• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    ABSTRACT The present disclosure relates to devices, systems and methods for determiningmeteorological data. ln particular the disclosure relates to devices, systems and methods fordetermining wind direction and/or wind velocity. The disclosure proposes meteorological datadetermining device. The meteorological data determining device comprises a global navigationsatellite system, GNSS, receiver and an unmanned aerial vehicle comprising one or moreelectric motors and control means arranged to navigate the meteorological data determiningdevice to reach a predetermined first position. A powerless deployable fall velocity limitingdevice is attached to the meteorological data determining device. The meteorological datadetermining device further comprises a cavity arranged to receive the powerless deployablefall velocity limiting device in an undeployed state and deployment means arranged to deploythe powerless deployable fall velocity limiting device when the meteorological datadetermining device reaches the predetermined first position. Upon reaching thepredetermined first position, the one or more electric motors of the unmanned aerial vehicleare turned off and a determination state is activated in the meteorological data determiningdevice. The disclosure also proposes a meteorological data determining system comprising ameteorological data determining device according to the present disclosure and a radiotransceiver, each comprising communication means arranged to communicate with eachother. The disclosure also proposes a method for determining meteorological data by meansof either the meteorological data determining device or the meteorological data determining system. The proposed devices, systems and methods can provide unperturbed meteorological data relating to wind direction and/or wind velocity. (Fig. 4)
    公开号:SE1550530A1
    申请号:SE1550530
    申请日:2015-04-29
    公开日:2016-10-30
    发明作者:Petersson Anders
    申请人:Sparv Embedded Ab；
    IPC主号:
    专利说明:

    DEVICES, SYSTEl/IS AND l/IETHODS FOR DETERl/IINING l/IETEOROLOGICAL DATATECHNICAL FIELD The present disclosure relates to devices, systems and methods for determiningmeteorological data. ln particular the disclosure relates to devices, systems and methods for determining wind direction and/or wind velocity.BACKGROUND There is a great need, both from a military and civilian point of view, to be able to generatereliable meteorological predictions. I/leteorological prediction models can be very sensitive toerrors. Small deviations in model parameters may compound over time, leading to verydifferent predictions for seemingly very similar initial conditions. ln order to prevent thesimulations from deviating too much from reality, the forecasts are amended by using so-called data assimilation, wherein observational data is integrated into the model according todifferent schemes. Today's weather services cannot give very exact observations orpredictions in a lower altitude range, e.g., 50-1000 m, due to the large variations caused bylocal geography and rapid changes of topology. There exists a great need today to be able toperform measurements relating to wind, temperature and humidity at these lower altitudes.Currently, a lot of weather related data is measured by weather balloons. The weatherballoons employ a gas-filled balloon with an attached radiosonde. A radiosonde is a disposablehigh cost instrument with a significant negative environmental impact. The balloon, electroniccomponents, plastics and batteries end up in nature. Additionally, the weather balloonstypically use about 1000 - 1500 liters of helium or hydrogen gas. Filling the balloons withhelium must typically be done at a wind-shielded location. Furthermore, the process of filling aballoon may be time consuming. Additionally, helium in particular is a limited resource andeach weather balloon using a large amount of helium is another significant drawback. Theweather balloons are adapted to perform measurements at high altitudes, up to 20-35 km or mOfe.
    Other means of measuring lower altitude weather data is to set up a mast comprisingmeasurement equipment. This is an expensive solution that also suffers from the drawbacks that the mast is unmovable and rarely reaches higher than 100 m above the ground. 2A further example of measuring weather data is to use systems such as laser illuminateddetection and ranging, LIDAR, radio detection and ranging, RADAR, and sate|ites. These systems are very expensive and are limited in terms of measurement data and resolution.SUMMARY An object of the present disclosure is to provide devices, systems and methods which seek tomitigate, alleviate, or eliminate one or more of the above-identified deficiencies anddisadvantages in the art, singly or in any combination and to improve determination of meteorological data at lower altitudes.
    One embodiment provides a meteorological data determining device comprising a globalnavigation satellite system, GNSS, receiver, and an unmanned aerial vehicle comprising one ormore electric motors and control means arranged to navigate the meteorological datadetermining device to reach a predetermined first position. A powerless deployable fallvelocity limiting device is attached to the meteorological data determining device. Themeteorological data determining device comprises a cavity arranged to receive the powerlessdeployable fall velocity limiting device in an undeployed state and deployment meansarranged to deploy the powerless deployable fall velocity limiting device when themeteorological data determining device reaches the predetermined first position. The one ormore electric motors of the unmanned aerial vehicle are turned off and a determination stateis activated in the meteorological data determining device when reaching the predetermined first position.
    Thus, a device capable of determining meteorological data at lower altitudes is disclosed thatcan be retrieved for repeated use, thus reducing the environmental impact of weatherdetermination. Furthermore, the use of multiple states of operation enables determination of meteorological data during a state most suited for the specific determination purpose.
    According to an aspect, the meteorological data determining device is arranged to obtaininformation relating to wind direction and/or wind velocity during the determination state via the GNSS receiver. 3This makes device capable of determining unperturbed information relating to wind directionand/or wind velocity. The information being unperturbed is an important contribution to the information being of high quality.According to an aspect, the powerless deployable fall velocity limiting device is a parachute.
    A parachute combines the ability to limit the fall velocity with the ability to have themeteorological data determining device drift with the wind, with the one or more motorsturned off. By drifting with the wind, the meteorological data determining device can obtaininformation relating to wind direction and/or wind velocity via the Global Navigation SatelliteSystem, GNSS, receiver when the parachute is deployed, without the information beingperturbed by propelling means, such as rotors or propellers, of the unmanned aerial vehicle.For aspects where the powerless deployable fall velocity limiting device is separated from themeteorological data determining device upon completion of obtaining the unperturbedinformation relating to wind direction and/or wind velocity, a parachute limits waste that endup in nature to the material of the parachute. The material of the parachute can be made ofbiodegradable material, which means that a parachute enables a powerless deployable fallvelocity limiting device that can be separated from the meteorological data determiningdevice without having any significant impact on nature.
    According to an aspect, the control means is arranged to turn on the one or more electricmotors and to navigate the meteorological data determining device to reach a predeterminedsecond positon at a lower altitude than the predetermined first position.
    Upon completion of determining meteorological data in the determination state, it is desirableto retrieve the meteorological data determining device. The predetermined second positonwill typically be a retrieval position of the meteorological data determining device, e.g. thestarting position of the meteorological data determining device. This enables the reuse of themeteorological data determining device. lt also prevents batteries and other non-biodegradable material ending up in nature. Furthermore, it is convenient in the sense that anoperator of the meteorological data determining device has full control over the final position of the meteorological data determining device. 4According to an aspect, the meteorological data determining device comprises separatingmeans arranged to separate the powerless deployable fall velocity limiting device from the meteorological data determining device when turning on the one or more electric motors.
    The separating means facilitate the transition to a state where the meteorological datadetermining device is no longer affected by the powerless deployable fall velocity limiting device.
    According to an aspect, the unmanned aerial vehicle is a fixed-wing or a rotary-wing unmanned aerial vehicle.
    Fixed-wing unmanned aerial vehicles, UAVs, are characterised by a comparatively simplerstructure compared to rotary-wing UAVs and more efficient aerodynamics that provide theadvantage of longer flight durations at higher speeds. Rotary-wing UAVs are adapted toperform Vertical Take-off and Landing, VTOL, and they are able to hover and perform agilemaneuvering. Vertical take-off and landing offers greater flexibility in start and end pointscompared to UAVs requiring a runway, such as airplanes. The VTOL-aspect implies that theunmanned aerial vehicle has the ability to move in an essentially vertical direction. This abilityis an advantage in that it enables arranging the UAV to, upon fulfilling a condition, e.g. fallingto a predetermined height when performing measurements; propel itself essentially verticallyto a predetermined altitude. By being able to propel itself essentially vertically to apredetermined altitude upon fulfilling a condition, the UAV is able to reach an altitude thatallows the UAV to subsequently propel itself to a start or end point without first requiringspace to manoeuvre in a horizontal direction. This is advantageous for operating the UAV in terrain with varying altitude and/or obstacles, such as trees and/or buildings.
    According to an aspect, the meteorological data determining device comprises one or moremeteorological data measurement instruments arranged to measure meteorological datacomprising at least one of wind direction, wind velocity, radiation, gas concentration, particle concentration, air temperature, humidity or atmospheric pressure.
    The meteorological data measurement instruments make the meteorological data determining device capable of measuring multiple meteorological properties simultaneously. 5According to an aspect, the meteorological data determining device comprises wirelesscommunication means adapted to transmit the information relating to wind direction and/orwind velocity obtained during the determination state via the GNSS receiver to a receiving radio transceiver.
    The ability to transmit the information relating to wind direction and/or wind velocityobtained during the determination state via the GNSS receiver from the meteorological datadetermining device to a radio transceiver enables information relating to wind direction and/or wind velocity to be transferred to the radio transceiver in real-time.
    The disclosure also relates to a meteorological data determining system arranged todetermine wind direction and/or wind velocity comprising a meteorological data determiningdevice according to the present disclosure, and a radio transceiver comprising communication means adapted to receive data from the meteorological data determining device. ln addition to all the advantages discussed in relation to different aspects of themeteorological data determining device according to the present disclosure, the system allowsembodiments where part of the workload relating to determining meteorological data isperformed by a processor communicatively connected to the radio transceiver and arrangedto process the information relating to wind direction and/or wind velocity. The processor canperform data analysis of information received from the meteorological data determiningdevice via the radio transceiver. By moving computationally demanding tasks outside themeteorological data determining device, the meteorological data determining device requiresless computationally powerful circuitry and consumes less power compared to having to perform the computations, now performed by the processor, by itself.
    The disclosure also relates to a method for determining meteorological data comprisingnavigating a meteorological data determining device according to the present disclosure toreach a predetermined first position, turning off the one or more electric motors of themeteorological data determining device at the predetermined position, deploying thepowerless deployable fall velocity limiting device from the meteorological data determiningdevice upon reaching the predetermined position, and obtaining information relating to winddirection and/or wind velocity via the global navigation satellite system, GNSS, receiver when the powerless deployable fall velocity limiting device is deployed.
    The method has all the advantages described in relation to the meteorological datadetermining devices and the meteorological data determining systems according to thepresent disclosure. ln particular, the disclosed method provides unperturbed wind direction and/or wind velocity data.BRIEF DESCRIPTION OF THE DRAWINGS The foregoing will be apparent from the following more particular description of the exampleembodiments, as illustrated in the accompanying drawings in which like reference charactersrefer to the same parts throughout the different views. The drawings are not necessarily to scale, emphasis instead being placed upon illustrating the example embodiments.
    Figure 1 illustrates an embodiment of a meteorological data determining device for determining meteorological data; Figure 2 illustrates a preferred embodiment of a meteorological data determining device for determining meteorological data at different stages of a determining process; Figure 3 is a flowchart illustrating embodiments of method steps; Figure 4 illustrates an example of practical use of the meteorological data determining device.DETAILED DESCRIPTION Aspects of the present disclosure will be described more fully hereinafter with reference tothe accompanying drawings. The apparatus and method disclosed herein can, however, berealized in many different forms and should not be construed as being limited to the aspects set forth herein. Like numbers in the drawings refer to like elements throughout.
    The terminology used herein is for the purpose of describing particular aspects of thedisclosure only, and is not intended to limit the invention. As used herein, the singular forms"a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
    Figure 1 illustrates an embodiment of a meteorological data determining device for determining meteorological data. The meteorological data determining device 10 comprises a 7global navigation satellite system, GNSS, receiver 101, and an unmanned aerial vehicle 100comprising one or more electric motors 105 and control means 109 arranged to navigate themeteorological data determining device 10 to reach a predetermined first position. Apowerless deployable fall velocity limiting device 103 is attached to the meteorological datadetermining device 10. The meteorological data determining device 10 comprises a cavity 107arranged to receive the powerless deployable fall velocity limiting device 103 in anundeployed state and deployment means 111 arranged to deploy the powerless deployablefall velocity limiting device 103 when the meteorological data determining device 10 reachesthe predetermined first position. Upon reaching the predetermined first position, the one ormore electric motors 105 of the unmanned aerial vehicle 100 are turned off and a determination state is activated in the meteorological data determining device 10.
    The powerless deployable fall velocity limiting device 103 is arranged to limit the fall velocityof the meteorological data determining device 10 when deployed, e.g. by means of a parachute or a balloon.
    According to an aspect of the disclosure, the meteorological data determining device 10 isarranged to obtain information relating to wind direction and/or wind velocity via the GNSSreceiver 101 when the powerless deployable fall velocity limiting device 103 is deployedduring the determination state. The information relating to wind direction and/or windvelocity is determined based on a determination of the drift of the meteorological datadetermining device 10 with the wind during the determination state, e.g., based on the Doppler shift ofthe signals from the satellites ofthe global navigation satellite system.
    The meteorological data determining device 10 combines the ability to obtain unperturbedinformation relating to wind direction and/or wind velocity during the determination statewith improved flexibility with respect to maneuverability and operational range when outsidethe determination state. Wind direction and/or wind velocity can be determined based on the information relating to wind direction and/or wind velocity.
    By using an unmanned aerial vehicle, UAV, 100 the meteorological data determining device 10can be navigated to a well-defined destination. The meteorological data determining device 10can be arranged to operate in complex terrain and at height ranges of 50-6000m. The destinations and behaviors of the meteorological data determining device 10 can be 8preprogrammed in an auto-pilot, enabling an operator to operate the meteorological datadetermining device 10 with minimal training. The meteorological data determining device 10can return to the starting point or navigate to a designated pick-up area. This makes it possibleto reuse measurement equipment. By reusing equipment, the costs associated withperforming measurements can be reduced compared to weather balloons. Furthermore, theenvironmental impact is negligible. Batteries and electronics remain in the meteorologicaldata determining device 10 and do not end up in nature. An additional advantage is that the need to use helium is removed.
    A further advantage is that operation with the meteorological data determining device 10 canbe initiated much faster than with a conventional weather balloon. Whereas a conventionalweather balloon must be filled, which may take up to half an hour or more, the meteorologicaldata determining device 10 can typically be up and running within 1-2 minutes. A yet furtheradvantage is that the meteorological data determining device 10 enables greater flexibility inthe choice of starting points compared to the use of a weather balloon as is known in the arts.The meteorological data determining device 10 does not need to be shielded from the wind during setup and startup.
    For unmanned aerial vehicles adapted to perform measurements at high altitudes anddepending on a battery supply for propelling the UAV, a significant portion of the UAV'sbattery supply will typically be spent propelling the UAV to the high altitude. This puts a limiton how long the unmanned aerial vehicle can perform measurements. A further issue is thatunmanned aerial vehicles propelled by rotors stir the air around the UAV, thereby reducingthe quality of measurements that rely on the surrounding air being relatively unperturbed,such as wind direction and wind velocity. By being arranged to turn off the one or moremotors, as is done at the predetermined position, e.g. to turn off the motors driving the fourrotors of a quadcopter, and by being arranged to deploy the powerless deployable fall velocitylimiting device from the meteorological data determining device upon reaching thepredetermined position, both issues, i.e. battery power restrictions and air perturbations, can be resolved simultaneously.
    Figure 2 illustrates a preferred embodiment of a meteorological data determining device 20 for determining meteorological data at different stages of a meteorological data determining 9process. The unmanned aerial vehicle 200 is a quadcopter 200. The quadcopter 200 comprisesa global navigation satellite system, GNSS, receiver 201. According to an aspect, themeteorological data determining device 20 comprises an altimeter 215 adapted to measurealtitude above ground level. According to a further aspect, the altimeter 215 comprises a laser.According to a yet further aspect, the laser is arranged to reflect a laser beam from themeteorological data determining device 20 to the ground and back, wherein the altimeter 215is arranged to determine the altitude above ground level based on the time it takes for thelaser beam to return to the meteorological data determining device 20. The quadcopter 200has four motors 205. The four motors 205 are arranged to each drive a respective rotor of thequadcopter 200. The meteorological data determining device 20 comprises control means 209arranged to navigate the unmanned aerial vehicle 20 to reach a predetermined position andturn offthe motors 205 at the predetermined position. The quadcopter 200 comprises a cavity207 arranged to receive a parachute 203 in an undeployed state. The meteorological datadetermining device 20 comprises a parachute 203. The parachute 203 is arranged in anundeployed state in the cavity 207 prior to operational use of the meteorological datadetermining device 20, as illustrated in Fig. 2a. The meteorological data determining device 20comprises deployment means 211', 211" arranged to deploy the parachute 203. Thedeployment means 211', 211" comprises a spring 211' and a plate 211", the spring 211'pushing the parachute 203 via the plate 211" out of the cavity. The parachute 203 is arrangedto be deployed from the unmanned aerial vehicle 200 upon reaching the predeterminedposition. According to an aspect, the meteorological data determining device 20 comprises adetachable module that is arranged to be inserted into the cavity 207. The detachable modulecomprises the parachute 203. The meteorological data determining device 20 is arranged toload the spring 211' of the deployment means 211', 211" as the detachable module is insertedinto the cavity 207. As the detachable module is inserted, it presses against the plate 211',which in turn compresses the spring 211' into a loaded state. A detachable module comprisinga parachute 203 in an undeployed state enables the meteorological data determining device20 to be quickly and conveniently resupplied with a new parachute 203 after a previous one has been removed.
    Fig. 2b illustrates an embodiment of a meteorological data determining device 20 with a deployed parachute 203 and the four motors 205 turned off. The meteorological data determining device 20 is illustrated in a state of free fall, with the parachute 203 limiting thefree fall velocity, allowing the meteorological data determining device 20 to drift with thewind and obtain information relating to wind direction and/or wind velocity via the GNSSreceiver 201. This is the determination state of the meteorological data determining device20. The meteorological data determining device 20 comprises separating means 213 arrangedto separate the parachute 203 from the meteorological data determining device 20. Accordingto an aspect, the parachute 203 is connected to the meteorological data determining device 20 by a string.
    According to a further aspect, the separating means 213 is arranged to separate the parachute203 from the meteorological data determining device 20 by severing the string connecting theparachute 203 to the meteorological data determining device 20. This is illustrated in Fig. 2c.The meteorological data determining device 20 comprises meteorological data measurementinstruments 217 arranged to measure meteorological data. According to an aspect, themeteorological data instruments 217 are arranged to measure at least one of wind direction,wind velocity, radiation, gas concentration, particle concentration, air temperature, humidityor atmospheric pressure. According to an aspect, the meteorological data instruments 217 arearranged to measure ozone concentration. The meteorological data determining device 20comprises wireless communication means 219 adapted to transmit data to a radio transceiverand receive control signals from the radio transceiver. According to an aspect, the datatransmitted to the radio transceiver comprises information relating to wind direction and/orwind velocity obtained via the GNSS receiver 201. According to an aspect, the datatransmitted to the radio transceiver comprises meteorological data measured by themeteorological data instruments 217. According to an aspect, the data transmitted to theradio transceiver comprises information relating to the status of the meteorological data determining device 20.
    Figure 3 is a flowchart illustrating embodiments of method steps. The method is a method fordetermining meteorological data. ln particular the method relates to determining winddirection and/or wind velocity. The method is performed by means of a meteorological datadetermining device for determining meteorological data. The meteorological data determiningdevice comprises a global navigation satellite system, GNSS, receiver, and an unmanned aerial vehicle comprising one or more electric motors and control means arranged to navigate the 11meteorological data determining device to reach a predetermined first position. A powerlessdeployable fall velocity limiting device is attached to the meteorological data determiningdevice. The meteorological data determining device comprises a cavity arranged to receive thepowerless deployable fall velocity limiting device in an undeployed state and deploymentmeans arranged to deploy the powerless deployable fall velocity limiting device when themeteorological data determining device reaches the predetermined first position. Uponreaching the predetermined first position, the one or more electric motors of the unmannedaerial vehicle are turned off and a determination state is activated in the meteorological datadetermining device. The powerless deployable fall velocity limiting device is arranged to limitthe fall velocity of the meteorological data determining device when deployed. Themeteorological data determining device is arranged to obtain information relating to winddirection and/or wind velocity via the GNSS receiver when the powerless deployable fall velocity limiting device is deployed during the determination state.
    The method comprises navigating S1 a meteorological data determining device according tothe present disclosure to reach a predetermined first position. The method further comprisesturning off S3 the one or more electric motors of the meteorological data determining deviceat the predetermined first position. The method additionally comprises deploying S5 thepowerless deployable fall velocity limiting device from the meteorological data determiningdevice upon reaching the predetermined first position. The method also comprises obtainingS7 information relating to wind direction and/or wind velocity via the global navigationsatellite system, GNSS, receiver when the powerless deployable fall velocity limiting device isdeployed. This method enables the obtaining of unperturbed meteorological data relating to wind direction and/or wind velocity.
    According to an aspect, the method comprises returning S9 with the meteorological datadetermining device to a predetermined second position. This aspect allows the operator toreuse all equipment, with the possible exception of disposable powerless deployable fall velocity limiting device, such as parachutes or balloons.
    Figure 4 illustrates an example of practical use of the meteorological data determining device40. The unmanned aerial vehicle of the meteorological data determining device 40 is a quadcopter. The quadcopter comprises a global navigation satellite system, GNSS, receiver. 12The quadcopter has four motors. The four motors are arranged to each drive a respectiverotor of the quadcopter. The meteorological data determining device 40 comprises controlmeans arranged to navigate the unmanned aeria| vehicle to reach a predetermined firstposition and turn off the motors at the predetermined first position. The quadcoptercomprises a cavity arranged to receive a parachute in an undeployed state. Themeteorological data determining device 40 comprises a parachute 403. The parachute 403 isarranged in an undeployed state in the cavity prior to operational use of the meteorologicaldata determining device 40. The meteorological data determining device 40 comprisesdeployment means arranged to deploy the parachute 403. The deployment means comprisesa spring and a plate, the spring pushing the parachute via the plate out of the cavity. Theparachute 403 is arra nged to be deployed from the meteorological data determining device 40upon reaching the predetermined first position. The quadcopter starts off at a startingposition. According to an aspect, the starting position is a position on the ground, as illustratedin position (a). According to another aspect, the starting position is a point at one of a vehicle,a ship, an aeria| vehicle or a construction, e.g. a building or dedicated platform. Themeteorological data determining device 40 is navigated, position (b), to reach thepredetermined first position, position (c). According to an aspect, the predetermined firstposition is any point within a predetermined region. According to an aspect, thepredetermined region is a volume in the air. According to a further aspect, the predeterminedregion is at a height in the interval of 50-6000 m. According to a yet further aspect, thepredetermined region is at a height in the interval of 3000-6000 m, as illustrated in position(c). According to an aspect, the quadcopter comprises an altimeter. According to a furtheraspect, determining if the quadcopter has arrived at the height of the predetermined position is based on a measurement of the altimeter.
    A quadcopter is capable of maneuvering easily to a well-defined destination. This makes themeteorological data determining device 40 much more flexible than a weather balloon andthe meteorological data determining device can easily operate in complex terrain and atheight ranges of 50-6000m. The destinations and behaviors of the meteorological datadetermining device can be preprogrammed in an autopilot, enabling an operator to operatethe meteorological data determining device with minimal training. According to an aspect, the process of determining meteorological data can be initiated at the push of a button. 13Upon reaching the predetermined position, the motors of the quadcopter are turned off andthe parachute is deployed, as is illustrated in position (d). The meteorological datadetermining device 40 is now in a state of free fall, which is limited in the vertical direction bythe parachute 403. The meteorological data determining device 40 drifts with the wind.During the free fall, the meteorological data determining device 40 obtains informationrelating to wind direction and/or wind velocity via the global navigation satellite system, GNSS,receiver, as illustrated in position (e). This is a determination state of the meteorological datadetermining device 40. According to a preferred embodiment, the meteorological datadetermining device 40 continuously obtains information relating to wind direction and/orwind velocity via by the GNSS receiver. According to an aspect, the meteorological datadetermining device 40 comprises meteorological data measurement instruments arranged tomeasure meteorological data comprising air temperature, humidity and atmospheric pressure.The meteorological data determining device 40 performs measurements continuously duringthe duration of determination state. According to a further aspect, the meteorological data determining device 40 also performs measurements during navigation to the predetermined first position.
    Quadcopters have limited battery supply. To perform measurements at high altitudes, asignificant portion of the quadcopters battery supply will typically be spent propelling thequadcopter to the high altitude. lf the same battery supply is used for propelling thequadcopter and performing measurements, this puts a limit on how long the quadcopter canperform measurements. A further issue is that the rotation ofthe rotors of the quadcopter stirthe air around the quadcopter, thereby reducing the quality of measurements that rely on thesurrounding air being relatively unperturbed, such as wind direction and wind velocity. Byturning of the motors that drive the four rotors of the quadcopter and deploying a parachute403, both issues, i.e. battery power restrictions and air perturbations, are resolved simultaneously.
    When the obtaining of information relating to wind direction and/or wind velocity iscompleted, the meteorological data determining device 40 returns to the starting position ofthe meteorological data determining device 40. To be able to return to the starting position,the meteorological data determining device 40 needs to turn the motors back on, and preferably also remove the influence of the parachute 403. The meteorological data 14determining device 40 comprises separating means arranged to separate the parachute 403from the meteorological data determining device 40 by severing one or more connectionsconnecting the parachute 403 to the meteorological data determining device 40. Themeteorological data determining device 40 turns on the motors and severs the connection(s) to the parachute, as is illustrated in position (f).
    There may be many reasons for wanting to terminate the determining process and take themeteorological data determining device 40 out of the determination state. According to anaspect, the meteorological data determining process is terminated and the separating meanssever the one or more connections connecting the parachute 403 to the meteorological datadetermining device 40, while the meteorological data determining device 40 simultaneouslyturns on the motors upon fulfilling a condition. The meteorological data determining device 40then navigates to a predetermined second position. ln Fig. 4, the predetermined secondpositon is the starting position of the meteorological data determining device 40. According toan aspect, the condition is a predetermined height, as illustrated in position (f). According toan aspect, the condition is any point within a predetermined region. According to an aspect,the condition is based on a predetermined duration. According to a further aspect, thepredetermined duration is a duration of obtaining meteorological data relating to winddirection and/or wind velocity. According to an aspect, the condition is based on a safetycondition. According to an aspect, the condition is based on signaling from an operator of themeteorological data determining device 40. According to an aspect, the meteorological datadetermining device 40 has a list of different conditions and chooses to terminate themeteorological data determining process and return to the starting position based on a respective priority of the different conditions.
    By returning to a starting position it is possible to reuse measurement equipment. By reusingmost of the equipment, the costs associated with performing measurements can be reducedcompared to weather ba|oons. Furthermore, the environmental impact is negligible. Batteriesand electronics remain in the meteorological data determining device and do not end up in nature. An additional advantage is that the use of helium is removed.
    By having the condition being any point within a predetermined region, the meteorological data determining device 40 can be arranged to avoid no-fly zones. By having the condition being based on a safety condition, the meteorological data determining device 40 can avoiddamage to itself or others. According to an aspect, the safety condition comprises theparachute 403 not being successfully deployed. This allows the quadcopter to immediatelyturn its motors back on and thereby avoiding it to crash. According to another aspect, thesafety condition comprises the meteorological data determining device 40 drifting outside apredetermined region. By preventing the meteorological data determining device 40 to driftoutside a predetermined region, it is ensured that contact with the meteorological datadetermining device 40 is kept and that the meteorological data determining device 40 is able 'CO FetUFH.
    By having a list of conditions for terminating the meteorological data determining process andreturn to the starting position based on a respective priority of the different conditions, anauto-pilot controlling the meteorological data determining device 40 is able to adapt thebehavior of the meteorological data determining device 40 according to a range ofcircumstances. By having the condition being based on signaling from an operator of thedata determining device 40, is able to terminate a meteorological the operator preprogrammed behavior of the meteorological data determining device.
    According to an aspect, the meteorological data determining device 40 comprises wirelesscommunication means adapted to transmit data to a radio transceiver 421 and receive controlsignals from the radio transceiver 421, as illustrated in position (g). The radio transceiver 421comprises communication means adapted to receive data from the meteorological datadetermining device 40 and transmit control signals to the meteorological data determining device 40.
    This has the advantage that data is acquired in real-time. By acquiring the data in real-time,the need to wait for the whole measurement to finish and the meteorological datadetermining device 40 to be retrieved before the data becomes available is eliminated. Thisreduces the time one has to wait from the point when the data has been obtained to a pointwhere the data is available for further use. A further advantage is that the meteorological datadetermining device 40 can constitute part of a system for determining meteorological data,wherein the radio transceiver 421 is arranged to determine wind direction and/or wind velocity based on the obtained information relating to wind direction and/or wind velocity. 16The system enables part of the workload relating to determining meteorological data to beperformed by a processor communicatively connected to the radio transceiver 421 andarranged to process the information relating to wind direction and/or wind velocity. Theprocessor 421 can perform data analysis of information received from the meteorological datadetermining device 40 via the radio transceiver 421. The radio transceiver 421 can also controlthe operation ofthe meteorological data determining device 40 by transmitting control signals to the meteorological data determining device 40.
    According to an aspect, the meteorological data determining device 40 obtains informationrelating to wind direction and/or wind velocity via the GNSS receiver when the parachute 403is deployed. The information is then transmitted to the radio transceiver 421. Thus, the radio transceiver receives information relating to wind direction and/or wind velocity in real-time.
    Examples of areas of application Installation of wind turbines is sensitive to high wind velocity. lf the wind velocity is on theorder of 10 m/s when the wind turbine is being erected, the installation will typically have tobe temporarily aborted. With a typical manpower of about twenty people and a pair of cranes,the associated cost of interruption can be substantial. There is thus a need to predict wind velocity, in particular at low altitudes.
    Other examples where there is a need for improved weather information, in particular accurate wind direction and/or wind velocity data: - testing ranges offering testing of airplanes, helicopters, unmanned aerial vehicles andweapon systems need to provide their customers with current weather information. - air balloon operators need to have information about cloud bases and wind directionsand velocities. - skydivers currently need to perform extra flights in order to determine the currentwind conditions up to an altitude of 3 - 5 km in order to better judge the risksassociated with a potential jump. - ski resorts has a need for improved forecasts for when to activate their snow canonsand to be aware of any avalanche danger. - fighting of forest fires relies on weather forecasts.
    权利要求:
    Claims (3)
    [1] 1. A meteorological data determining device (10, 20, 40) comprising: a global navigation satellite system, GNSS, receiver (101, 201), and an unmanned aerial vehicle (100, 200) comprising one or more electric motors (105,205) and control means (109, 209) arranged to navigate the meteorological datadetermining device (10, 20, 40) to reach a predetermined first position, characterized in that a powerless deployable fall velocity limiting device (103, 203,403) is attached to the meteorological data determining device (10, 20, 40), and in thatthe meteorological data determining device (10, 20, 40) comprises a cavity (107, 207)arranged to receive the powerless deployable fall velocity limiting device (103, 203,403) in an undeployed state and deployment means (111, 211', 211") arranged todeploy the powerless deployable fall velocity limiting device (103, 203, 403) when themeteorological data determining device (10, 20, 40) reaches the first predeterminedposition, whereupon the one or more electric motors (105, 205) of the unmannedaerial vehicle (100, 200) are turned off and a determination state is activated in the meteorological data determining device (10, 20, 40). The meteorological data determining device (10, 20, 40) according to claim 1, whereinthe meteorological data determining device (10, 20, 40) is arranged to obtaininformation relating to wind direction and/or wind velocity during the determination state via the GNSS receiver (101, 201). The meteorological data determining device (10, 20, 40) according to any of claim 1 or2, wherein the powerless deployable fall velocity limiting device (103, 203, 403) is aparachute (103, 203, 403). The meteorological data determining device (10, 20, 40) according to any of claims 1 to3, wherein the control means (109, 209) are arranged to turn on the one or moreelectric motors (105, 205) and to navigate the meteorological data determining device(10, 20, 40) to reach a predetermined second positon at a lower altitude than the predetermined first position. 10. 18The meteorological data determining device (10, 20, 40) according to claim 4, furthercomprising separating means (113, 213) arranged to separate the powerlessdeployable fall velocity limiting device (103, 203, 403) from the meteorological datadetermining device (10, 20, 40) when turning on the one or more electric motors (105, 205). The meteorological data determining device (10, 20, 40) according to any of thepreceding claims, wherein the unmanned aerial vehicle (100, 200) is a fixed-wing or a rotary-wing unmanned aerial vehicle. The meteorological data determining device (10, 20, 40) according to any of thepreceding claims, further comprising one or more meteorological data measurementinstruments (217) arranged to measure meteorological data comprising at least one ofwind direction, wind velocity, radiation, gas concentration, particle concentration, air temperature, humidity or atmospheric pressure. The meteorological data determining device (10, 20, 40) according to any of thepreceding claims, wherein the meteorological data determining device (10, 20, 40)comprises wireless communication means (219) adapted to transmit the informationrelating to wind direction and/or wind velocity obtained during the determination state via the GNSS receiver (101, 201) to a receiving radio transceiver (421). A meteorological data determining system arranged to determine wind directionand/or wind velocity comprising: a meteorological data determining device (10, 20, 40) according to any of claims 1-8,and a radio transceiver (421) comprising communication means adapted to receive data from the meteorological data determining device (10, 20, 40). A method for determining meteorological data comprising:navigating (S1) a meteorological data determining device (10, 20, 40) according to any of claims 1 to 8 to reach a predetermined first position, 19 turning off (S3) the one or more electric motors (105, 205) of the meteorological datadetermining device (10, 20, 40) at the predetermined first position, deploying (S5) the powerless deployable fall velocity limiting device (103, 203, 403)from the meteorological data determining device (10, 20, 40) upon reaching thepredetermined first position, and obtaining (S7) information relating to wind direction and/or wind velocity via the globalnavigation satellite system, GNSS, receiver (101, 201) when the powerless deployable fall velocity limiting device (103, 203, 403) is deployed.
    类似技术:
    公开号 | 公开日 | 专利标题
    US10429514B2|2019-10-01|Unoccupied flying vehicle | location assurance
    US10795354B2|2020-10-06|Flight aiding method and system for unmanned aerial vehicle, unmanned aerial vehicle, and mobile terminal
    US9665094B1|2017-05-30|Automatically deployed UAVs for disaster response
    US9527586B2|2016-12-27|Inter-vehicle flight attribute communication for an unoccupied flying vehicle |
    US9776716B2|2017-10-03|Unoccupied flying vehicle | inter-vehicle communication for hazard handling
    EP3570132B1|2022-03-02|System and method for data recording and analysis
    US9405296B2|2016-08-02|Collision targeting for hazard handling
    US10013885B2|2018-07-03|Airspace deconfliction system and method
    US10279906B2|2019-05-07|Automated hazard handling routine engagement
    US10403161B1|2019-09-03|Interface for accessing airspace data
    US9235218B2|2016-01-12|Collision targeting for an unoccupied flying vehicle |
    US9747809B2|2017-08-29|Automated hazard handling routine activation
    US10518877B2|2019-12-31|Inter-vehicle communication for hazard handling for an unoccupied flying vehicle |
    US20160221683A1|2016-08-04|Hybrid Power Systems for Vehicle with Hybrid Flight Modes
    US6144899A|2000-11-07|Recoverable airborne instrument platform
    US20140172194A1|2014-06-19|Base station multi-vehicle coordination
    US9567074B2|2017-02-14|Base station control for an unoccupied flying vehicle |
    US20170043867A1|2017-02-16|Spin stabilized aerial aircraft
    JP2017182638A|2017-10-05|Unmanned aircraft, control method thereof, and program
    CN111587409A|2020-08-25|Unmanned aerial vehicle launching method and system
    SE1550530A1|2016-10-30|Devices, systems and methods for determining meteorological data
    US10671067B2|2020-06-02|Managing limited safe mode operations of a robotic vehicle
    RU2590229C2|2016-07-10|System of measuring spatial distribution of parameters of atmosphere
    KR20210085130A|2021-07-08|Safety operating system and method for UAV
    WO2021070253A1|2021-04-15|Processing system, aircraft that can fly unmanned, and dust state estimation method
    同族专利:
    公开号 | 公开日
    SE538733C2|2016-11-08|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    法律状态:
    2018-12-04| NUG| Patent has lapsed|
    优先权:
    申请号 | 申请日 | 专利标题
    SE1550530A|SE538733C2|2015-04-29|2015-04-29|Devices, systems and methods for determining meteorological data|SE1550530A| SE538733C2|2015-04-29|2015-04-29|Devices, systems and methods for determining meteorological data|
    [返回顶部]