state acts on the flying object. It has a function to control return, The step of acquiring the return information related to the return control and Including a step of analyzing environmental information around the flying object based on the return information.
  • An environmental information analysis method can be obtained.
  • an environmental information analysis method capable of acquiring environmental information around an air vehicle with a simple configuration.
  • the system block diagram of the environmental information analysis system which concerns on 1st Embodiment of this invention A perspective view showing the configuration of an air vehicle. Side view showing the attitude change of the flying object. Top view showing the composition of the flying object.
  • the system block diagram of the environmental information analysis system which concerns on the 2nd Embodiment of this invention The plan view which shows an example of the state transition of an air vehicle. It is an idea diagram of an anemometer using the attitude control function of an air vehicle.
  • the environmental information analysis method has the following configurations.
  • [Item 1] A sensor information acquisition step to acquire sensor information from an air vehicle equipped with a sensor unit, A state analysis step that analyzes state information regarding the state around the flying object based on the sensor information, and An environmental information generation step that generates environmental information around the flying object based on the analysis result, and Environmental information analysis method.
  • [Item 2] The environmental information analysis method described in item 1.
  • the flying object has a plurality of propellers and a motor for rotating the plurality of propellers.
  • the sensor information includes at least the rotation speed of the motor.
  • Environmental information analysis method [Item 3] The environmental information analysis method described in item 2.
  • the air vehicle has a plurality of independent motors and has a plurality of independent motors.
  • the sensor information includes the rotation speed of each motor.
  • Environmental information analysis method. [Item 4] The environmental information analysis method according to any one of items 1 to 3.
  • the flying object has a plurality of propellers, a motor for rotating the plurality of propellers, and a motor load detecting unit for detecting the load of the motors.
  • the state information includes the load of the motor.
  • Environmental information analysis method [Item 5] The environmental information analysis method according to any one of items 1 to 4.
  • the airframe has a tilt information detection unit that detects the tilt of the aircraft.
  • the state information includes the inclination of the aircraft.
  • Environmental information analysis method. [Item 6] The environmental information analysis method according to any one of items 1 to 5.
  • the flying object has a flight altitude detecting unit that detects the flight altitude of the flying object.
  • the state information includes the flight altitude of the aircraft.
  • Environmental information analysis method. [Item 7] The environmental information analysis method according to any one of items 1 to 6.
  • the environmental information includes at least wind speed and direction.
  • Environmental information analysis method. [Item 8] The environmental information analysis method according to any one of items 1 to 7.
  • sensor information acquisition step sensor information from a plurality of flying objects is acquired.
  • Environmental information analysis method. It is an environmental information analysis method that analyzes the environmental information of the air vehicle using the air vehicle equipped with the control unit.
  • the control unit causes the flying object to return from the second state to the first state when an action of transitioning from the first state to the second state acts on the flying object. It has a function to control return, The step of acquiring the return information related to the return control and Including a step of analyzing environmental information around the flying object based on the return information.
  • Front-back direction + Y direction and -Y direction
  • Vertical direction or vertical direction
  • Left-right direction or horizontal direction
  • Travel direction forward
  • Backward direction (rear)
  • Ascending direction upward
  • Downward direction (downward): -Z direction
  • FIG. 1 is a diagram showing a system configuration of the environmental information analysis system 100 according to the present embodiment.
  • FIG. 2 is a perspective view showing the configuration of the flying object 10. The case where the environmental information analysis system 100 is applied to physical distribution will be described below.
  • the environmental information analysis system 100 enables a self-sustaining flight body 10 and a server 30 capable of carrying a luggage L to be connected via a network or a wireless LAN (including a mobile communication network). It is connected.
  • the above-mentioned flying object 10 generally has the following configuration.
  • the flight body 10 includes a flight controller 11, propellers 12A to 12D, motors 13A to 13D, arms 14A to 14D, and the like.
  • the flight controller 11 can have a programmable processor (eg, a central processing unit (CPU)) and the like, and also has a memory for storing logic code and program instructions that the flight controller 11 can execute. You may.
  • a programmable processor eg, a central processing unit (CPU)
  • CPU central processing unit
  • the memory may include, for example, a separable medium such as an SD card or an external storage device.
  • the data acquired from the cameras and sensors may be directly transmitted and stored in the memory. For example, still image / moving image data taken by a camera or the like is recorded in a built-in storage device or an external storage device.
  • the sensors in the flight controller 11 may include an inertial sensor (acceleration sensor, gyro sensor, etc.), GPS sensor, geomagnetic sensor, proximity sensor (eg, LIDAR), altitude sensor, or vision sensor (eg, camera).
  • Thrust generators and thrust control devices such as motors 13A to 13D, ESC (Electronic Speed Controller), and propellers 12A to 12D receive signals from the flight controller 11 and the transmitter / receiver to realize a desired flight.
  • ESC Electronic Speed Controller
  • propellers 12A to 12D receive signals from the flight controller 11 and the transmitter / receiver to realize a desired flight.
  • the thrust generator a gasoline engine or the like may be used in addition to the electric motor.
  • the propellers 12A to 12D of the present invention have elongated blades. Any number of blades (rotors) (eg, 1, 2, 3, 4, or more) may be used. Further, the shape of the blade can be any shape such as a flat shape, a bent shape, a twisted shape, a tapered shape, or a combination thereof.
  • the motors 13A to 13D cause the propellers 12A to 12D to rotate.
  • the blades are driveable by motors 13A-13D and rotate clockwise and / or counterclockwise around the axis of rotation (eg, major axis) of motors 13A-13D.
  • the aircraft body 10 has arms 14A to 14D that support the corresponding motors 13A to 13D and propellers 12A to 12D.
  • the arms 14A to 14D may be provided with a color-developing body such as an LED in order to indicate the flight state, flight direction, etc. of the flying object 10.
  • the arms 14A to 14D according to the present embodiment can be formed of carbon, stainless steel, aluminum, magnesium or the like, or a material appropriately selected from alloys or combinations thereof.
  • the flying object 10 may be provided with a mounting portion, if necessary.
  • the mounting unit is a mechanism for mounting and holding an object to be mounted (camera, luggage holding unit, work tool, etc.).
  • the mounting portion may be configured to always hold the mounting portion in a predetermined direction (for example, in the horizontal direction (vertically downward direction)) so that the position and orientation of the mounting object can be maintained.
  • the aircraft body 10 includes an energy source such as a battery. Not limited to electric energy, chemical energy such as gasoline and an energy conversion module may be provided. Further, for example, a power storage module by non-contact power supply such as wireless power transmission may be provided.
  • the flying object 10 may have a sensor and an operating mechanism provided for purposes not directly involved in the realization of flight, such as aerial photography and radio wave relay.
  • a camera sensor, a temperature sensor, a gimbal mechanism, a property dropping mechanism, and the like can be mentioned, and are not limited to these depending on the mission of the flying object 10.
  • the server 30 described above generally has the following configuration.
  • the server 30 has a sensor information acquisition unit 31, a state analysis unit 32, and an environment information generation unit 33.
  • the sensor information acquisition unit 31 is, for example, a processing unit that acquires signals measured by the sensors of the flying object 10 and signals indicating the rotation speeds of the motors 13A to 13D as sensor information.
  • the state analysis unit 32 analyzes the state information regarding the surrounding state of the flying object 10 based on the sensor information acquired by the sensor information acquisition unit 31.
  • the state information may be, for example, the load of the motors 13A to 13D obtained based on the rotation speeds of the motors 13A to 13D, or the inclination of the aircraft measured by the sensors of the flying object 10. It may be the flight altitude of the flying object 10.
  • the environmental information generation unit 33 generates environmental information around the flying object 10 based on the analysis result of the state information by the state analysis unit 32.
  • Environmental information may include the wind speed and direction of the airflow.
  • the relationship between the state information and the environmental information is stored in advance in the server 30 as table information obtained from an experiment or the like.
  • the server 30 instructs the aircraft 10 to move to the delivery destination based on the location information regarding the delivery destination location of the package L.
  • the delivery instruction may include location information and delivery date and time information.
  • the aircraft body 10 records each information included in the delivery instruction in the memory, and starts the flight toward the location information.
  • the package L to be delivered may be placed on the mounting portion of the flying object 10 in advance by a delivery company or the like.
  • the method of flying the flying object 10 to the designated place may be performed by a known autopilot method.
  • the aircraft 10 uses the latitude / longitude information obtained from the GPS sensor as the current location, sets the latitude / longitude information indicated by the location information as the delivery destination, and sets a predetermined airspace (a relatively low altitude above the ground). ) May fly automatically.
  • the air vehicle 10 may control the propellers 12A to 12D so that the direction from the current location to the delivery destination is the traveling direction.
  • the direction of travel is determined using, for example, the direction obtained from the geomagnetic sensors of the sensors.
  • the server 30 may instruct the flight body 10 of flight route information regarding the flight route to the delivery destination.
  • the flight route information is information indicating a flight route until reaching the delivery destination, and may be, for example, information in which latitude and longitude information to the delivery destination is sequentially connected so as to indicate a flight route.
  • the server 30 may generate flight route information based on a predetermined route search algorithm.
  • the flight route information may be included in the delivery instruction.
  • the aircraft body 10 executes autopilot control to the delivery destination based on the flight route information received from the server 30.
  • the rotation speeds of the propellers 12A to 12D are also increased by the control of the control device according to this operation.
  • the propellers 12A to 12D gradually generate the lift required for the ascent of the flying object 10.
  • the flying object 10 begins to float in the air and ascends in the direction of arrow A (see FIG. 3 (A)).
  • the rotation speeds of the propellers 12A to 12D are adjusted so that the flying object 10 stops in the air (hovering) (see FIG. 3B). That is, the number of rotations at this time is such that the lift due to the rotation of each propeller 12A to 12D and the gravity applied to the flying object 10 are balanced.
  • the rotation speeds of the propellers 12B and 12C rearward in the traveling direction are set to the rotation speeds of the propellers 12A and 12D in the front in the traveling direction.
  • Control is performed to increase the number of revolutions.
  • the lift from the rear propellers 12B and 12C is larger than the lift from the front propellers 12A and 12D, and the positions of the propellers 12B and 12C are higher than the positions of the propellers 12A and 12D (FIG. 3 (C). )reference).
  • the rotation speed of each propeller 12A to 12D is adjusted to a rotation speed that moves horizontally at a desired speed.
  • the flight body 10 may be flight-controlled so as not to lose its balance or crash due to the influence of the wind.
  • flight route information may be defined so that the flying object 10 can withstand the wind.
  • the fact that the air vehicle 10 can withstand the wind means, for example, that the air vehicle 10 takes a posture facing the windward side, the air vehicle body 10 moves toward the windward side, or the rotation speed of the propeller on the windward side is set to the leeward side. For example, make it less than the number of rotations of the propeller.
  • the propellers 12A to 12D so that the flying object 10 stays in a predetermined position without being swept by the wind.
  • the number of revolutions of is adjusted.
  • the rotation speeds of the leeward propellers 12B and 12C are adjusted to be smaller than the rotation speeds of the leeward propellers 12A and 12D.
  • the environment information generation unit 33 measures the wind direction / speed around the flying object 10 by converting the load of the motors 13A to 13D into the wind direction / speed with reference to the table information stored in advance in the server 30. ..
  • the environment information generation unit 33 measures the wind direction and speed, so that it is not necessary to deploy an anemometer on the flying object 1. That is, the wind direction and the wind speed can be measured by using the existing flying object 10. Therefore, it is possible to acquire the environmental information around the flying object 10 with a simple configuration.
  • the flying object 10 to which the environmental information analysis method according to the first embodiment is applied and the flying object 10 to which the environmental information analysis method according to the present embodiment is applied are the same. It may be omitted.
  • the flying object 10 and the server 30 are connected so as to be able to communicate with each other via a network or a wireless LAN (including a mobile communication network).
  • a network or a wireless LAN including a mobile communication network
  • the control unit of the flying object 10 returns the flying object 10 from the second state to the first state when the action of transitioning from the first state to the second state acts on the flying object 10.
  • the information indicating the first state and the information indicating the second information include information on the spatial arrangement of the aircraft 10, such as location or position information such as longitude, latitude, and altitude, and roll, pitch, and / or. May include orientation or attitude information such as yaw.
  • the server 30 has a return information acquisition unit 34 and an environmental information analysis unit 35.
  • the return information acquisition unit 34 acquires the return information related to the above-mentioned return control of the aircraft 10 from the aircraft 10.
  • the return information here may be, for example, the load of the motors 13A to 13D obtained based on the rotation speeds of the motors 13A to 13D, or the inclination / flight altitude of the aircraft measured by the sensors of the airframe 10.
  • the environmental information analysis unit 35 analyzes the environmental information around the aircraft 10 based on the return information acquired by the return information acquisition unit 34.
  • Environmental information may include the wind speed and direction of the airflow.
  • the relationship between the return information and the environment information is stored in advance in the server 30 as table information obtained from an experiment or the like.
  • FIG. 6 is a plan view showing an example of how the state of the flying object 10 changes.
  • the flying object 10 is in the first state a shown by the solid line at the first time point t in the windless state.
  • the flying object 10 is in the second state b shown by the broken line as shown in FIG. That is, from the first time point to the second time point, the flying object 10 moves toward the windward side so as to maintain a posture facing the windward side so as to withstand the wind.
  • the rotation speeds of the propellers 12A and 12B on the leeward side are adjusted to be smaller than the rotation speeds of the propellers 12C and 12D on the leeward side.
  • the environmental information analysis unit 35 refers to the table information stored in advance in the server 30 and converts the load of the motors 13A to 13D into the wind direction / speed to obtain the wind direction / speed around the flying object 10. measure.
  • the environmental information analysis unit 35 Since the wind direction and speed are measured by the environmental information analysis unit 35 by such a method, it is not necessary to deploy an anemometer on the flying object 1. Therefore, it is possible to acquire the environmental information around the flying object 10 with a simple configuration.
  • the anemometer using the attitude control function of the flying object 10 can be summarized as the following functions as shown in FIG. That is, from the flying object 10 during flight (in progress or hovering), information on the load (wind, etc.) applied to the flying object 10 can be acquired as additional information by the various sensor devices described above.
  • the additional information may be raw information (raw data) added to the flying object 10 such as wind speed and atmospheric pressure, or some preprocessing for performing processing in an analyzable manner may be performed.
  • the additional information is input to the control unit.
  • the control unit generates control information (all information for performing attitude control, etc.) so that the flight body 10 can fly safely based on the additional information.
  • the control information is the flight of the flight body 10.
  • the anemometer it is used to control each part (motor, etc.) to make it possible.
  • the anemometer according to the present embodiment generates (estimates) environmental information (wind speed information, etc.) using additional information, and the environment using the control information generated by the control unit. It is possible to divide into three types, one is to generate (estimate) information and the other is to use both of them. Any of the above-described embodiments can be adopted when these three patterns are used.
  • the present invention is an environmental information analysis method for analyzing environmental information around the flying object by using an flying object including a control unit.
  • the control unit acts on the flying object to transition from the first state (initial state) to the second state (position that is displaced / likely displaced according to the external force when receiving an external force such as wind).
  • the management server acquires return information related to return control via the aircraft, and analyzes the environmental information around the aircraft based on the return information.
  • the above embodiment may be modified as follows.
  • the environmental information generation unit 33 or the environmental information analysis unit 35 performs a fast Fourier transform (FFT) on the signal indicating the rotation speed of the drive motors 13A to 13D, and from the frequency spectrum of the signal, the wind direction around the flying object 10 is determined. Wind speed information may be generated.
  • FFT fast Fourier transform
  • mutual data may be compared by using a plurality of flying objects 10. Further, by using a plurality of flying objects 10, it is possible to perform a plurality of information gathering flights on the same flight route at the same altitude, and it is possible to collect information with higher accuracy in a situation that changes from moment to moment.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Control Of Multiple Motors (AREA)
  • Traffic Control Systems (AREA)
PCT/JP2019/027843 2019-07-16 2019-07-16 環境情報分析方法 Ceased WO2021009826A1 (ja)

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PCT/JP2019/027843 WO2021009826A1 (ja) 2019-07-16 2019-07-16 環境情報分析方法
JP2019547527A JP7368840B2 (ja) 2019-07-16 2019-07-16 環境情報分析方法

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2023068391A (ja) * 2021-11-02 2023-05-17 株式会社ロボデックス 無人航空機制御装置、無人航空機制御方法、無人航空機制御プログラム及び無人航空機

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JPH04262997A (ja) * 1991-02-18 1992-09-18 Mitsubishi Heavy Ind Ltd 簡易対気速度検出装置
JP2012083318A (ja) * 2010-10-14 2012-04-26 Institute Of National Colleges Of Technology Japan 気象観測装置
US20160018822A1 (en) * 2014-07-18 2016-01-21 Helico Aerospace Industries Sia Autonomous vehicle operation
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KR101844727B1 (ko) * 2017-12-11 2018-04-02 세종대학교산학협력단 회전익 무인비행체를 이용한 바람 정보 추정 시스템

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DE102016119152B4 (de) 2016-10-07 2018-12-27 Deutsches Zentrum für Luft- und Raumfahrt e.V. Windmessung mittels eines Multikopters

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JPH04262997A (ja) * 1991-02-18 1992-09-18 Mitsubishi Heavy Ind Ltd 簡易対気速度検出装置
JP2012083318A (ja) * 2010-10-14 2012-04-26 Institute Of National Colleges Of Technology Japan 気象観測装置
US20160018822A1 (en) * 2014-07-18 2016-01-21 Helico Aerospace Industries Sia Autonomous vehicle operation
JP2017501475A (ja) * 2014-09-05 2017-01-12 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ 状況に基づく飛行モード選択
CN107860940A (zh) * 2017-11-02 2018-03-30 四川联众防务科技有限责任公司 一种基于无人机大数据的风速预测方法
KR101844727B1 (ko) * 2017-12-11 2018-04-02 세종대학교산학협력단 회전익 무인비행체를 이용한 바람 정보 추정 시스템

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2023068391A (ja) * 2021-11-02 2023-05-17 株式会社ロボデックス 無人航空機制御装置、無人航空機制御方法、無人航空機制御プログラム及び無人航空機
JP7764018B2 (ja) 2021-11-02 2025-11-05 株式会社ロボデックス 無人航空機制御装置、無人航空機制御方法、無人航空機制御プログラム及び無人航空機

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