ガス検知用マルチコプタの設計に関する基礎的研究

摘要

Here we report our initial results on the computational fluid dynamics analysis of airflow field generated during the flight of a multicopter. We propose to utilize the airflow field to facilitate gas detection on board the multicopter. When a multicopter is flying, each rotor generates strong airflow in the downward direction. This airflow spreads radially after it reaches the ground. Therefore, gas drifting near the ground cannot be detected by simply placing a gas sensor on a multicopter. However, the airflows generated by multiple rotors of a multicopter impinge at the midpoint on the ground and are deflected upward. The proposed method uses this upward airflow to bring the gas from the ground to the sensor on the multicopter. Computational fluid dynamics simulations have been conducted for a quadcopter with a diagonal length of 1 m hovering at 0.5 m above the ground. The results show the feasibility of the proposed method.%近年，ロボットにガスセンサを搭載し，埋立地におけるメタンガス排出量のモニタリングに用いることが期待されている.ガス源を探索するロボットの開発が進められ，複数箇所で測定した風速やガス濃度等の値から，ガス源の位置を突き止められるようになってきた.しかし，開発されたロボットの多くは車輪で走行する陸上ロボットであり，不整地や湿地で用いることは困難である.そのため，飛行するガス源探索ロボットの開発が期待されている.