WO2023145715A1 - Dispositif de génération d'informations de vent, dispositif de traitement d'assistance et système d'assistance d'aéronef - Google Patents

Dispositif de génération d'informations de vent, dispositif de traitement d'assistance et système d'assistance d'aéronef Download PDF

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Publication number
WO2023145715A1
WO2023145715A1 PCT/JP2023/002038 JP2023002038W WO2023145715A1 WO 2023145715 A1 WO2023145715 A1 WO 2023145715A1 JP 2023002038 W JP2023002038 W JP 2023002038W WO 2023145715 A1 WO2023145715 A1 WO 2023145715A1
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WIPO (PCT)
Prior art keywords
information
wind
building
sensor
drone
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PCT/JP2023/002038
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English (en)
Japanese (ja)
Inventor
徹也 平松
龍太 園田
賢太郎 岡
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Ａｇｃ株式会社
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Publication of WO2023145715A1 publication Critical patent/WO2023145715A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • 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
    • B64D47/02—Arrangements or adaptations of signal or lighting devices
    • B64D47/06—Arrangements or adaptations of signal or lighting devices for indicating aircraft presence
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L7/00—Measuring the steady or quasi-steady pressure of a fluid or a fluent solid material by mechanical or fluid pressure-sensitive elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P13/00—Indicating or recording presence, absence, or direction, of movement
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
    • G01P5/02—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft by measuring forces exerted by the fluid on solid bodies, e.g. anemometer
    • G01P5/04—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft by measuring forces exerted by the fluid on solid bodies, e.g. anemometer using deflection of baffle-plates

Definitions

  • the field of the present disclosure relates to wind information generation devices, support processing devices, and aircraft support systems.
  • the wind direction of the wind direction data is uniformly determined for all points within the area, regardless of the points within the area in the building information data. Therefore, it is difficult to accurately generate information about the wind generated around the building.
  • an object of the present invention is to accurately generate information about wind generated around a building.
  • a sensor that generates deformation information of window glass of a building;
  • a wind information generating device comprising a wind information generating unit that generates information about wind generated around the building based on the deformation information, or a sensor that produces particle information about the state of the airgel particles in the outside air through the glazing of the building;
  • a wind information generating device comprising: a wind information generating unit that generates information about wind generated around the building based on the particle information.
  • FIG. 1 is a schematic diagram showing an example of an environment in which a wind information generating device according to an exemplary embodiment is suitable;
  • FIG. It is an explanatory view showing an example of valley wind.
  • FIG. 4 is an explanatory diagram showing an example of a separation flow under an environment where one building is arranged;
  • It is a schematic diagram showing an example of arrangement of sensors in a building.
  • It is explanatory drawing which shows the preferable example of arrangement
  • FIG. 11 is an explanatory diagram schematically showing the overall configuration of a wind information generating device according to another example;
  • FIG. 4 is an explanatory diagram of a simple building wind information generation method (part 1) based on the relationship of deformation information from a plurality of sensors in one building;
  • FIG. 10 is an explanatory diagram of a simple building wind information generation method (Part 2) based on the relationship of deformation information from a plurality of sensors in one building;
  • FIG. 4 is a schematic diagram obliquely looking from above of an area having four buildings with different heights, etc.
  • FIG. FIG. 11 is a schematic diagram showing preferred sensor placement positions for each building in the area as shown in FIG. 10;
  • 1 is a schematic diagram showing an overall aircraft support system including a support processing device;
  • FIG. It is a figure which shows the function of a support processing apparatus.
  • 4 is a schematic flow chart showing a flow of an example of support processing executed by a support processing device;
  • FIG. 10 is an explanatory diagram of another usage mode of the sensor;
  • FIG. 1 is a schematic diagram showing an example of an environment in which a wind information generating device 1 according to an exemplary embodiment is preferably applied.
  • the wind information generating device 1 is suitable for generating information about the so-called "building wind", which is wind generated around a relatively tall building (hereinafter also referred to as “building wind information").
  • building wind information which is wind generated around a relatively tall building
  • FIG. 1 an area in which three relatively tall buildings BD are arranged is schematically shown.
  • the flow of wind is schematically indicated by each arrow R100.
  • the relatively tall building hereinafter also referred to as "high-rise building” referred to in this specification is, for example, a building of 5 stories or more, preferably a building of 10 stories or more, more preferably a building of 20 stories or more.
  • a high-rise building may be a building of 20 m or more, a building of 35 m or more, or a building of 70 m or more.
  • building BD is assumed to be a high-rise building unless otherwise specified.
  • the flow of wind generated around a high-rise building can be diverse, including separation flow, valley wind, blow-down, blow-up, etc., as schematically indicated by arrow R100 in FIG.
  • Fig. 1 schematically shows a drone 7, which is an example of an unmanned flying object.
  • a drone 7 is flown in an environment where a plurality of high-rise buildings are adjacent to each other as shown in FIG. 1, it is useful to sufficiently consider the influence of building wind when controlling the drone. Therefore, the building wind information from the wind information generation device 1 is suitable for supporting the flight of the drone 7, and this point will be described later.
  • the building wind information preferably relates to at least one of wind pressure, wind speed, and wind direction.
  • the building style information may be information about one specific position, but preferably is information about a plurality of positions.
  • the building wind information may include wind pressure, wind speed, and wind direction information for each mesh when a three-dimensional space in an area where a plurality of high-rise buildings adjoin is divided into a plurality of meshes.
  • the building wind information may be represented by vector representation.
  • each mesh may be a two-dimensional mesh for each height, or may be a three-dimensional mesh. The fineness of each mesh is arbitrary and may be adapted according to the required accuracy and the like.
  • these building wind information may include temporal change information, and may include statistical information such as averages and standard deviations that characterize spatial or temporal distributions.
  • FIGS. 2 and 3 are explanatory diagrams showing an example of the building style information.
  • FIG. 2 is an explanatory diagram showing an example of valley wind.
  • FIG. 3 is an explanatory diagram showing an example of a separation flow under an environment where one building BD is arranged.
  • FIG. 2 illustrates an environment in which two buildings BD are arranged, the actual environment is one in which another building exists around the two buildings BD.
  • FIG. 3 illustrates an environment in which one building BD is arranged, in reality, the environment is such that there are other buildings around the one building BD.
  • FIG. 2 a region of increased wind speed caused by the valley wind is schematically shown as a hatched region SC20.
  • a region of increased wind speed caused by the separation flow is schematically shown as a hatched region SC21.
  • the building wind information may include information on such wind speed increase areas.
  • the building wind information may include information on the presence or absence of an increased wind speed area, the position of the increased wind speed area, wind pressure, wind speed, and wind direction in the increased wind speed area.
  • the information about the position of the increased wind speed area may be information about the central position of the increased wind speed area, or information representing the entire range of the increased wind speed area.
  • Such an increased wind speed region has a significant effect on the flight of the drone 7, so it is suitable for supporting the flight of the drone 7.
  • FIG. 4 is a schematic diagram showing an example of sensor arrangement in the building BD.
  • the wind information generation device 1 of this embodiment includes a sensor 20 that generates deformation information of the window glass 10 of the building BD.
  • a sensor 20 provided in association with one windowpane 10 generates deformation information of the one windowpane 10 .
  • the windowpane 10 is significantly less rigid than the frame and walls of the building BD, so it deforms when hit by the wind.
  • the sensor 20 may have any configuration as long as it can acquire deformation information related to such deformation.
  • the senor 20 is, for example, a strain sensor (strain gauge type sensor) that generates an electrical signal corresponding to deformation (distortion) of the window glass 10 .
  • strain sensor strain gauge type sensor
  • the strain sensor may be attached to the surface of the windowpane 10, or may be embedded in an inner layer (for example, an intermediate film in the case where the windowpane 10 is laminated glass, or inside a plate glass). In this case, one or a plurality of sensors 20 may be provided for one windowpane 10 .
  • the sensor 20 may be a sensor that measures stress according to strain.
  • the sensor 20 is a ranging sensor capable of acquiring information on deformation of the windowpane 10 by detecting the distance between the reference point and the surface of the windowpane 10 (for example, a sensor that acquires a depth image, or a laser distance measuring sensor) or the like.
  • the reference point may be, for example, the edge of the glass where the deformation is zero.
  • the reference point may be the sash surface if the glass edge is fixed to the sash. Alternatively, it may be a relative displacement determined from the distance of a plurality of glass surface points relative to a reference point.
  • the sensor 20 is positioned remotely from the glazing 10 (ie in the form of a non-contact sensor).
  • one sensor 20 may be provided for each of two or more window glasses 10 .
  • the sensor 20 may be a contact-type displacement sensor. If the windowpane 10 is double glazing, the deformation of the glass changes the pressure in the air layer of the double glazing, so the sensor 20 may be a pressure sensor installed in the air layer of the double glazing.
  • the air layer may be argon or krypton instead of air.
  • the deformation information generated by the sensor 20 is used to generate building wind information. This is because the deformation information includes information about wind, as described above. Thus, in this embodiment, the deformation information of the window glass 10 is used to generate the building style information.
  • the building wind information generated by the sensor 20 may be supplied to the sensor data collection device 6 shown in FIG.
  • the sensors 20 are preferably provided in association with a plurality of window glasses 10 located at two or more different positions.
  • the sensors 20 are provided in association with a plurality of windowpanes 10 located at two or more different positions in one building BD.
  • the sensor 20 is provided on the windowpane 10 of each floor.
  • the deformation information of the windowpane 10 which may vary depending on the height of the building BD, can be obtained, it is possible to increase the accuracy in the height direction of the building wind information generated based on the deformation information.
  • a further preferred arrangement example of each sensor 20 in the building BD will be described later.
  • FIG. 5 is an explanatory diagram showing a preferred arrangement example of the sensor 20 on one windowpane 10. As shown in FIG. FIG. 5 shows one windowpane 10 in a plan view (viewed in a direction perpendicular to the surface of the windowpane 10).
  • the sensor 20 is preferably arranged at a position closer to the center than to the edge in both the vertical and horizontal directions of the window glass 10 .
  • the sensor 20 is arranged in the center.
  • the sensor 20 can be arranged in the region where the amount of deformation of the windowpane 10 is likely to be the largest, the usefulness (reliability, accuracy, etc.) of the deformation information can be enhanced.
  • installing the sensor 20 in the center of the window glass does not look good, it can be installed at the edge of the window (near the sash). As described above, providing multiple displacement sensors on a single window can also improve accuracy, even when installed at the edge.
  • the sensor 20 is also preferably attached to the surface of the window glass 10 on the interior side. As a result, the sensor 20 can be prevented from being exposed to the external environment, and the high reliability of the deformation information from the sensor 20 can be maintained for a long period of time.
  • the sensor 20 is attached to the surface of the window glass 10 on the indoor side, the installation or removal of the sensor 20 is easy, and the maintainability of the sensor 20 is improved. For example, it is easy to arrange the wiring 22 (schematically illustrated by dotted lines in FIG. 5) from the sensor 20 .
  • the sensor information (deformation information) from the sensor 20 may be transmitted to the sensor data collection device 6 or the like, which will be described later, using wireless communication technology.
  • the senor 20 may be provided integrally with other electronic components (for example, an antenna, etc.) that may be provided on the window glass 10 .
  • the wiring and the wiring 22 related to other electronic components can be efficiently arranged on the window glass 10 .
  • a patterned transparent and see-through conductive material conductive mesh, thin film conductor such as ITO, Ag, fluorine-doped tin oxide (SnO 2 ), etc.
  • a transparent substrate single layer.
  • FIG. 6 is an explanatory diagram schematically showing an example of the overall configuration of the wind information generating device 1. As shown in FIG. Note that FIG. 6 also shows a related configuration such as the network 3 or the weather information providing server 4 .
  • FIG. 7 is an explanatory diagram schematically showing the overall configuration of a wind information generating device 1A according to another example.
  • the wind information generation device 1 includes a server device 5, a sensor data collection device 6, and a plurality of sensors 20. 6, the sensor 20 is shown connected directly to the sensor data collection device 6 for convenience of explanation, but the sensor 20 is connected to the sensor data collection device 6 via the network 3. may be connected.
  • the server device 5 is formed by a server computer. Note that the server device 5 may be realized by a plurality of server computers.
  • the sensor data collection device 6 is formed by a computer. Note that the sensor data collection device 6 may be realized by a plurality of computers, like the server computer. The sensor data collection device 6 may be connected to the server device 5 via the network 3 .
  • the network 3 may include a wireless communication network, the Internet, a VPN (Virtual Private Network), a WAN (Wide Area Network), a wired network, or any combination thereof.
  • the processing by the sensor data device 6 described below is performed by a processor within the sensor data device 6 .
  • the sensor data collection device 6 collects deformation information from multiple sensors 20 .
  • the sensor data collection device 6 may be provided for each building BD, or may be provided for each group composed of a plurality of buildings BD.
  • the sensor data collection device 6 transmits the collected deformation information from the plurality of sensors 20 to the server device 5 .
  • the sensor data collection device 6 may transmit the deformation information to the server device 5 in real time in a streaming manner, or transmit only the post-change deformation information to the server device 5 each time a significant change occurs.
  • the server device 5 may implement the function of the sensor data collection device 6.
  • the server device 5 can function as a wind information generation unit that generates building wind information based on deformation information from the plurality of sensors 20 supplied from the sensor data collection device 6.
  • the method of generating building wind information based on deformation information from a plurality of sensors 20 is arbitrary, but artificial intelligence may be used, for example.
  • artificial intelligence building style information can be generated by implementing a convolutional neural network obtained by machine learning.
  • machine learning for example, using actual data and/or analysis results related to deformation information from a plurality of sensors 20, the weight of a convolutional neural network that minimizes the error related to building wind information may be learned. .
  • the server device 5 may simply generate simple building wind information based on the relationship between deformation information from a plurality of sensors 20 in one building BD.
  • 8 and 9 are explanatory diagrams of a simple building wind information generation method based on the relationship between deformation information from a plurality of sensors 20 in one building BD. 8 and 9 schematically show the sensor 20 arranged in the building BD as viewed from the top of the building BD.
  • W is the wind pressure (Pa)
  • V is the wind speed (m/s)
  • C is the wind pressure coefficient (or wind force coefficient).
  • the wind pressure coefficient (or wind force coefficient) C is determined by the shape of the building, the shape and/or positional relationship of surrounding features, the position of the target measurement site (height, distance from the corner), wind direction, etc. or has a negative value. Therefore, if the shape of the building, the shape and/or the positional relationship of the surrounding features, the position of the target measurement site (height, distance from the corner), wind direction, etc. are known, the target measurement site You can get wind pressure.
  • the shape of the building, the shape and/or the positional relationship of the surrounding features, and the position of the target measurement site are known. If so, the direction of the wind can be estimated.
  • the sensors 20 arranged on each of the four sides of the building BD are schematically shown.
  • the sensors 20 provided on two adjacent side surfaces among the four side surfaces generate deformation information indicating a deformation amount larger than a threshold value, and further from the deformation amount to two side surfaces. If it is determined that a positive pressure is acting, it can be assumed that the wind is hitting these two sides (see arrows R800, R801). Therefore, in this case, building wind information may be generated that represents wind in an oblique wind direction (see arrow R802) that causes both of these two side winds.
  • the wind direction can be estimated from the distribution of wind pressure information obtained from them.
  • three sensors 20 horizontally arranged on one side of a tall building BD are schematically shown.
  • the sensor 20(1) located on one side, the sensor 20(2) located in the center, and the sensor 20(3) located on the other side When the deformation information indicating the deformation amount (including positive/negative) gradually increases (see arrows R901 to R903), it can be estimated that the wind is blowing obliquely to the side surface. Therefore, in this case, the building wind information representing the wind in the oblique wind direction (see arrow R904) may be generated.
  • three sensors 20 are assumed to be arranged in the horizontal direction on one side of the building BD, but in the present embodiment, the three sensors 20 are arranged vertically. It also includes an arrangement mode. That is, if FIG. 9 shows a mode in which the three sensors 20 are arranged along the vertical direction (vertical direction) on one side of the building BD, the diagonally downward wind direction (see arrow R904) Building wind information representing wind may be generated.
  • the server device 5 generates building wind information based only on the deformation information from the plurality of sensors 20 supplied from the sensor data collection device 6.
  • the building style information may be generated further based on the predetermined information (an example of the external information).
  • Other predetermined information is information related to the value of a parameter that can affect wind flow, weather information that can be obtained from the weather information providing server 4, or Doppler Lidar 4A installed at a related position (see FIG. 1) may include measurement information, etc.
  • other predetermined information includes the surface temperature distribution of natural objects such as rocks or plants existing on the ground and artificial structures such as buildings measured by a temperature sensor (for example, a thermography camera), a solar radiation sensor (illuminance sensor), atmospheric pressure It may include sensor information from sensors and the like.
  • other predetermined information may include information from another wind information generating device (not shown).
  • Another wind information generation device may be a device that generates building wind information for the same area using an algorithm or the like different from that of the wind information generation device 1 according to this embodiment.
  • the other predetermined information may include sensor information from various sensors (for example, a wind sensor) mounted on the drone 7 . These other predetermined information may be utilized to refine the building wind information.
  • FIG. 10 is a schematic diagram of an area where four buildings BD with different heights are adjacent to each other, viewed obliquely from above.
  • the adjoining buildings BD include not only the aspect in which the buildings BD are adjacent without passing through a road, and the aspect in which the buildings BD are adjacent via a road, but also the aspect in which the buildings BD are adjacent via a low-rise building.
  • FIG. 11 is a schematic diagram showing preferable placement positions of the sensors 20 for each building BD in the area shown in FIG. In FIG. 11, preferred sensor 20 placement positions are indicated by star marks P11 and P12.
  • each surface of the building BD shows a contour display of the pressure distribution when a specific wind is blowing.
  • a specific wind entering an area shall have a constant direction and a constant wind speed when entering the area.
  • the distribution of the force (wind pressure) received by the wind in each building BD is not constant as shown in FIG. Varies accordingly.
  • the tallest building BD(1) is adjacent to building BD(2), which is lower than building BD(1), via a road or the like, and faces building BD(2) in building BD(1).
  • the pressure distribution in the surface SF10 is significantly different between the portion SF101 above the roof of the building BD(2) and the portion SF102 below the roof of the building BD(2).
  • the sensor 20 provided in the windowpane 10 of the surface SF10 facing the building BD(2) in the building BD(1) is preferably located in the building BD(2) and a portion SF102 below the roof of the building BD(2). In this way, when the building BD faces another building in a predetermined direction along the horizontal direction, the sensor 20 detects a , may be provided at least one each.
  • the building BD( 1) for each of a portion SF102 (an example of a first portion) overlapping another building BD (2) when viewed in a predetermined direction, and a portion SF101 (an example of a second portion) other than the portion SF101 (an example of a second portion) may be provided at least one each.
  • the sensor 20 provided in the building BD(3) overlaps the other building BD(2) when viewed in a predetermined direction (direction V1 in FIG. 11). At least one may be provided for each of the portion and other portions.
  • the predetermined direction does not have to be constant, and multiple predetermined directions may be considered.
  • the location of the sensor in the portion overlapping the other building BD when viewed in a predetermined direction is indicated by a star mark P12, and the location of the sensor in the portion not overlapping the other building BD when viewed in the same predetermined direction.
  • the arrangement position is indicated by a star mark P11.
  • the plurality of sensors 20 are preferably arranged in consideration of the relationship with surrounding buildings.
  • the plurality of sensors 20 may preferably be provided at each position (for example, the windowpane 10) at which deformation information representing deformation amounts different from each other can be acquired.
  • the building BD has a non-circular outer shape when viewed from above, at least one sensor 20 is provided for each of the corners and other portions of the building BD. good too. This is because the deformation information representing different deformation amounts is likely to be acquired for the corners of the building BD and the other portions.
  • the sensors 20 may be arranged at equal intervals along the circumferential direction.
  • FIG. 12 the support processing device 8 and the aircraft support system 81 using the wind information generation device 1 described above will be described with reference to FIGS. 12 to 15.
  • FIG. 12 the support processing device 8 and the aircraft support system 81 using the wind information generation device 1 described above will be described with reference to FIGS. 12 to 15.
  • FIG. 12 the support processing device 8 and the aircraft support system 81 using the wind information generation device 1 described above will be described with reference to FIGS. 12 to 15.
  • FIG. 12 is a schematic diagram showing the entire aircraft support system 81 including the support processing device 8.
  • FIG. 12 is a schematic diagram showing the entire aircraft support system 81 including the support processing device 8.
  • the aircraft support system 81 includes a support processing device 8 (an example of a support processing unit), a drone control device 8A, an image data collection device 9, and a camera 90 in addition to the wind information generation device 1 described above.
  • the support processing device 8 is formed by a computer.
  • the support processing device 8 may be implemented by a server computer, like the server device 5 . Also, part or all of the functions of the support processing device 8 may be realized by the server device 5 .
  • the support processing device 8 executes flight support processing for supporting the flight of the drone 7 based on the building wind information generated by the wind information generation device 1 .
  • the flight support process is arbitrary, but for example, a process of controlling the flight of the drone 7, information usable for the flight of the drone 7 (hereinafter referred to as “ (also referred to as "control support information”) and processing of notifying the operator of the drone 7.
  • the processing for controlling the flight of the drone 7 may be processing in which the support processing device 8 functions as the drone control device 8A. That is, in this case, the support processing device 8 may function as the drone control device 8A. Alternatively, the support processing device 8 may control the drone 7 via the drone control device 8A. In this case, the support processing device 8 may control the drone 7 via the drone control device 8A by transmitting the target position and the target attitude of the drone 7 to the drone control device 8A.
  • the flight control method of the drone 7 based on the building wind information is arbitrary.
  • the support processing device 8 controls the drone 7 based on the building wind information so that the drone 7 does not approach or collide with the building BD and/or surrounding obstacles (for example, other drones or electric wires).
  • the target position and target attitude of the drone 7 may be determined so as not to cause the drone 7 to move.
  • the control support information may include building wind information or information derived based on building wind information.
  • the information derived based on the building wind information may include, for example, information indicating a route that avoids areas of increased wind speed (see hatched area SC20 in FIG. 2 and hatched area SC21 in FIG. 3).
  • the content of the notification is arbitrary, but may include a notification for calling attention.
  • the notice for calling attention may include a notice or the like that informs of proximity to the wind speed increasing area (see hatched area SC20 in FIG. 2 and hatched area SC21 in FIG. 3).
  • the drone 7 refers to the drone 7 to be supported by the flight support processing.
  • the drone control device 8A is formed by a computer.
  • the drone control device 8A controls the flight of the drone 7 (see FIG. 1).
  • the drone control device 8A may be provided for each drone 7 or may be provided for each group of drones 7 .
  • the drone control device 8A calculates a target position and a target orientation of the drone 7 according to operation information from an operator (not shown), and controls the drone 7 so that the target position and the target orientation are realized. Control.
  • the drone control device 8A may calculate a target position and a target attitude so as to fly along a predetermined target route, and control the drone 7 so that the target position and the target attitude are realized. .
  • the drone 7 may be equipped with a GPS (Global Positioning System) sensor (including a GPS receiver), an atmospheric pressure sensor, or the like. ) can be obtained. Also, the drone 7 may be equipped with an acceleration sensor, a gyro sensor, or the like. In this case, the drone control device 8A can acquire the attitude of the drone 7 . The drone control device 8A may control the flight of the drone 7 (see FIG. 1) based on these positional information or attitude information regarding the drone 7 .
  • GPS Global Positioning System
  • the drone control device 8A can realize the flight of the drone 7 according to the building wind information in cooperation with the flight support processing of the support processing device 8, as described above.
  • FIG. 12 shows the drone 7 directly connected to the drone control device 8A for convenience of explanation
  • the drone 7 may be connected to the drone control device 8A via the network 3.
  • low latency can be achieved by using 5G.
  • some or all of the functions of the drone control device 8A may be realized by a processing device (computer) that can be mounted on the drone 7.
  • the image data collection device 9 is formed by a computer. Note that the image data collection device 9 may be realized by a plurality of computers, like the sensor data collection device 6 . The image data collection device 9 may be connected to the server device 5 via the network 3 .
  • the image data collection device 9 collects surrounding environment information from multiple cameras 90 .
  • the surrounding environment information may be image data itself captured by each of the plurality of cameras 90, or may be information derived based on image recognition processing or the like for the image data. In the latter case, the surrounding environment information may include information representing the state (position, orientation, etc.) of the drone 7 based on the image recognition result obtained by recognizing the image of the drone 7 to be supported.
  • the image data collection device 9 may be provided for each building BD, or may be provided for each group of multiple building BDs.
  • the image data collection device 9 transmits the surrounding environment information collected from the plurality of cameras 90 to the support processing device 8 .
  • the image data collection device 9 may transmit the surrounding environment information to the support processing device 8 in real time in a streaming manner, or send only the changed surrounding environment information to the support processing device every time a significant change occurs. 8 may be sent.
  • FIG. 12 shows a state in which the image data collection device 9 is provided, the functions of the image data collection device 9 are realized by the support processing device 8 and/or the sensor data collection device 6. good too.
  • the camera 90 acquires an image related to the surrounding environment information.
  • the camera 90 may be installed in the building BD where the sensor 20 is installed.
  • the camera 90 may be installed on the outer wall of the building BD or the like, or may be installed indoors to acquire an image through the windowpane 10 .
  • a plurality of cameras 90 are preferably arranged in such a manner that the imaging regions partially overlap each other. Thereby, the reliability of the surrounding environment information collected by the image data collection device 9 can be improved.
  • FIG. 12 shows the camera 90 directly connected to the image data collection device 9 for convenience of explanation.
  • Camera 90 may be connected to image data collection device 9 via network 3 .
  • the function of the camera 90 may be realized by a camera (not shown) mounted on the drone 7.
  • the image data collection device 9 may collect surrounding environment information from a camera (not shown) mounted on the drone 7 instead of or in addition to the camera 90 .
  • FIG. 13 the support processing device 8 will be further described with reference to FIGS. 13 and 14.
  • FIG. 13 the support processing device 8 will be further described with reference to FIGS. 13 and 14.
  • FIG. 13 is a diagram showing the functions of the support processing device 8.
  • the support processing device 8 includes a building wind information acquisition section 80 , a position information acquisition section 82 , an obstacle information acquisition section 84 and a support processing section 86 .
  • the building style information acquisition unit 80, the position information acquisition unit 82, the obstacle information acquisition unit 84, and the support processing unit 86 are the CPU (Central Processing Unit) of the computer forming the support processing device 8, that is, the processor is the same. It can be realized by executing one or more programs in a computer storage device.
  • CPU Central Processing Unit
  • the building wind information acquisition unit 80 acquires the above-described building wind information generated by the wind information generating device 1 .
  • the position information acquisition unit 82 obtains the position information of the drone 7 transmitted from the drone 7 and the position information of the drone 7 based on the surrounding environment information (sensor information) from the camera 90 (an example of the first image sensor). , at least one of The position information of the drone 7 transmitted from the drone 7 may be position information of the drone 7 based on a GPS sensor or an air pressure sensor mounted on the drone 7 . The position information of the drone 7 may be calculated by the drone control device 8A, and in this case the position information of the drone 7 may be supplied from the drone control device 8A.
  • the position information of the drone 7 based on the surrounding environment information (sensor information) is, as described above, information representing the state (position or attitude, etc.) of the drone 7 based on the image recognition result of the drone 7 to be supported. good.
  • the position information acquisition unit 82 may acquire the position information of the drone 7 by generating the position information of the drone 7 by itself based on the surrounding environment information (sensor information) from the camera 90 .
  • the obstacle information acquisition unit 84 detects obstacles to the drone 7 that may exist around the building BD based on surrounding environment information (sensor information) from a camera 90 (an example of a second image sensor) that captures an image of the surroundings of the building BD.
  • Obtain obstacle information about objects eg, other drones or power lines, etc.
  • Obstacle information may include information representing the location, size, type, movement, etc. of an obstacle.
  • the position information acquisition unit 82 may acquire obstacle information by generating obstacle information by itself based on surrounding environment information (sensor information) from the camera 90 .
  • the support processing unit 86 obtains the building wind information obtained by the building wind information obtaining unit 80, the position information of the drone 7 obtained by the position information obtaining unit 82, and/or the obstacle information obtained by the obstacle information obtaining unit 84. Flight support processing is executed based on the information.
  • the flight assistance process may be as described above, one example being described below with reference to FIG.
  • FIG. 14 is a schematic flow chart showing an example flow of flight support processing executed by the support processing device 8, that is, the processor within the support processing device 8.
  • FIG. FIG. 14 shows the processing for one drone 7 to be supported, but if there are multiple drones 7 to be supported, the processing shown in FIG. 14 is implemented in parallel for each of the drones 7 to be supported. may be
  • the processing shown in FIG. 14 may be repeatedly executed at predetermined intervals. In this case, the predetermined period is preferably 10 seconds or less, more preferably 5 seconds or less, even more preferably 1 second or less, and particularly preferably 0.25 seconds or less.
  • the information acquisition interval should be 10 seconds or less. This is because there must be
  • the predetermined period may be appropriately set according to the speed of the drone 7 . The shorter the predetermined period, the more accurately the building wind information can be captured even if the wind speed or wind direction fluctuates greatly.
  • meteorological data is measured at 0.25 second intervals, and the average value for 3 seconds (average value of 12 measured values at 0.25 second intervals) is defined as instantaneous wind speed, average wind speed, maximum wind speed I am looking for
  • measurements were also performed at intervals of 0.25 seconds, and the average value for 3 seconds (average value of 12 measurements at 0.25 second intervals) is defined as the instantaneous wind speed to generate wind information.
  • step S1400 the support processing device 8 acquires position information and obstacle information of the drone 7. Acquisition of the position information of the drone 7 may be realized by the position information acquisition unit 82 described above. Acquisition of obstacle information may be realized by the obstacle information acquisition unit 84 described above.
  • step S1402 the support processing device 8 acquires building style information. Acquisition of building wind information may be realized by the building wind information acquisition unit 80 described above.
  • the support processing device 8 determines an avoidance area into which the drone 7 should not enter based on the information acquired in steps S1400 and S1402.
  • the avoidance area may include the surrounding area of the building BD and/or the obstacle surrounding area.
  • the size of the surrounding area of the building BD may be set according to the building style information. For example, for the building BD having the above-described wind speed increasing region (see hatched region SC20 in FIG. 2 and hatched region SC21 in FIG. 3), the size of the surrounding region of the building BD is set larger than that of the building BD that does not.
  • the size of the obstacle surrounding area may be set according to the position information of the drone 7 and/or the building wind information. For example, the size of the obstacle surrounding area may be set relatively large when the drone 7 is positioned on the windward side.
  • step S1406 the support processing device 8 determines whether or not the drone 7 is positioned near the avoidance area based on the position information of the drone 7 acquired in step S1400 and the avoidance area set in step S1404. . If the determination result is "YES", the process proceeds to step S1408; otherwise, the process proceeds to step S1410. Note that, in the modified example, the support processing device 8 calculates the possibility that the drone 7 will be positioned near the avoidance area within a predetermined time based on the history of the position information or the attitude of the drone 7, and calculates the calculated possibility. is equal to or greater than a predetermined threshold.
  • the predetermined time may correspond to the time required for the avoidance operation of the drone 7 and may change according to the speed of the drone 7 .
  • step S1408 the support processing device 8 executes flight support processing for moving the drone 7 away from the avoidance area set in step S1404 (that is, avoidance operation).
  • the flight support process includes, as described above, the process of controlling the flight of the drone 7 to move away from the avoidance area, and the process of transmitting information (position, etc.) of the avoidance area as control support information to the drone control device 8A. , and a process of notifying the operator of the drone 7 of a warning regarding the avoidance area.
  • the flight support processing includes processing for stopping the drone 7 on the spot (for example, processing for hovering the drone 7) so that the drone 7 does not approach the avoidance area beyond the current position of the drone 7. may contain.
  • step S1410 as another flight support process, the support processing device 8 generates building wind information around the position of the drone 7 (or the area ahead in the current traveling direction) as control support information. That is, the support processing device 8, based on the position information of the drone 7 acquired in step S1400 and the building wind information acquired in step S1402, determines whether the buildings around the position of the drone 7 (or the area in front of the current traveling direction) Generate wind information.
  • step S1412 the support processing device 8 transmits the building wind information generated in step S1410 to the drone control device 8A or the operator of the drone 7.
  • the flight of the drone 7 can be appropriately supported based on various information acquired in real time.
  • wind information generation device the support processing device, and the aircraft support system
  • the wind information generation device the support processing device, and the aircraft support system are not limited to specific embodiments. Instead, various modifications and changes are possible within the scope described in the claims. It is also possible to combine all or more of the constituent elements of the above-described embodiments.
  • the sensor 20 that generates windowpane deformation information is used, but instead or in addition, the state (e.g., motion) of the airgel particles in the outside air through the windowpane 10 of the building is used. ) may be utilized to generate particle information.
  • the sensor may be a Doppler lidar or the like installed indoors, measures the movement of airgel particles in the outside air through the window glass 10, and generates building wind information (for example, wind speed or wind direction) from the movement. you can
  • the types of sensors that measure the movement of airgel particles may be Doppler radar using radio waves, Doppler lidar using light, Doppler sodar using sound waves, and the like.
  • FIG. 15 is a diagram schematically showing an installation state of the sensor 20A, which is a Doppler lidar, as an example, and is a diagram showing a cross section (a cross section including the vertical direction) passing through the windowpane 10 of the building BD.
  • a hatched area R15 schematically indicates the detection range of the sensor 20A.
  • a plurality of such sensors 20A may also be installed in the same manner as the sensors 20 described above.
  • the arrangement method described above with reference to FIG. 11 etc. also applies to the sensor 20A.
  • the particle information from the multiple sensors 20A may be used in the same manner as the deformation information from the multiple sensors 20A.
  • artificial intelligence may be used in a method of generating building wind information based on particle information from a plurality of sensors 20A.
  • artificial intelligence it can be realized by implementing a convolutional neural network obtained by machine learning.
  • machine learning for example, the weight of a convolutional neural network that minimizes the error related to building wind information may be learned using actual data and/or analysis results related to particle information from a plurality of sensors 20A.
  • the sensor 20A may be installed with only the probe (detector section) near the window and the main body away from the window (for example, above the ceiling).
  • the connection between the probe and the body is by optical fiber.
  • the building wind information can be used in various ways.
  • the building wind information can be suitably used for work such as cleaning the outdoor side of the window glass 10 of a high-rise building.
  • the entire contents of the specification, claims, drawings and abstract of Japanese Patent Application No. 2022-012646 filed on January 31, 2022 are cited here as disclosure of the specification of the present invention. , is to be incorporated.
  • Wind information generation device 3 Network 4 Weather information providing server 5 Server device 6 Sensor data collection device 7 Drone 8 Support processing device 80 Building wind information acquisition unit 81 Flight support system 82 Position information acquisition unit 84 Obstacle information acquisition unit 86 Support processing unit 8A Drone control device 9 Image data collection device 10 Window glass 20, 20A Sensor 22 Wiring 90 Camera

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  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Indicating Or Recording The Presence, Absence, Or Direction Of Movement (AREA)

Abstract

La présente invention génère avec précision des informations concernant un vent se produisant à proximité d'un bâtiment.　Est divulgué un dispositif de génération d'informations de vent comprenant : un capteur qui génère des informations de déformation concernant la vitre d'un bâtiment et/ou des informations de particules concernant l'état de particules d'aérogel dans l'air extérieur avec la vitre du bâtiment entre ces dernières ; et une unité de génération d'informations de vent qui, en fonction des informations de déformation et/ou des informations de particules, génère des informations concernant le vent se produisant à proximité du bâtiment. Selon un aspect, le capteur est disposé en correspondance avec la vitre dans au moins deux positions différentes du bâtiment.
PCT/JP2023/002038 2022-01-31 2023-01-24 Dispositif de génération d'informations de vent, dispositif de traitement d'assistance et système d'assistance d'aéronef WO2023145715A1 (fr)

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JP2022012646 2022-01-31

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009300425A (ja) * 2008-06-12 2009-12-24 Ophir Corp 光学的空気データシステムおよび方法
JP2010048677A (ja) * 2008-08-21 2010-03-04 Sekisui House Ltd 風向検知システム
CN113008423A (zh) * 2021-02-24 2021-06-22 北京航空航天大学 一种玻璃幕墙应力检测方法
WO2021192185A1 (fr) * 2020-03-26 2021-09-30 株式会社日立製作所 Système d'assistance de commande de corps volant sans pilote et procédé d'assistance de commande de corps volant sans pilote

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009300425A (ja) * 2008-06-12 2009-12-24 Ophir Corp 光学的空気データシステムおよび方法
JP2010048677A (ja) * 2008-08-21 2010-03-04 Sekisui House Ltd 風向検知システム
WO2021192185A1 (fr) * 2020-03-26 2021-09-30 株式会社日立製作所 Système d'assistance de commande de corps volant sans pilote et procédé d'assistance de commande de corps volant sans pilote
CN113008423A (zh) * 2021-02-24 2021-06-22 北京航空航天大学 一种玻璃幕墙应力检测方法

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Title
IDA, MASAHIKO; MIYOSHI, SHUNJI: "Measurement of Typhoon Pressure Acting on the Glass Panels of Tokyo Tower", ASAHI GARASU KENKYU HOKOKU - REPORTS OF THE RESEARCH LABORATORY,ASAHI GLASS COMPANY LTD., ASAHI GARASU K. K. KENKYUSHO, YOKOHAMA,, JP, vol. 17, no. 1, 1 January 1967 (1967-01-01), JP , pages 37 - 51, XP009547879, ISSN: 0004-4210 *

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