Control device and control method

Abstract

A control device according to the present invention comprises: a control part 12 that moves, in a region of an observation target, an observation apparatus which is disposed at a node obtained when the region is divided; and a determination part 11 that calculates moving direction vectors of the observation target using, respectively, a plurality of pieces of observation data which have been transmitted, as needed, from the observation apparatus during moving in the region, and that calculates the average value of the plurality of moving direction vectors as a representative value of the observation data at the node.

Description

Control device and control method

[0001] The present disclosure relates to a control device and a control method.

[0002] In the fields of meteorology and oceanography, data assimilation is an important technique for linking observations and numerical models in a complementary manner (see Non-Patent Document 1). For example, observational data collected by satellites, ground-based observatories, ocean buoys, floats, etc. are used to generate initial values ​​for simulations (see Non-Patent Documents 2 and 3). There is also a method for adding errors to observational data (Non-Patent Document 4).

[0003] “Chapter 3 Data Assimilation”, Japan Meteorological Agency, [online], [Retrieved May 14, 2024], <URL: https: / / www.jma.go.jp / jma / kishou / books / nwptext / 45 / 1_chapt3.pdf> “AMeDAS, Temperature”, Japan Meteorological Agency, [online], [Retrieved March 29, 2024], <URL: https: / / www.jma.go.jp / bosai / map.html#5 / 34.5 / 137 / &elem=temp&contents=amedas&interval=60> “Argo Project Real-time Database”, Japan Meteorological Agency, [online], [Retrieved May 14, 2024], <URL: http: / / ds.data.jma.go.jp / gmd / argo / data / indexJ.html>Miyoshi et al., “Data Assimilation in Meteorology,” “Tenki” 54.4, April 2007, [online], [Retrieved May 14, 2024], <URL: https: / / www.metsoc.jp / tenki / pdf / 2007 / 2007_04_0015.pdf>

[0004] The initial values ​​for the simulation are generally obtained as representative values ​​of grid points when the observation area is divided into grids.

[0005] The simulation is performed at regular intervals (for example, every hour or every three hours), and observation data is also incorporated at these regular intervals. Therefore, a highly accurate representative value of the observation data at these regular intervals is required.

[0006] Surface observation data from artificial satellites has very high accuracy in terms of the relative relationship between adjacent observation data within the target area. However, the accuracy of absolute values ​​is low. Therefore, there is a method to measure the absolute values ​​of observation data at the actual site.

[0007] However, the observation area at the site is very localized and observations are only made at grid points. To obtain a representative value of the absolute value of the observation data with high accuracy, it is necessary to efficiently observe the variability of the observation data in the area surrounding the grid point using observation equipment and calculate a representative value that corresponds to the variability of the observation data.

[0008] The present disclosure has been made in consideration of the above circumstances, and an object of the present disclosure is to provide a technology that can acquire on-site observation data accurately and efficiently.

[0009] A control device according to one embodiment of the present disclosure includes a control unit that moves an observation device placed at a node when the area of ​​an observation target is divided within the area, and a determination unit that calculates a movement direction vector of the observation target using multiple pieces of observation data transmitted from the observation device at any time while the observation device is moving within the area, and calculates the average value of the multiple movement direction vectors as a representative value of the observation data at the node.

[0010] A control method of one embodiment of the present disclosure is a control method performed by a control device, in which an observation device placed at a node when the area to be observed is divided is moved within the area, a movement direction vector of the observation object is calculated using each of multiple observation data transmitted from the observation device at any time while the observation device is moving within the area, and the average value of the multiple movement direction vectors is calculated as a representative value of the observation data at the node.

[0011] According to the present disclosure, a technology can be provided that can acquire on-site observation data accurately and efficiently.

[0012] FIG. 1 is a diagram showing an example of the configuration of a control system according to this embodiment. FIG. 2A is a diagram showing an example of division of a target area and an example of nodes. FIG. 2B is a diagram showing an example of division of a target area and an example of nodes. FIG. 3A is a diagram showing the operation flow of the control system. FIG. 3B is a diagram showing the operation flow of the control system. FIG. 4 is a diagram showing an example of calculation of the flow direction of an observation target. FIG. 5A is a diagram showing an example of a survey route. FIG. 5B is a diagram showing an example of a survey route. FIG. 6 is a diagram showing an example of a survey route. FIG. 7 is a reference diagram when taking area ratios into account. FIG. 8 is a reference diagram when taking area ratios into account. FIG. 9 is a diagram showing an example of the hardware configuration of a control device.

[0013] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In the description of the drawings, the same parts are designated by the same reference numerals and the description thereof will be omitted.

[0014] [Summary of the present disclosure] To solve the above problem, the present disclosure moves an observation device near a lattice point, calculates the movement direction vector of each observation target, and calculates the average value of multiple movement direction vectors with variations as a representative value at the lattice point.

[0015] Furthermore, the present disclosure automatically sets the destination based only on the on-site observation information of the observation equipment, depending on whether or not there is a dynamic change in the observation target near the grid point.

[0016] In other words, this disclosure uses a mobile observation device to observe the variability of observation data in the area surrounding a grid point and calculates a representative value based on that variability. This allows for accurate and efficient acquisition of on-site observation data, which also has the effect of reducing observation costs and improving prediction accuracy in simulations.

[0017] [Configuration of Control System] FIG. 1 is a diagram showing an example of the configuration of a control system 1 according to this embodiment.

[0018] The control system 1 includes a control device 10, a terminal device 20, and a plurality of observation devices 30. These are communicatively connected via a communication network 40. The communication network 40 is, for example, a wireless communication network.

[0019] The control device 10 is a server device that controls the destination (position) of the observation equipment 30 .

[0020] The terminal device 20 is a client terminal used by a user of the control system 1 .

[0021] The observation equipment 30 is an equipment that starts or ends observation based on instructions from the terminal device 20, and stores observation data observed regularly or irregularly within itself and transmits it to the control device 10. The observation data includes, for example, wind direction and speed at sea, and current direction and speed in the ocean, as well as the observation time and observation location.

[0022] [Functions of the Control Device] As shown in FIG. 1 , the control device 10 includes a determination unit 11, a control unit 12, a first storage unit 13, and a second storage unit 14.

[0023] The first storage unit 13 has a function of storing observation data transmitted from the observation equipment 30 .

[0024] The judgment unit 11 has the function of reading out observation data from the first memory unit 13, calculating the movement direction vector of the observation object at the node (the placement position of the observation equipment 30, described later) from the observation data, and storing the movement direction vector in the second memory unit 14.

[0025] The control unit 12 has the function of reading the movement direction vector of the observation object from the second memory unit 14, calculating the observation route of the observation equipment 30 based on the magnitude of the movement direction vector, calculating the destination position information from the current position, observation route, estimated speed, etc. of the observation equipment 30, transmitting the position information to the observation equipment 30 and storing it in the second memory unit 14.

[0026] Each function will be described in detail below, with each feature being explained in detail.

[0027] The control unit 12 has a function of moving the observation equipment 30 arranged at nodes (described later) when the observation target area is divided within the area.

[0028] The judgment unit 11 has the function of calculating the movement direction vector of the observation object using multiple observation data transmitted from the observation equipment 30 at any time while the object is moving within the above area, and calculating the average value of the multiple calculated movement direction vectors as a representative value of the observation data at the above node.

[0029] It also has the following features:

[0030] The determination unit 11 has a function of calculating a movement direction vector of the observation target at the node using the observation data at the node, and determining whether the magnitude of the movement direction vector is equal to or greater than a threshold value.

[0031] The control unit 12 has the function of hovering the observation equipment 30 near the node if the magnitude of the movement direction vector at the node is not greater than a threshold, or moving the observation equipment 30 in a circumferential direction around the node if there is sufficient movement energy in the observation equipment 30.

[0032] The control unit 12 has the function of moving the observation equipment 30 in a circumferential direction of the node when the magnitude of the movement direction vector at the node is greater than or equal to a threshold value, or moving the observation equipment 30 in a direction perpendicular to the movement direction of the object to be observed when the observation equipment 30 does not have enough movement energy.

[0033] In addition, it has the following features:

[0034] The determination unit 11 has a function of adding, to each of the multiple movement direction vectors of the observation target related to the multiple observation data transmitted while moving in the vertical direction, an area ratio obtained by dividing the area of ​​all the divided areas by the area of ​​each divided area when the area of ​​the observation target is divided by observation point in the vertical direction of the movement direction of the observation equipment.

[0035] [Method of arranging observation equipment] The initial values ​​for a simulation are generally obtained as representative values ​​of lattice points when the observation area is divided into a lattice. As shown in Fig. 2A, lattice point A is the representative value of the observation data within a certain concentric circle R. Grid point A is surrounded by eight neighboring lattice points B. If the lattice is not rectangular, for example, if it has a honeycomb structure (hexagonal), there will be three neighboring nodes B around node A, as shown in Fig. 2B.

[0036] Since both the lattice point A and the node A are considered to be types of nodes in a broad sense, the nodes include lattice points of a lattice structure (quadrilateral) and nodes of a honeycomb structure (hexagonal). However, the shape is not limited to quadrangles and hexagons, and nodes of triangles, etc. may also be used.

[0037] A single movable observation device 30 is placed at the center lattice point A of the 3×3 lattice points in the simulation. At the same time, multiple locations within the 3×3 lattice point area may be set.

[0038] [Overview of Observation Instrument Control Method] The control device 10 determines whether or not there is movement (flow) of the observation target at grid point A. That is, the control device 10 sets a threshold based on the items measured by the observation instrument 30 itself, and determines whether or not the magnitude of the movement direction vector is equal to or greater than the threshold.

[0039] When there is no flow to be observed, the control device 10 causes the observation device 30 to hover near lattice point A. Alternatively, if the observation device 30 has sufficient movement energy or the like at this time, the control device 10 causes the observation device 30 to measure observation data within a concentric circle of lattice point A in the circumferential direction of lattice point A at a uniform speed (for example, the average speed in the observation target area of ​​the observation device 30, a constant speed).

[0040] When there is a flow to be observed, the control device 10 measures the observation data at a uniform speed in the circumferential direction of the lattice point A within a concentric circle of the lattice point A. Alternatively, when there is a lack of energy or time for movement, the control device 10 measures the observation data at a uniform speed in the direction perpendicular to the flow direction at the lattice point A.

[0041] The control device 10 calculates the movement (movement direction vector) of the observed object using each of the multiple observation data measured by the observation equipment 30, and calculates the average value of the movements of the multiple observed objects (average value of the movement direction vectors) as a representative value of the observation data at lattice point A.

[0042] [Control Method of Observation Equipment (Details)] FIGS. 3A and 3B are diagrams showing the operation flow of the control system.

[0043] Step S1: Based on a user instruction, the terminal device 20 transmits an observation start instruction or observation end instruction to the observation equipment 30 and the control device 10. The terminal device 20 may automatically transmit the observation start instruction or observation end instruction based on an observation period preset by the user.

[0044] Steps S2 to S5: The observation equipment 30 is placed at grid point A, and after starting observation, it periodically or irregularly measures observation data (e.g., wind direction and speed, current direction and speed) and transmits it to the control device 10. The control device 10 stores the observation data from the observation equipment 30 in the first memory unit 13.

[0045] Steps S6 to S7: The judgment unit 11 of the control device 10 reads out the observation data from the first memory unit 13 (S6), calculates the flow direction (movement direction vector) of the observation object at lattice point A using the observation data, and determines whether the magnitude of the flow direction is greater than or equal to a threshold value (S7).

[0046] For example, as shown in Figure 4, the determination unit 11 of the control device 10 determines the combined value W of the wind direction vector U and the flow direction vector V (weighted sum of vectors (W = a * U + b * V), where a and b are constants) as the flow direction of the object to be observed. The flow direction of the object to be observed may be only the wind direction vector U or only the flow direction vector V. Observation data other than wind direction and flow direction may also be used. The determination unit 11 of the control device 10 then determines whether the magnitude of the flow direction W of the object to be observed is equal to or greater than a threshold value.

[0047] Steps S8 to S13: If the result of the judgment in step S7 is that the magnitude of the flow direction of the observed object at lattice point A is less than the threshold value, that is, if there is no flow in the observed object at lattice point A or its surrounding area, the judgment unit 11 of the control device 10 judges whether the observation equipment 30 has a surplus of movement energy, etc. (S8).

[0048] If the observation equipment 30 does not have enough energy to move, the control device 10 causes the observation equipment 30 to hover near lattice point A (S9). In other words, the determination unit 11 of the control device 10 does not send a movement instruction to the control unit 12. Naturally, the control unit 12 does not calculate position information of the destination of the observation equipment 30.

[0049] If the observation equipment 30 has a margin of energy for movement, etc., the determination unit 11 of the control device 10 transmits a movement instruction to the control unit 12 (S10). The control unit 12 of the control device 10 generates a movement instruction (S11) and transmits the movement instruction to the observation equipment 30 (S12).

[0050] At this time, the control unit 12 of the control device 10 causes the observation equipment 30 to measure observation data at a uniform speed in the circumferential direction of the lattice point A within the concentric circle of the lattice point A. The observation equipment 30 measures the observation data while moving based on the movement instruction (S13).

[0051] For example, as shown in Figure 5A, within the effective range of lattice point A (e.g., within concentric circle R), when the time width of the simulation is t hours and the movement speed of the observation equipment 30 is v, an instruction to move is sent to the observation equipment 30, specifying a circle RT of diameter r (= v * t / π) that can be moved once in t hours as the observation route. The observation equipment 30 measures observation data periodically or irregularly while moving along the observation route RT and transmits the data to the control device 10 as needed. There is variation in the values ​​of the multiple observation data measured during movement.

[0052] If it is not possible to travel one full cycle within time t, in order to quickly obtain the variability of changes in the observation data, a regular polygon formed by connecting points C1 to C8 on an extension line from lattice point A to a nearby grid (for example, nearby lattice point B) with straight lines is used as the observation route, as shown in Figure 5B. For example, a regular octagon RT1 of C1 → C2 → C3 → C4 → C5 → C6 → C7 → C8 → C1 is used as the observation route. A regular rectangle RT2 of C2 → C4 → C6 → C8 → C2, which has a shorter observation route length, can also be used as the observation route.

[0053] Steps S14 to S16: If the result of the judgment in step S7 is that the magnitude of the flow direction of the observed object at lattice point A is equal to or greater than the threshold, that is, if there is a flow in the observed object at lattice point A or its surrounding area, the judgment unit 11 of the control device 10 calculates (≒recalculates) the flow direction of the observed object at the current position (≒lattice point A) using the observation data read out in step S6 (S14), and stores the flow direction and observation position of the observed object in the second memory unit 14 (S15, S16).

[0054] Generally, simulations use only the values ​​of grid points. The movement of an observed object refers to a phenomenon in which the observed object moves from grid point A to one of multiple neighboring grid points B. In other words, to obtain a representative value for the movement within the observed object area over a certain period of time, it is necessary to observe the direction in which the observed object at grid point A moves, for example, at a uniform speed, and determine the rate of movement to neighboring grid point B. The following explanation will take this into consideration.

[0055] Steps S17 to S18: The control unit 12 of the control device 10 reads the flow direction and observation position of the observation target from the second memory unit 14 (S17), and determines whether the observation equipment 30 has sufficient energy, time, etc. for travel (S18).

[0056] Steps S19 to S23: If the result of the determination in step S18 shows that the observation equipment 30 does not have enough energy or time to travel, the control unit 12 of the control device 10 sets the observation route to directions RT1 and RT2 perpendicular to the flow direction W of the observation target at lattice point A, as shown in Figure 6 (S19).

[0057] The control unit 12 of the control device 10 sends a movement instruction to the observation equipment 30 to move at a uniform speed along the observation routes RT1 and RT2 (S20), and stores the observation routes in the second memory unit 14 (S21, S22).

[0058] Thereafter, the observation equipment 30 moves along the observation routes RT1 and RT2 (S23), measuring observation data periodically or irregularly while moving and transmitting the data as needed to the control device 10. The values ​​of the multiple observation data measured during movement will vary.

[0059] For example, if the time span of the simulation is t hours and the speed of the observation equipment 30 is v, observation data is measured at any time over a distance l (= v * t / 2) that allows one round trip movement on both sides (RT1 and RT2) perpendicular to the flow direction W of the object to be observed at grid point A in t hours.

[0060] Steps S24 to S28: If the result of the determination in step S18 shows that the observation equipment 30 has sufficient travel energy, time, etc., the control unit 12 of the control device 10 measures observation data at a uniform speed in the circumferential direction of lattice point A within the concentric circle of lattice point A.

[0061] That is, the control unit 12 of the control device 10 sets the observation route to, for example, the circle RT shown in Fig. 5A (S24). The observation route may also be the regular octagon RT1 or regular square RT2 shown in Fig. 5B. The control unit 12 of the control device 10 sends a movement instruction to the observation equipment 30 to move at a uniform speed along the observation route (S25), and stores the observation route in the second memory unit 14 (S26, S27).

[0062] Thereafter, the observation equipment 30 moves along the observation route (S28), measuring observation data periodically or irregularly while moving and transmitting the data as needed to the control device 10. There will be variations in the values ​​of the multiple observation data measured during movement.

[0063] After step S13, step S23, or step S28, observation data of the observation target is transmitted from the observation equipment 30 to the control device 10 as needed. The values ​​of the multiple pieces of observation data transmitted as needed vary. The determination unit 11 of the control device 10 calculates a movement direction vector of the observation target using each of the multiple pieces of observation data, and calculates the average value of the multiple calculated movement direction vectors as a representative value of the observation data at lattice point A.

[0064] [Variation 1] In steps S7 and S14, the flow direction of the object (movement vector of the object) is calculated using only the observation data. On the other hand, the flow direction of the object is measured, for example, every time observation data is measured.

[0065] In this case, in order to measure the variability of the observation data and calculate the average value of the observation data, it is necessary to take into account the area ratio of the observation area represented by grid point A relative to the flow direction value of the observation object.

[0066] For example, as shown in Fig. 7, in an observation target area R of radius r, the area ratio of the width Δr between observation points is taken into account with respect to the distance to the edge of the observation target area R in the direction perpendicular to the movement direction (RT1 and RT2) of the observation equipment 30. As shown in Fig. 8, the lattice point A is set as the origin, the movement direction of the observation equipment 30 is set as the x-axis, and the direction perpendicular to the movement direction is set as the y-axis. The position of the observation equipment 30 at time t is expressed as X ｔ , the position at the next observation time t+1 is X ｔ＋１ Position X ｔ Height Y to the edge of the target region R ｔ is calculated using equation (1).

[0067]

[0068] The average value of the flow direction value W of the observation target can be calculated using equation (2).

[0069]

[0070] w ｔ is the value of the flow direction of the observation target at time t, and n is the number of observation data.

[0071] [Variation 2] Up to this point, we have explained the case where the observation target is moved at a uniform speed. However, in a real observation environment, it is expected that the speed of the observation equipment cannot be kept constant. In this case, the control unit 12 of the control device 10 moves the observation target at a variable speed v that changes with time t. ｔ The observation equipment 30 may be moved by

[0072] It is particularly desirable to combine this with Modification 1. Modification 1 is a method that reflects the area ratio of the observation target region as a more precise weighting method, but by also taking into account increases and decreases in the speed of the observation equipment 30, it is possible to more accurately calculate the average value (representative value) of the flow direction value of the observation target.

[0073] [Effect] According to this embodiment, an observation device 30 placed at grid point A in the observation area is moved within the observation area, and a movement direction vector of the observation object is calculated using each of multiple pieces of observation data transmitted from the observation device 30 at any time while it is moving within the observation area, and the average value of the multiple calculated movement direction vectors is calculated as a representative value of the observation data at grid point A, thereby providing a technology that can accurately and efficiently acquire observation data on site.

[0074] [Others] The present disclosure is not limited to the above-described embodiments, and various modifications are possible within the scope of the gist of the present disclosure.

[0075] The control device 10 of the present embodiment described above can be realized, for example, by using a general-purpose computer system including a CPU 901, a memory 902, a storage 903, a communication device 904, an input device 905, and an output device 906, as shown in Fig. 9. The memory 902 and the storage 903 are storage devices. In the computer system, the CPU 901 executes a predetermined program loaded onto the memory 902, thereby realizing each function of the control device 10.

[0076] The control device 10 may be implemented by one computer, or by multiple computers, or may be a virtual machine implemented on a computer.

[0077] The program for the control device 10 can be stored in a computer-readable recording medium such as a HDD, SSD, USB memory, CD, or DVD. The computer-readable recording medium is, for example, a non-transitory recording medium. The program for the control device 10 can also be distributed via a communication network.

[0078] REFERENCE SIGNS LIST 1 control system 10 control device 11 determination unit 12 control unit 13 first storage unit 14 second storage unit 20 terminal device 30 observation equipment 40 communication network 901 CPU 902 memory 903 storage 904 communication device 905 input device 906 output device

Claims

1. A control device comprising: a control unit that moves an observation device placed at a node when an area to be observed is divided within the area; and a determination unit that calculates a movement direction vector of the observation object using multiple pieces of observation data transmitted from the observation device at any time while the observation device is moving within the area, and calculates the average value of the multiple movement direction vectors as a representative value of the observation data at the node.

2. The control device described in claim 1, wherein the judgment unit calculates a movement direction vector of the observed object at the node using observation data at the node and determines whether the magnitude of the movement direction vector is greater than or equal to a threshold, and the control unit, when the magnitude of the movement direction vector is not greater than or equal to the threshold and the observation equipment has sufficient movement energy, moves the observation equipment in a circumferential direction of the node if the magnitude of the movement direction vector is greater than or equal to the threshold, or moves the observation equipment in a direction perpendicular to the movement direction of the observed object if the observation equipment does not have sufficient movement energy.

3. The control device described in claim 2, wherein the control unit moves the observation equipment in the vertical direction, and the determination unit adds, to each of the multiple movement direction vectors of the observation target related to the multiple observation data transmitted during the vertical movement, an area ratio obtained by dividing the area of ​​all divided areas by the area of ​​each divided area when the area is divided by observation points in the direction perpendicular to the movement direction of the observation equipment.

4. A control method performed by a control device, comprising: moving an observation device placed at a node when an area to be observed is divided within said area; calculating a movement direction vector of said observation object using each of a plurality of pieces of observation data transmitted from said observation device at any time while said observation device is moving within said area; and calculating the average value of said plurality of movement direction vectors as a representative value of said observation data at said node.

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