JP6704041B2 - 能動的な空気伝播音の低減 - Google Patents
能動的な空気伝播音の低減 Download PDFInfo
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- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/16—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/175—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound
- G10K11/178—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase
- G10K11/1781—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase characterised by the analysis of input or output signals, e.g. frequency range, modes, transfer functions
- G10K11/17821—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase characterised by the analysis of input or output signals, e.g. frequency range, modes, transfer functions characterised by the analysis of the input signals only
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- G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/16—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/175—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound
- G10K11/178—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase
- G10K11/1781—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase characterised by the analysis of input or output signals, e.g. frequency range, modes, transfer functions
- G10K11/17821—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase characterised by the analysis of input or output signals, e.g. frequency range, modes, transfer functions characterised by the analysis of the input signals only
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- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/16—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/175—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound
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- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/16—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
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- G10K11/178—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase
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- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/16—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/175—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound
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- G10K11/1787—General system configurations
- G10K11/17873—General system configurations using a reference signal without an error signal, e.g. pure feedforward
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
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- G—PHYSICS
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- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K2210/00—Details of active noise control [ANC] covered by G10K11/178 but not provided for in any of its subgroups
- G10K2210/30—Means
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- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
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- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
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- G10K2210/301—Computational
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Description
Claims (14)
- フレームと、
前記フレームに取り付けられる複数のモータと、
複数のプロペラであって、前記複数のプロペラのそれぞれが前記複数のモータのうちの1つに連結される、前記複数のプロペラと、
前記フレームに取り付けられるオーディオスピーカと、
メモリ及び1つまたは複数のコンピュータプロセッサを有するコンピューティングデバイスと、を備えた無人航空機(UAV)であって、
前記1つまたは複数のコンピュータプロセッサが、少なくとも、
訓練入力として、少なくとも1つの機械学習システムに、前記UAVの第1位置における環境条件又は動作特性に関連する第1の音に関する情報を提供すること、
訓練出力として前記機械学習システムに、前記第1の音に関する第1音圧レベル及び第1周波数を提供すること、
前記訓練入力及び前記訓練出力に基づいて、前記機械学習システムを訓練させること、
前記UAVの移動計画に従った第2位置おける環境条件又は動作特性に関連する第2の音を予測すること、
訓練入力として、前記機械学習システムに、前記予測された第2の音に関する情報を提供すること、
出力として、前記機械学習システムから、前記予測された第2の音を打ち消す第3音圧レベル及び第3周波数を含む第3の音を受信すること、及び
前記オーディオスピーカから前記第3の音を放出することを行うように構成されるUAV。 - 前記第1位置における前記環境条件が、
前記第1位置における気温、
前記第1位置における気圧、
前記第1位置における湿度、
前記第1位置における風速、
前記第1位置における雲量のレベル、
前記第1位置における日照のレベル、または
前記第1位置における地上条件のうちの少なくとも1つを含み、
前記第1位置における第1の複数のモータのうちの少なくとも1つ、または第2の複数のプロペラのうちの少なくとも1つの前記動作特性が、
前記第1位置における前記航空機の針路、
前記第1位置における前記航空機の対気速度、
前記第1位置における前記航空機の高度、
前記第1位置における前記航空機の上昇率、
前記第1位置における前記航空機の降下率、
前記第1位置における前記航空機の旋回率、
前記第1位置における前記航空機の加速度、
前記第1位置における前記第1の複数のモータのうちの前記少なくとも1つの回転速度、または
前記第1位置における第2の複数のロータのうちの前記少なくとも1つの回転速度、のうちの少なくとも1つを含む、請求項1に記載のUAV。 - 第1の無人航空機(UAV)を動作させる方法において、
第1の音に関する情報を少なくとも1つの機械学習システムに訓練入力として提供することであって、前記第1の音に関する前記情報が、前記第1の音に関連する第1の位置、前記第1の音に関連する第1の動作特性、または前記第1の音に関連する第1の環境条件のうちの少なくとも1つを含む、前記提供すること、
前記第1の音の第1の音圧レベル、及び前記第1の音の第1の周波数に関する情報を、前記機械学習システムに訓練出力として提供すること、
前記訓練入力及び前記訓練出力に基づいて、前記機械学習システムを訓練させることと、
前記第1のUAVの移動計画に従った第2の位置における第2の環境条件又は第2の動作特性に関連し、第2の音圧レベル及び第2の周波数を含む第2の音を予測すること、
訓練入力として、前記機械学習システムに、前記予測された第2の音に関する情報を提供すること、
出力として、前記機械学習システムから、前記予測された第2の音を打ち消す第3の音圧レベル及び第3の周波数を含む第3の音を受信すること、及び
前記第1のUAVの発音器から前記第3の音を放出することを行う、方法。 - 前記第1の音に関する情報を前記機械学習システムに訓練入力として提供することは、
前記第1のUAVの前記第1の位置を判定することと、
前記第1の位置における前記第1のUAVを使用して、前記第1の音に関連する前記第1の動作特性を判定することと、
前記第1の位置における前記第1のUAVを使用して、前記第1の音に関連する前記第1の環境条件を判定することと、
前記第1の位置における前記第1のUAVを使用して、前記第1の音の前記第1の音圧レベル、及び前記第1の音の前記第1の周波数を判定することと、をさらに含む、請求項3に記載の方法。 - 前記第1の音圧レベル、前記第1の周波数、前記第1の動作特性、前記第1の環境条件、または前記第1の位置のうちの少なくとも1つが、第2のUAVにより判定された、請求項3または請求項4に記載の方法。
- 前記機械学習システムが、
人工ニューラルネットワーク、
条件付き確率場、
コサイン類似度解析、
因数分解法、
K平均クラスタリング解析、
潜在的ディリクレ配分法、
潜在意味解析、
対数尤度類似度解析、
最近傍解析、
サポートベクトルマシン、または
トピックモデル解析のうちの少なくとも1つを実行するように構成される、請求項3から請求項5のいずれか1項に記載の方法。 - 前記移動計画が、前記第1のUAVの複数の位置に関する情報を含み、前記第2の位置が、前記複数の位置のうちの1つであり、
前記第1のUAVの前記第2の位置、前記第2の位置における前記第1のUAVの前記第2の動作特性、または前記第2の位置における前記第2の環境条件のうちの少なくとも1つに関連する前記第2の音を特定することが、前記第1のUAVについての前記複数の位置のうちの少なくとも1つに関連付けられる複数の音を特定することを含む、
請求項3から請求項6のいずれか1項に記載の方法。 - 前記第3の音が、複数のアンチノイズのうちの1つであり、前記複数のアンチノイズのそれぞれが、前記第1のUAVの前記複数の位置のうちの1つに対応する、
請求項7に記載の方法。 - 前記発音器が、オーディオスピーカ、圧電式発音器、または前記第1のUAV上に提供される振動源のうちの1つを含む、請求項3から請求項8のいずれか1項に記載の方法。
- 前記第1の位置の周辺範囲内のノイズ閾値を判定することと、
前記第1の音及び前記ノイズ閾値に基づいて、前記第3の音を判定することと、をさらに含む、請求項3から請求項9のいずれか1項に記載の方法。 - 前記第3の周波数が、前記第2の周波数に対して大きさが等しく、逆極性であり、
前記第2の音圧レベル及び前記第3の音圧レベルの和が、所定の時間における前記ノイズ閾値よりも小さい、請求項10に記載の方法。 - 前記第1のUAVが、第2の時間において前記第2の位置に位置すると予想され、
前記第1のUAV上に提供される前記発音器で前記第3の音を放出することが、
前記第1のUAVが前記第2の位置にあるときに前記発音器で前記第3の音を放出すること、または
前記第2の時間において前記発音器で前記第3の音を放出することのうちの少なくとも1つをさらに含む、請求項3から請求項11のいずれか1項に記載の方法。 - 前記第1の環境条件が、第1の時間の前記第1の位置における、第1の気温、第1の気圧、第1の風速、第1の湿度、第1の雲の範囲レベル、第1の日照レベル、または第1の地表条件のうちの少なくとも1つを含む、請求項3から請求項12のいずれか1項に記載の方法。
- 前記第1の動作特性が、第1の時間における前記第1のUAV上に提供される第1のモータの第1の回転速度、前記第1の時間における前記第1のUAVの第1の高度、前記第1の時間における前記第1のUAVの第1の針路、前記第1の時間における前記第1のUAVの第1の対気速度、前記第1の時間における前記第1のUAVの第1の上昇率、前記第1の時間における前記第1のUAVの第1の降下率、前記第1の時間における前記第1のUAVの第1の旋回率、または前記第1の時間における前記第1のUAVの第1の加速度のうちの少なくとも1つを含む、請求項3から請求項12のいずれか1項に記載の方法。
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JP7033618B2 (ja) | 2022-03-10 |
WO2017048464A1 (en) | 2017-03-23 |
JP2020097416A (ja) | 2020-06-25 |
EP3350800B1 (en) | 2023-05-24 |
US20180040316A1 (en) | 2018-02-08 |
US20170154618A1 (en) | 2017-06-01 |
CA2998207C (en) | 2020-08-25 |
EP3350800A1 (en) | 2018-07-25 |
US20180286372A1 (en) | 2018-10-04 |
US9959860B2 (en) | 2018-05-01 |
US9442496B1 (en) | 2016-09-13 |
US9786265B2 (en) | 2017-10-10 |
JP2018534188A (ja) | 2018-11-22 |
CA2998207A1 (en) | 2017-03-23 |
US10468008B2 (en) | 2019-11-05 |
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