Control device

Abstract

A control device is provided with: a determination means for determining whether or not a kite is in a dive mode on the basis of the posture of the kite provided with an aerodynamic characteristic changing means capable of changing aerodynamic characteristics; and a control means that, when it is determined that the kite is in the dive mode, controls the aerodynamic characteristic changing means such that the kite spirals in the direction opposite to the current spirals direction of the kite.

Description

Technical Field

[0001] The present invention relates to the technical field of kite control devices. Background Art

[0002] As such a device, for example, a device for controlling a variable-wing kite capable of changing aerodynamic characteristics by changing the area of the kite wing has been proposed (Japanese Patent Application Laid-Open No. 2020-147266). Summary of the Invention

[0003] There is room for improvement in the technology described in Japanese Patent Application Laid-Open No. 2020-147266.

[0004] The present invention is made in view of the above actual situation, and an object thereof is to provide a control device capable of suppressing the fall of a kite.

[0005] A control device according to one aspect of the present invention includes:

[0006] a determination unit that determines whether the kite is in a dive mode based on the posture of the kite having an aerodynamic characteristic change unit capable of changing aerodynamic characteristics; and

[0007] a control unit that controls the aerodynamic characteristic change unit so that the kite circles in a direction opposite to the current circling direction of the kite when it is determined that the kite is in a dive mode. Brief Description of the Drawings

[0008] Hereinafter, the features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described with reference to the drawings, in which the same reference numerals denote the same elements, and:

[0009] Figure 1 is a diagram showing an example of a kite;

[0010] Figure 2 is a block diagram showing an example of the configuration of the control device according to the embodiment;

[0011] Figure 3 is a block diagram showing an example of the configuration of the arithmetic device according to the embodiment;

[0012] Figure 4 is a flowchart showing the operation of the control device according to the embodiment; and

[0013] Figure 5 is a diagram for explaining the effect of the control device according to the embodiment. Detailed Description of the Invention

[0014] Refer to Figures 1 to 5 , and an embodiment related to the control device will be described. InFigure 1 In this case, the kite 1 is moored to the device 2 by a tether (kite line), and the device 2 has a drum around which the tether is wound. The kite 1 has a spoiler (movable plate) 1a that can change the aerodynamic characteristics of the kite 1. The kite 1 is configured in a shape having weathervane stability (in other words, a weathercock effect can be obtained). The kite 1 can be, for example, an inflatable kite. However, the kite 1 is not limited to an inflatable kite. In addition, the device 2 can be installed on the ground or on a structure, and can be installed, for example, on an object such as a vehicle or a ship that can carry the above-mentioned drum.

[0015] A control device 10 is installed on the kite 1. In addition, the control device 10 may not be installed on the kite 1. For example, the device 2 may have the control device 10. Refer to Figure 2 The control device 10 will be described. In Figure 2 this case, the control device 10 includes an arithmetic device 11, a storage device 12, and a communication device 13. The arithmetic device 11, the storage device 12, and the communication device 13 can be connected via a data bus 16. In addition, the control device 10 may further include at least one of an input device and an output device in addition to the arithmetic device 11, the storage device 12, and the communication device 13.

[0016] The arithmetic device 11 may have a processor 11a. In addition, the arithmetic device 11 may have other processors in addition to the processor 11a. That is, the arithmetic device 11 may have one or more processors. In addition, the processor 11a may be a multi-core processor. When the arithmetic device 11 has a single processor 11a that is a multi-core processor, the arithmetic device 11 can be said to have multiple processors logically.

[0017] The processor 11a can be, for example, at least one of a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an FPGA (Field Programmable Gate Array), and a TPU (Tensor Processing Unit).

[0018] The storage device 12 may have a memory 12a. In addition, the storage device 12 may have other memories in addition to the memory 12a. That is, the storage device 12 may have one or more memories. The memory 12a may be, for example, at least one of a RAM (Random Access Memory), a ROM (Read Only Memory), a hard disk device, an optical disk device, an SSD (Solid State Drive), and an optical disk array. Therefore, the storage device 12 may have the memory 12a as a non-transitory recording medium.

[0019] The communication device 13 may also be able to communicate with a device external to the control device 10. In addition, the communication device 13 may perform wired communication or wireless communication.

[0020] The storage device 12 can store desired data. A computer program 121 executed by the arithmetic unit 11 may be stored in the memory 12a of the storage device 12. The storage device 12 may temporarily store data temporarily used by the arithmetic unit 11 when the arithmetic unit 11 is executing the computer program 121. In addition, the computer program 121 may be obtained (in other words, downloaded) from an unillustrated device external to the control device 10 via the communication device 13. The obtained computer program 121 may be stored in the memory 12a.

[0021] The processor 11a of the arithmetic unit 11 may execute the processing that the control device 10 should perform together with the memory 12a of the storage device 12 in which the computer program 121 is stored. In other words, the processing that the control device 10 should perform may be executed together with the memory 12a and the computer program 121 stored in the memory 12a. For example, by executing the computer program 121 by the processor 11a, a logic function block for executing the processing that the control device 10 should perform can be realized in the arithmetic unit 11.

[0022] Refer to Figure 3 , the control device 10 will be described. In Figure 3 , the arithmetic unit 11 of the control device 10 has a detection unit 111, a determination unit 112, and a control unit 113 as logically realized function blocks or as physically realized processing circuits. In addition, at least one of the detection unit 111, the determination unit 112, and the control unit 113 may be realized in a form in which a logic function block and a physical processing circuit (i.e., hardware) coexist.

[0023] In addition, when the detection unit 111, the determination unit 112, and the control unit 113 are implemented as functional blocks, the detection unit 111, the determination unit 112, and the control unit 113 can also be implemented by a single processor (for example, the processor 11a). Alternatively, the detection unit 111, the determination unit 112, and the control unit 113 can be implemented by different processors respectively. Alternatively, part of the detection unit 111, the determination unit 112, and the control unit 113 can be implemented by one processor, and the remaining part of the detection unit 111, the determination unit 112, and the control unit 113 can be implemented by one or more processors different from the one processor.

[0024] An IMU (Inertial Measurement Unit), a height sensor 22, and a wind speed sensor 23 can be installed on the kite 1. The detection unit 111 of the arithmetic device 11 detects the posture of the kite 1 based on the measurement result of the IMU 21.

[0025] The posture of the kite 1 can be represented, for example, by an XYZ orthogonal coordinate system defined by mutually orthogonal X-axis, Y-axis, and Z-axis. Here, the rotation angles around the X-axis, Y-axis, and Z-axis are respectively set as θX, θY, and θZ. In this case, the posture of the kite 1 can be represented by a combination of θX, θY, and θZ. In addition, θX, θY, and θZ can also be respectively referred to as the roll angle, the pitch angle, and the yaw angle. The posture of the kite 1 can also be represented by a quaternion, for example.

[0026] As described above, the kite 1 is configured to have a shape with weathervane stability. When the kite 1 is subjected to a crosswind (lateral wind), the posture of the kite 1 changes due to the weathervane stability. At this time, it sometimes becomes a state where the head T of the kite 1 (refer to Figure 1 ) tilts downward on the side and the kite 1 descends, that is, a dive state. In addition, hereinafter, the "dive state" will be appropriately referred to as the "dive mode".

[0027] The determination unit 112 of the arithmetic device 11 determines whether the kite 1 is in the dive mode based on the posture of the kite 1 detected by the detection unit 111. For example, the determination unit 112 can determine whether the kite 1 is in the dive mode based on the posture angle of the kite 1. In this case, the determination unit 112 can determine that the kite 1 is in the dive mode when the posture angle of the kite 1 is equal to or greater than a first predetermined value. The determination unit 112 can determine that the kite 1 is not in the dive mode when the posture angle of the kite 1 is less than the first predetermined value. In addition, when the posture of the kite 1 is represented by a combination of θX, θY, and θZ, the posture angle can mean θX (that is, the roll angle).

[0028] When the determination unit 112 determines that the kite 1 is in the diving mode, the control unit 113 of the arithmetic unit 11 controls the spoiler 1a so that the kite 1 gets out of the diving mode. In this case, the control unit 113 controls the spoiler 1a in such a way that the kite 1 spirals in the direction opposite to the current spiral direction of the kite 1. In addition, the control unit 113 can determine the current spiral direction of the kite 1 based on the motion history of the kite 1. For example, the control unit 113 can use either an infinite impulse response filter or a finite impulse response filter to determine the current spiral direction of the kite 1. The motion history of the kite 1 can be generated based on the output of the IMU 21, for example.

[0029] After the control unit 113 controls the spoiler 1a so that the kite 1 gets out of the diving mode, the detection unit 111 detects the posture of the kite 1 based on the measurement result of the IMU 21. The determination unit 112 determines whether the kite 1 has got out of the diving mode based on the posture of the kite 1 detected by the detection unit 111. For example, the determination unit 112 can determine whether the kite 1 has got out of the diving mode based on the posture angle of the kite 1. In this case, the determination unit 112 can determine that the kite 1 has got out of the diving mode when the posture angle of the kite 1 is equal to or less than the second predetermined value. The determination unit 112 can determine that the kite 1 has not got out of the diving mode when the posture angle of the kite 1 is greater than the second predetermined value. In addition, the second predetermined value is a value less than the above-mentioned first predetermined value.

[0030] When the determination unit 112 determines that the kite 1 has not got out of the diving mode, the control unit 113 continues to control the spoiler 1a to make the kite 1 get out of the diving mode. On the other hand, when the determination unit 112 determines that the kite 1 has got out of the diving mode, the control unit 113 ends the control of the spoiler 1a to make the kite 1 get out of the diving mode.

[0031] Refer to Figure 4 the flowchart of Figure 4 to describe the operation of the control device 10. In

[0032] In the process of S102, when it is determined that the posture angle of the kite 1 is not equal to or greater than the first predetermined value (S102: No), the operation shown in Figure 4 ends. This is because the kite 1 is not in the diving mode.

[0033] When it is determined in the process of S102 that the attitude angle of Kite 1 is equal to or greater than the first predetermined value (S102: Yes), the control unit 113 of the arithmetic unit 11 controls the spoiler 1a so as to disengage Kite 1 from the dive mode (S103). In the process of S103, the control unit 113 controls the spoiler 1a so that Kite 1 circles in the direction opposite to the current circling direction of Kite 1.

[0034] Then, the detection unit 111 detects the attitude of Kite 1 based on the measurement result of the IMU 21 (S104). The determination unit 112 determines whether the attitude angle of Kite 1 is equal to or less than the second predetermined value based on the attitude of Kite 1 detected by the detection unit 111 (S105).

[0035] When it is determined in the process of S104 that the attitude angle of Kite 1 is greater than the second predetermined value (S105: No), the process of S103 described above is performed. That is, the control unit 113 continues to control the spoiler 1a for disengaging Kite 1 from the dive mode.

[0036] When it is determined in the process of S105 that the attitude angle of Kite 1 is equal to or less than the second predetermined value (S105: Yes), the control unit 113 ends the control of the spoiler 1a for disengaging Kite 1 from the dive mode.

[0037] Technical Effect

[0038] Reference Figure 5 , the technical effect of the control device 10 will be described. There is also the following method: when Kite 1 is in the dive mode, as shown by the dotted arrow in Figure 5 , Kite 1 circles 360 degrees in the circling direction when Kite 1 is in the dive mode, so as to restore the attitude of Kite 1. That is, there is also a method of restoring the attitude of Kite 1 by restoring Kite 1 from the dive mode.

[0039] As described above, Kite 1 becomes the dive mode due to the crosswind. According to the research of the inventor of the present application, the lower the flight altitude of Kite 1, the more likely Kite 1 is to be affected by the crosswind. That is, when the flight altitude of Kite 1 is relatively low, Kite 1 is likely to enter the dive mode. Therefore, when Kite 1 circles as shown by the dotted arrow in Figure 5 , Kite 1 may fall.

[0040] When it is determined by the determination unit 112 of the arithmetic unit 11 that Kite 1 is in the dive mode, the control unit 113 of the arithmetic unit 11 controls the spoiler 1a so that Kite 1 circles in the direction opposite to the current circling direction of Kite 1. If configured in this way, as in Figure 5As shown by the solid arrow in [the figure], it is possible to recover the kite 1 from the dive mode while suppressing a decrease in the flying height of the kite 1. That is to say, according to the control device 10, it is possible to recover the posture of the kite 1 while suppressing the fall of the kite 1.

[0041] As described above, the first predetermined value for determining whether the kite 1 is in the dive mode and the second predetermined value for determining whether the kite 1 has exited the dive mode are different from each other. Specifically, the first predetermined value is greater than the second predetermined value. That is to say, control hysteresis is set in the control device 10. With such a configuration, for example, it is possible to prevent a situation where it is determined that the kite 1 is in the dive mode immediately after it is determined that the kite 1 has exited the dive mode.

[0042] In addition, the "first predetermined value" is a value for the control unit 113 to determine whether to control the spoiler 1a for causing the kite 1 to exit the dive mode. The first predetermined value can be set in advance as a fixed value, or can be set as a variable value corresponding to any physical quantity or parameter. The "first predetermined value" can be set, for example, as follows. The relationship between the posture angle of the kite 1 and the flight state of the kite 1 can be obtained. Based on the obtained relationship, the first predetermined value can be set as the lower limit value of the range of the posture angle when the kite 1 is in the dive mode.

[0043] In addition, the "second predetermined value" is a value for the control unit 113 to determine whether to end the control of the spoiler 1a for causing the kite 1 to exit the dive mode. The second predetermined value can be set in advance as a fixed value, or can be set as a variable value corresponding to any physical quantity or parameter. The "second predetermined value" can be set, for example, as follows. The relationship between the posture angle of the kite 1 and the flight state of the kite 1 can be obtained. Based on the obtained relationship, the second predetermined value can be set as a value smaller than the lower limit value of the range of the posture angle when the kite 1 is in the dive mode by a predetermined value.

[0044] First Modified Example

[0045] A first modified example of the control device 10 will be described. The detection unit 111 of the arithmetic device 11 can detect the flying height of the kite 1 based on the measurement result of the height sensor 22 (refer to Figure 3 )). When it is determined by the determination unit 112 of the arithmetic device 11 that the kite 1 is in the dive mode, the control unit 113 of the arithmetic device 11 can reduce the tension of the tether of the tethered kite 1 on the condition that the flying height of the kite 1 detected by the detection unit 111 is below a predetermined height. For example, the control unit 113 can control the device 2 so as to let out the tether for tethering the kite 1.

[0046] Technical Effects

[0047] If configured in this way, it is possible to effectively suppress the fall of the kite 1 when the kite 1 is in a diving mode.

[0048] In addition, the "predetermined height" is a value for the control unit 113 to determine whether to reduce the tension of the tether of the tethered kite 1. The predetermined height can be set in advance as a fixed value or as a variable value corresponding to any physical quantity or parameter. The "predetermined height" can be set, for example, as follows. The relationship between the flight height of the kite 1 and the possibility of the kite 1 falling in the case where the kite 1 is in a diving mode can be obtained. Based on the obtained relationship, the predetermined height can be set as the lower limit value of the range of the flight height where the possibility of the kite 1 falling is equal to or less than a predetermined value.

[0049] Second modification

[0050] A first modification of the control device 10 will be described. The detection unit 111 of the arithmetic unit 11 can detect the wind speed at the position of the kite 1 based on the measurement result of the wind speed sensor 23 (see Figure 3 ). When it is determined by the determination unit 112 of the arithmetic unit 11 that the kite 1 is in a diving mode, the control unit 113 of the arithmetic unit 11 can estimate the degree of deformation of the kite 1 caused by the wind based on the wind speed detected by the detection unit 111. The control unit 113 can also control the spoiler 1a so that the kite 1 spirals in a direction opposite to the current spiral direction of the kite 1 based on the estimated degree of deformation of the kite 1.

[0051] Technical effects

[0052] If configured in this way, it is possible to control the spoiler 1a in consideration of the deformation of the kite 1 caused by the wind. As a result, it is possible to effectively suppress the fall of the kite 1 when the kite 1 is in a diving mode.

[0053] Hereinafter, the technical solutions of the invention derived from the above-described embodiments and modifications will be described.

[0054] A control device according to one technical solution of the invention includes: a determination unit that determines whether the kite is in a diving mode based on the posture of the kite having an aerodynamic characteristic change unit capable of changing aerodynamic characteristics; and a control unit that, when it is determined that the kite is in a diving mode, controls the aerodynamic characteristic change unit so that the kite spirals in a direction opposite to the current spiral direction of the kite. In the above embodiment, the "spoiler 1a" corresponds to an example of the "aerodynamic characteristic change unit", the "determination unit 112" corresponds to an example of the "determination unit", and the "control unit 113" corresponds to an example of the "control unit".

[0055] In the control device, the determination unit can determine whether the kite has exited the dive mode based on the posture of the kite after it is determined that the kite is in the dive mode. In this technical solution, the determination unit can determine that the kite is in the dive mode when the posture angle representing the posture of the kite is equal to or greater than a first predetermined value. Additionally, after it is determined that the kite is in the dive mode, when the posture angle becomes equal to or less than a second predetermined value that is less than the first predetermined value, the determination unit determines that the kite has exited the dive mode.

[0056] In the control device, when it is determined that the kite is in the dive mode, on the condition that the flying height of the kite is equal to or less than a predetermined height, the control unit reduces the tension of the tether that tethers the kite.

[0057] In the control device, when it is determined that the kite is in the dive mode, the control unit controls the aerodynamic characteristic change unit in such a way that the kite spirals in a direction opposite to the current spiral direction of the kite based on the degree of deformation of the kite caused by the wind.

[0058] The present invention is not limited to the above-described embodiments, and can be appropriately modified within the scope not violating the gist or idea of the invention read out from the claims and the entire specification. A control device accompanied by such modifications is also included in the technical scope of the present invention.

Claims

1. A control device, characterized in that, Comprising: A determination unit that determines whether the kite is in a dive mode based on the posture of the kite having an aerodynamic characteristic change unit capable of changing aerodynamic characteristics; And A control unit that controls the aerodynamic characteristic change unit in such a way that the kite circles in a direction opposite to the current circling direction of the kite when it is determined that the kite is in a dive mode.

2. The control device according to claim 1, wherein: Based on the posture of the kite after it is determined that the kite is in a dive mode, the determination unit determines whether the kite has exited the dive mode.

3. The control device according to claim 2, wherein: The determination unit determines that the kite is in a dive mode when a posture angle representing the posture of the kite is equal to or greater than a first predetermined value, and after it is determined that the kite is in a dive mode, when the posture angle becomes equal to or less than a second predetermined value that is less than the first predetermined value, the determination unit determines that the kite has exited the dive mode.

4. The control device according to claim 1, wherein: When it is determined that the kite is in a dive mode, the control unit reduces the tension of the tether that tethers the kite on the condition that the flying height of the kite is below a predetermined height.

5. The control device according to claim 1, wherein: When it is determined that the kite is in a dive mode, the control unit controls the aerodynamic characteristic change unit in such a way that the kite circles in a direction opposite to the current circling direction of the kite based on the degree of deformation of the kite caused by the wind.

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