Control device

Abstract

To suppress fall of a kite.SOLUTION: A control device includes: determination means configured to determine whether a kite is in a dive mode based on a posture of the kite including aerodynamic characteristic changing means capable of changing an aerodynamic characteristic; and control means configured to control the aerodynamic characteristic changing means such that the kite turns in a direction opposite to a current turning direction of the kite when it is determined that the kite is in the dive mode.SELECTED DRAWING: Figure 3

Description

Technical Field

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

Background Art

[0002] As this type of 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 (Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] There is room for improvement in the technology described in Patent Document 1.

[0005] The present invention has been made, for example, in view of the above circumstances, and an object thereof is to provide a control device capable of suppressing the fall of a kite.

Means for Solving the Problems

[0006] A control device according to an aspect of the present invention includes a determination unit that determines whether or not the kite is in a dive mode based on the posture of a kite including an aerodynamic characteristic changing unit capable of changing aerodynamic characteristics, and a control unit that controls the aerodynamic characteristic changing unit so that the kite turns in a direction opposite to the current turning direction of the kite when it is determined that the kite is in the dive mode.

Brief Description of the Drawings

[0007]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Mode for Carrying Out the Invention

[0008] Embodiments related to the control device will be described with reference to FIGS. 1 to 5. In FIG. 1, the kite 1 is moored to a facility 2 having a drum around which a tether is wound by a tether (kite string). The kite 1 has a spoiler (movable plate) 1a capable of changing the aerodynamic characteristics of the kite 1. The kite 1 is configured in a shape having weather vane stability (in other words, the weather vane effect can be obtained). The kite 1 may be, for example, an inflatable kite. However, the kite 1 is not limited to an inflatable kite. Note that the facility 2 may be installed on the ground, may be installed on a structure, or may be installed on a vehicle or ship capable of transporting the above drum, for example.

[0009] The control device 10 is attached to the kite 1. Note that the control device 10 does not necessarily have to be attached to the kite 1. For example, the facility 2 may have the control device 10. The control device 10 will be described with reference to FIG. 2. In FIG. 2, the control device 10 includes an arithmetic unit 11, a storage unit 12, and a communication unit 13. The arithmetic unit 11, the storage unit 12, and the communication unit 13 may be connected via a data bus 16. Note that the control device 10 may include at least one of an input device and an output device in addition to the arithmetic unit 11, the storage unit 12, and the communication unit 13.

[0010] The arithmetic unit 11 may have a processor 11a. In addition to the processor 11a, the arithmetic unit 11 may have other processors. That is, the arithmetic unit 11 may have one or more processors. The processor 11a may be a multi-core processor. When the arithmetic unit 11 has a single processor 11a that is a multi-core processor, it can be said that the arithmetic unit 11 logically has a plurality of processors.

[0011] The processor 11a may be at least one of, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an FPGA (Field Programmable Gate Array), and a TPU (Tensor Processing Unit).

[0012] The storage device 12 may have a memory 12a. In addition to the memory 12a, the storage device 12 may have other memories. That is, the storage device 12 may have one or more memories. The memory 12a may be at least one of, for example, a RAM (Random Access Memory), a ROM (Read Only Memory), a hard disk drive, a magneto-optical disk drive, an SSD (Solid State Drive), and an optical disk array. Therefore, the storage device 12 may have a memory 12a as a non-temporary recording medium.

[0013] The communication device 13 may be able to communicate with a device external to the control device 10. The communication device 13 may perform wired communication or wireless communication.

[0014] The memory device 12 can store desired data. The memory 12a of the memory device 12 may store a computer program 121 executed by the arithmetic unit 11. When the arithmetic unit 11 is executing the computer program 121, the memory device 12 may temporarily store data temporarily used by the arithmetic unit 11. Incidentally, the computer program 121 may be acquired (in other words, downloaded) from a device (not shown) external to the control device 10 via the communication device 13. The acquired computer program 121 may be stored in the memory 12a.

[0015] The processor 11a of the arithmetic unit 11 may execute the processing to be performed by the control device 10 together with the memory 12a of the memory device 12 in which the computer program 121 is stored (in other words, together with the memory 12a and the computer program 121 stored in the memory 12a). For example, by executing the computer program 121, a logical functional block for executing the processing to be performed by the control device 10 may be realized in the arithmetic unit 11.

[0016] An explanation of the control device 10 will be added with reference to FIG. 3. In FIG. 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 functional blocks or as physically realized processing circuits. Incidentally, 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 logical functional block and a physical processing circuit (that is, hardware) are mixed.

[0017] When the detection unit 111, the determination unit 112, and the control unit 113 are realized as functional blocks, the detection unit 111, the determination unit 112, and the control unit 113 may be realized by a single processor (for example, the processor 11a). Alternatively, the detection unit 111, the determination unit 112, and the control unit 113 may be realized by different processors respectively. Alternatively, a part of the detection unit 111, the determination unit 112, and the control unit 113 may be realized by one processor, and the remaining parts of the detection unit 111, the determination unit 112, and the control unit 113 may be realized by one or more processors different from the one processor.

[0018] An IMU (Inertial Measurement Unit) 21, an altitude sensor 22, and a wind speed sensor 23 may be attached to the kite 1. The detection unit 111 of the arithmetic device 11 detects the attitude of the kite 1 based on the measurement result of the IMU 21.

[0019] The attitude of the kite 1 may be represented, for example, in an XYZ orthogonal coordinate system defined by an X-axis, a Y-axis, and a Z-axis that are orthogonal to each other. Here, let the rotation angles around the X-axis, the Y-axis, and the Z-axis be θX, θY, and θZ, respectively. In this case, the attitude of the kite 1 may be represented by a combination of θX, θY, and θZ. Incidentally, θX, θY, and θZ may be referred to as a roll angle, a pitch angle, and a yaw angle, respectively. The attitude of the kite 1 may be represented by, for example, a quaternion.

[0020] As described above, the kite 1 is configured in a shape having wind stability. When the kite 1 receives a crosswind, the attitude of the kite 1 changes due to the wind stability. At this time, the head T (see FIG. 1) side of the kite 1 may drop, and the kite 1 may be in a dive state in which it descends. Incidentally, the "dive state" will hereinafter be appropriately referred to as the "dive mode".

[0021] The determination unit 112 of the arithmetic unit 11 determines whether the kite 1 is in the dive mode based on the attitude of the kite 1 detected by the detection unit 111. For example, the determination unit 112 may determine whether the kite 1 is in the dive mode based on the attitude angle of the kite 1. In this case, the determination unit 112 may determine that the kite 1 is in the dive mode when the attitude angle of the kite 1 is equal to or greater than a first predetermined value. The determination unit 112 may determine that the kite 1 is not in the dive mode when the attitude angle of the kite 1 is less than the first predetermined value. Note that when the attitude of the kite 1 is represented by a combination of θX, θY, and θZ, the attitude angle may mean θX (i.e., the roll angle).

[0022] When the determination unit 112 determines that the kite 1 is in the dive mode, the control unit 113 of the arithmetic unit 11 controls the spoiler 1a so that the kite 1 exits the dive mode. In this case, the control unit 113 controls the spoiler 1a so that the kite 1 turns in a direction opposite to the current turning direction of the kite 1. Note that the control unit 113 may specify the current turning direction of the kite 1 based on the motion history of the kite 1. For example, the control unit 113 may specify the current turning direction of the kite 1 using either an infinite impulse response filter or a finite impulse response filter. The motion history of the kite 1 may be generated based on, for example, the output of the IMU 21.

[0023] After the control unit 113 controls the spoiler 1a so that the kite 1 exits the dive mode, the detection unit 111 detects the attitude of the kite 1 based on the measurement result of the IMU 21. The determination unit 112 determines whether the kite 1 has exited the dive mode based on the attitude of the kite 1 detected by the detection unit 111. For example, the determination unit 112 may determine whether the kite 1 has exited the dive mode based on the attitude angle of the kite 1. In this case, the determination unit 112 may determine that the kite 1 has exited the dive mode when the attitude angle of the kite 1 is equal to or less than a second predetermined value. The determination unit 112 may determine that the kite 1 has not exited the dive mode when the attitude angle of the kite 1 is greater than the second predetermined value. Note that the second predetermined value is smaller than the first predetermined value described above.

[0024] When the determination unit 112 determines that the kite 1 has not exited the dive mode, the control unit 113 continues to control the spoiler 1a for the kite 1 to exit the dive mode. On the other hand, when the determination unit 112 determines that the kite 1 has exited the dive mode, the control unit 113 ends the control of the spoiler 1a for the kite 1 to exit the dive mode.

[0025] The operation of the control device 10 will be further described with reference to the flowchart of FIG. 4. In FIG. 4, the detection unit 111 of the arithmetic unit 11 detects the attitude of the kite 1 based on the measurement result of the IMU 21 (step S101). The determination unit 112 of the arithmetic unit 11 determines whether or not the attitude angle of the kite 1 is equal to or greater than a first predetermined value based on the attitude of the kite 1 detected by the detection unit 111 (step S102).

[0026] In the process of step S102, when it is determined that the attitude angle of the kite 1 is not equal to or greater than the first predetermined value (step S102: No), the operation shown in FIG. 4 ends. This is because the kite 1 is not in the dive mode.

[0027] In the process of step S102, when it is determined that the attitude angle of the kite 1 is equal to or greater than the first predetermined value (step S102: Yes), the control unit 113 of the arithmetic unit 11 controls the spoiler 1a so that the kite 1 exits the dive mode (step S103). In the process of step S103, the control unit 113 controls the spoiler 1a so that the kite 1 turns in the direction opposite to the current turning direction of the kite 1.

[0028] Thereafter, the detection unit 111 detects the attitude of the kite 1 based on the measurement result of the IMU 21 (step S104). The determination unit 112 determines whether or not the attitude angle of the kite 1 is equal to or less than a second predetermined value based on the attitude of the kite 1 detected by the detection unit 111 (step S105).

[0029] In the process of step S104, when it is determined that the attitude angle of kite 1 is greater than the second predetermined value (step S105: No), the process of step S103 described above is performed. That is, the control unit 113 continues to control the spoiler 1a for kite 1 to exit the dive mode.

[0030] In the process of step S105, when it is determined that the attitude angle of kite 1 is less than or equal to the second predetermined value (step S105: Yes), the control unit 113 ends the control of the spoiler 1a for kite 1 to exit the dive mode.

[0031] (Technical effect) The technical effect of the control device 10 will be described with reference to FIG. 5. When kite 1 enters the dive mode, as shown by the dotted arrow in FIG. 5, there is also a method of returning the attitude of kite 1 (that is, returning kite 1 from the dive mode) by turning kite 1 360 degrees in the turning direction when kite 1 enters the dive mode.

[0032] As described above, kite 1 enters the dive mode due to being affected by a crosswind. According to the research of the inventor of the present application, it has been found that the lower the flight altitude of kite 1, the more easily kite 1 is affected by a crosswind. That is, when the flight altitude of kite 1 is relatively low, kite 1 is likely to enter the dive mode. Therefore, if kite 1 is turned as shown by the dotted arrow in FIG. 5, there is a possibility that kite 1 will fall.

[0033] When the determination unit 112 of the arithmetic unit 11 determines 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 turns in the direction opposite to the current turning direction of kite 1. With such a configuration, as shown by the solid arrow in FIG. 5, it is possible to return kite 1 from the dive mode while suppressing a decrease in the flight altitude of kite 1. That is, according to the control device 10, it is possible to restore the attitude of kite 1 while suppressing the fall of kite 1.

[0034] As described above, the first predetermined value used for determining whether the kite 1 is in the dive mode and the second predetermined value used for determining whether the kite 1 has exited the dive mode are different from each other. Specifically, the first predetermined value is larger than the second predetermined value. That is, in the control device 10, control hysteresis is set. With such a configuration, for example, it is possible to prevent the kite 1 from being determined to be in the dive mode immediately after it is determined that the kite 1 has exited the dive mode.

[0035] In addition, the "first predetermined value" is a value for the control unit 113 to determine whether to control the spoiler 1a for the kite 1 to exit the dive mode. The first predetermined value may be set in advance as a fixed value, or may be set as a variable value according to some physical quantity or parameter. The "first predetermined value" may be set, for example, as follows. The relationship between the attitude angle of the kite 1 and the flight state of the kite 1 may be obtained. Based on the obtained relationship, the first predetermined value may be set as the lower limit value of the range of the attitude angle when the kite 1 is in the dive mode.

[0036] 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 the kite 1 to exit the dive mode. The second predetermined value may be set in advance as a fixed value, or may be set as a variable value according to some physical quantity or parameter. The "second predetermined value" may be set, for example, as follows. The relationship between the attitude angle of the kite 1 and the flight state of the kite 1 may be obtained. Based on the obtained relationship, the second predetermined value may be set as a value that is smaller than the lower limit value of the range of the attitude angle when the kite 1 is in the dive mode by a predetermined value.

[0037] (First Modified Example) A first modification example of the control device 10 will be described. The detection unit 111 of the arithmetic unit 11 may detect the flight altitude of the kite 1 based on the measurement result of the altitude sensor 22 (see FIG. 3). When the determination unit 112 of the arithmetic unit 11 determines that the kite 1 is in the dive mode, the control unit 113 of the arithmetic unit 11 may reduce the tension of the tether that moors the kite 1 on the condition that the flight altitude of the kite 1 detected by the detection unit 111 is below a predetermined altitude. For example, the control unit 113 may control the facility 2 to pay out the tether for mooring the kite 1.

[0038] (Technical effect) With this configuration, when the kite 1 is in the dive mode, it is possible to effectively suppress the kite 1 from falling.

[0039] Note that the "predetermined altitude" is a value for the control unit 113 to determine whether to reduce the tension of the tether that moors the kite 1. The predetermined altitude may be set in advance as a fixed value, or may be set as a variable value according to some physical quantity or parameter. The "predetermined altitude" may be set, for example, as follows. The relationship between the flight altitude of the kite 1 and the possibility of the kite 1 falling when the kite 1 is in the dive mode may be obtained. Based on the obtained relationship, the predetermined altitude may be set as the lower limit value of the range of the flight altitude at which the possibility of the kite 1 falling is below a predetermined value.

[0040] (Second modification example) A first modification example of the control device 10 will be described. The detection unit 111 of the arithmetic unit 11 may detect the wind speed at the position of the kite 1 based on the measurement result of the wind speed sensor 23 (see FIG. 3). When the determination unit 112 of the arithmetic unit 11 determines that the kite 1 is in the dive mode, the control unit 113 of the arithmetic unit 11 may estimate the degree of deformation of the kite 1 caused by the wind based on the wind speed detected by the detection unit 111. Further, the control unit 113 may control the spoiler 1a so that the kite 1 turns in the direction opposite to the current turning direction of the kite 1 based on the estimated degree of deformation of the kite 1.

[0041] (Technical Effect) With such a configuration, it is possible to control the spoiler 1a in consideration of the deformation of the kite 1 caused by the wind. As a result, when the kite 1 is in the dive mode, it is possible to effectively suppress the kite 1 from falling.

[0042] Aspects of the invention derived from the embodiments and modification examples described above will be described below.

[0043] A control device according to one aspect of the invention includes a determination means for determining whether or not the kite is in a dive mode based on the attitude of a kite provided with an aerodynamic characteristic changing means capable of changing aerodynamic characteristics, and when it is determined that the kite is in the dive mode, a control means for controlling the aerodynamic characteristic changing means so that the kite turns in a direction opposite to the current turning direction of the kite. In the above-described embodiment, "spoiler 1a" corresponds to an example of the "aerodynamic characteristic changing means", "determination unit 112" corresponds to an example of the "determination means", and "control unit 113" corresponds to an example of the "control means".

[0044] In the control device, based on the attitude of the kite after it is determined that the kite is in the dive mode, the determination means may determine whether or not the kite has exited the dive mode. In this aspect, the determination means may determine that the kite is in the dive mode when an attitude angle indicating the attitude of the kite is equal to or greater than a first predetermined value, and after it is determined that the kite is in the dive mode, when the attitude angle becomes equal to or less than a second predetermined value smaller than the first predetermined value, the determination means may determine that the kite has exited the dive mode.

[0045] In the control device, when it is determined that the kite is in the dive mode, on the condition that the flight altitude of the kite is equal to or lower than a predetermined altitude, the control means may reduce the tension of a tether for mooring the kite.

[0046] When the control device determines that the kite is in the dive mode, the control means may control the aerodynamic characteristic changing means so that the kite turns in a direction opposite to the current turning direction of the kite based on the degree of deformation of the kite caused by the wind.

[0047] The present invention is not limited to the above-described embodiments, and can be appropriately changed without departing from the gist or idea of the invention read from the claims and the entire specification, and a control device accompanied by such a change is also included in the technical scope of the present invention.

Explanation of reference numerals

[0048] 1... Kite, 1a... Spoiler, 10... Control device, 11... Arithmetic device, 111... Detection unit, 112... Determination unit, 113... Control unit

Claims

1. Determination means for determining whether the kite is in a dive mode based on the attitude of a kite provided with aerodynamic characteristic changing means capable of changing aerodynamic characteristics; Control means for controlling the aerodynamic characteristic changing means so that the kite turns in a direction opposite to the current turning direction of the kite when it is determined that the kite is in a dive mode; A control device characterized by comprising the above.

2. Based on the attitude of the kite after it is determined that the kite is in a dive mode, the determination means determines whether the kite has exited the dive mode. The control device according to claim 1, characterized by the above.

3. The determination means determines that the kite is in a dive mode when the attitude angle indicating the attitude 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 attitude angle becomes equal to or less than a second predetermined value smaller than the first predetermined value, the determination means determines that the kite has exited the dive mode. The control device according to claim 2, characterized by the above.

4. When it is determined that the kite is in a dive mode, on the condition that the flight altitude of the kite is equal to or lower than a predetermined altitude, the control means reduces the tension of a tether for mooring the kite. The control device according to claim 1, characterized by the above.

5. When it is determined that the kite is in a dive mode, the control means controls the aerodynamic characteristic changing means so that the kite turns in a direction opposite to the current turning direction of the kite based on the degree of deformation of the kite caused by the wind. The control device according to claim 1, characterized by the above.

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