Water jet control method and water jet system using the same

Abstract

This invention provides a water jet control method and a water jet system using the same, which enable water to be jetted to a target location and properly clean an object, even when external factors such as wind direction and wind speed are present. [Solution] The first processing stage is a preparation stage in which the left-right angle, up-down angle, and water volume conditions of the water injection nozzle 1 are determined based on the average wind direction, average wind speed, and mapping data, and the water injection nozzle is put into a standby state before the start of injection. The second processing stage is a water injection stage in which water injection is started by the water injection nozzle under the conditions of the preparation stage. The third processing stage is a water injection correction stage in which the wind direction and wind speed are newly measured from the water injection stage to obtain correction data for new average wind direction and average wind speed, the left-right angle for correction of the water injection nozzle is determined, and the water injection by the water injection nozzle is corrected.

Description

Technical Field

[0001] The present invention relates to a water injection control method and a water injection system using the same.

Background Art

[0002] Generally, in a flying object such as an aircraft, dust in the atmosphere adheres to the surface of the aircraft during flight, and seawater adheres to the surface of the aircraft when flying over the sea. Therefore, it is necessary to clean the flying object regularly, and it is particularly necessary to appropriately clean seawater and the like.

[0003] When cleaning a flying object, the flying object is placed at a location equipped with a cleaning device such as an injection nozzle, and water is injected from the cleaning device to clean the flying object.

[0004] In addition, as a prior art document related to this type of cleaning device, there is the following Patent Document 1.

Prior Art Document

Patent Document

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, when cleaning a flying object such as an aircraft by injecting water, the direction of water injection changes due to external factors such as wind direction and wind speed, making it difficult to inject water to the target position, and there is a problem that it takes time and effort to clean the entire flying object. In addition, when a dedicated storage for the flying object is provided and cleaning is performed inside the storage to avoid the influence of wind direction and wind speed, there is a problem that the storage becomes huge and the construction cost is high, and the storage is likely to deteriorate due to the cleaning water.

[0007] In view of these circumstances, the present invention aims to provide a water jet control method and a water jet system using the same, which can jet water to a target location and appropriately clean objects such as aircraft, even when external factors such as wind direction and wind speed are present. [Means for solving the problem]

[0008] The present invention comprises a water spray nozzle that can move in multiple directions to spray water onto an object, a measuring unit that measures wind direction and wind speed, a data storage unit that stores data of average wind direction and average wind speed calculated from wind direction and wind speed, a data calculation unit that has mapping data for water spraying corresponding to the average wind direction and average wind speed, and a control unit that processes signals from the data storage unit and the data calculation unit and sends control signals to the water spray nozzle. The first processing stage is a preparation stage in which the left-right angle, up-down angle, and water volume conditions of the water injection nozzle are determined based on the average wind direction, average wind speed, and mapping data, and the water injection nozzle is put into a standby state before injection begins. The second processing step is a water injection step in which water is injected by a water injection nozzle under the conditions of the injection preparation step, The third processing stage is a water injection correction stage in which the wind direction and wind speed are newly measured from the water injection stage to obtain correction data for new average wind direction and average wind speed, the left and right angles for correction of the water injection nozzle are determined, and the water injection by the water injection nozzle is corrected. This invention relates to a water injection control method characterized by the following features.

[0009] The water jet control method of the present invention comprises an imaging unit that captures the actual water jet trajectory, a data calculation unit that has the average wind direction, the average wind speed, and mapping data for water jets corresponding to the water jet trajectory, and an image comparison calculation unit that compares a pre-prepared ideal water jet trajectory with the actual water jet trajectory. The third processing step may be a water jet correction step in which the imaging unit captures the actual water jet trajectory, the image comparison calculation unit compares the actual water jet trajectory with an ideal water jet trajectory, sends the water jet trajectory comparison data to the control unit, and uses the average wind direction, average wind speed, water jet trajectory comparison data, and mapping data to determine at least one of the correction angle for the water jet nozzle, the correction angle for the vertical, and the correction water volume condition, thereby correcting the water jet by the water jet nozzle.

[0010] The water jet control method of the present invention comprises an imaging unit that captures the actual water jet distribution, a data calculation unit that has the average wind direction, the average wind speed, and mapping data for water jets corresponding to the water jet distribution, and an image comparison calculation unit that compares a pre-prepared ideal water jet distribution with the actual water jet distribution. The third processing step may be a water jet correction step in which the imaging unit captures the actual water jet distribution, the image comparison calculation unit compares the actual water jet distribution with an ideal water jet distribution, sends the water jet distribution comparison data to the control unit, and uses the average wind direction, average wind speed, water jet distribution comparison data, and mapping data to determine at least one of the correction angle for the water jet nozzle, the correction angle for the vertical, and the correction water volume condition, thereby correcting the water jet by the water jet nozzle.

[0011] In the water injection control method of the present invention, the water injection stage may involve changing at least one of the left-right angle, up-down angle, and water volume conditions of the water injection nozzle so that water is injected sequentially to each part of the object.

[0012] In the water injection control method of the present invention, the water volume condition may consist of at least one of the water volume of the water injection nozzle, the water pressure, and the injection time.

[0013] In the water injection control method of the present invention, the mapping data may be derived from the average wind speed and average wind direction to determine the left-right angle of the water injection nozzle.

[0014] In the water injection control method of the present invention, the mapping data may derive at least one of the left - right angle, up - down angle, and water volume condition of the water injection nozzle based on the data of the ideal water injection trajectory and / or the comparison data of the water injection trajectory.

[0015] In the water injection control method of the present invention, the mapping data may derive at least one of the left - right angle, up - down angle, and water volume condition of the water injection nozzle based on the data of the ideal water injection distribution and / or the comparison data of the water injection distribution.

[0016] In the water injection control method of the present invention, in the water injection correction stage, at least one of the average wind direction and the average wind speed may be sent to the data calculation unit to update the mapping data.

[0017] In the water injection control method of the present invention, in the water injection correction stage, at least one of the ideal water injection trajectory and the comparison data of the water injection trajectory may be sent to the data calculation unit to update the mapping data.

[0018] In the water injection control method of the present invention, in the water injection correction stage, at least one of the ideal water injection distribution and the comparison data of the water injection distribution may be sent to the data calculation unit to update the mapping data.

[0019] The present invention relates to a water injection system characterized by using the water injection control method described above

Advantages of the Invention

[0020] According to the water injection control method of the present invention and the water injection system using the same, even if there are external factors such as wind direction and wind speed, water can be injected to the target position, and the excellent effect of appropriately cleaning the flying object can be achieved.

Brief Description of the Drawings

[0021] [Figure 1] It is a block diagram showing a first example of the water injection control method according to an embodiment of the present invention and the water injection system using the same [Figure 2]The first example of a water injection control method according to an embodiment of the present invention and a water injection system using the same, which is an overall flowchart for optimizing the water injection of a water injection nozzle. [Figure 3] The first example of a water injection control method according to an embodiment of the present invention and a water injection system using the same, which is a flowchart showing an injection preparation stage. [Figure 4] The first example of a water injection control method according to an embodiment of the present invention and a water injection system using the same, which is a flowchart showing a water injection stage and a water injection correction stage. [Figure 5] The first example of a water injection control method according to an embodiment of the present invention and a water injection system using the same, which is a schematic diagram showing the concept of adjusting the left - right angle of a water injection nozzle with respect to an aircraft. [Figure 6] A block diagram showing a second example of a water injection control method according to an embodiment of the present invention and a water injection system using the same. [Figure 7] The second example of a water injection control method according to an embodiment of the present invention and a water injection system using the same, which is an overall flowchart for optimizing the water injection of a water injection nozzle. [Figure 8] The second example of a water injection control method according to an embodiment of the present invention and a water injection system using the same, which is a flowchart showing an injection preparation stage. [Figure 9] The second example of a water injection control method according to an embodiment of the present invention and a water injection system using the same, which is a flowchart showing a water injection correction stage (correction of flight distance). <​​​​​​​​​​This is a third example of a water injection control method and a water injection system using the present invention, and is a flow diagram showing the injection preparation stage. [Figure 14] This is a flowchart showing a third example of a water injection control method and a water injection system using the same according to an embodiment of the present invention, illustrating a water injection correction stage (correction of the spray distance range). [Figure 15] This is a flowchart showing a third example of a water injection control method and a water injection system using the same according to an embodiment of the present invention, illustrating the water injection correction stage (correction of the directional range). [Modes for carrying out the invention]

[0022] Hereinafter, a first example of an embodiment of the present invention will be described with reference to the accompanying drawings.

[0023] Figures 1 to 5 show a first example of a water injection control method and a water injection system using the present invention.

[0024] The first example, as shown in Figure 1, comprises a water injection nozzle 1 capable of spraying water onto an aircraft, a measurement unit 2 for measuring wind direction and wind speed, a data storage unit 3 that receives signals from the measurement unit 2, and a control unit 4 that receives signals from the data storage unit 3 and issues control signals to the water injection nozzle 1, forming a drive control system 5. Here, the aircraft is mainly an aircraft, but it can be any flying object such as a helicopter or drone. Furthermore, the target of the water injection is not limited to aircraft, but can also be fields or lawns that require watering, or outdoor objects that require washing.

[0025] Furthermore, the first example comprises a data calculation unit 6 that sends signals to the control unit 4 of the drive control system 5, and a numerical input unit 7 that sends input data to the data calculation unit 6, thereby constituting a calculation unit 8.

[0026] The water injection nozzles 1 of the drive control system 5 are arranged in multiple configurations on both sides within the washing area where the aircraft is washed, so as to sandwich the aircraft from both sides. For an aircraft of about 20m in length, there are two water injection nozzles 1 on each side, for a total of four nozzles 1. For an aircraft of about 60m in length, there are three to four water injection nozzles 1 on each side, for a total of six to eight nozzles 1. In addition, the ground surface within the washing area is equipped with downward water injection holes (not shown) for washing the underside of the aircraft from below.

[0027] The water injection nozzle 1 itself is equipped with a mechanical mechanism that allows movement in at least two axes: left-right and up-down. The water injection nozzle 1 is supplied with water from a water tank via a high-pressure pump, and the water volume and pressure are adjusted via an on-off valve. The water injection nozzle 1 also receives control signals from the control unit 4 and can adjust the left-right angle, up-down angle, and water volume conditions. The water injection nozzle 1 may also be configured to be movable in three or more axes. The water volume conditions for water injected from the water injection nozzle 1 include at least one of the water volume, water pressure, and injection time, and preferably all of the water volume, water pressure, and injection time.

[0028] The measurement unit 2 is equipped with an anemometer and is configured to measure wind direction and wind speed and acquire them as data. Furthermore, the measurement unit 2 may be equipped with a thermometer, hygrometer, and water pressure gauge and configured to acquire external factors such as temperature, humidity, and water pressure.

[0029] The data storage unit 3 receives wind direction and wind speed data measured by the measurement unit 2. The data storage unit 3 also calculates and stores average wind direction and average wind speed data. Furthermore, the data storage unit 3 stores new wind direction and wind speed data at predetermined time intervals (from a few seconds to a few minutes).

[0030] The control unit 4 processes signals from the data storage unit 3 and the data calculation unit 6 and sends control signals to the water injection nozzle 1. The control unit 4 also initially switches and sets the premises for the left / right angle, up / down angle, and water volume conditions of the water injection nozzle 1 to correspond to the aircraft's conditions (size and height). During cleaning, the control unit 4 changes the left / right angle, up / down angle, and water volume conditions of the water injection nozzle 1 and sequentially sprays water onto each part of the aircraft to clean it. Here, the control unit 4 may change at least one of the left / right angle, up / down angle, and water volume conditions of the water injection nozzle 1, or it may change all of the left / right angle, up / down angle, and water volume conditions of the water injection nozzle 1.

[0031] The data calculation unit 6 of the calculation unit 8 is equipped with pre-recorded mapping data, which derives the left-right angle of the water injection nozzle 1 in correspondence with the average wind direction and average wind speed. The mapping data is also updated by receiving new average wind direction and average wind speed data from the data storage unit 3 and the control unit 4. Here, the mapping data may be calculated by adding data such as temperature and humidity in addition to wind speed and wind direction data to derive the left-right angle. Alternatively, the mapping data may be calculated using wind direction and wind speed data or average wind speed and average wind direction data to derive all of the left-right angle, up-down angle, and water volume conditions of the water injection nozzle 1.

[0032] The numerical input unit 7 receives data such as wind direction, wind speed, and water injection, and sends it to the data calculation unit 6 to construct the initial mapping data.

[0033] Here, the control unit 4, data storage unit 3, and data calculation unit 6 may handle the following processes in conjunction, or each of the control unit 4, data storage unit 3, and data calculation unit 6 may handle them individually. (1) Switching the assumptions for the left / right angle, up / down angle, and water volume conditions of the water jet nozzle 1 based on the aircraft's specifications (size and height). (2) Determination of the left-right angle, up-down angle, and water volume conditions of the water injection nozzle 1 for sequentially injecting water into each part of the aircraft. (3) Determination of left-right angle, up-down angle, and water flow rate conditions of water injection nozzle 1 using mapping data

[0034] The operation of a first example of an embodiment of the present invention will be described.

[0035] When an aircraft or other flying object moves into the washing area, its position is confirmed to be appropriate using detection means such as load sensors or visual inspection. Subsequently, water spray is controlled to wash the flying object.

[0036] The water jet control system for an aircraft comprises a jet preparation phase (first processing phase), a water jet jet phase (second processing phase), and a water jet jet correction phase (third processing phase).

[0037] In the jet preparation phase, the left-right angle, up-down angle, and water volume conditions of the water jet nozzle 1 are determined based on the aircraft's specifications (size and height). Based on these assumptions, the water jet nozzle 1 is controlled up to the pre-jet stage as shown in the overall flow in Figure 2 and the preparation phase flow in Figure 3. Here, the aircraft's specifications (size and height) vary depending on the aircraft type. The type of aircraft is determined by visual inspection, photography, sensors, etc., and the assumptions for the left-right angle, up-down angle, and water volume conditions of the water jet nozzle 1 are switched and set accordingly.

[0038] In the preparation phase for water injection, the wind direction and wind speed measured by the measurement unit 2 are first taken into the data storage unit 3 and stored. The average wind direction and average wind speed are then sent to the data calculation unit 6 via the control unit 4, and the mapping data for water injection is updated as appropriate (step D1 in Figure 2, steps S11 and S12 in Figure 3). The data storage unit 3 or the control unit 4 then periodically calculates the average wind speed and average wind direction at predetermined time intervals until the start of water injection operation (steps D2 and S1 in Figure 2, and step S13 in Figure 3). Next, the left-right angle and up-down angle (two-axis rotation angle) of the water injection nozzle 1 before the start of injection, and the water volume conditions of the water injection nozzle 1 (valve opening corresponding to injection flow rate, injection pressure, injection time, etc.) are determined. Preparation operations are performed for the water injection nozzle 1 in the left-right and up-down directions, and the valve opening corresponding to the injection flow rate, injection pressure, etc. is prepared, putting the water injection nozzle 1 into a standby state before the start of injection (step S2 in Figure 2, and steps S14 to S16 in Figure 3).

[0039] Here, we will explain an example of determining the left-right direction of the water jet nozzle 1 based on the average wind direction, using Figure 5. In this example, the water jet nozzles 1 are positioned at the four corners relative to the aircraft F. Once the average wind direction is calculated, the reference water jet nozzle 1a processes both the direction towards the center of the aircraft F and the average wind direction as parameters to determine the reference water jet direction (in Figure 5, the average wind direction and the reference direction are the same). The other water jet nozzles 1b to 1d process their own position as the reference water jet nozzle 1 and the reference water jet direction as parameters to determine their respective water jet directions. In Figure 5, water jet nozzle 1a will have the reference water jet direction, water jet nozzle 1c will have a direction rotated 180° from the reference water jet direction, another water jet nozzle 1b will have a direction rotated 71° from the reference water jet direction, and yet another water jet nozzle 1d will have a direction rotated 109° from the reference water jet direction. The determination of the left-right direction of the water jet nozzle 1 is not limited to this method; each water jet nozzle 1 may determine its direction by processing both the direction it faces towards the center of the aircraft F and the average wind direction as parameters.

[0040] During the water injection phase, water is injected according to the conditions determined in the injection preparation phase. The water injection nozzles 1 sequentially inject water into each part of the aircraft at predetermined intervals, cleaning the aircraft. If the aircraft is an aircraft, the water injection nozzles 1 located on the rear side of the aircraft sequentially clean the aircraft's vertical stabilizer, fuselage, and horizontal stabilizer, while the water injection nozzles 1 located on the front side of the aircraft sequentially clean the aircraft's fuselage and wings. Additionally, water injection holes (not shown) on the ground surface inject water to clean the underside of the aircraft.

[0041] In the water injection correction phase, the water injection nozzle 1 is controlled until the end of operation, as shown in the overall flow in Figure 2 and the correction phase flow in Figure 4. In the water injection correction phase, the wind direction and wind speed are first newly measured at the start of the water injection phase, and the data storage unit 3 and control unit 4 periodically calculate the average wind speed and average wind direction for predetermined time units until the end of operation (steps D1, D3, and S3 in Figure 2, and step S21 in Figure 4). Next, the average wind speed and average wind direction from the injection preparation phase are compared with the new average wind speed and average wind direction (steps S22 and S23 in Figure 4), stored as correction data in the data storage unit 3, and the data calculation unit 6 updates the mapping data for water injection as appropriate (step S24 in Figure 4). Subsequently, the left and right angles for correction of the water injection nozzle 1 are determined using the correction data and mapping data, and the water injection by the water injection nozzle 1 is corrected (step S25 in Figure 4). Here, the correction data and mapping data may be used to correct all of the correction parameters for the water injection nozzle 1, including the left-right angle, up-down angle, and water volume conditions. Alternatively, only one of the correction data or mapping data may be used to correct one of the correction parameters for the water injection nozzle 1, including the left-right angle, up-down angle, and water volume conditions.

[0042] Afterward, various parts of the aircraft are cleaned, and then the water jet from water jet nozzle 1 is terminated (step S26 in Figure 4). The water jet from the water jet holes (not shown) on the ground surface is also terminated.

[0043] As described above, the first example of a water jet control method and a water jet system using the same comprises a water jet nozzle 1 that can move in multiple directions to jet water onto an aircraft (object), a measuring unit 2 that measures wind direction and wind speed, a data storage unit 3 that stores data of average wind direction and average wind speed calculated from wind direction and wind speed, a data calculation unit 6 that has mapping data for water jets corresponding to the average wind direction and average wind speed, and a control unit 4 that processes signals from the data storage unit 3 and the data calculation unit 6 and sends a control signal to the water jet nozzle 1, and the first processing step is average wind direction The first stage is a preparation stage in which the left-right angle, up-down angle, and water volume conditions of the water injection nozzle 1 are determined based on the average wind speed and mapping data, and the water injection nozzle 1 is put into a standby state before injection begins. The second stage is a water injection stage in which water injection is started by the water injection nozzle 1 under the conditions of the preparation stage. The third stage is a water injection correction stage in which the wind direction and wind speed are newly measured from the water injection stage to obtain correction data for new average wind direction and average wind speed, the left-right angle for correction of the water injection nozzle 1 is determined, and the water injection by the water injection nozzle 1 is corrected. In this way, even if there are external factors such as wind direction and wind speed, water can be injected to the target position and the aircraft can be properly cleaned. In addition, a huge hangar dedicated to the aircraft can be eliminated and the cost of cleaning can be reduced.

[0044] In the first example of a water jet control method, by changing at least one of the left-right angle, up-down angle, and water volume conditions of the water jet nozzle 1 so that water is sequentially jetted onto each part of the flying object (target), each part of the flying object can be properly cleaned.

[0045] In the first example of a water injection control method, if the water volume conditions consist of at least one of the water volume, water pressure, and injection time of the water injection nozzle 1, then the aircraft can be cleaned more effectively by suitably adjusting not only the average wind speed and average wind direction but also the water volume conditions.

[0046] In the first example of the water jet control method, the mapping data allows for easy determination of the left-right angle of the water jet nozzle 1 from the average wind speed and average wind direction, enabling easy and appropriate cleaning of the aircraft.

[0047] In the first example of the water jet control method, the water jet correction step sends at least one of the average wind direction and average wind speed to the data calculation unit 6 to update the mapping data, thereby appropriately determining the left-right angle of the water jet nozzle 1, and enabling easy and effective cleaning of the aircraft.

[0048] A second example of an embodiment of the present invention will be described below with reference to the accompanying drawings.

[0049] Figures 6 to 10 show a second example of a water injection control method and a water injection system using the present invention, the second example of which uses a water injection trajectory. Here, there are two types of water injection trajectories: an ideal water injection trajectory and an actual water injection trajectory. The ideal water injection trajectory is a model of the parabola of the water injection, while the actual water injection trajectory is the parabola of the water injection viewed from the side.

[0050] The second example, as shown in Figure 6, comprises a water injection nozzle 11 capable of spraying water onto an aircraft, a measuring unit 12 for measuring wind direction and wind speed, a data storage unit 13 for receiving signals from the measuring unit 12, and a control unit 14 that receives signals from the data storage unit 13 and issues control signals to the water injection nozzle 11, forming a drive control system 15. Here, the target of the water injection is not limited to an aircraft, but may also be objects in fields or lawns that require watering, or outdoor objects that require washing.

[0051] The second example comprises a data calculation unit 16 that sends a signal to the control unit 14 of the drive control system 15, and a numerical input unit 17 that sends input data to the data calculation unit 16, thereby constituting a trajectory calculation unit 18. Furthermore, the second example comprises a graphics processing unit 19 that receives a signal of the ideal water jet trajectory from the data calculation unit 16 of the trajectory calculation unit 18, an image input unit 20 that sends data to the graphics processing unit 19, and a shooting unit 21 that photographs the aircraft and sends the image to the image input unit 20, thereby constituting a video calculation system 22. The second example also comprises a drive control-video calculation interface 23 that exchanges signals between the graphics processing unit 19 of the video calculation system 22 and the control unit 14 of the drive control system 15.

[0052] The water injection nozzles 11 of the drive control system 15 are located within the cleaning area for washing the aircraft, as in the first example, and the configuration of the water injection nozzles 11 themselves is the same as in the first example. The cleaning area also has downward water injection holes (not shown) on the ground surface for washing the underside of the aircraft from below.

[0053] The measurement unit 12, like the first example, is equipped with an anemometer and is configured to measure wind direction and wind speed and acquire them as data.

[0054] The data storage unit 13 receives wind direction and wind speed data measured by the measurement unit 12. The data storage unit 13 also calculates and stores average wind direction and average wind speed data. Furthermore, the data storage unit 13 stores new wind direction and wind speed data at predetermined time intervals (from a few seconds to a few minutes).

[0055] The control unit 14 processes signals from the data storage unit 13 and the data calculation unit 16 and sends control signals to the water injection nozzles 11. The control unit 14 also initially switches and sets the premises for the left-right angle, up-down angle, and water volume conditions of the water injection nozzles 11 to correspond to the aircraft's conditions (size and height). During cleaning, the control unit 14 changes the left-right angle, up-down angle, and water volume conditions of the water injection nozzles 11 and sequentially sprays water onto each part of the aircraft to clean it. Here, the control unit 14 may change at least one of the left-right angle, up-down angle, and water volume conditions of the water injection nozzles 11, or it may change all of the left-right angle, up-down angle, and water volume conditions of the water injection nozzles 11.

[0056] The data calculation unit 16 of the trajectory calculation unit 18 is equipped with pre-recorded mapping data, which is used to derive the left-right angle, up-down angle, and water volume conditions of the water injection nozzle 1 in accordance with the average wind direction, average wind speed, and water injection trajectory data. The mapping data is also updated by receiving new average wind direction, average wind speed, and water injection trajectory data from the data storage unit 13, the control unit 14, and the image calculation system 22. The data calculation unit 16 also calculates the ideal water injection trajectory to achieve the optimal injection state for the aircraft, and sends the data of the ideal water injection trajectory to the control unit 14 and to the graphics processing unit 19.

[0057] The numerical input unit 17 receives data such as wind direction, wind speed, water jet trajectory, and water jet, and sends it to the data calculation unit 16 to construct the initial mapping data. The numerical input unit 17 also receives numerical values, data, and conditions for various trajectories, enabling the data calculation unit 16 to calculate the ideal water jet trajectory.

[0058] The graphics processing unit 19 of the video processing system 22 receives data of the ideal water jet trajectory from the data processing unit 16, and also receives images of the actual water jet trajectory from the imaging unit 21 via the image input unit 20, and calculates comparison data of the water jet trajectories. The graphics processing unit 19 also includes an image authentication unit 19a that converts images of the actual water jet trajectory into data of the actual water jet trajectory, an injection distance calculation unit 19b that calculates the injection distance from images of the actual water jet trajectory, and an image comparison calculation unit 19c that compares the data of the actual water jet trajectory with the data of the ideal water jet trajectory. The imaging unit 21 and the image input unit 20 are configured to capture images of the actual water jet trajectory from the side. Furthermore, the imaging unit 21 can use any imaging method as long as it captures images of the parabola from the side.

[0059] The drive control-video calculation interface 23 includes a graphics processing numerical conversion unit 23a that converts the comparison data calculated by the graphics processing unit 19 into numerical values, and an interface unit 23b that sends the numerically converted comparison data from the graphics processing numerical conversion unit 23a to the control unit 14.

[0060] Here, the control unit 14, data storage unit 13, data calculation unit 16, graphics processing unit 19, and drive control-video calculation interface 23 may work together to handle the following processes, or any one of the control unit 14, data storage unit 13, data calculation unit 16, graphics processing unit 19, or drive control-video calculation interface 23 may handle them individually. (1) Switching the assumptions for the left / right angle, up / down angle, and water volume conditions of the water jet nozzle 11 based on the aircraft's specifications (size and height). (2) Determination of the left-right angle, up-down angle, and water volume conditions of the water injection nozzles 11 for sequentially injecting water into each part of the aircraft. (3) Determination of left-right angle, up-down angle, and water volume conditions of the water injection nozzle 11 using mapping data (4) Calculation of the ideal water jet trajectory (5) Comparison of ideal water jet trajectory and actual water jet trajectory

[0061] The operation of a second embodiment of the present invention will be described.

[0062] When an aircraft or other flying object moves into the washing area, the position of the flying object is confirmed to be appropriate using detection means such as load sensors or by visual inspection, as in the first example. Thereafter, water spray is controlled and performed to wash the flying object.

[0063] The second example of water jet control for an aircraft, like the first example, includes a jet preparation stage (first processing stage), a water jet stage (second processing stage), and a water jet correction stage (third processing stage).

[0064] In the jet preparation phase, the left-right angle, up-down angle, and water volume conditions of the water jet nozzle 11 are determined based on the aircraft's specifications (size and height). Based on these specifications, the water jet nozzle 11 is controlled up to the pre-jet stage, as shown in the overall flow in Figure 7 and the preparation phase flow in Figure 8. Here, the aircraft's specifications (size and height) vary depending on the aircraft type. The type of aircraft is determined by visual inspection, photography, sensors, etc., and the assumptions for the left-right angle, up-down angle, and water volume conditions of the water jet nozzle 11 are switched and set accordingly.

[0065] In the preparation phase for water injection, the wind direction and wind speed measured by the measurement unit 12 are first taken into the data storage unit 13 and stored. The average wind direction and average wind speed data are then sent to the data calculation unit 16 via the control unit 14, and the mapping data for water injection is updated as appropriate (step D11 in Figure 7, steps S41 and S42 in Figure 8). The data storage unit 13 or the control unit 14 then periodically calculates the average wind speed and average wind direction at predetermined time intervals until the start of water injection operation (steps D12 and S31 in Figure 7, and step S43 in Figure 8). Next, the left-right angle and up-down angle (two-axis rotation angle) of the water injection nozzle 11 before the start of injection, and the water volume conditions of the water injection nozzle 11 (valve opening corresponding to injection flow rate, injection pressure, injection time, etc.) are determined, and preparatory operations are performed on the water injection nozzle 11 in the left-right and up-down directions, and the valve opening corresponding to the injection flow rate, injection pressure, etc. is prepared, putting the water injection nozzle 11 into a standby state before the start of injection (step S32 in Figure 7, steps S44-S46 in Figure 8). At this injection preparation stage, data of the ideal water injection trajectory may be applied from the control unit 14 and the data calculation unit 16 and reflected in the left-right angle, up-down angle, and water volume conditions of the water injection nozzle 11 before the start of injection.

[0066] During the water injection phase, water is injected according to the conditions determined during the injection preparation phase. The water injection nozzle 11 sequentially sprays water onto each part of the aircraft at predetermined intervals, cleaning the aircraft.

[0067] During the water injection correction phase, the water injection nozzle 11 is controlled until the end of operation, as shown in the overall flow in Figure 7 and the correction phase flows in Figures 9 and 10. In the water injection correction phase, the wind direction and wind speed are newly measured at the start of the water injection phase, and the data storage unit 13 or control unit 14 periodically calculates the average wind speed and average wind direction for predetermined time units until the end of operation (steps D11 and D13 in Figure 7). Simultaneously during the water injection correction phase, the video calculation system 22 captures the actual water injection trajectory, and the trajectory calculation unit 18, video calculation system 22, data storage unit 13, and control unit 14 periodically calculate the ideal water injection trajectory and compare it with other water injection trajectory data until the end of operation.

[0068] In the water injection correction stage, the average wind speed and average wind direction are compared and calculated with the average wind speed and average wind direction from the injection preparation stage (step S33 in Figure 7, steps S51-S53 in Figure 9, and steps S61-S63 in Figure 10). This correction data is stored in the data storage unit 13, and the data calculation unit 16 updates the mapping data for water injection as appropriate (step S24 in Figure 7).

[0069] In the water jet correction stage, the data calculation unit 16 of the trajectory calculation unit 18 calculates data for the ideal water jet trajectory, while the shooting unit 21 and image input unit 20 of the image calculation system 22 derive data for the actual water jet trajectory. The image authentication unit 19a, the jet distance calculation unit 19b, and the image comparison calculation unit 19c then calculate comparison data for the water jet trajectory (steps G1 and G2 in Figure 7). Next, the comparison data for the water jet trajectory is sent to the control unit 14 via the graphic processing numerical conversion unit 23a and the interface unit 23b, and also to the data calculation unit 16 to update the mapping data (step S54 in Figure 9, step S64 in Figure 10). Next, using the average wind direction, correction data for the average wind direction, data on the ideal water injection trajectory, comparison data of the water injection trajectory, and mapping data, the left-right angle of correction, the up-down angle of correction, and the water volume conditions for correction of the water injection nozzle 11 are determined, and the water injection by the water injection nozzle 11 is corrected (step S55 in Figure 9, step S65 in Figure 10).

[0070] To explain the case where ideal water jet trajectory data is used, the ideal water jet trajectory data is divided into water jet trajectory distance and water jet trajectory direction. Subsequently, the water jet trajectory distance and water jet trajectory direction become parameters that greatly influence the vertical angle and water volume conditions of the water jet nozzle 11, while the average wind speed and average wind direction data become parameters that greatly influence the horizontal angle of the water jet nozzle 11. Finally, the horizontal angle, upward angle, and water volume conditions of the water jet nozzle 11 correction are determined. Note that the ideal water jet trajectory data may also influence the horizontal angle of the water jet nozzle 11, and the average wind speed and average wind direction data may also influence the vertical angle and water volume conditions of the water jet nozzle 11. In addition, the correction data of average wind direction and average wind direction, the ideal water jet trajectory data, and the mapping data may be used to modify at least one of the horizontal angle, vertical angle, and water volume conditions of the water jet nozzle 11 correction.

[0071] To explain the case where comparative data of water jet trajectories is used, the comparative data of water jet trajectories can be divided into the difference in the distance of the water jet trajectory and the difference in the direction of the water jet trajectory. Subsequently, the difference in the distance of the water jet trajectory and the difference in the direction of the trajectory are used to calculate the amount of change that should be corrected for the vertical angle and water volume conditions of the water jet nozzle 11. The average wind speed and average wind direction data are parameters that greatly affect the horizontal angle of the water jet nozzle 11, and finally the horizontal angle, upward angle and water volume conditions for the correction of the water jet nozzle 11 are determined. Note that the comparative data of water jet trajectories may also be used to provide the amount of change that should be corrected for the horizontal angle of the water jet nozzle 11, and the average wind speed and average wind direction data may also affect the vertical angle and water volume conditions of the water jet nozzle 11. In addition, the correction data of average wind direction and average wind direction, the comparative data of water jet trajectories, and the mapping data may be used to modify at least one of the correction horizontal angle, correction vertical angle, and correction water volume conditions of the water jet nozzle 11.

[0072] Afterward, the aircraft is cleaned in various places, and then the water jetting from the water jet nozzles 11 is terminated (step S56 in Figure 9, step S66 in Figure 10). Water jetting from the water jet holes (not shown) on the ground surface is also terminated.

[0073] As described above, the second example of a water jet control method and a water jet system using the same includes, in addition to the configuration of the first example, a shooting unit 21 that captures the actual water jet trajectory, a data calculation unit 16 that has the average wind direction, average wind speed, and mapping data for water jets corresponding to the water jet trajectory, and an image comparison calculation unit 19c that compares a pre-prepared ideal water jet trajectory with the actual water jet trajectory. The third processing step is a water jet correction step in which the shooting unit 21 captures the actual water jet trajectory, the image comparison calculation unit 19c compares the actual water jet trajectory with the ideal water jet trajectory, sends the water jet trajectory comparison data to the control unit 14, and uses the average wind direction, average wind speed, water jet trajectory comparison data and mapping data to determine at least one of the correction angle of the water jet nozzle 11, the correction angle of the correction, and the water volume condition for the correction, thereby correcting the water jet by the water jet nozzle 11. Thus, the second example can obtain the same effects as the first example.

[0074] In a second embodiment of the water jet control method, the mapping data is used to derive at least one of the left-right angle, up-down angle, and water volume condition of the water jet nozzle 11 based on the data of the ideal water jet trajectory and / or comparative data of the water jet trajectory. The water jet of the water jet nozzle 11 is then corrected using the water jet trajectory, so that the aircraft can be effectively cleaned.

[0075] In the second example of the water jet control method, the water jet correction step updates the mapping data by sending at least one of the ideal water jet trajectory, the actual water jet trajectory, and comparison data of the water jet trajectory to the data calculation unit 16. This allows for the appropriate determination of the left-right angle, up-down angle, and water volume conditions of the water jet nozzle 11, enabling easy and effective cleaning of the aircraft.

[0076] A third embodiment of the present invention will be described below with reference to the accompanying drawings.

[0077] Figures 11 to 15 show a third example of a water injection control method and a water injection system using the present invention, the third example of which uses a water injection distribution. Here, there is an ideal water injection distribution and an actual water injection distribution. The ideal water injection distribution models the injection range of the water injection, while the actual water injection distribution is the injection range of the water injection viewed from above or at an angle.

[0078] The third example, as shown in Figure 11, comprises a water injection nozzle 31 capable of spraying water onto an aircraft, a measuring unit 32 for measuring wind direction and wind speed, a data storage unit 33 for receiving signals from the measuring unit 32, and a control unit 34 for receiving signals from the data storage unit 33 and issuing control signals to the water injection nozzle 31, forming a drive control system 35. Here, the target of the water injection is not limited to an aircraft, but may also be objects in fields or lawns that require watering, or outdoor objects that require washing.

[0079] The third example comprises a data calculation unit 38, which includes a data calculation unit 36 ​​that sends signals to the control unit 34 of the drive control system 35, and a numerical input unit 37 that sends input data to the data calculation unit 36. Furthermore, the third example comprises a graphics processing unit 39 that receives signals of the ideal water jet distribution from the data calculation unit 36 ​​of the distribution calculation unit 38, an image input unit 40 that sends data to the graphics processing unit 39, and an imaging unit 41 that photographs the aircraft, which constitutes an image calculation system 42. The third example also comprises a drive control-image calculation interface 43 that exchanges signals between the graphics processing unit 39 of the image calculation system 42 and the control unit 34 of the drive control system 35.

[0080] The water injection nozzles 31 of the drive control system 35 are located within the cleaning area for washing the aircraft, as in the first example, and the configuration of the water injection nozzles 31 themselves is the same as in the first example. The cleaning area also has downward water injection holes (not shown) on the ground surface for washing the underside of the aircraft from below.

[0081] The measurement unit 32, like the first example, is equipped with an anemometer and is configured to measure wind direction and wind speed and acquire them as data.

[0082] The data storage unit 33 receives wind direction and wind speed data measured by the measurement unit 32. The data storage unit 33 also calculates and stores average wind direction and average wind speed data. Furthermore, the data storage unit 33 stores new wind direction and wind speed data at predetermined time intervals (from a few seconds to a few minutes).

[0083] The control unit 34 processes signals from the data storage unit 33 and the data calculation unit 36 ​​and sends control signals to the water injection nozzles 31. The control unit 34 also initially switches and sets the premises for the left-right angle, up-down angle, and water volume conditions of the water injection nozzles 31 to correspond to the aircraft's conditions (size and height). During cleaning, the control unit 34 changes the left-right angle, up-down angle, and water volume conditions of the water injection nozzles 31 and sequentially sprays water onto each part of the aircraft to clean it. Here, the control unit 34 may change at least one of the left-right angle, up-down angle, and water volume conditions of the water injection nozzles 31, or it may change all of the left-right angle, up-down angle, and water volume conditions of the water injection nozzles 31.

[0084] The data calculation unit 36 ​​of the distribution calculation unit 38 is equipped with pre-recorded mapping data, which is used to derive the left-right angle, up-down angle, and water flow rate conditions of the water injection nozzle 1 in accordance with the average wind direction, average wind speed, and water injection distribution data. The mapping data is also updated by receiving new average wind direction, average wind speed, and water injection distribution data from the data storage unit 33, the control unit 34, and the image calculation system 42. The data calculation unit 36 ​​also calculates the ideal water injection distribution to achieve the optimal injection state for the aircraft, and sends the data of the ideal water injection distribution to the control unit 34 and to the graphics processing unit 39.

[0085] The numerical input unit 37 receives data such as wind direction, wind speed, water jet distribution, and water jet size and sends it to the data calculation unit 36 ​​to construct the initial mapping data. The numerical input unit 37 also receives numerical values, data, and conditions for various distributions, enabling the data calculation unit 36 ​​to calculate the ideal water jet distribution.

[0086] The graphics processing unit 39 of the video processing system 42 receives data on the ideal water jet distribution from the data processing unit 36, and also receives images of the actual water jet distribution from the imaging unit 41 via the image input unit 40, and calculates comparison data of the water jet distribution. The graphics processing unit 39 also includes an image authentication unit 39a that converts images of the actual water jet distribution into data of the actual water jet distribution, an injection distance calculation unit 39b that calculates the injection distance from images of the actual water jet distribution, and an image comparison calculation unit 39c that compares the actual water jet distribution data with the ideal water jet distribution data. The imaging unit 41 and the image input unit 40 are configured to capture images of the actual water jetting from a high vantage point and acquire images of the actual water jet distribution. Furthermore, the imaging unit 41 may use cameras or other imaging means installed on tall buildings, or drones, if it is possible to capture images of the actual water jetting from a high vantage point. Furthermore, the imaging unit 41 and the image input unit 40 may combine multiple images taken from the side to create a three-dimensional image and acquire images of the actual water jet distribution.

[0087] The drive control-video calculation interface 43 includes a graphics processing numerical conversion unit 43a that converts the comparison data calculated by the graphics processing unit 39 into numerical values, and an interface unit 43b that sends the numerically converted comparison data from the graphics processing numerical conversion unit 43a to the control unit 34.

[0088] Here, the control unit 34, data storage unit 33, data calculation unit 36, graphics processing unit 39, and drive control-video calculation interface 43 may work together to handle the following processes, or any one of the control unit 34, data storage unit 33, data calculation unit 36, graphics processing unit 39, or drive control-video calculation interface 43 may handle them individually. (1) Switching the assumptions for the left / right angle, up / down angle, and water volume conditions of the water jet nozzle 11 based on the aircraft's specifications (size and height). (2) Determination of the left-right angle, up-down angle, and water volume conditions of the water injection nozzles 11 for sequentially injecting water into each part of the aircraft. (3) Determination of left-right angle, up-down angle, and water volume conditions of the water injection nozzle 11 using mapping data (4) Calculation of the ideal water injection distribution (5) Comparison of ideal water jet distribution and actual water jet distribution

[0089] The operation of a third embodiment of the present invention will be described.

[0090] When an aircraft or other flying object moves into the washing area, the position of the flying object is confirmed to be appropriate using detection means such as load sensors or by visual inspection, as in the first example. Thereafter, water spray is controlled and performed to wash the flying object.

[0091] The third example of water jet control for an aircraft, like the first and second examples, includes a jet preparation stage (first processing stage), a water jet stage (second processing stage), and a water jet correction stage (third processing stage).

[0092] In the jet preparation phase, the left-right angle, up-down angle, and water volume conditions of the water jet nozzle 31 are determined based on the aircraft's specifications (size and height). Based on these assumptions, the water jet nozzle 31 is controlled up to the pre-jet stage as shown in the overall flow in Figure 12 and the preparation phase flow in Figure 13. Here, the aircraft's specifications (size and height) vary depending on the aircraft type. The type of aircraft is determined by visual inspection, photography, sensors, etc., and the assumptions for the left-right angle, up-down angle, and water volume conditions of the water jet nozzle 31 are switched and set accordingly.

[0093] In the preparation phase for water injection, the wind direction and wind speed measured by the measurement unit 32 are first taken into the data storage unit 33 and stored. The average wind direction and average wind speed data are then sent to the data calculation unit 36 ​​via the control unit 34, and the mapping data for water injection is updated as appropriate (step D21 in Figure 12, steps S81 and S82 in Figure 13). The data storage unit 33 or the control unit 34 then periodically calculates the average wind speed and average wind direction at predetermined time intervals until the start of water injection operation (steps D22 and S71 in Figure 12, and step S83 in Figure 13). Next, the left-right angle and up-down angle (two-axis rotation angle) of the water injection nozzle 31 before the start of injection, and the water volume conditions of the water injection nozzle 31 (valve opening corresponding to injection flow rate, injection pressure, injection time, etc.) are determined, and preparatory operations are performed on the water injection nozzle 31 in the left-right and up-down directions, and the valve opening corresponding to the injection flow rate, injection pressure, etc. is prepared, putting the water injection nozzle 31 into a standby state before the start of injection (step S72 in Figure 12, steps S84-S86 in Figure 13). At this injection preparation stage, data on the ideal water injection distribution may be applied from the control unit 34 and the data calculation unit 36 ​​and reflected in the left-right angle, up-down angle, and water volume conditions of the water injection nozzle 31 before the start of injection.

[0094] During the water injection phase, water is injected according to the conditions determined during the injection preparation phase. The water injection nozzle 31 sequentially sprays water onto each part of the aircraft at predetermined intervals, cleaning the aircraft.

[0095] During the water injection correction phase, the water injection nozzle 31 is controlled until the end of operation, as shown in the overall flow in Figure 12 and the correction phase flow in Figures 14-15. In the water injection correction phase, the wind direction and wind speed are newly measured at the start of the water injection phase, and the data storage unit 33 or control unit 34 periodically calculates the average wind speed and average wind direction for predetermined time units until the end of operation (steps D21 and D23 in Figure 12). Simultaneously during the water injection correction phase, the image calculation system 42 captures the actual water injection distribution, and the distribution calculation unit 38, image calculation system 42, data storage unit 33, and control unit 34 periodically calculate the ideal water injection distribution and calculate comparison data of the distribution until the end of operation.

[0096] In the water injection correction stage, the average wind speed and average wind direction are compared and calculated with the average wind speed and average wind direction from the injection preparation stage (step S73 in Figure 12, steps S91-S93 in Figure 14, and steps S101-S103 in Figure 15). This correction data is stored in the data storage unit 33, and the data calculation unit 36 ​​updates the mapping data for water injection as appropriate (step S74 in Figure 12).

[0097] In the water jet correction stage, the data calculation unit 36 ​​of the distribution calculation unit 38 calculates data for the ideal water jet distribution, while the shooting unit 41 and image input unit 40 of the image calculation system 42 derive data for the actual water jet distribution. The image authentication unit 39a, the jet distance calculation unit 39b, and the image comparison calculation unit 39c then compare the data for the ideal water jet distribution with the data for the actual water jet distribution to calculate comparison data for the water jet distribution (steps G11 and G12 in Figure 12). Next, the comparison data for the water jet distribution is sent to the data storage unit 33 via the graphic processing numerical conversion unit 43a, the interface unit 43b, and the control unit 34, and also to the data calculation unit 36 ​​to update the mapping data (step S94 in Figure 14, step S104 in Figure 15). Next, using the average wind direction, correction data for the average wind direction, data on the ideal water injection distribution, comparison data of the water injection distribution, and mapping data, the left-right angle of correction, the up-down angle of correction, and the water volume conditions for correction of the water injection nozzle 31 are determined, and the water injection by the water injection nozzle 31 is corrected (step S95 in Figure 14, step S105 in Figure 15).

[0098] To explain the case where ideal water jet distribution data is used, the ideal water jet distribution data is divided into the water jet distribution distance and the water jet distribution direction. Subsequently, the water jet distribution distance and water jet distribution direction become parameters that greatly influence the left-right angle, up-down angle, and water volume conditions of the water jet nozzle 31, while the average wind speed and average wind direction data become parameters that greatly influence the left-right angle of the water jet nozzle 31, ultimately determining the corrected left-right angle, up-direction angle, and water volume conditions of the water jet nozzle 31. Note that the average wind speed and average wind direction data may also influence the up-down angle and water volume conditions of the water jet nozzle 31. Furthermore, the correction data for average wind direction and average wind direction, the ideal water jet distribution data, and the mapping data may be used to modify at least one of the corrected left-right angle, corrected up-down angle, and corrected water volume conditions of the water jet nozzle 31. In addition, the ideal water jet trajectory data and the ideal water jet distribution data may be applied in combination.

[0099] When using comparative data on water jet distribution, the comparative data can be divided into the difference in the distribution distance of the water jets and the difference in the distribution direction of the water jets. Subsequently, the difference in the distribution distance of the water jets and the difference in the distribution direction of the water jets are used to calculate the amount of change that should be corrected for the left-right angle, up-down angle, and water volume conditions of the water jet nozzle 31. The average wind speed and average wind direction data are parameters that greatly influence the determination of the left-right angle of the water jet nozzle 31, and finally the corrected left-right angle, up-direction angle, and water volume conditions of the water jet nozzle 31 are determined. Note that the average wind speed and average wind direction data may also influence the determination of the up-down angle and water volume conditions of the water jet nozzle 31. Furthermore, the correction data for average wind direction and average wind direction, the comparative data on water jet distribution, and the mapping data may be used to modify at least one of the corrected left-right angle, corrected up-down angle, and corrected water volume conditions of the water jet nozzle 31. In addition, the comparative data on water jet trajectories and the comparative data on water jet distribution may be applied in combination.

[0100] Afterward, the aircraft is cleaned in various places, and then the water jetting from the water jet nozzles 31 is terminated (step S96 in Figure 14, step S106 in Figure 15). Water jetting from the water jet holes (not shown) on the ground surface is also terminated.

[0101] As described above, the third example of a water jet control method and a water jet system using the same includes, in addition to the configuration of the first example, an imaging unit 41 for capturing images of the actual water jet distribution, a data calculation unit 36 ​​equipped with average wind direction, average wind speed, and mapping data for water jets corresponding to the water jet distribution, and an image comparison calculation unit 39c for comparing a pre-prepared ideal water jet distribution with the actual water jet distribution. The third processing step is a water jet correction step in which the imaging unit 41 captures images of the actual water jet distribution, the image comparison calculation unit 39c compares the actual water jet distribution with the ideal water jet distribution, sends the water jet distribution comparison data to the control unit 34, and uses the average wind direction, average wind speed, water jet distribution comparison data, and mapping data to determine at least one of the correction angle for the water jet nozzle 31, the correction angle for the water jet, and the correction water volume condition, thereby correcting the water jet by the water jet nozzle 31. Thus, the third example can obtain the same effects as the first example.

[0102] In a third embodiment of the water jet control method, the mapping data is used to derive at least one of the left-right angle, up-down angle, and water volume condition of the water jet nozzle 31 based on data of an ideal water jet distribution and / or comparative data of water jet distributions. The water jet of the water jet nozzle 31 is then corrected using the water jet distribution, thereby enabling effective cleaning of the aircraft.

[0103] In the third example of the water jet control method, the water jet correction step updates the mapping data by sending at least one of the ideal water jet distribution and comparison data of the water jet distribution to the data calculation unit 36. This allows for the appropriate determination of the left-right angle, up-down angle, and water volume conditions of the water jet nozzle 31, enabling easy and effective cleaning of the aircraft.

[0104] Furthermore, the water injection control method and water injection system using the present invention are not limited to the embodiments described above, and various modifications can be made without departing from the spirit of the present invention. [Explanation of symbols]

[0105] 1 Water spray nozzle 1a Water spray nozzle 1b Water spray nozzle 1c Water spray nozzle 1d Water spray nozzle 2 Measurement Unit 3. Data Storage Unit 4. Control Unit 11 Water spray nozzles 12 Measurement section 13. Data Storage Unit 14 Control Unit 15. Drive control system 16. Data Processing Unit 17 Numerical Input Section 18 Trajectory Calculation Unit 19 Graphics Processing Unit 19a Image Recognition Section 19b Injection distance calculation section 19c Image comparison calculation section 20 Image Input Section 21 Photography Department 22. Image Processing System 23 Control-Driven - Video Processing Interface 23a Graphics Processing Numerical Conversion Unit 23b Interface section 31 Water spray nozzles 32 Measurement Unit 33 Data Storage Unit 34 Control Unit 35 Drive control system 36 Data Processing Unit 37 Numerical Input Section 38 Distribution Calculation Units 39 Graphics Processing Unit 39a Image Recognition Section 39b Injection distance calculation section 39c Image Comparison Calculation Unit 40 Image Input Section 41 Photography Department 42. Image Processing System 43 Control-Driven - Video Processing Interface 43a Graphics Processing Numerical Conversion Unit 43b Interface section

Claims

1. The system comprises a water spray nozzle that can move in multiple directions to spray water onto an object, a measuring unit that measures wind direction and wind speed, a data storage unit that stores data of average wind direction and average wind speed calculated from wind direction and wind speed, a data calculation unit that has mapping data for water spraying corresponding to the average wind direction and average wind speed, and a control unit that processes signals from the data storage unit and the data calculation unit and sends control signals to the water spray nozzle. The first processing stage is a preparation stage in which the left-right angle, up-down angle, and water volume conditions of the water injection nozzle are determined based on the average wind direction, average wind speed, and mapping data, and the water injection nozzle is put into a standby state before injection begins. The second processing step is a water injection step in which water is injected by a water injection nozzle under the conditions of the injection preparation step, The third processing stage is a water injection correction stage in which the wind direction and wind speed are newly measured from the water injection stage to obtain correction data for new average wind direction and average wind speed, the left and right angles for correction of the water injection nozzle are determined, and the water injection by the water injection nozzle is corrected. A water injection control method characterized by the following:

2. It comprises a shooting unit that captures the actual water jet trajectory, a data calculation unit that has the average wind direction, average wind speed, and mapping data for water jets corresponding to the water jet trajectory, and an image comparison calculation unit that compares a pre-prepared ideal water jet trajectory with the actual water jet trajectory. The third processing step is a water jet correction step in which the imaging unit captures the actual water jet trajectory, the image comparison calculation unit compares the actual water jet trajectory with the ideal water jet trajectory, sends the water jet trajectory comparison data to the control unit, and uses the average wind direction, average wind speed, water jet trajectory comparison data and mapping data to determine at least one of the correction angle of the water jet nozzle, the correction angle of the correction, and the correction water volume condition, thereby correcting the water jet by the water jet nozzle. The water injection control method according to feature 1.

3. It comprises a shooting unit that captures the actual water jet distribution, a data calculation unit that has mapping data for water jets corresponding to the average wind direction, average wind speed, and water jet distribution, and an image comparison calculation unit that compares a pre-prepared ideal water jet distribution with the actual water jet distribution. The third processing step is a water jet correction step in which the imaging unit captures the actual water jet distribution, the image comparison calculation unit compares the actual water jet distribution with the ideal water jet distribution, sends the water jet distribution comparison data to the control unit, and uses the average wind direction, average wind speed, water jet distribution comparison data, and mapping data to determine at least one of the correction angle for the water jet nozzle, the correction angle for the vertical, and the correction water volume condition, thereby correcting the water jet by the water jet nozzle. The water injection control method according to feature 1.

4. The water injection control method according to claim 1, characterized in that the water injection step involves changing at least one of the left-right angle, up-down angle, and water volume conditions of the water injection nozzle so that water is injected sequentially to each part of the object.

5. The water injection control method according to claim 1, characterized in that the water quantity conditions consist of at least one of the water quantity of the water injection nozzle, water pressure, and injection time.

6. The water injection control method according to claim 1, characterized in that the mapping data derives the left-right angle of the water injection nozzle from the average wind speed and average wind direction.

7. The water injection control method according to claim 2, characterized in that the mapping data derives at least one of the left-right angle, up-down angle, and water volume condition of the water injection nozzle based on data of an ideal water injection trajectory and / or comparative data of water injection trajectories.

8. The water injection control method according to claim 3, characterized in that the mapping data derives at least one of the left-right angle, up-down angle, and water volume conditions of the water injection nozzle based on data of an ideal water injection distribution and / or comparative data of water injection distributions.

9. The water injection control method according to claim 1, characterized in that the water injection correction step updates the mapping data by sending at least one of the average wind direction and average wind speed to the data calculation unit.

10. The water injection control method according to claim 2, characterized in that the water injection correction step updates the mapping data by sending at least one of the ideal water injection trajectory and comparison data of the water injection trajectory to the data calculation unit.

11. The water injection control method according to claim 3, characterized in that the water injection correction step updates the mapping data by sending at least one of an ideal water injection distribution and comparison data of water injection distributions to the data calculation unit.

12. A water injection system characterized by using a water injection control method according to at least one of claims 1 to 11.

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