JP2018136315A - Multicopter and atmospheric environment measuring method using multicopter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a multicopter that can sample air under natural weather conditions at the multicopter in a hovering state and measure components included in the air in midair under natural weather conditions.SOLUTION: A multicopter 10A includes: sampling pipes 15a, 15b extending upward from a top face 12 of an airframe body 11 for collecting air in midair; and at least one of air storage means for storing the air in midair collected with the sampling pipes 15a, 15b and component measuring means for measuring components included in the air in midair collected with the sampling pipes 15a, 15b.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a multicopter provided with a fuselage main body and a rotor, and to an atmospheric environment measurement method for measuring an atmospheric environment in the sky using the multicopter.

  It has a camera unit that is mounted on a multicopter and maps the land, and continuous image information of a part of the land that can be seen from the multicopter flying in the sky is captured by the camera unit, and image information about the land part that can be seen through the camera unit and Compare at least the image information of the land portion imaged immediately before and determine the duplication rate of the image information, and the duplication rate determined by the duplication rate decision step is less than or equal to the predetermined duplication rate In this case, there is disclosed an image capturing management method including a capturing instruction transmitting step of transmitting a capturing instruction to the camera unit so as to immediately capture image information of a land portion (see Patent Document 1).

  In addition, it has a delivery vehicle having multiple multicopter operation means, a multicopter take-off and landing space installed on the ceiling of the delivery car, a luggage exit, and a supply means for sequentially supplying the luggage to the luggage exit. Then, the multicopter is supplied with the package from the luggage exit and delivers it to the delivery destination, returns to the delivery vehicle after delivery, receives the next package, and delivers the next delivery, and the next delivery destination exceeds a certain distance from the delivery vehicle. If they are separated, the multicopter will land on the delivery vehicle until the delivery vehicle reaches the vicinity of the next delivery destination, and after the delivery vehicle has moved to the next delivery area, the multicopter will deliver the next delivery. A delivery system is disclosed (see Patent Document 2).

JP 2017-15704 A Japanese Patent Laid-Open No. 2006-153337

  The image capturing management method disclosed in Patent Document 1 captures continuous image information of a part of land by a camera unit installed in a multicopter flying over the sky, and the delivery system disclosed in Patent Document 2 includes: The multicopter that takes off and landing in the takeoff and landing space installed on the ceiling of the delivery vehicle delivers the package to the delivery destination, but the sampling use for collecting the air in the sky, the component measurement for measuring the component in the air in the sky, the weather in the sky Multicopters cannot be used to measure meteorological data.

  The multicopter flies in the air while flying in the air due to the lift generated by the rotation of the rotor (rotary blades). However, even during hovering, air flows downward from above the multicopter by the rotation of the rotor. The airflow around the multicopter is disturbed. The airflow around the multicopter is disturbed by the rotation of the rotor, so that air sampling cannot be performed around the multicopter in the hovering state due to natural weather conditions, and the components contained in the air above the It cannot be measured. In addition, the airflow around the multicopter is disturbed, so that the wind direction, wind speed, temperature, humidity, and atmospheric pressure fluctuate around the multicopter in the hovering state, and various weather data based on natural weather conditions around the multicopter in the hovering state. Measurement cannot be performed.

  An object of the present invention is to provide a multicopter capable of sampling air under natural weather conditions in a multicopter in a hovering state and measuring components contained in the air in the sky under natural weather conditions. It is in. Another object of the present invention is to provide a multicopter capable of measuring meteorological data under natural weather conditions in a multicopter in a hovering state. Another object of the present invention is to enable sampling of air under natural weather conditions in a multicopter in a hovering state, and to measure components contained in the air in the sky using the multicopter under natural weather conditions. It is to provide an atmospheric environment measurement method capable of Another object of the present invention is to provide an atmospheric environment measurement method capable of measuring weather data under natural weather conditions in a multicopter in a hovering state.

  The first premise of the present invention for solving the above-mentioned problems is a multi-copter that includes a fuselage main body and a rotor and hovers in the air while flying in the air.

  The first feature of the multicopter of the present invention according to the first premise is that the multicopter extends upward from the upper surface of the airframe body and collects the air in the sky, and the sky taken by the sampling pipe It has at least one of an air storage means for storing air and a component measuring means for measuring a component contained in the air in the sky collected by the sampling pipe.

  As an example of the multi-copter having the first feature, a sampling pipe is connected to a lower end connecting portion connected to the upper surface of the body body, and is opened to a position spaced apart from the lower end connecting portion by a predetermined distance, so that air in the sky is And a top sampling port that opens upward in the vertical direction of the sampling pipe, or opens in the radial direction of the sampling pipe.

  As another example of the multicopter having the first feature, the sampling pipe is rotatable in the horizontal direction around the central axis extending in the vertical direction.

  As another example of the multicopter having the first feature, the sampling pipe can be expanded and contracted in the vertical direction, and the length dimension in the vertical direction can be changed.

  As another example of the multicopter having the first feature, the component measuring means includes a fine particulate matter and an aerosol contained in the above air, a harmful air pollutant contained in the above air, and the above air. At least one of the radioactive substances contained in the is measured.

  As another example of the multicopter having the first feature, as a result of analyzing the flow of the airflow due to the rotation of the rotor during the hovering of the multicopter, it is affected by the airflow due to the rotation of the rotor of the multicopter during the hovering. The position of the top sampling port with no gap is 80 cm or more upward from the upper surface of the airframe body, and the vertical dimension from the lower end connecting portion of the sampling pipe to the top sampling port is 80 cm or more.

  The second feature of the multi-copter of the present invention in the first premise is that the multi-copter is installed on the top of the support rod that extends upward from the upper surface of the fuselage main body, and weather in which the sky weather data is measured. Having a sensor.

  As an example of the multicopter having the second feature, the support rod can rotate in the horizontal direction around the central axis extending in the vertical direction.

  As another example of the multi-copter having the second feature, the support rod can be expanded and contracted in the vertical direction, and the length dimension in the vertical direction can be changed.

  As another example of the multicopter having the second feature, airborne weather data measured by a weather sensor is wind direction, wind speed, temperature, humidity, atmospheric pressure, and rainfall.

As another example of the multicopter having the second feature,
As a result of analyzing the flow of the airflow due to the rotation of the rotor during hovering of the multicopter, the position of the weather sensor that is not affected by the airflow due to the rotation of the rotor of the multicopter during hovering is 80 cm or more upward from the upper surface of the aircraft body The length in the vertical direction from the lower end to the top of the support rod is 80 cm or more.

  The second premise of the present invention for solving the above-mentioned problem is an atmospheric environment measuring method comprising an airframe body and a rotor, and using a multicopter that flies in the air while hovering in the air, and measures the atmospheric environment in the sky It is.

  The first feature of the atmospheric environment measuring method of the present invention according to the second premise is that the atmospheric environment measuring method uses a sampling pipe extending upward from the upper surface of the body of the multicopter, and the hovering state of the multicopter in the air In the multicopter, the air sampling process for collecting the air in the air, the air storage process for storing the air in the air sampled in the air sampling process, and the components in the air in the air sampled in the air sampling process in the multicopter And having at least one of the component measurement steps to be measured.

  As an example of the atmospheric environment measuring method having the first feature, the atmospheric environment measuring method performs an air sampling process while hovering a multicopter at a first altitude in the air, and includes an air storage process and a component measurement process. At least one of them is performed, and the multicopter is raised or lowered in three dimensions stepwise from the first altitude toward the sky or the ground, and at the second to nth altitudes located above or below the first altitude. An air sampling process is performed while hovering the multicopter, and at least one of an air storage process and a component measurement process is performed.

  As another example of the atmospheric environment measuring method having the first feature, the atmospheric environment measuring method performs the air sampling process while hovering the multicopter in the first sky at a predetermined altitude, and the air storage process and the component measurement. At least one of the steps, causing the multicopter to fly in the horizontal direction from the first sky, and collecting the air while hovering the multicopter in the second to n-th sky located in the horizontal direction from the first sky And at least one of an air storage step and a component measurement step.

  The second feature of the atmospheric environment measuring method of the present invention according to the second premise is that the atmospheric environment measuring method uses a weather sensor installed on the top of a support rod extending upward from the upper surface of the body of the multicopter. Another object of the present invention is to have a meteorological data measuring step for measuring meteorological data in the sky in the hovering state of the multicopter in the air.

  As an example of the atmospheric environment measurement method having the second feature, the atmospheric environment measurement method performs a meteorological data measurement process while hovering the multicopter at the first altitude in the air, and from the first altitude to the sky or the ground. The multicopter is raised or lowered stepwise in three dimensions, and the meteorological data measurement process is performed while hovering the multicopter from the second altitude to the nth altitude located above or below the first altitude.

  As another example of the atmospheric environment measurement method having the second feature, the atmospheric environment measurement method performs a meteorological data measurement process while hovering the multicopter in the first sky at a predetermined altitude, and horizontally from the first sky. The multicopter is made to fly in the direction, and the meteorological data measurement process is performed while hovering the multicopter in the second to nth sky located in the horizontal direction from the first sky.

  A third feature of the atmospheric environment measuring method of the present invention according to the second premise is that the atmospheric environment measuring method is installed on a support rod extending upward from the upper surface of the body body of the multicopter and an upper end portion of the support rod. Using a predetermined sensor that is spaced upward from the upper surface of the multicopter's fuselage body, the multicopter is spirally raised into the air while using the sensor to acquire various data of the air in the sky, or the multicopter The object of the present invention is to have data acquisition means for acquiring various data of air in the sky using a sensor while being lowered spirally from the air.

  As an example of the atmospheric environment measurement method having the third feature, the data acquisition means continuously acquires various data of the air in the sky while continuously raising the multicopter into the air spirally, or Various data of air in the sky are continuously acquired while the multicopter is continuously lowered from the air in a spiral.

  As another example of the atmospheric environment measuring method having the third feature, the data acquisition means acquires various data of the air in the sky at predetermined time intervals while continuously raising the multicopter into the air spirally. Alternatively, various data of the air in the sky are acquired at predetermined time intervals while the multicopter is continuously lowered spirally from the air.

  As another example of the atmospheric environment measurement method having the third feature, the data acquisition means continuously sends various data of the air over the first air to the nth while raising the multicopter continuously spirally into the air. Acquire in the air, or acquire various data of the air in the sky from the nth air to the first air while continuously descending the multicopter spirally from the air.

  As another example of the atmospheric environment measurement method having the third feature, the sensor includes a weather sensor that measures at least one weather data of wind direction, wind speed, temperature, humidity, and pressure, and air in the air. And / or a component measurement sensor that measures at least one component of aerosols, harmful air pollutants contained in air, and radioactive materials contained in air.

  According to the multicopter of the present invention having the first feature, it has a sampling pipe that extends upward from the upper surface of the fuselage body and collects the air in the sky, and collects the air in the sky by using the sampling pipe. Therefore, air can be collected in the space above the multicopter that is not affected by the wind (airflow turbulence) due to the rotation of the rotor of the multicopter during hovering. It is possible to sample air according to weather conditions and to measure components contained in the air in the sky under natural weather conditions.

  The sampling pipe has a lower end connecting portion connected to the upper surface of the airframe body, a top sampling port that opens at a position spaced apart from the lower end connecting portion by a predetermined dimension, and takes in air from above. A multicopter that opens upward in the vertical direction of the sampling pipe or opens in the radial direction of the sampling pipe is a wind generated by the rotation of the rotor of the multicopter when the top sampling port of the sampling pipe is hovering. Is located in the upper space of the multicopter where it is not affected by the influence of the wind (airflow turbulence), and the air from the top sampling port is sampled, so the effect of wind (airflow) due to the rotation of the rotor of the multicopter during hovering Air can be collected in the upper space of the multicopter that does not receive (turbulence of airflow), hovering state It is possible to perform the sampling of the air due to natural weather conditions in definitive multirotor can measure the component contained in high over the air by natural weather conditions.

  The multicopter that can rotate in the horizontal direction around the central axis that the sampling pipe extends in the vertical direction makes the sampling pipe face upwind or leeward by rotating the sampling pipe in the horizontal direction around the central axis. Therefore, it is possible to collect air in the space above the multicopter that is not affected by the wind (airflow) due to the rotation of the rotor of the multicopter during hovering. In consideration of wind pressure and the like, air sampling under natural weather conditions can be performed in a multicopter in a hovering state, and components contained in the air in the sky can be accurately measured under natural weather conditions.

  The multicopter whose sampling pipe can be expanded and contracted in the vertical direction and the length dimension in the vertical direction can be changed is that the sampling pipe is expanded and contracted in the vertical direction on the upper surface of the multicopter, so that the rotor of the multicopter during hovering The sampling pipe can be extended to the upper space of the multicopter where it is not affected by wind (airflow turbulence) due to rotation. Therefore, the wind effect (airflow turbulence) due to the rotation of the rotor of the multicopter during hovering. Air can be sampled in the space above the multicopter that is not subject to air sampling, the air can be sampled according to natural weather conditions in the multicopter in the hovering state, and the components contained in the air in the sky can be Can be measured accurately in the weather conditions That.

  The multicopter that measures at least one of the fine particulate matter and aerosol contained in the air above, the harmful air pollutant contained in the air above, and the radioactive material contained in the air above is the rotor of the multicopter during hovering. Because air is collected in the space above the multicopter that is not affected by wind (airflow turbulence) due to the rotation of the air, measurement of microparticulate matter and aerosols under natural weather conditions in the multicopter in the hovering state In addition to being able to measure harmful air pollutants under natural weather conditions, it is possible to measure radioactive substances under natural weather conditions.

  As a result of analyzing the flow of the airflow due to the rotation of the rotor during hovering of the multicopter, the position of the top sampling port that is not affected by the airflow due to the rotation of the rotor of the multicopter during hovering is 80 cm upward from the top surface of the aircraft body Multi-copters with a vertical length of 80 cm or more from the lower end connection part of the sampling pipe to the top sampling port are considered in consideration of the analysis result of the air flow due to the rotation of the rotor during hovering of the multi-copter. By setting the position of the sampling port at the top of the sampling pipe to be 80 cm or more upward from the upper surface of the aircraft body and setting the length dimension of the sampling pipe to be 80 cm or more, the wind (airflow) due to the rotation of the rotor of the multicopter during hovering Multicopter not affected (turbulence of airflow) Air can be collected in the upper space, air can be sampled by natural weather conditions in the multicopter in the hovering state, and the components contained in the air in the sky can be accurately measured under natural weather conditions Can do.

  According to the multicopter of the present invention having the second feature, the weather sensor is installed on the top of the support rod extending upward from the upper surface of the airframe body, and the influence of wind (airflow) due to the rotation of the rotor of the multicopter during hovering Since the weather sensor is located in the space above the multicopter that is not subject to (airflow turbulence) and the weather sensor is used to measure the weather data in the sky, the rotation of the rotor of the multicopter during hovering Meteorological data can be measured in the space above the multicopter that is not affected, and the meteorological data can be measured under natural weather conditions in the multicopter in the hovering state.

  The multicopter, which can rotate horizontally around the central axis where the support rod extends in the vertical direction, allows the weather sensor to face the windward and leeward by rotating the support rod horizontally around the central axis. Therefore, weather data can be measured in the space above the multicopter that is not affected by the wind (airflow turbulence) due to the rotation of the rotor of the multicopter during hovering. Accurate measurement of weather data according to natural weather conditions can be performed in a multicopter.

  The multicopter with the support rods that can be expanded and contracted in the vertical direction and the length dimension in the vertical direction can be changed.The multicopter can be expanded and contracted in the vertical direction on the upper surface of the multicopter, so that the rotor of the multicopter during hovering Since the weather sensor can be moved to the space above the multicopter where it is not affected by wind (airflow turbulence) due to rotation, it is affected by wind due to rotation of the rotor of the multicopter during hovering The meteorological data can be measured in the space above the multicopter where there is no weather, and the meteorological data can be accurately measured under natural weather conditions in the multicopter in the hovering state.

  Multicopters whose airborne weather data measured by weather sensors are wind direction, wind speed, air temperature, humidity, barometric pressure, and rainfall are affected by wind (airflow) due to the rotation of the multicopter rotor during hovering (airflow turbulence) The weather sensor is located in the space above the multicopter that is not subject to wind, and the weather sensor is used to measure the wind direction, wind speed, temperature, humidity, atmospheric pressure, and rainfall over the sky. Wind direction, wind speed, temperature, humidity, pressure, and rainfall can be measured in the space above the multicopter that is not affected by wind due to rotation, and the wind direction, wind speed, and temperature according to natural weather conditions in the multicopter in the hovering state Accurate measurement of humidity, atmospheric pressure and rainfall.

  As a result of analyzing the flow of the airflow due to the rotation of the rotor during hovering of the multicopter, the position of the weather sensor that is not affected by the airflow due to the rotation of the rotor of the multicopter during hovering is 80 cm or more upward from the upper surface of the aircraft body A multicopter with a vertical dimension from the lower end to the top of the support rod of 80 cm or more takes into account the analysis result of the air current flow due to the rotation of the rotor during hovering of the multicopter, When the position is set to 80 cm or more upward from the upper surface of the fuselage and the length of the support rod is set to 80 cm or more, it is affected by the wind (airflow) due to the rotation of the rotor of the multicopter during hovering (airflow turbulence). The weather sensor can be positioned in the space above the multicopter Since the weather data is measured using the weather sensor, the weather data can be measured in the space above the multicopter that is not affected by the wind due to the rotation of the rotor of the multicopter during hovering. In the multicopter in the hovering state, it is possible to accurately measure meteorological data according to natural weather conditions.

  According to the atmospheric environment measuring method of the present invention having the first feature, since the air in the sky is collected using the sampling pipe extending upward from the upper surface of the body body of the multicopter, the rotor of the multicopter rotor during hovering is collected. Air can be sampled in the space above the multicopter that is not affected by wind (airflow turbulence) due to rotation (airflow turbulence), and the air can be sampled under natural weather conditions in the multicopter in the hovering state. In addition, the multi-copter can be used to measure components contained in the air in the sky under natural weather conditions.

  The air sampling process is performed while hovering the multicopter at the first altitude in the air, and at least one of the air storage process and the component measurement process is performed, and the multicopter is tertiary from the first altitude to the sky or the ground. In the air storage process component measurement process, the air sampling process is performed while raising or lowering in stages and hovering the multicopter from the second altitude to the nth altitude located above or below the first altitude. The atmospheric environment measurement method that implements at least one of the above is a method in which the multicopter is gradually raised or lowered in three dimensions (including the vertical direction) from the first altitude, and the hovering state multicopter at the first altitude to the nth altitude Since it can be used to collect air, by using a multicopter, three-dimensional in the air Direction can be performed sampling of air at a plurality of locations (including the vertical direction), it is possible to measure the components of air at a plurality of points of the three-dimensional directions (including vertical) in air. The atmospheric environment measurement method uses a multicopter having a sampling pipe extending upward from the upper surface of the airframe body, and can sample air according to natural weather conditions at a plurality of locations in the three-dimensional direction in the air. The components contained in the air in the sky can be accurately measured under natural weather conditions.

  While performing the air sampling process while hovering the multicopter in the first sky at a predetermined altitude and performing at least one of the air storage process and the component measurement process, the multicopter flies horizontally from the first sky, An atmospheric environment measurement method for performing an air sampling process while hovering a multicopter in the second to nth positions located horizontally from the first sky and performing at least one of an air storage process and a component measurement process Can fly the multicopter from the first sky in the horizontal direction and collect air using the multicopter in the hovering state from the first sky to the nth sky. By using the multicopter, Air sampling can be performed at multiple locations in the horizontal direction in the It is possible to measure the components of air at a plurality of locations toward. The atmospheric environment measurement method uses a multicopter with sampling pipes extending upward from the upper surface of the aircraft body, and can sample air according to natural weather conditions at a plurality of locations in the horizontal direction in the air. The components contained in the air can be accurately measured under natural weather conditions.

  According to the atmospheric environment measuring method of the present invention having the second feature, a weather sensor is installed on the top of a support rod extending upward from the upper surface of the body body of the multicopter, and wind caused by rotation of the rotor of the multicopter during hovering Since the weather sensor is located in the space above the multicopter that is not affected by (airflow) (airflow turbulence), and the weather data is measured using the weather sensor, the rotor of the multicopter during hovering The meteorological data can be measured in the space above the multicopter that is not affected by the wind due to the rotation of the wind, and the meteorological data can be measured under natural weather conditions using the multicopter in the hovering state.

The meteorological data measurement process is carried out while hovering the multicopter at the first altitude in the air, and the multicopter is gradually raised or lowered in three dimensions from the first altitude to the sky or the ground. An atmospheric environment measurement method for performing a meteorological data measurement process while hovering a multicopter at a second altitude to an nth altitude located below,
Since the multicopter is lifted or lowered in three dimensions from the first altitude in three dimensions and the meteorological data is measured using the multicopter in the hovering state from the first altitude to the nth altitude, air can be collected. By using a multicopter, meteorological data can be measured at a plurality of locations in the three-dimensional direction in the air, and meteorological data at a plurality of locations in the three-dimensional direction in the air can be acquired. The atmospheric environment measurement method uses a multicopter in which a weather sensor is installed on the top of a support rod that extends upward from the top surface of the multicopter body. It is possible to measure meteorological data according to, and to obtain accurate meteorological data under natural weather conditions.

  The meteorological data measurement process is carried out while hovering the multicopter in the first sky at a predetermined altitude, the multicopter is made to fly horizontally from the first sky, and the second sky to the nth sky located in the horizontal direction from the first sky The atmospheric environment measurement method for carrying out the meteorological data measurement process while hovering the multicopter in FIG. 1 uses the multicopter in the hovering state from the first sky to the nth sky by flying the multicopter horizontally from the first sky. Since the meteorological data is measured, by using a multicopter, the meteorological data can be measured at a plurality of locations in the horizontal direction in the air, and the meteorological data at a plurality of locations in the horizontal direction in the air can be acquired. The atmospheric environment measurement method uses a multicopter in which a weather sensor is installed on the top of a support rod that extends upward from the top surface of the multicopter fuselage body, so that it depends on natural weather conditions at multiple locations in the air in the horizontal direction. Meteorological data can be measured, and accurate meteorological data under natural weather conditions can be acquired.

  According to the atmospheric environment measurement method of the present invention having the third feature, various data of the air in the sky is acquired using a predetermined sensor while the multicopter is raised spirally into the air, or the multicopter is in the air Since various data of the air in the sky is acquired using a predetermined sensor while descending in a spiral form, the air at the measurement point in the air can be reliably sent to the sensor by spirally raising or lowering the multicopter into the air. It is possible to make contact, and it is possible to measure air at a measurement location in the air with a sensor, and it is possible to acquire various measurement data in the air with high accuracy and reliability. Since the atmospheric environment measurement method acquires various data while raising or lowering the multicopter spirally into the air, it can acquire various data of air in a wide range of the sky in one flight (flight). This saves you the trouble of flying the copter over and over again. In the atmospheric environment measurement method, a sensor is located in the space above the multicopter that is not affected by the wind (airflow) due to the rotation of the rotor of the multicopter. Because it measures, air can be measured in the space above the multicopter that is not affected by wind due to the rotation of the rotor of the multicopter, and various data of air due to natural weather conditions can be acquired using the multicopter can do.

  Acquire various data of the air in the sky while continuously raising the multicopter spirally into the air, or various data of the air in the sky while continuously descending the multicopter spirally from the air The air environment measurement method to acquire continuously is to acquire various data of the air in the sky while continuously raising or lowering the multicopter spirally into the air, so that a wide range of the sky can be acquired in one flight. It is possible to continuously measure air in the air, and it is possible to acquire various measurement data that are accurate and reliable in the air.

  Acquire various data of the air in the sky while raising the multicopter spirally continuously into the air, or acquire various data of the air in the sky while continuously descending the multicopter spirally from the air The atmospheric environment measurement method for acquiring data at predetermined time intervals acquires various data of air in the sky at predetermined time intervals while continuously raising or lowering the multicopter spirally into the air. Air in a wide range over the flight can be measured at predetermined time intervals, and various measurement data can be obtained at predetermined time intervals in the air with high accuracy and reliability.

  Various data of the air in the sky is acquired in the 1st to n-th air while raising the multicopter continuously in a spiral manner, or the multi-copter is continuously lowered in a spiral shape from the air. The atmospheric environment measurement method for acquiring various data of air in the n-th aerial to the first aerial is to obtain various data of the air in the first aerial to n-th while continuously raising or lowering the multicopter spirally into the air. By acquiring in the air or the nth air to the first air, the air in a wide range of the sky can be measured in the first flight to the nth air or the nth air to the first air in one flight. Various measurement data in the first air to the nth air or the nth air to the first air can be acquired with high accuracy and reliability.

  A sensor that measures at least one of meteorological data of wind direction, wind speed, temperature, humidity, and pressure, fine particulate matter and aerosols contained in air, and harmful air pollutants contained in air The atmospheric environment measurement method that is at least one of the component measurement sensor that measures at least one component of the radioactive substance contained in the air in the air is a method of raising or lowering the multicopter spirally into the air. The air at the measurement point can be contacted with the weather sensor and the component measurement sensor reliably, and the air at the measurement point in the air can be measured by these sensors, and in a wide range of the sky in one flight (flight) Various weather data and various component data can be acquired. The atmospheric environment measurement method acquires various weather data and various component data while raising or lowering the multicopter spirally into the air, so it uses a weather sensor to be accurate and reliable in natural weather conditions. Various kinds of meteorological data can be acquired, and various kinds of component data that are accurate and highly reliable under natural weather conditions can be obtained using a component measurement sensor.

The perspective view of the multicopter shown as an example. The figure which shows an example of a sampling pipe. The figure which shows another example of a sampling pipe. The figure which shows another example of a sampling pipe. The figure which shows an example of an air storage means (air storage process). The figure which shows an example of the sampling of the air using a multicopter. The figure which shows another example of the sampling of the air using a multicopter. The figure which looked at the multicopter of Drawing 7 from the upper part. The figure which shows another example of the sampling of the air using a multicopter. The figure which looked at the multicopter of Drawing 9 from the upper part. The front view of the multicopter shown as another example. The figure which shows an example of a component measurement means (component measurement process). The figure which shows an example of the component measurement of the air using a multicopter. The figure which looked at the multicopter of Drawing 13 from the upper part. The perspective view of the multicopter shown as another example. The front view of the multicopter of FIG. The figure which shows an example of the meteorological data measurement using a multicopter. The supplementary figure of the meteorological data measurement of FIG. The figure which shows another example of the weather data measurement using a multicopter. The figure which shows another example of the data measurement using a multicopter. The figure which looked at the multicopter of Drawing 20 from the side. The figure which shows another example of the data measurement using a multicopter. The figure which looked at the multicopter of Drawing 22 from the side.

  The details of the multi-copter and the atmospheric environment measuring method using the multi-copter according to the present invention will be described below with reference to the accompanying drawings such as FIG. 1 which is a perspective view of the multi-copter 10A shown as an example. FIG. 2 is a diagram illustrating an example of the sampling pipe, and FIG. 3 is a diagram illustrating another example of the sampling pipe. FIG. 4 is a view showing another example of the sampling pipe, and FIG. 5 is a view showing an example of the air storage means (air storage step).

  The multicopter 10 </ b> A (unmanned aerial vehicle) (drone) includes a body body 11, four rotor arms 12 extending from the body body 11, and a rotor 13 (rotary blade) attached to the rotor arms 12. . The multicopter 10A (including the multicopters 10B and 10C) is a quadcopter having four rotors 13 and four motors (not shown). However, a hexacopter having six rotors and six motors or 8 It may be an octocopter having one rotor and eight motors. Further, the multicopter 10A (including the multicopters 10B and 10C) is not limited to the illustrated shape, and the multicopter of the present invention includes any other shape.

  The multicopter 10A (including the multicopters 10B and 10C) is not shown, but has a large capacity battery, a flight control device, GPS (including a GPS self-supporting stabilizer), a camera-mounted gimbal, an attitude control device, IOSD (On-screen real-time display), high-definition image transmission wireless device, controller (including storage device), high-resolution camera, real-time monitor, and the like. The multicopter 10A can capture a still image or a moving image with a high-resolution camera during the flight (including hovering).

  The multicopter 10A (including the multicopters 10B and 10C) is a model that flies (manual flight) by remote control by a radio control (propo), or a self-supported flight (flight plan) installed in advance (automatically) Any model that can fly independently) can be used. In the remote operation, the operator operates the multicopter 10A with the propo. The transmitter is connected to a control system (not shown) equipped with a computer. When the multicopter 10A is being operated by the propo, the flight speed, altitude, map information, photographed video display, remaining battery power, etc. of the multicopter 10A are displayed on the display of the control system. The flight record is stored in the controller of the multicopter 10A and also in the control system.

  In the automatic self-sustained flight, an automatic navigation system that uses a computer and automatically performs takeoff, flight (flight path), and landing of the multicopter 10A is used. In the automatic navigation system, enter the flight via points (vertical points, three-dimensional points, horizontal points) and destinations (landing points) on the map. Create a flight mission (flight plan). The created flight mission is transmitted from the automatic navigation system to the controller of the multicopter 10A, and the multicopter 10A starts automatic self-sustained flight according to a flight instruction from the automatic navigation system. Automatic self-sustained flight makes it possible to maintain an accurate position and altitude, which is impossible with manual flight by a radio. The flight record is stored in the controller of the multicopter 10A and also in the automatic navigation system.

  Two sampling pipes 15a and 15b for collecting air in the sky are installed on the upper surface 14 of the fuselage body 11 of the multicopter 10A, and a support rod having a wind direction wind speed sensor 17 (ultrasonic wind direction wind speed sensor) attached to the top 16 thereof. 18 is installed. The number of sampling pipes is not particularly limited, and one sampling pipe may be installed on the upper surface 14 of the aircraft body 11, and three or more sampling pipes may be installed on the upper surface 14 of the aircraft body 11. Also good.

  The sampling pipes 15a and 15b are connected to the lower surface connecting part 19 connected to the upper surface 14 of the machine body 11 and opened to a position spaced apart from the lower end connecting part 19 by a predetermined distance. The intermediate tube portion 21 extends between the lower end connecting portion 19 and the top sampling port 20. The lower end connecting portion 19 is airtightly attached to the main body 11 through predetermined connecting means (not shown).

  The lower end connection part 19 of the sampling pipes 15a and 15b of FIGS. 2-4 is attached to the body main body 11 rotatably. The lower end connecting portion 19 may be automatically rotated by a driving force of a motor (not shown) or may be manually rotated. The motor is connected to the controller of the multicopter 10A. In addition, the lower end connection part 19 may be attached to the body main body 11 so that rotation is impossible.

  The intermediate cylinder portion 21 extends straight upward from the upper surface 14 of the body body 11. The intermediate cylinder portion 21 of the sampling pipes 15a and 15b in FIGS. 2 to 4 expands and contracts in the vertical direction. The intermediate cylinder portion 21 may be automatically expanded or contracted by a driving force of a linear motor (not shown) or may be manually expanded or contracted. The linear motor is connected to the controller of the multicopter 10A. Sampling pipe 15a, 15b can change the length dimension of the up-down direction because the intermediate cylinder part 21 expands-contracts in the up-down direction. The intermediate portion 21 may not be stretchable in the vertical direction.

  Considering the result of analyzing the flow of the airflow due to the rotation of the rotor 13 during the hovering of the multicopter 10A, the position of the top sampling port 20 that is not affected by the airflow due to the rotation of the rotor 13 of the multicopter 10A during the hovering is determined. It is 80 cm or more (preferably 80 cm or more and 120 cm or less) upward from the upper surface 14 of the main body 11. Accordingly, when the sampling pipes 15a and 15b are contracted (reduced), the shortest length in the vertical direction from the lower end connecting portion 19 to the top sampling port 20 of the pipes 15a and 15b (the intermediate cylinder portion 21 cannot be expanded or contracted in the vertical direction). In this case, the shortest vertical dimension from the lower end connecting part 19 to the top sampling port 20 is 80 cm or more, preferably 80 cm or more and 120 cm or less.

  The top sampling port 20 shown in FIG. 2 opens toward the radial side of the sampling pipes 15a and 15b when the tops 22 of the sampling pipes 15a and 15b are bent in the radial direction. The top sampling port 20 shown in FIG. 3 opens upward in the vertical direction of the sampling pipes 15a and 15b. The top sampling port 20 shown in FIG. 4 is a plurality of circular through holes arranged in the direction around the sampling pipes 15a and 15b, and opens toward the radial side of the pipes 15a and 15b. The sampling pipes 15a and 15b of FIGS. 2 to 4 have a lower end connecting portion 19 rotatably attached to the main body 11 and, as shown by an arrow L in FIGS. It can rotate in the horizontal direction around the axis.

  The multicopter 10A has air storage means. As shown in FIG. 5, examples of the air storage means include six first to sixth storage bags 23 a to 23 f housed (built in) the body 11, flexible first and second tubes 24 a, 24b, valve mechanisms 25a to 25f (valves), and intake fans 26a and 26b. The first to sixth storage bags 23a to 23f are made of a synthetic resin film and store a predetermined amount of air therein. The first and second tubes 24a and 24b are made of synthetic resin.

  The 1st tube 24a is formed from the main tube 27a connected to the lower end connection part 19 of one sampling pipe 15a, and the 1st-3rd subtubes 28a-28c branched into three from the main tube 27a. The first subtube 28a is connected to the first storage bag 23a, the second subtube 28b is connected to the second storage bag 23b, and the third subtube 28c is connected to the third storage bag 23c.

  The 2nd tube 24b is formed from the main tube 27b connected to the lower end connection part 19 of the other sampling pipe 15b, and the 4th-6th subtubes 28d-28f branched into three from the main tube 27b. The fourth sub tube 28d is connected to the fourth storage bag 23d, the fifth sub tube 28e is connected to the fifth storage bag 23e, and the sixth sub tube 28f is connected to the sixth storage bag 23f.

  The valve mechanisms 25a to 25f (valves) are installed in the first to sixth sub tubes 28a to 28f. The air flowing through the main tube 27a flows into one of the first to third sub tubes 28a to 28c from the main tube 27a by opening / closing (switching) the valve mechanisms 25a to 25c. The air flowing through the main tube 27b flows into any of the fourth to sixth sub tubes 28d to 28f from the main tube 27b by opening and closing (switching) the valve mechanisms 25d to 25f.

  In addition, by closing the valve mechanisms 25a to 25f (valves), the inflow of air from the main tubes 27a and 27b to the sub tubes 28a to 28f is stopped. Note that the number of storage bags is not limited to six, and seven or more storage bags may be accommodated (built in) inside the main body 11. The intake fan 26a is installed in the main tube 27a, and forcibly causes air to flow into the sub tubes 28a to 28c from the main tube 27a. The intake fan 26b is installed in the main tube 27b, and forcibly causes air to flow into the sub tubes 28d to 28f from the main tube 27b.

  Control units of the valve mechanisms 25a to 25f (valves) and the intake fans 26a and 26b are connected to the controller of the multicopter 10A. When the intake fans 26a, 26b are activated, air flows into the pipes 15a, 15b from the top sampling ports 20 of the sampling pipes 15a, 15b located above the multicopter 10A, and air flows from the sampling pipes 15a, 15b to the main tubes 27a, 15b. In addition to flowing into 27b, it flows into the sub tubes 28a to 28f from the main tubes 27a and 27b, and flows into the storage bags 23a to 23f from the sub tubes 28a to 28f. The air is stored in the order of the first storage bag 23a → the second storage bag 23b → the third storage bag 23c → the fourth storage bag 23d → the fifth storage bag 23e → the sixth storage bag 23f.

  The wind direction and wind speed sensor 17 is connected to the controller of the multicopter 10A. The wind direction and wind speed sensor 17 measures the wind direction and wind speed around the multicopter 10A during hovering, and transmits the measured wind direction and wind speed to the controller of the multicopter 10A. The support rod 18 to which the wind direction and wind speed sensor 17 is attached is rotatably attached to the body body 11 and extends straight upward from the upper surface 14 of the body body 11. The support rod 18 may be automatically rotated by a driving force of a motor (not shown) or may be manually rotated. The controller of the motor is connected to the controller of the multicopter 10A. The support rod 18 may be attached to the machine body 11 so as not to rotate.

  The support rod 18 extends and contracts in the vertical direction as indicated by an arrow M in FIGS. The support rod 18 may be automatically expanded and contracted by a driving force of a linear motor (not shown) or may be manually expanded and contracted. The control unit of the linear motor is connected to the controller of the multicopter 10A. The support rod 18 can be changed in length in the vertical direction by expanding and contracting in the vertical direction. The support rod 18 may not be extendable in the vertical direction. Considering the result of analyzing the flow of the airflow due to the rotation of the rotor 13 during the hovering of the multicopter 10A, the position of the wind direction wind speed sensor 17 that is not affected by the airflow due to the rotation of the rotor 13 of the multicopter 10A during the hovering is determined. It is 80 cm or more (preferably 80 cm or more and 120 cm or less) upward from the upper surface 14 of the main body 11. Therefore, the shortest vertical dimension of the rod 18 when the support rod 18 contracts (shrinks) (the shortest vertical dimension of the rod 18 when the support rod 18 cannot expand and contract in the vertical direction). Is 80 cm or more, preferably 80 cm or more and 120 cm or less.

  FIG. 6 is a diagram illustrating an example of air sampling using the multicopter 10A. In FIG. 6, the sampling pipes 15a and 15b and the support rod 18 (wind direction and wind speed sensor 17) are not shown. The multicopter 10A includes the sampling pipes 15a and 15b of FIG. 2, and performs automatic self-sustained flight by the automatic navigation system (description of FIGS. 7 to 10, 13, 14, 17, 18, and 19). The same). By automatically or manually extending (extending / contracting) the sampling pipes 15a and 15b, the influence of the wind (turbulence of the airflow) caused by the rotation of the rotor 13 of the multicopter 10A while the top sampling port 20 of the sampling pipes 15a and 15b is hovering. The length dimensions (for example, 80 cm) of the sampling pipes 15a and 15b are adjusted so as to be positioned in an upper space of the multicopter 10A that is not received (a position spaced upward from the upper surface 14 of the multicopter 10A) (for example, 80 cm). The same applies to the description of FIGS. 7 to 10, FIG. 13, FIG. 14, FIG. 17, FIG.

  By automatically or manually extending (stretching) the support rod 18, the wind direction and the wind speed sensor 17 attached to the top portion 16 of the rod 18 is affected by the wind (rotation of the airflow) caused by the rotation of the rotor 13 of the multicopter 10 </ b> A. The length dimension (for example, 80 cm) of the rod 18 is adjusted so as to be positioned in an upper space (a position spaced upward from the upper surface 14 of the multicopter 10A) of the multicopter 10A that is not subject to reception (FIG. 7). To the description of FIG. 10, FIG. 13, FIG. 14, FIG. 17, FIG. 18, FIG. Note that the length dimensions of the sampling pipes 15a and 15b and the support rod 18 can be changed to the air (in flight), and the length dimensions thereof can be adjusted.

An example of an air sampling procedure using the multicopter 10A will be described as follows. In an automatic navigation system, a plurality of flight points (vertical points) and landing points (destinations) are input on the map, and the moving speed (rising speed or descending speed) and air capacity (m ² / min) , Air accommodation order (first sampling location 29a (first storage bag 23a) → second sampling location 29b (second storage bag 23b) → third sampling location 29c (third storage bag 23c) → fourth sampling location 29d ( The fourth storage bag 23d) → the fifth sampling location 29e (the fifth storage bag 23e) → the sixth sampling location 29f (the sixth storage bag 23f)), the altitude of the first sampling location 29a to the sixth sampling location 29f, etc. Enter to create a flight mission (flight plan).

  In the sampling shown in FIG. 6, the take-off point and the landing point are the same, and the flight via points are the first sampling point 29 a to the sixth sampling point 29 f that have risen vertically from the take-off point. The first sampling point 29a is an altitude 25m point (first altitude) that has risen 25m vertically from the takeoff point, and the second sampling point 29b is 50m upward from the takeoff point (vertical from the first sampling point 29a). It is a 50 m altitude point (second altitude) that has risen 25 m in the direction).

  The third sampling point 29c is an altitude 75m point (third altitude) that rises 75m vertically from the takeoff point (up 25m vertically from the second sampling point 29b), and the fourth sampling point 29d is from the takeoff point. It is an altitude 100 m point (fourth altitude) that is raised 100 m vertically (up 25 m vertically from the third sampling location 29 c). The fifth sampling point 29e is an altitude 125m point (fifth altitude) that has risen 125m vertically from the takeoff point (up to 25m vertically from the fourth sampling point 29d), and the sixth sampling point 29f is from the takeoff point. It is an altitude 150 m point (nth altitude) that is 150 m up in the vertical direction (up 25 m in the vertical direction from the fifth sampling location 29 e). Note that the sampling locations are not limited to 6 locations, and it is possible to set sampling locations of less than 6 locations or 7 or more locations.

  After the flight mission is created, when a flight instruction (sampling start) is transmitted from the automatic navigation system to the controller of the multicopter 10A, the multicopter 10A gradually rises from the takeoff point in the vertical direction according to the flight mission. It rises to sampling point 29a (altitude 25m point). The multicopter 10a that has risen to the first sampling location 29a performs hovering at the first sampling location 29a. The wind direction / wind speed sensor 17 measures the wind direction and the wind speed at the first sampling location 29a, and transmits the wind direction and the wind speed to the controller of the multicopter 10A.

  The controller of the multicopter 10A determines the wind direction of the first sampling location 29a based on the wind direction and the wind speed transmitted from the wind direction and the wind speed sensor 17, and performs sampling so that the top sampling ports 20 of the sampling pipes 15a and 15b are directed to the windward. The pipes 15a and 15b are rotated, and the top sampling port 20 is directed to the windward side. When the sampling pipes 15a and 15b are not rotatable, the multi-copter 10A that is being hovered is turned in the horizontal direction so that the top sampling port 20 of the sampling pipes 15a and 15b is directed to the windward, and the top sampling port 20 is Turn upwind.

  Next, the controller of the multicopter 10A activates the intake fan 26a and causes air (air at the first sampling location 29a (altitude 25 m)) to flow into the sampling pipe 15a from the top sampling port 20 (air sampling means, air (Collecting step), the valve mechanism 25a is opened, and air is allowed to flow from the first sub-tube 28a through the first tube 24a into the first storage bag 23a (air storage means, air storage step). After a set amount of air is stored in the first storage bag 23a, the valve mechanism 25a is closed and the intake fan 26a is stopped to stop the inflow of air into the first storage bag 23a.

  After the air sampling is completed at the first sampling location 29a, the multicopter 10A gradually rises from the first sampling location 29a in the vertical direction and rises to the second sampling location 29b (altitude 50 m location). The multicopter 10A that has risen to the second sampling location 29b performs hovering at the second sampling location 29b. The wind direction and wind speed sensor 17 measures the wind direction and the wind speed at the second sampling location 29b, and transmits the wind direction and the wind speed to the controller of the multicopter 10A.

  The controller of the multicopter 10A determines the wind direction of the second sampling location 29b based on the wind direction and the wind speed transferred from the wind direction and wind speed sensor 17, and performs sampling so that the top sampling port 20 of the sampling pipes 15a and 15b is directed to the windward. The pipes 15a and 15b are rotated, and the top sampling port 20 is directed to the windward side. Alternatively, the multicopter 10A being hovered is turned in the horizontal direction so that the top sampling port 20 of the sampling pipes 15a and 15b is directed to the windward, and the top sampling port 20 is directed to the windward.

  Next, the controller of the multicopter 10A activates the intake fan 26a and causes air (air at the second sampling location 29b (altitude 50 m)) to flow into the sampling pipe 15a from the top sampling port 20 (air sampling means, air (Collecting step), the valve mechanism 25b is opened, and air is allowed to flow from the second sub-tube 28b into the second storage bag 23b through the first tube 24a (air storage means, air storage step). After the set amount of air is stored in the second storage bag 23b, the valve mechanism 25b is closed, the intake fan 26b is stopped, and the inflow of air into the first storage bag 23b is stopped.

  In the same procedure, the air at the third sampling location 29c (altitude 75 m) is stored in the third storage bag 23c, the air at the fourth sampling location 29d (altitude 100 m) is stored in the fourth storage bag 23d, and the fifth sampling is performed. The air at the location 29e (altitude 125m) is stored in the fifth storage bag 23e, and the air at the sixth sampling location 29f (altitude 150m) is stored in the sixth storage bag 23f. In the fourth to sixth sampling locations 29d to 29f, air enters the fourth to sixth storage bags 23d to 23f via the sampling pipe 15b, the second tube 24b, and the fourth to sixth sub tubes 28d to 38f. Stored. When the sampling of the air at the sixth sampling location 29f is completed, the multicopter 10A gradually descends from the sixth sampling location 29f in the vertical direction and lands at the takeoff point (destination). The first to sixth storage bags 23a to 23f are taken out from the aircraft body 11 of the landing multicopter 10A, and the components of the air stored in the storage bags 23a to 23f are analyzed.

  When the multicopter 10A is caused to fly (manual flight) by remote control using a radio (propo control), the pilot checks the display of the control system and the operator moves the multicopter 10A using the radio to the first sampling location 29a to the sixth sampling. Ascending (flighting) in the vertical direction toward the location 29f, the air from the first sampling location 29a to the sixth sampling location 29f is accommodated in the first to sixth storage bags 23a to 23f in accordance with instructions from the control system. In addition, when the first sampling location 29a is set at an altitude of 150m that is 150 meters above the takeoff point, and the sixth sampling location 29f is set at an altitude of 25m that is 25 meters above the takeoff location, the multicopter 10A is set at the first sampling location 29a. -It descends (flys) in order toward the sixth sampling location 29f in the vertical direction, and the air from the first sampling location 29a to the sixth sampling location 29f is accommodated in the first to sixth storage bags 23a to 23f.

  The air environment measurement method using the multicopter 10A and the multicopter 10A collects the air in the sky using the sampling pipes 15a and 15b extending upward from the upper surface 14 of the airframe body 11 of the multicopter 10A. Air can be collected in the space above the multicopter 10A that is not affected by the wind (turbulence of the airflow) due to the rotation of the rotor 13 of the multicopter 10A, and is raised or lowered stepwise in the vertical direction from the takeoff point. Further, by using the multicopter 10A hovering at the first sampling location 29a to the sixth sampling location 29f (first altitude to nth altitude), it is possible to sample the air in the sky according to natural weather conditions.

  In the atmospheric environment measurement method, the multicopter 10A is gradually raised or lowered in the vertical direction from the first sampling location 29a (first altitude), and the first sampling location 29a to the sixth sampling location 29f (first elevation to nth). Since the air can be collected using the multicopter 10A in the hovering state at altitude), the air can be sampled in a plurality of vertical positions in the air in a short time by using the multicopter 10A. .

FIG. 7 is a diagram illustrating another example of air sampling using the multicopter 10A, and FIG. 8 is a diagram of the multicopter 10A of FIG. 7 viewed from above. 7 and 8, the illustration of the sampling pipes 15a and 15b and the support rod 18 (wind direction and wind speed sensor 17) is omitted. In the automatic navigation system, enter the flight point (each point in the three-dimensional direction) and the landing point (destination) on the map, move speed (rising speed or descending speed), air capacity (m ² / min), Air sampling order (first sampling location 29a (first storage bag 23a) → second sampling location 29b (second storage bag 23b) → third sampling location 29c (third storage bag 23c) → fourth sampling location 29d (first 4 storage bag 23d) → fifth sampling location 29e (fifth storage bag 23e) → sixth sampling location 29f (sixth storage bag 23f)), and the altitude of the first sampling location 29a to the sixth sampling location 29f Create a flight mission (flight plan).

  In the sampling shown in FIGS. 7 and 8, the flight via points are the first sampling point 29 a to the sixth sampling point 29 f that have risen in the three-dimensional direction from the takeoff point. The first sampling point 29a is an altitude 25m point (first altitude) that has risen 25m in the three-dimensional direction (diagonally upward) from the take-off point, and the second sampling point 29b is in the three-dimensional direction (obliquely upward) from the take-off point. It is a 50 m altitude (second altitude) that has risen 50 m while moving (rising 25 m while moving in the three-dimensional direction (obliquely upward) from the first sampling location 29 a).

  The third sampling point 29c is raised 75 m while moving in the three-dimensional direction (diagonally upward) from the takeoff point (up to 25 m while moving in the three-dimensional direction (diagonally upward) from the second sampling point 29b) The third sampling point 29d moves from the takeoff point in a three-dimensional direction (diagonally upward) and rises 100m (moves from the third sampling point 29c in a three-dimensional direction (obliquely upward) and rises by 25m) The altitude is 100m (4th altitude). The fifth sampling point 29e moves 125m from the takeoff point in a three-dimensional direction (diagonally upward) and rises 125m (moves from the fourth sampling point 29d in a three-dimensional direction (diagonally upward) to an altitude of 125m) 5th), the sixth sampling point 29f moves upward from the takeoff point in a three-dimensional direction (diagonally upward) and rises by 150m (moves from the fifth sampling point 29e in a three-dimensional direction (obliquely upward) and rises by 25m) The 150m altitude (the nth altitude).

  When the flight instruction (sampling start) is transmitted from the automatic navigation system to the controller of the multicopter 10A, the multicopter 10A rises while gradually moving from the takeoff point to the three-dimensional direction (diagonally upward) according to the flight mission, It rises to 1 sampling location 29a (altitude 25m location). The multicopter 10A that has moved up to the first sampling location 29a performs hovering at the first sampling location 29a. The sampling procedure of air into the first storage bag 23a at the first sampling location 29a is the same as the sampling procedure of air shown in FIG.

After the air sampling is completed at the first sampling location 29a, the multicopter 10A moves up gradually from the first sampling location 29a in the three-dimensional direction (diagonally upward), and rises to the second sampling location 29b (altitude 50m location). To rise. The multicopter 10A that has risen up to the second sampling location 29b becomes the second sampling location 29b.
Hovering in The air sampling procedure for the second storage bag 23b at the second sampling location 29b is the same as the air sampling procedure shown in FIG.

  Ascending while moving in the three-dimensional direction (diagonally upward) from the second sampling location 29b, the air at the third sampling location 29c (altitude 75 m) is stored in the third storage bag 23c, and the three-dimensional direction from the third sampling location 29c. Ascending while moving (obliquely upward), the air at the fourth sampling location 29d (altitude 100 m) is stored in the fourth storage bag 23d. Ascending while moving in the three-dimensional direction (diagonally upward) from the fourth sampling location 29d, the air of the fifth sampling location 29e (altitude 125m) is stored in the fifth storage bag 23e, and the third sampling direction from the fifth sampling location 29e Ascending while moving (obliquely upward), the air at the sixth sampling location 29f (altitude 150m) is stored in the sixth storage bag 23f. When the sampling of the air at the sixth sampling location 29f is completed, the multicopter 10A gradually descends from the sixth sampling location 29d and landing at the landing point (destination). The first to sixth storage bags 23a to 23f are taken out from the aircraft body 11 of the landing multicopter 10A, and the components of the air stored in the storage bags 23a to 23f are analyzed.

  When the multicopter 10A is caused to fly (manual flight) by remote control using a radio (propo control), the pilot checks the display of the control system and the operator moves the multicopter 10A using the radio to the first sampling location 29a to the sixth sampling. Ascending (flying) while moving in the three-dimensional direction (diagonally upward) sequentially toward the location 29f, the air in the first sampling location 29a to 6th sampling location 29f is sent to the first to sixth storage bags 23a in accordance with instructions from the control system. ~ 23f. In addition, when the first sampling location 29a is set at an altitude of 150m that is 150 meters above the takeoff point, and the sixth sampling location 29f is set at an altitude of 25m that is 25 meters above the takeoff location, the multicopter 10A is set at the first sampling location 29a. Descending (flying) while moving in the three-dimensional direction (diagonally upward) in order toward the sixth sampling location 29f, the air from the first sampling location 29a to the sixth sampling location 29f is transferred to the first to sixth storage bags 23a to 23f.

  The air environment measurement method using the multicopter 10A and the multicopter 10A collects the air in the sky using the sampling pipes 15a and 15b extending upward from the upper surface 14 of the airframe body 11 of the multicopter 10a. The air can be collected in the upper space of the multicopter 10A that is not affected by the wind (turbulence of the airflow) due to the rotation of the rotor 13 of the multicopter 10A, and is three-dimensional (obliquely upward or obliquely downward) from the takeoff point. Using the multicopter 10a hovering at the first sampling point 29a to the sixth sampling point 29f (first altitude to nth altitude) raised or lowered stepwise, sampling of the air in the sky according to natural weather conditions It can be carried out.

  In the atmospheric environment measurement method, the multicopter 10A is raised or lowered while being moved stepwise from the first sampling location 29a (first altitude) in a three-dimensional direction (diagonally upward), and the first sampling location 29a to the sixth sampling location. Since air can be collected using the multicopter 10a in the hovering state at 29f (first altitude to nth altitude), the three-dimensional direction in the air (diagonally upward or obliquely downward) can be obtained by using the multicopter 10a. ) Can be sampled in a short time at a plurality of locations.

FIG. 9 is a diagram illustrating another example of air sampling using the multicopter 10A, and FIG. 10 is a diagram of the multicopter 10A of FIG. 9 viewed from above. In FIGS. 9 and 10, the sampling pipes 15a and 15b and the support rod 18 (wind direction and wind speed sensor 17) are not shown. In the automatic navigation system, enter the flight via points (horizontal points) and landing points (destination) on the map, and move speed (flying speed), air capacity (m ² / min), air accommodation sequence ( First sampling location 29a (first storage bag 23a) → second sampling location 29b (second storage bag 23b) → third sampling location 29c (third storage bag 23c) → fourth sampling location 29d (fourth storage bag 23d) ) → Fifth sampling point 29e (fifth storage bag 23e) → Sixth sampling point 29f (sixth storage bag 23f)), and the altitude of the first sampling point 29a to the sixth sampling point 29f, etc. Create a flight plan.

  In the sampling shown in FIGS. 9 and 10, the flight via points are the first sampling point 29a to the sixth sampling point 29f in which the flight via point has moved (flyed) from the predetermined altitude in the horizontal direction. The first sampling point 29a is a first point (first sky) at an altitude of 50m that has risen 50m upward (vertical or three-dimensional direction) from the takeoff point, and the second sampling point 29b is from the first sampling point 29a. This is a second point (second altitude) at an altitude of 50 m that has moved 25 m in the horizontal direction.

  The third sampling point 29c is a third point (third altitude) at an altitude of 50 m that has moved 25 m in the horizontal direction from the second sampling point 29b, and the fourth sampling point 29d is 25 m in the horizontal direction from the third sampling point 29c. It is the 4th point (4th altitude) of the 50m altitude which moved. The fifth sampling point 29e is a fifth point (fifth altitude) at an altitude of 50 m that has moved 25 m in the horizontal direction from the fourth sampling point 29d, and the sixth sampling point 29f is 25 m in the horizontal direction from the fifth sampling point 29e. This is the sixth point (sixth altitude) at an altitude of 50 m.

  When the flight instruction (start of sampling) is transmitted from the automatic navigation system to the controller of the multicopter 10A, the multicopter 10A gradually rises from the takeoff point (vertical direction or three-dimensional direction) according to the flight mission, It rises to the sampling location 29a (first location at an altitude of 50 m). The multicopter 10A that has moved up to the first sampling location 29a performs hovering at the first sampling location 29a. The sampling procedure of air into the first storage bag 23a at the first sampling location 29a is the same as the sampling procedure of air shown in FIG.

  After air sampling is completed at the first sampling location 29a, the multicopter 10A gradually moves in the horizontal direction from the first sampling location 29a and moves to the second sampling location 29b (second location at an altitude of 50 m) (flying). To do. The multicopter 10A that has moved (flyed) to the second sampling location 29b performs hovering at the second sampling location 29b. The air sampling procedure for the second storage bag 23b at the second sampling location 29b is the same as the air sampling procedure shown in FIG.

  Move (fly) horizontally from the second sampling location 29b, store air in the third sampling location 29c (third location at an altitude of 50 m) in the third storage bag 23c, and move horizontally from the third sampling location 29c (Fly) and store the air at the fourth sampling point 29d (fourth point at an altitude of 50 m) in the fourth storage bag 23d. Move (fly) horizontally from the fourth sampling point 29d, store the air at the fifth sampling point 29e (fifth point at an altitude of 50 m) in the fifth storage bag 23e, and move horizontally from the fifth sampling point 29e. (Flight) and store the air at the sixth sampling point 29f (sixth point at an altitude of 50 m) in the sixth storage bag 23f. When the sampling of the air at the sixth sampling location 29f is completed, the multicopter 10A gradually descends from the sixth sampling location 29f and lands at the landing point (destination). The first to sixth storage bags 23a to 23f are taken out from the aircraft body 11 of the landing multicopter 10A, and the components of the air stored in the storage bags 23a to 23f are analyzed.

  When the multicopter 10A is caused to fly (manual flight) by remote control using a radio (propo control), the pilot checks the display of the control system and the operator moves the multicopter 10A using the radio to the first sampling location 29a to the sixth sampling. The air is sequentially moved (flyed) toward the location 29f in the horizontal direction, and the air from the first sampling location 29a to the sixth sampling location 29f is accommodated in the first to sixth storage bags 23a to 23f in accordance with instructions from the control system.

  The air environment measurement method using the multicopter 10A and the multicopter 10A collects the air in the sky using the sampling pipes 15a and 15b extending upward from the upper surface 14 of the airframe body 11 of the multicopter 10A. The air can be collected in the space above the multicopter 10A that is not affected by the wind (turbulence of the airflow) due to the rotation of the rotor 13 of the multicopter 15A, and moved (flyed) horizontally from the first sky. Using the multicopter 10A hovering at the first sampling point 29a to the sixth sampling point 29f (first sky to nth sky), it is possible to sample the air in the sky according to natural weather conditions.

  In the atmospheric environment measurement method, the multicopter is moved (flyed) in the horizontal direction from the first sampling point 29a (first sky), and the first sampling point 29a to the sixth sampling point 29f (first sky to nth sky). Since air can be collected by using the multicopter 10A in the hovering state, air can be sampled in a short time at a plurality of locations in the horizontal direction in the air by using the multicopter 10A.

  FIG. 11 is a front view of a multicopter 10B shown as another example, and FIG. 12 is a diagram showing an example of component measuring means (component measuring step). The multicopter 10B of FIG. 11 is different from that of FIG. 1 in that a component measuring means for measuring components contained in the air in the sky is installed in the airframe body 11, and the other configurations are as shown in FIG. Since they are the same as those of the multicopter 10A, the description of FIG. 1 is used and the same reference numerals as those in FIG. 1 are used to omit the detailed description of other configurations of the multicopter 10B.

  The multicopter 10 </ b> B includes a body body 11, four rotor arms 12 extending from the body body 11, and a rotor 13 (rotary blade) attached to the rotor arms 12. Two sampling pipes 15a and 15b for collecting air in the sky are installed on the upper surface 14 of the fuselage main body 11 of the multicopter 10B, and a support rod having a wind direction wind speed sensor 17 (ultrasonic wind direction wind speed sensor) attached to the top 16 thereof. 18 is installed. The sampling pipes 15a and 15b, the support rod 18, and the wind direction and wind speed sensor 17 are the same as those of the multicopter 10A of FIG. The sampling pipes 15a and 15b and the support rod 18 can rotate in the horizontal direction around the central axis extending in the vertical direction, and can be expanded and contracted in the vertical direction.

  Note that the sampling pipes 15a and 15b and the support rod 18 may be unable to rotate or extend and contract in the vertical direction. Considering the result of analyzing the flow of the airflow due to the rotation of the rotor 13 during the hovering of the multicopter 10B, the top sampling port 20 and the wind direction wind speed that are not affected by the airflow due to the rotation of the rotor 13 of the multicopter 10B during the hovering The position of the sensor 17 is 80 cm or more (preferably 80 cm or more and 120 cm or less) upward from the upper surface 14 of the body body 11. Therefore, when the sampling pipes 15a and 15b and the support rod 18 contract (shrink), the shortest vertical dimension of the pipes 15a and 15b and the rod 18 (the sampling pipes 15a and 15b and the support rod 18 expand and contract in the vertical direction). If it is impossible, the shortest vertical dimension of the pipes 15a and 15b and the rod 18) is 80 cm or more, preferably 80 cm or more and 120 cm or less.

  The multicopter 10B has component measuring means. In the component measuring means, the measurement of the fine particulate matter and aerosol contained in the air in the sky, the harmful air pollutant contained in the air in the sky, and the radioactive material contained in the air in the sky are performed. As shown in FIG. 12, the component measuring means includes two first and second sensors 30a and 30b accommodated (built in) the body 11 and flexible first and second made of synthetic resin. The tubes 24a and 24b, first and second valve mechanisms 25a and 25b (valves), and first and second intake fans 26a and 26b are formed.

  The first tube 24 a is connected to the lower end connecting portion 19 of one sampling pipe 15 a and is connected to the lower surface 31 of the device main body 11. A fine particle / aerosol classifier (classification nozzle) (not shown) is installed at the top 22 of the sampling pipe 15a. The first sensor 30a is installed in the first tube 24a, and is one of measurement of fine particulate matter and aerosol, measurement of harmful air pollutants contained in the air above, measurement of radioactive substances contained in the air above. Take charge of one. The first intake fan 26a and the first valve mechanism 25a (valve) are installed in the lower half of the first tube 24a. The first intake fan 26a forces air to flow into the first tube 24a. The inflow of air into the first tube 24a is turned ON / OFF by opening / closing (switching) the first valve mechanism 25a (valve).

  The second tube 24 b is connected to the lower end connecting portion 19 of the other sampling pipe 15 b and is connected to the lower surface 31 of the device main body 11. A fine particle / aerosol classifying device (classifying nozzle) (not shown) is installed at the top 22 of the sampling pipe 15b. The second sensor 30b is connected to the second tube 24b and is the first of the measurement of fine particulate matter and aerosol, the measurement of harmful air pollutants contained in the air above, and the measurement of radioactive material contained in the air above. It is in charge of another one different from the one sensor 30a. The second intake fan 26b and the second valve mechanism 25b (valve) are installed in the lower half of the second tube 24b. The second intake fan 26b forces air to flow into the second tube 24b. The inflow of air into the second tube 24b is turned ON / OFF by opening / closing (switching) the second valve mechanism 25b (valve).

  The control units of the first and second valve mechanisms 25a and 25b (valves) and the control units of the first and second intake fans 26a and 26b are connected to the controller of the multicopter 10B. When the intake fans 26a and 26b are activated, air flows into the pipes 15a and 15b from the top sampling ports 20 of the sampling pipes 15a and 15b located above the multicopter 10A, and air flows from the sampling pipes 15a and 15b to the first and The fine particles, aerosols, harmful air pollutants, and radioactive substances that flow into the second tubes 24aA and 24b and are contained in the air are measured by the first and second sensors 30a and 30b. The measurement results (measurement values) measured by the first and second sensors 30a and 30b are transmitted to the controller of the multicopter 10B.

  The controller of the multicopter 10B stores the measurement result (measurement value) together with time information, position information (coordinate information), etc. in addition to the flight record, and the measurement result (measurement value) as time information, position information (coordinate information), etc. At the same time, it is transmitted in real time to the ground control system and automatic navigation system. The control system and the automatic navigation system store the measurement result (measurement value) received from the controller of the multicopter 10B together with time information, position information (coordinate information), and the like.

  Note that the first and second sensors 30a and 30b that measure fine particulate matter include a PM2.5 environment measuring device that measures PM2.5 by a light scattering method, and 0.001 to 10.000 mg / day by a light scattering method. A dust meter that measures m3 particles, an airborne particle measuring device that measures floating particles having a particle size of 0.1 μm to 10.0 μm, and the like are used.

  For the first and second sensors 30a and 30b for measuring aerosol (including radioactive aerosol), an aerosol measurement (analysis) device such as a particle counter or a condensed particle counter is used. The first and second sensors 30a and 30b that measure harmful air pollutants include exhaust gas analyzers that measure combustion exhaust gas and VOCs that measure organic chemical substances, in addition to equipment used for measuring fine particulate matter. A measuring instrument, a formaldehyde measuring instrument that measures formaldehyde, an air quality measuring instrument that measures dust concentration, CO concentration, and CO2 concentration are used. Various radiation measuring instruments and dosimeters are used for the first and second sensors 30a and 30b for measuring radioactive substances (radiation dose).

  FIG. 13 is a diagram illustrating an example of air component measurement using a multicopter, and FIG. 14 is a diagram of the multicopter of FIG. 13 viewed from above. In FIGS. 13 and 14, the sampling pipes 15a and 15b and the support rod 18 (wind direction and wind speed sensor 17) are not shown. It is assumed that the first sensor 30a measures fine particulate matter, aerosol, and harmful air pollutants, and the second sensor 30b measures radioactive materials.

An example of an air component measurement procedure using the multicopter 10B will be described as follows. In the automatic navigation system, enter the flight via point (each point in the three-dimensional direction) and the landing point (destination) on the map, move speed (ascending speed or descending speed), air inflow (m ² / min), Component measurement order (first measurement location 32a → second measurement location 32b → third measurement location 32c → fourth measurement location 32d → fifth measurement location 32e → 6th measurement location 32f, first measurement location 32a to sixth measurement location A flight mission (flight plan) is created by inputting the altitude of 32f.

  In the component measurement shown in FIGS. 13 and 14, the flight via points are the first measurement point 32a to the sixth measurement point 32f where the three-dimensional direction rises from the takeoff point. The first measurement point 32a is an altitude 25m point (first altitude) that rises in a spiral shape 25m from the takeoff point in a three-dimensional direction, and the second measurement point 32b rises in a spiral shape 50m in a three-dimensional direction from the take-off point. It is a point of 50 m altitude (second altitude) that is raised from the first measurement point 32 a in a three-dimensional direction by a spiral of 25 m.

  The third measurement point 32c is an altitude 75m point (third altitude) that rises in a spiral shape by 75m in the three-dimensional direction from the takeoff point (rises in a spiral shape by 25m in the three-dimensional direction from the second measurement point 32b). The measurement point 32d is an altitude 100m point (fourth altitude) that rises spirally from the takeoff point in a three-dimensional direction by 100 m (rises from the third measurement point 32c in a three-dimensional direction by a 25-m spiral). The fifth measurement point 32e is an 125m altitude (fifth altitude) at which the 125m spiral rises in the three-dimensional direction from the take-off point (the 25m spiral rises while moving in the three-dimensional direction from the fourth measurement point 32d). The sixth measurement point 32f is an altitude 150m point (n-th altitude) that rises in a three-dimensional direction from the takeoff point in a 150-m spiral manner (up from the fifth measurement point 32e in a three-dimensional direction by a 25-m spiral). In addition, a measurement location is not limited to 6 locations, The measurement location of less than 6 locations or 7 or more locations can be set.

  After the flight mission is created, when a flight instruction (component measurement start) is transmitted from the automatic navigation system to the controller of the multicopter 10B, the multicopter 10B gradually spirals from the takeoff point to the three-dimensional direction according to the flight mission. It rises and rises to the first measurement point 32a (altitude 25m point). The multicopter 10B that has moved up to the first measurement point 32a performs hovering at the first measurement point 32a. The wind direction and wind speed sensor 17 measures the wind direction and the wind speed at the first measurement location 32a, and transmits the wind direction and the wind speed to the controller of the multicopter 10B.

  The controller of the multicopter 10B determines the wind direction of the first measurement location 32a based on the wind direction and the wind speed transmitted from the wind direction wind speed sensor 17, and performs sampling so that the top sampling ports 20 of the sampling pipes 15a and 15b are directed to the windward. The pipes 15a and 15b are rotated, and the top sampling port 20 is directed to the windward side. When the sampling pipes 15a and 15b are not rotatable, the hovering multicopter 10B is turned in the horizontal direction so that the top sampling port 20 of the sampling pipes 15a and 15b is directed to the windward side, and the top sampling port 20 is moved. Turn upwind. Next, the controller of the multicopter 10B opens the first and second valve mechanisms 25a and 25b and activates the first and second intake fans 26a and 26b, and air is supplied from the top sampling port 20 to the sampling pipes 15a and 15b. (Air at the first measurement location (altitude 25 m)) is introduced (air sampling means, air sampling step).

  The air at the first measurement location 32a that has flowed into the sampling pipes 15a and 15b flows into the first and second tubes 24a and 24b, and the fine particulate matter, aerosol, and harmful air pollutant contained in the air by the first sensor 30a. Is measured (component measuring means, component measuring step), and the radioactive substance (dose etc.) contained in the air is measured by the second sensor 30b (component measuring means, component measuring step). The air that has passed through the first and second tubes 24 a and 24 b is released from the lower surface 31 of the body body 11 to the atmosphere.

  The measurement results (measurement value, flight record, time information, position information (coordinate information), etc.) at the first measurement location 32a are transmitted from the first and second sensors 30a, 30b to the controller of the multicopter 10B, and the multicopter 10B. Is transmitted to the ground automatic navigation system from the controller of the multicopter 10B in real time and stored in the automatic navigation system. The controller of the multicopter 10B closes the first and second valve mechanisms 25a and 25b after the first and second sensors 30a and 30b measure the components at the first measurement location 32a, and the first and second valves 30a and 25b close. The intake fans 26a and 26b are stopped to stop the inflow of air into the sampling pipes 15a and 15b.

  After the air component measurement is completed at the first measurement location 32a, the multicopter 10B gradually rises spirally from the first measurement location 32a in the three-dimensional direction and rises to the second measurement location 32b (altitude 50m location). . The multicopter 10B that has moved up to the second measurement point 32b performs hovering at the second measurement point 32b. The wind direction / wind speed sensor 17 measures the wind direction and the wind speed at the second measurement location 32b, and transmits the wind direction and the wind speed to the controller of the multicopter 10B.

  The controller of the multicopter 10B determines the wind direction of the second measurement location 32b based on the wind direction and the wind speed transmitted from the wind direction wind speed sensor 17, and performs sampling so that the top sampling port 20 of the sampling pipes 15a and 15b is directed to the windward. The pipes 15a and 15b are rotated, and the top sampling port 20 is directed to the windward side. Alternatively, the multicopter 10B being hovered is turned in the horizontal direction so that the top sampling port 20 of the sampling pipes 15a and 15b is directed to the windward, and the top sampling port 20 is directed to the windward. Next, the controller of the multicopter 10B opens the first and second valve mechanisms 25a and 25b and activates the first and second intake fans 26a and 26b, and air is supplied from the top sampling port 20 to the sampling pipes 15a and 15b. (Air at the second measurement location 32b (altitude 50 m)) is introduced (air sampling means, air sampling step).

  The air at the second measurement location 32b that has flowed into the sampling pipes 15a and 15b flows into the first and second tubes 24a and 24b, and the fine particulate matter, aerosol, and harmful air pollutant contained in the air by the first sensor 30a. Is measured (component measuring means, component measuring step), and the radioactive substance (dose etc.) contained in the air is measured by the second sensor 30b (component measuring means, component measuring step). The air that has passed through the first and second tubes 24 a and 24 b is released from the lower surface 31 of the body body 11 to the atmosphere.

  Measurement results (measurement values, flight records, time information, position information (coordinate information), etc.) at the second measurement location are transmitted from the first and second sensors 30a, 30b to the controller of the multicopter 10B, and the multicopter 10B In addition to being stored in the controller, it is transmitted in real time from the controller of the multicopter 10B to the ground automatic navigation system and stored in the automatic navigation system. The controller of the multicopter 10B closes the first and second valve mechanisms 25a and 25b after the component measurement at the second measurement location 32b is performed by the first and second sensors 30a and 30b. The intake fans 26a and 26b are stopped to stop the inflow of air into the sampling pipes 15a and 15b.

  In a similar procedure, the spiral rises in the three-dimensional direction from the second measurement location 32b and moves (flies) to the third measurement location 32c (75 m altitude), collecting air at the third measurement location 32c The component of the air is measured, spirally rises in the three-dimensional direction from the third measurement point 32c, moves (flies) to the fourth measurement point 32d (100 m altitude), and the air at the fourth measurement point 32d is collected. While measuring the air component. Ascending spirally from the fourth measurement location 32d in a three-dimensional direction and moving (flighting) to the fifth measurement location 32e (at an altitude of 125 m), measuring the air component while sampling the air at the fifth measurement location 32e Then, it rises spirally in the three-dimensional direction from the fifth measurement location 32e and moves (flies) to the sixth measurement location 32f (altitude 150 m), and the air component is collected while collecting air at the sixth measurement location 32f. Measure. After measuring the air component at the sixth measurement point 32f, the air descends from the sixth measurement point 32f and lands at the takeoff point (destination).

  When the multicopter 10B is made to fly (manual flight) by remote control using a radio (propo control), the pilot checks the display of the control system, and the pilot measures the multicopter 10B by the radio via the first measurement points 32a to 6th. Ascending (flighting) in order in a three-dimensional direction spirally toward the point 32f, the components of air at the first measurement point 32a to the sixth measurement point 32f are measured in accordance with instructions from the control system. In addition, when the first measurement point 32a is set at an altitude of 150m that is 150m above the take-off point, and the sixth measurement point 32f is set at an altitude of 25m that is 25m above the take-off point, the multicopter 10B is set at the first measurement point 32a. Descending (flying) in a spiral manner in a three-dimensional direction toward the sixth measurement location 32f, and measuring the air components at the first measurement location 32a to the sixth measurement location 32f.

  The air environment measurement method using the multicopter 10B and the multicopter 10B collects the air in the sky using the sampling pipes 15a and 15b extending upward from the upper surface 14 of the airframe body 11 of the multicopter 10B. Air can be collected in the space above the multicopter 10B that is not affected by the wind (turbulence of the airflow) due to the rotation of the rotor 13 of the multicopter 10B, and rises or descends spirally from the takeoff point in the three-dimensional direction. The components contained in the air in the sky are measured (analyzed) under natural weather conditions using the multicopter 10B that is hovered at the first to sixth measurement points 32a to 32f (first to nth altitudes). be able to.

  In the atmospheric environment measurement method, the multicopter 10B is spirally raised or lowered in the three-dimensional direction from the first measurement location 32a (first elevation), and the first measurement location 32a to the sixth measurement location 32f (first elevation to first elevation). Since the air can be collected by using the multicopter 10B in the hovering state at (n altitude), the multicopter 10B can be used to measure the components contained in the air in the air at a plurality of locations in the vertical direction in the air. It can be performed efficiently in a short time.

  Note that component measurement (component analysis) included in the air in the sky may be performed at the first measurement point 32a to the sixth measurement point 32f in the vertical direction in FIG. 6. In this case, the component is raised or lowered in the vertical direction. In addition, it is possible to efficiently measure (analyze) the components contained in the air in the sky at the first measurement location 32a to the sixth measurement location 32f (first altitude to nth altitude) under natural weather conditions. In addition, component measurement (component analysis) contained in the air in the sky may be performed at the first measurement location 32a to the sixth measurement location 32f in the three-dimensional direction (upwardly oblique) in FIGS. Components contained in the air in the first measurement point 32a to sixth measurement point 32f (first altitude to nth altitude) raised or lowered in the three-dimensional direction (obliquely upward) in a short time under natural weather conditions. It can be measured (analyzed) efficiently. Furthermore, component measurement (component analysis) contained in the air in the sky may be performed at the first measurement location 32a to the sixth measurement location 32f in the horizontal direction at a predetermined altitude shown in FIGS. In the first measurement point 32a to the sixth measurement point 32f (first altitude to nth altitude) moved (flighted) to the air, the components contained in the air in the sky are efficiently measured (analyzed) in a short time under natural weather conditions. can do.

  FIG. 15 is a perspective view of a multicopter 10C shown as another example, and FIG. 16 is a front view of the multicopter 10C of FIG. 15 and 16 differs from that of FIG. 1 in that the sampling pipes 15a and 15b are not attached to the upper surface 14 of the machine body 11, and the support rod 18 is installed on the upper surface 14 of the machine body 11. Since the meteorological sensor 33 is installed on the support rod 18, and other configurations are the same as those of the multicopter 10 </ b> A of FIG. 1, the description of FIG. 1 is used and the same reference numerals as those of FIG. 1 are used. Thus, other detailed description of the multicopter 10C is omitted.

  The multicopter 10 </ b> C includes a body body 11, four rotor arms 12 extending from the body body 11, and a rotor 13 (rotary blade) attached to the rotor arms 12. A support rod 18 to which a weather sensor 33 is attached is installed on the upper surface 14 of the body body 11 of the multicopter 10C. The support rod 18 is the same as that of the multicopter 10A shown in FIG. 1, and is rotatable in the horizontal direction around the central axis extending in the vertical direction and can be expanded and contracted in the vertical direction. Note that the support rod 18 may not be rotatable or vertically expandable. Considering the result of analyzing the flow of the airflow due to the rotation of the rotor 13 during the hovering of the multicopter 10A, the position of the weather sensor 33 that is not affected by the airflow due to the rotation of the rotor 13 of the multicopter 10A during the hovering is determined. The height is 80 cm or more (preferably 80 cm or more and 120 cm or less) from the upper surface 14 of the main body 11. Therefore, the shortest vertical dimension of the rod 18 when the support rod 18 contracts (shrinks) (the shortest vertical dimension of the rod 18 when the support rod 18 cannot expand and contract in the vertical direction). Is 80 cm or more, preferably 80 cm or more and 120 cm or less.

  The multicopter 10C has weather data measuring means (meteorological data measuring step). The meteorological data measurement means measures the wind direction, wind speed, temperature, humidity, atmospheric pressure, and rainfall over the sky. As shown in FIG. 16, the meteorological data measuring means is formed of a support rod 18 and a meteorological sensor 33 for measuring meteorological data (wind direction, wind speed, temperature, humidity, atmospheric pressure, rainfall) in the sky. The meteorological sensor 33 is installed on the top 16 of the support rod 18 and is free from the influence of wind (turbulence of the airflow) due to the rotation of the rotor of the multicopter 10C during hovering (the space above the multicopter 10C). (Position spaced apart from the upper surface 14).

  The weather sensor 33 is connected to the controller of the multicopter 10C, and transmits the measured weather data to the controller of the multicopter 10C. The controller of the multicopter 10C stores the measurement result (measurement value) of weather data together with time information and position information (coordinate information) in addition to the flight record, and the measurement result (measurement value) as time information and position information (coordinates). (Information) etc. in real time to the ground control system and automatic navigation system. The control system and the automatic navigation system store the measurement result (measurement value) of the meteorological data received from the controller of the multicopter 10C together with time information, position information (coordinate information), and the like.

  FIG. 17 is a diagram illustrating an example of meteorological data measurement using a multicopter, and FIG. 18 is a supplementary diagram of the meteorological data measurement of FIG. In FIG. 18, illustration of the support rod 18 (the weather sensor 33) is omitted. An example of weather data measurement using the multicopter 10C will be described as follows. The meteorological data measurement of FIG. 17 measures each meteorological data of Tokyo 23 wards using a plurality of multicopters 10C. These multicopters 10C are arranged in takeoff and landing spaces in each ward of Tokyo 23 wards.

  In the automatic navigation system, input the meteorological data measurement point and landing point (destination) of meteorological data in Tokyo 23 wards on the map, ascending speed, target altitude, measurement time, meteorological data measurement order (meteorological data first measurement point) 34a → weather data second measurement point 34b) is input to create a flight mission (flight plan). In the meteorological data measurement shown in FIG. 17, the first meteorological data measurement point 34 a that rises 50 m vertically from each takeoff and landing space in Tokyo 23 wards, and the second meteorological data that rises 50 m vertically from the first meteorological data measurement point 34 a. Meteorological data is measured at the measurement location 34b.

  After the flight mission is created, when a flight instruction (meteorological data measurement start) is transmitted from the automatic navigation system to the controller of the multicopter 10C, the multicopter 10C takes off from the takeoff and landing space according to the flight mission, and takes off and landings. Ascending gradually from the space in the vertical direction, ascending to the first meteorological data measurement point 34a (50m altitude point) as shown in FIG. The multicopter 10C that has risen to the first meteorological data measurement point 34a performs hovering at the first meteorological data measurement point 34a. The weather sensors 33 of these multicopters 10C measure the wind direction of the first meteorological data measurement point 34a and transmit the wind direction to the controller of the multicopter 10C.

  Based on the wind direction transmitted from the weather sensor 33, the controller of the multicopter 10C determines the wind direction of the first meteorological data measurement point 34a, and the weather rod 33 installed on the support rod 18 is directed to the windward. 18 is rotated and the weather sensor 33 is directed to the windward. When the support rod 18 is not rotatable, the multicopter 10C being hovered is turned in the horizontal direction so that the weather sensor 33 is directed to the windward, and the weather sensor 33 is directed to the windward. The meteorological sensors 33 of these multicopters 10C measure the meteorological data (wind direction, wind speed, temperature, humidity, atmospheric pressure, rainfall) of the first meteorological data measurement point 34a (altitude 50m) at the same time (meteorological data measuring means, meteorological data). Data measurement process).

  Meteorological data measurement results (wind direction, wind speed, temperature, humidity, atmospheric pressure, rainfall, flight record, time information, position information (coordinate information), etc.) at the first measurement location 34a of the 23 wards are recorded from the weather sensor 33. The data is transmitted to the controller of the copter 10C, stored in the controller of the multicopter 10C, transmitted from the controller of the multicopter 10C to the ground automatic navigation system in real time, and stored in the automatic navigation system.

  After the meteorological data is measured by the meteorological sensor 33, the multicopter 10C gradually rises vertically from the meteorological data first measuring point 34a. As shown in FIG. The data rises to the second measurement point 34b (100m altitude point). The multicopter 10C that has risen to the second meteorological data measurement point 34b performs hovering at the second meteorological data measurement point 34b. The meteorological sensors 33 of the multicopter 10C measure the wind direction of the second meteorological data measurement point 34b, and transmit the wind direction to the controller of the multicopter 10C.

  The controller of the multi-copter 10C determines the wind direction of the second meteorological data measurement point 34b based on the wind direction transmitted from the weather sensor 33, and the weather sensor 33 installed on the support rod 18 is directed to the windward. 18 is rotated and the weather sensor 33 is directed to the windward. Alternatively, the multicopter 10C being hovered is turned in the horizontal direction so that the weather sensor 33 is directed to the windward, and the weather sensor 33 is directed to the windward. The meteorological sensor 33 of these multicopters 10C measures the meteorological data (wind direction, wind speed, temperature, humidity, atmospheric pressure, rainfall) of the second meteorological data measurement point 34b (altitude 100m) at the same time (meteorological data measuring means, meteorological data). Data measurement process).

  Meteorological data measurement results (wind direction, wind speed, temperature, humidity, atmospheric pressure, rainfall, flight record, time information, position information (coordinate information), etc.) at the second measurement location 34b of the 23 wards are recorded from the weather sensor 33. The data is transmitted to the controller of the copter 10C, stored in the controller of the multicopter 10C, transmitted from the controller of the multicopter 10C to the ground automatic navigation system in real time, and stored in the automatic navigation system. After the meteorological data is measured at the meteorological data second measurement point 34b by the meteorological sensor 33, the multicopters 10C descend from the meteorological data second measurement point 34b and land on the take-off and landing space (destination).

  In addition, when the multicopter 10C is caused to fly (manual flight) by remote control using a radio (propo control), each pilot can check the control system display and the multicopter 10C is sent to the weather data of Tokyo 23 wards by the radio. The first measurement point 34a and the meteorological data second measurement point 34b are raised, and the meteorological data of the meteorological data first measurement point 34a and the meteorological data second measurement point 34b are measured in accordance with an instruction from the control system. In addition, when the first meteorological data measurement point 34a is set at an altitude of 100m that is 100m above the take-off / landing space, and the second meteorological data measurement point 34b is set at an altitude of 50m at an altitude of 50m above the take-off / landing space, the multicopter 10C It descends (flys) in the vertical direction from the data first measurement point 34a toward the weather data second measurement point 34b, and the meteorological data of the meteorological data first measurement point 34a and the meteorological data second measurement point 34b are measured.

  In the multi-copter 10C and the atmospheric environment measurement method using the multi-copter 10C, the weather sensor 33 is installed on the top 16 of the support rod 18 extending upward from the upper surface 14 of the airframe body 11, and the rotor 13 of the multi-copter 10C during hovering is installed. A weather sensor 33 is located in the space above the multicopter 10C that is not affected by wind (turbulence of airflow) due to rotation, and the weather data (wind direction, wind speed, temperature, humidity, Since atmospheric pressure and rainfall are measured, meteorological data can be measured in the space above the multicopter 10C that is not affected by wind due to the rotation of the rotor 13 of the multicopter 10C during hovering, and the multicopter in the hovering state Meteorological data measurement under natural weather conditions at 10C It can be carried out accurately.

  The multi-copter 10C and the atmospheric environment measurement method using the multi-copter 10C increase the multi-copter 10C from the take-off and landing spaces in Tokyo 23 wards (each area) at the same time, and the predetermined altitude of each ward (each area) at the same time. Since the meteorological data is measured, the meteorological data of each region can be measured at a time by using a plurality of multicopters 10C.

  In addition, the measurement of weather data may be performed at the first measurement location 29a to the sixth measurement location 29f (first altitude to nth altitude) in the three-dimensional direction (diagonally upward or obliquely downward) of FIGS. In this case, meteorological data can be accurately measured (analyzed) under natural weather conditions at the first measurement location 29a to the sixth measurement location 29f that are raised or lowered in the three-dimensional direction. In addition, the measurement of weather data may be performed in the first measurement point 29a to the sixth measurement point 29f (first sky to nth sky) in the horizontal direction of a predetermined altitude shown in FIGS. Weather data can be accurately measured (analyzed) under natural weather conditions at the first measurement point 29a to the sixth measurement point 29f moved (flying) in the direction.

  Further, meteorological data is measured at the first measurement point 32a to the sixth measurement point 32f (first altitude to nth altitude) that are spirally raised or lowered in the three-dimensional direction from the takeoff point shown in FIGS. In this case, meteorological data can be accurately measured (analyzed) under natural weather conditions at the first measurement point 32a to the sixth measurement point 32f that are spirally raised or lowered in the three-dimensional direction. .

  FIG. 19 is a diagram illustrating another example of weather data measurement using the multicopter 10C. Another example of weather data measurement using the multicopter 10C will be described as follows. In the meteorological data measurement of FIG. 19, each meteorological data is measured every time in a predetermined area. The multicopter 10C is disposed in a takeoff and landing space in a predetermined area.

  In the automatic navigation system, the weather data first measurement point 34a (takeoff point), weather data second measurement point 34b, and landing point (destination) of the weather data in Tokyo 23 wards are entered on the map, and the ascending speed, target altitude , And input the measurement time (AM6: 00, AM9: 00, PM12: 00, PM3: 00, PM6: 00, etc.), weather data measurement order (meteorological data first measurement point 34a → meteorological data second measurement point 34b) Create a flight mission (flight plan). In the meteorological data measurement shown in FIG. 19, the first meteorological data measurement point 34 a that rises 50 m vertically from each take-off and landing space in a predetermined area, and the second meteorological data second that rises 50 m vertically from the first meteorological data measurement point 34 a. Meteorological data is measured every predetermined time at the measurement location 34b.

  After the flight mission is created, when a flight instruction (meteorological data measurement start) is transmitted from the automatic navigation system to the controller of the multicopter 10C, the multicopter 10C takes off and landing at the measurement time (AM6: 00) according to the flight mission. It takes off from the space, gradually rises in the vertical direction from the takeoff and landing space, and ascends to the first meteorological data measurement point 34a (altitude 50m point) as shown in FIG. The multicopter 10C that has risen to the first meteorological data measurement point 34a performs hovering at the first meteorological data measurement point 34a. The weather sensor 33 of the multicopter 10C measures the wind direction of the first measurement point 34a of the weather data and transmits the wind direction to the controller of the multicopter 10C.

  Based on the wind direction transmitted from the weather sensor 33, the controller of the multicopter 10C determines the wind direction of the first meteorological data measurement point 34a, and the weather rod 33 installed on the support rod 18 is directed to the windward. Turn 18 and point the weather sensor upwind. Alternatively, the multicopter 10C being hovered is turned in the horizontal direction so that the weather sensor 33 is directed to the windward, and the weather sensor 33 is directed to the windward. The meteorological sensor 33 of the multicopter 10C measures meteorological data (wind direction, wind speed, temperature, humidity, atmospheric pressure, rainfall) at the measurement time (AM6: 00) of the first meteorological data measurement point 34a (altitude 50 m) (meteorological data). Measuring means, weather data measuring process).

  Meteorological data measurement results (wind direction, wind speed, temperature, humidity, atmospheric pressure, rainfall, flight record, time information, position information (coordinate information), etc.) at the measurement time (AM6: 00) of the first measurement point 34a of the weather data are It is transmitted from the weather sensor 33 to the controller of the multicopter 10C, stored in the controller of the multicopter 10C, transmitted from the controller of the multicopter 10C to the ground automatic navigation system in real time, and stored in the automatic navigation system.

  After the meteorological data is measured by the meteorological sensor 33 at the measurement time (AM 6:00) of the first meteorological data measurement point 34a, the multicopter 10C gradually rises from the first meteorological data measurement point 34a in the vertical direction, As shown in FIG. 19, the weather data rises to the second measurement point 34 b (altitude 100 m point). The multicopter 10C that has risen to the second meteorological data measurement point 34b performs hovering at the second meteorological data measurement point 34b. The weather sensor 33 of the multicopter 10C measures the wind direction of the weather data second measurement point 34b and transmits the wind direction to the controller of the multicopter 10C.

  The controller of the multicopter 10C calculates the wind direction of the second meteorological data measurement point 34b based on the wind direction transmitted from the weather sensor 33, and the weather sensor installed on the support rod 18 is directed toward the windward 33. 18 is rotated and the weather sensor 33 is directed to the windward. Alternatively, the multicopter 10C being hovered is turned in the horizontal direction so that the weather sensor 33 is directed to the windward, and the weather sensor 33 is directed to the windward. The meteorological sensor 33 of the multicopter 10C measures meteorological data (wind direction, wind speed, temperature, humidity, atmospheric pressure, rainfall) at the measurement time (AM6: 00) of the second meteorological data measurement point 34b (altitude 100 m) (meteorological data). Measuring means, weather data measuring process).

  Meteorological data measurement results (wind direction, wind speed, temperature, humidity, barometric pressure, rainfall, flight record, time information, position information (coordinate information), etc.) at the measurement time (AM6: 00) of the second measurement point 34b of the weather data are: It is transmitted from the weather sensor 33 to the controller of the multicopter 10C, stored in the controller of the multicopter 10C, transmitted from the controller of the multicopter 10C to the ground automatic navigation system in real time, and stored in the automatic navigation system. The multicopter 10C descends from the second meteorological data measurement point 34b after the meteorological data is measured at the measurement time (AM6: 00) of the second meteorological data measurement point 34b by the meteorological sensor 33, and takes off and landing space (destination ) To land.

  At the measurement time (AM9: 00) again, the multicopter 10C takes off from the take-off and landing space, rises to the first meteorological data measurement point 34a (50 m altitude), and then performs hovering at the first meteorological data measurement point 34a. Measure meteorological data (wind direction, wind speed, temperature, humidity, atmospheric pressure, rainfall) at the measurement time (AM9: 00) at the first measurement point 34a (altitude 50m) (meteorological data measuring means, meteorological data measuring step) .

  Meteorological data measurement results (wind direction, wind speed, temperature, humidity, barometric pressure, rainfall, flight record, time information, position information (coordinate information), etc.) at the measurement time (AM9: 00) of the first measurement point 34a of the meteorological data are: It is transmitted from the weather sensor 33 to the controller of the multicopter 10C, stored in the controller of the multicopter 10C, transmitted from the controller of the multicopter 10C to the ground automatic navigation system in real time, and stored in the automatic navigation system.

  After the meteorological sensor 33 performs meteorological data measurement at the measurement time (AM9: 00) of the first meteorological data measurement point 34a, the multicopter 10C rises to the second meteorological data measurement point 34b (altitude 100m point). Hovering is performed at the second meteorological data measurement point 34b, and the meteorological data (wind direction, wind speed, temperature, humidity, atmospheric pressure, rainfall) at the measurement time (AM9: 00) of the second measurable data measurement point 34b (altitude 100m) is measured. (Meteorological data measuring means, weather data measuring process).

  Meteorological data measurement results (wind direction, wind speed, temperature, humidity, barometric pressure, rainfall, flight record, time information, position information (coordinate information), etc.) at the measurement time (AM9: 00) of the second measurement point 34b of the weather data are as follows: It is transmitted from the weather sensor 33 to the controller of the multicopter 10C, stored in the controller of the multicopter 10C, transmitted from the controller of the multicopter 10C to the ground automatic navigation system in real time, and stored in the automatic navigation system. The multicopter 10C descends from the second meteorological data measurement point 34b after the meteorological data is measured by the meteorological sensor 33 at the measurement time (AM9: 00) of the second meteorological data measurement point 34b, and takes off and landing space (destination) ) To land.

  In the same procedure, meteorological data is measured at the first measurement point 34a and the second measurement point 34b of the meteorological data at the measurement time (PM 12:00), and the first measurement of meteorological data at the measurement time (PM 3:00) is performed. The meteorological data of the location 34a and the meteorological data second measuring location 34b is measured, and the meteorological data of the meteorological data first measuring location 34a and the meteorological data second measuring location 34b is measured at the measurement time (PM6: 00). Is called.

  In addition, when the multicopter 10C is made to fly (manual flight) by remote control by a radio (radio control), each pilot can check the control system display and the multicopter 10C by the radio at each measurement time. Ascending toward the measurement point 34a and the second meteorological data measurement point 34b, the meteorological data of the first meteorological data measurement point 34a and the second meteorological data measurement point 34b are measured in accordance with the instructions of the control system. In addition, when the first meteorological data measurement point 34a is set at an altitude of 100m that is 100m above the take-off / landing space, and the second meteorological data measurement point 34b is set at an altitude of 50m at an altitude of 50m above the take-off / landing space, the multicopter 10C It descends (flys) in the vertical direction from the data first measurement point 34a toward the weather data second measurement point 34b, and the meteorological data of the meteorological data first measurement point 34a and the meteorological data second measurement point 34b are measured.

  In the multi-copter 10C and the atmospheric environment measurement method using the multi-copter 10C, the weather sensor 33 is installed on the top 16 of the support rod 18 extending upward from the upper surface 14 of the airframe body 11, and the rotor 13 of the multi-copter 10C during hovering is installed. A weather sensor 33 is located in the space above the multicopter 10C that is not affected by wind (turbulence of airflow) due to rotation, and the weather data (wind direction, wind speed, temperature, humidity, Since the atmospheric pressure and the rainfall) are measured, the meteorological data at each measurement time can be measured in the space above the multicopter 10C that is not affected by the wind due to the rotation of the rotor 13 of the multicopter 10C during hovering. Natural weather conditions in the multicopter 10C in the hovering state Measurement of weather data for each measurement time by can be performed.

  The multi-copter 10C and the atmospheric environment measurement method using the multi-copter 10C increase the multi-copter 10C at each measurement time from a take-off and landing space in a predetermined area, and measure meteorological data at a predetermined altitude in the predetermined area at each measurement time. Therefore, by using the multicopter 10C, it is possible to measure a plurality of weather data for each measurement time in a predetermined area.

  In addition, the measurement for every measurement time of meteorological data is performed at the first measurement location 29a to the sixth measurement location 29f (first altitude to nth altitude) in the three-dimensional direction (upwardly or downwardly) of FIGS. In this case, the meteorological data for each measurement time is accurately measured (analyzed) under natural weather conditions at the first measurement location 29a to the sixth measurement location 29f that are raised or lowered in the three-dimensional direction. Can do. In addition, the measurement for each measurement time of the weather data may be performed at the first measurement location 29a to the sixth measurement location 29f (first sky to nth sky) in the horizontal direction of the predetermined altitude shown in FIGS. In this case, weather data for each measurement time can be accurately measured (analyzed) under natural weather conditions at the first measurement location 29a to the sixth measurement location 29f moved (flying) in the horizontal direction.

  Further, the first measurement point 32a to the sixth measurement point 32f (first altitude to nth) in which the measurement at each measurement time of the weather data is spirally raised or lowered in the three-dimensional direction from the takeoff point in FIGS. In this case, the meteorological data for each measurement time at the first measurement point 32a to the sixth measurement point 32f that are spirally raised or lowered in the three-dimensional direction are displayed under natural weather conditions. It can be measured (analyzed) accurately. In addition, there is a case where measurement at each measurement time of the weather data is performed for each region in FIGS. 17 and 18, and in this case, the weather data at each measurement time in each region is accurately obtained under natural weather conditions. It can be measured (analyzed).

  20 is a diagram illustrating another example of data measurement using the multicopter 10C, and FIG. 21 is a diagram of the multicopter 10C of FIG. 20 viewed from the side. In the multicopter 10C in the data measurement shown in FIG. 20, various sensors 36 are detachably installed. The sensor 36 is installed at the top 16 of the support rod 18 and is not affected by wind (turbulence of airflow) due to the rotation of the rotor of the multicopter 10C. The space above the multicopter 10C (above the upper surface 14 of the multicopter 10C). Located at a distance).

  The sensor 36 includes a wind direction sensor 36 that measures the wind direction in the air, a wind speed sensor 36 that measures the wind speed in the air, an air temperature sensor 36 that measures the air temperature (temperature) in the air, a humidity sensor 36 that measures the air humidity in the air, A weather sensor 36 that measures at least one of the atmospheric pressure sensors 36 that measure the atmospheric pressure is used.

  Further, the sensor 36 includes an aerosol sensor 36 (floating particle measuring device) that measures fine particulate matter (floating particles) and aerosol (a minute liquid or solid particles floating in a gas) contained in air in the air, Air pollution sensor 36 for measuring harmful air pollutants (smoke, dust, exhaust gas, harmful air pollutants, volatile organic compounds) contained in air in the air, radioactive substance measurement sensor for measuring radioactive substances contained in air in the air A component measurement sensor 36 that measures at least one component of 36 is used.

  The sensor 36 for measuring fine particulate matter includes a PM2.5 environment measuring device for measuring PM2.5 by a light scattering method, a dust meter for measuring particles of 0.001 to 10.000 mg / m3 by a light scattering method, An airborne particle measuring device or the like that measures suspended particles having a particle diameter of 0.1 μm to 10.0 μm is used. As the sensor 36 for measuring aerosol (including radioactive aerosol), an aerosol measuring (analyzing) device such as a particle counter or a condensed particle counter is used. The sensor 36 for measuring harmful air pollutants includes an exhaust gas analyzer for measuring combustion exhaust gas, a VOC measuring device for measuring organic chemical substances, and formaldehyde in addition to equipment used for measuring fine particulate matter. A formaldehyde measuring device, an air quality measuring device that measures dust concentration, CO concentration, and CO2 concentration are used. Various kinds of radiation measuring instruments and dosimeters are used for the sensor 36 for measuring the radioactive substance (radiation dose).

  An example of the air sensing (measurement) procedure using the multicopter 10C shown in FIGS. 20 and 21 will be described as follows. In the automatic navigation system, the ascending trajectory, the point of flight (points in the 3D direction), and the landing point (destination) are entered on the map, the moving speed (rising speed), and the target destination point (altitude and position) in the sky Etc. are input and a flight mission (flight plan) is created.

  After the flight mission is created, when a flight instruction (sensing (measurement) start) is sent from the automatic navigation system to the controller of the multicopter 10C, the multicopter 10C follows the flight mission from the takeoff point in a three-dimensional direction. As it draws, it gradually rises in a spiral so as to draw a circle of approximately the same diameter. In the atmospheric environment measurement method, various data of the air in the sky are continuously acquired using the weather sensor 36 and the component measurement sensor 36 while continuously raising the multicopter 10C spirally into the air.

  In the process in which the multicopter 10 </ b> C rises spirally, the weather sensor 36 continuously measures atmospheric weather data (at least one of wind direction, wind speed, temperature, humidity, and pressure), or the component measurement sensor 36. The air component (at least one of aerosol, harmful air pollutant and radioactive material) is continuously measured by the above, and meteorological data and component data are transmitted to the controller of the multicopter 10C. The controller of the multicopter 10C stores weather data (measurement data) and component data (measurement data) transmitted from the weather sensor 36 and the component measurement sensor 36 together with time information, position information (coordinate information), and the like. Measurement data) and component data (measurement data) are transmitted in real time to the ground automatic navigation system together with time information and position information (coordinate information). The automatic navigation system stores weather data (measurement data) and component data (measurement data) received from the controller of the multicopter 10C together with time information, position information (coordinate information), and the like. After reaching the target arrival point, the multicopter 10C descends from the target arrival point and lands at the takeoff point (destination).

  The multi-copter 10C and the atmospheric environment measurement method using the multi-copter 10C are obtained by continuously acquiring various weather data and various component data in the sky while continuously raising the multi-copter 10C spirally into the air. It is possible to continuously measure air in a wide range in the sky in one flight (flight), and to acquire various kinds of continuous weather data and various component data in the air with high accuracy and reliability.

  Another example of the air sensing (measurement) procedure using the multicopter 10C shown in FIGS. 20 and 21 will be described as follows. In the automatic navigation system, the ascending trajectory, the point of flight (points in the three-dimensional direction), and the landing point (destination) are entered on the map, the moving speed (rising speed), and the measurement time interval (for example, every 10 seconds A flight mission (flight plan) is created by inputting a target arrival point (altitude and position) in the sky and the like.

  After the flight mission is created, when a flight instruction (sensing (measurement) start) is sent from the automatic navigation system to the controller of the multicopter 10C, the multicopter 10C follows the flight mission from the takeoff point in a three-dimensional direction. As it draws, it gradually rises in a spiral so as to draw a circle of approximately the same diameter. In the atmospheric environment measurement method, various data of air in the sky are acquired at predetermined time intervals using the meteorological sensor 36 and the component measurement sensor 36 while the multicopter 10C is continuously raised spirally into the air.

  In the process of ascending the multicopter 10C, the weather sensor 36 measures airborne weather data (at least one of wind direction, wind speed, temperature, humidity, and pressure) at time intervals, or the component measurement sensor 36. The air component (at least one of aerosol, harmful air pollutant and radioactive material) is measured at time intervals by the above, and meteorological data and component data are transmitted to the controller of the multicopter 10C. The controller of the multicopter 10C stores weather data (measurement data) and component data (measurement data) transmitted from the weather sensor 36 and the component measurement sensor 36 together with time information, position information (coordinate information), and the like. Measurement data) and component data (measurement data) are transmitted in real time to the ground automatic navigation system together with time information and position information (coordinate information). The automatic navigation system stores weather data (measurement data) and component data (measurement data) received from the controller of the multicopter 10C together with time information, position information (coordinate information), and the like. After reaching the target arrival point, the multicopter 10C descends from the target arrival point and lands at the takeoff point (destination).

  The multi-copter 10C and the atmospheric environment measurement method using the multi-copter 10C acquire various weather data and various component data in the sky at predetermined time intervals while continuously raising the multi-copter spirally into the air. With a single flight (flight), air over a wide range can be measured at predetermined time intervals, and various weather data and various component data at predetermined time intervals in the air are accurate and reliable. Can be acquired.

  Another example of the air sensing (measurement) procedure using the multicopter 10C shown in FIGS. 20 and 21 will be described as follows. In the automatic navigation system, the ascending trajectory, the point of flight (points in the three-dimensional direction), and the landing point (destination) are entered on the map, the moving speed (rising speed), and the sensing (measurement) order (first measurement point) 35a (first aerial) → second measurement location 35b (second aerial) → third measurement location 35c (third aerial) → fourth measurement location 35d (fourth aerial) → fifth measurement location 35e (fifth aerial) → The sixth measurement point 35f (the sixth (n) air)), the altitude and position of the first measurement point 35a to the sixth measurement point 35f, the target arrival point (altitude and position) in the sky, etc. Create a flight plan.

  In the sensing (measurement) shown in FIGS. 20 and 21, each measurement point draws a concentric circle from the takeoff point in a three-dimensional direction, and the first of the ascending orbits spirally rising so as to draw a circle having substantially the same diameter. It is a measurement location 35a to a sixth measurement location 35f. The first measurement point 35a is an altitude 25m point (first aerial) that has risen spirally 25m from the takeoff point in a three-dimensional direction, and the second measurement point 35b rises spirally 50m from the takeoff point in a three-dimensional direction. This is a point at an altitude of 50 m (second air) raised from the first measurement point 35 a in a three-dimensional direction in a spiral manner by 25 m.

  The third measurement point 35c is an altitude 75m point (third air) that rises in a spiral shape by 75m in the three-dimensional direction from the takeoff point (rises in a spiral shape by 25m in the three-dimensional direction from the second measurement point 35b). The measurement point 35d is an altitude 100m point (fourth aerial) that has risen spirally by 100m in the three-dimensional direction from the takeoff point (rises spirally by 25m in the three-dimensional direction from the third measurement point 35c). The fifth measurement point 35e is an altitude 125m point (fifth aerial) where the 125m spiral rises in the three-dimensional direction from the takeoff point (25m spiral rises in the three-dimensional direction from the fourth measurement point 35d). The measurement point 35f is an altitude 150m point (sixth (n) air) that rises in a spiral shape by 150m from the takeoff point in a three-dimensional direction (rises from the fifth measurement point 35e in a three-dimensional direction by a spiral of 25m). In addition, a measurement location is not limited to 6 locations, The measurement location of less than 6 locations or 7 or more locations can be set.

  After the flight mission is created, when a flight instruction (sensing (measurement) start) is sent from the automatic navigation system to the controller of the multicopter 10C, the multicopter 10C follows the flight mission from the takeoff point in a three-dimensional direction. As it draws, it gradually rises in a spiral so as to draw a circle of approximately the same diameter. In the atmospheric environment measurement method, various data of the air in the sky using the meteorological sensor 36 and the component measurement sensor 36 while the multicopter 10C is continuously raised spirally into the air are measured from the first measurement location 35a (first air) to Obtained at the sixth measurement location 35f (sixth (n) air).

  In the process in which the multicopter 10 </ b> C is spirally raised, the weather sensor 36 generates air weather data (at least one of wind direction, wind speed, temperature, humidity, and pressure) from the first measurement location 35 a (first air) to the first. 6 measured at 35f (sixth (n) air), or air component (at least one of aerosol, harmful air pollutant, radioactive substance) is measured by the component measuring sensor 36 at the first measuring point Measurement is performed at 35a (first air) to sixth measurement point 35f (sixth (n) air), and weather data and component data are transmitted to the controller of the multicopter 10C. The controller of the multicopter 10C stores weather data (measurement data) and component data (measurement data) transmitted from the weather sensor 36 and the component measurement sensor 36 together with time information, position information (coordinate information), and the like. Measurement data) and component data (measurement data) are transmitted in real time to the ground automatic navigation system together with time information and position information (coordinate information). The automatic navigation system stores weather data (measurement data) and component data (measurement data) received from the controller of the multicopter 10C together with time information, position information (coordinate information), and the like. After reaching the target arrival point, the multicopter 10C descends from the target arrival point and lands at the takeoff point (destination).

  The multi-copter 10C and the atmospheric environment measurement method using the multi-copter 10C are the first measurement point 35a (first aerial) to the sixth data of the air in the sky while continuously raising the multi-copter spirally into the air. By acquiring at the measurement location 35f (sixth (n) air), the air in a wide range in the sky can be obtained in one flight from the first measurement location 35a (first air) to the sixth measurement location 35f (sixth (n)). To obtain various measurement data at the first measurement point 35a (first air) to the sixth measurement point 35f (sixth (n) air) that can be measured in the air) and is accurate and reliable in the air. Can do.

  In the sensing (measurement) shown in FIGS. 20 and 21, when the multicopter 10C is caused to fly (manual flight) by remote control by a radio (radio control), the operator confirms the display of the control system and the operator uses the radio to make the multicopter 10C. Ascending (flying) gradually in a spiral shape in a three-dimensional direction from the takeoff point, and using the weather sensor 36 and component measurement sensor 36, meteorological data (measurement data) and component data (measurement data) are continuous. Or measure meteorological data (measurement data) and component data (measurement data) at predetermined time intervals, or measure meteorological data (measurement data) and component data (measurement data) at the first measurement location ( Measurement is performed from the first air) to the sixth measurement location (sixth (n) air). Meteorological data and component measurement results (wind direction, wind speed, temperature, humidity, barometric pressure, aerosol, harmful air pollutants, radioactive substances, flight records, time information (measurement time information), position information (coordinate information), etc.) In addition to being stored in the controller of the copter 10C, it is transmitted in real time from the controller of the multicopter 10C to the control system of the propo and stored in the control system.

  FIG. 22 is a diagram illustrating another example of data measurement using the multicopter 10C, and FIG. 23 is a diagram of the multicopter 10C of FIG. 22 viewed from the side. In the multicopter 10C in the data measurement shown in FIG. 22, various sensors 36 are detachably installed. The sensor 36 is installed at the top 16 of the support rod 18 and is not affected by wind (turbulence of airflow) due to the rotation of the rotor of the multicopter 10C. The space above the multicopter 10C (above the upper surface 14 of the multicopter 10C). Located at a distance). The sensors 36 are the same as those described in FIGS.

  An example of an air sensing (measurement) procedure using the multicopter 10C shown in FIGS. 22 and 23 will be described as follows. In the automatic navigation system, take-off point, target arrival point in the sky (altitude and position), descending trajectory on the map, flight via point (each point in 3D direction), moving speed (falling speed), landing point ( (Destination) etc. is input and a flight mission (flight plan) is created.

  After the flight mission is created, when a flight instruction (sensing (measurement) start) is transmitted from the automatic navigation system to the controller of the multicopter 10C, the multicopter 10C moves from the takeoff point to the target destination point in the sky according to the flight mission. Ascending, drawing a concentric circle from the target arrival point in a three-dimensional direction, and gradually descending spirally so as to draw a circle of substantially the same diameter. In the atmospheric environment measurement method, various data of the air in the sky are continuously acquired using the weather sensor 36 and the component measurement sensor 36 while the multicopter 10C is continuously lowered spirally from the air.

  In the process in which the multicopter 10C descends in a spiral manner, the weather sensor 36 continuously measures atmospheric weather data (at least one of wind direction, wind speed, temperature, humidity, and pressure), or the component measurement sensor 36. The air component (at least one of aerosol, harmful air pollutant and radioactive material) is continuously measured by the above, and meteorological data and component data are transmitted to the controller of the multicopter 10C. The controller of the multicopter 10C stores weather data (measurement data) and component data (measurement data) transmitted from the weather sensor 36 and the component measurement sensor 36 together with time information, position information (coordinate information), and the like. Measurement data) and component data (measurement data) are transmitted in real time to the ground automatic navigation system together with time information and position information (coordinate information). The automatic navigation system stores weather data (measurement data) and component data (measurement data) received from the controller of the multicopter 10C together with time information, position information (coordinate information), and the like. The multicopter 10C is landed at a takeoff point (destination) while descending in a spiral shape.

  As in the sensing (measurement) shown in FIGS. 20 and 21, the multicopter 10C draws a concentric circle from the takeoff point in a three-dimensional direction and gradually rises in a spiral shape so as to draw a circle of substantially the same diameter. After continuously acquiring various air air data using the sensor 36 and the component measuring sensor 36, the multicopter 10C draws a concentric circle in a three-dimensional direction and spirals so as to draw a circle of substantially the same diameter. It gradually descends, and various data of the air in the sky can be continuously acquired using the weather sensor 36 and the component measurement sensor 36.

  The multi-copter 10C and the atmospheric environment measuring method using the multi-copter 10C continuously descend various weather data and various component data in the sky while continuously descending the multi-copter 10C from the (target arrival point). By acquiring, it is possible to continuously measure air in a wide range in the sky in one flight (flight), and acquire various weather data and various component data that are accurate and reliable in the air. be able to.

  Another example of the air sensing (measuring) procedure using the multicopter 10C shown in FIGS. 22 and 23 will be described as follows. In the automatic navigation system, take-off point, target arrival point in the sky (altitude and position), descending trajectory are input on the map, flight via point (each point in 3D direction), moving speed (falling speed), measurement time interval A flight mission (flight plan) is created by inputting a landing point (destination) or the like (for example, every 10 seconds or 20 seconds).

  After the flight mission is created, when a flight instruction (sensing (measurement) start) is transmitted from the automatic navigation system to the controller of the multicopter 10C, the multicopter 10C moves from the takeoff point to the target destination point in the sky according to the flight mission. Ascending, drawing a concentric circle from the target arrival point in a three-dimensional direction, and gradually descending spirally so as to draw a circle of substantially the same diameter. In the atmospheric environment measurement method, various data of the air in the sky are acquired at predetermined time intervals using the weather sensor 36 and the component measurement sensor 36 while the multicopter 10C is continuously lowered spirally into the air.

  In the process in which the multicopter 10C descends in a spiral manner, weather data (at least one of wind direction, wind speed, temperature, humidity, and pressure) is measured at time intervals by the weather sensor 36, or the component measurement sensor 36 The air component (at least one of aerosol, harmful air pollutant and radioactive material) is measured at time intervals by the above, and meteorological data and component data are transmitted to the controller of the multicopter 10C. The controller of the multicopter 10C stores weather data (measurement data) and component data (measurement data) transmitted from the weather sensor 36 and the component measurement sensor 36 together with time information, position information (coordinate information), and the like. Measurement data) and component data (measurement data) are transmitted in real time to the ground automatic navigation system together with time information and position information (coordinate information). The automatic navigation system stores weather data (measurement data) and component data (measurement data) received from the controller of the multicopter 10C together with time information, position information (coordinate information), and the like. The multicopter 10C is landed at a takeoff point (destination) while descending in a spiral shape.

  As in the sensing (measurement) shown in FIGS. 20 and 21, the multicopter 10C draws a concentric circle from the takeoff point in a three-dimensional direction and gradually rises in a spiral shape so as to draw a circle of substantially the same diameter. After various data of the air in the sky is acquired at predetermined time intervals using the sensor 36 and the component measurement sensor 36, the multicopter 10C draws a concentric circle in a three-dimensional direction and spirals so as to draw a circle having substantially the same diameter. It is also possible to acquire various data of air in the sky at predetermined time intervals using the weather sensor 36 and the component measurement sensor 36.

  In the multi-copter 10C and the atmospheric environment measurement method using the multi-copter 10C, various meteorological data and various component data in the sky are sent for a predetermined time while the multi-copter is continuously lowered spirally from the air (target arrival point). By acquiring at intervals, it is possible to measure air in a wide range over the sky in a single flight (flight) at predetermined time intervals, and various weather data at predetermined time intervals that are accurate and reliable in the air. Various component data can be acquired.

  Another example of the air sensing (measuring) procedure using the multicopter 10C shown in FIGS. 22 and 23 will be described as follows. In the automatic navigation system, take-off point, target arrival point in the sky (altitude and position), descending trajectory on the map, flight via point (each point in 3D direction), moving speed (falling speed), sensing (measurement) ) Order (sixth measurement point 35f (sixth (n) air) → fifth measurement point 35e (fifth air) → fourth measurement point 35d (fourth air) → third measurement point 35c (third air) → Input the second measurement point 35b (second air) → first measurement point 35a (first air)), the sixth measurement point 35f to the altitude and position of the first measurement point 35a, the landing point (destination), etc. Create a flight mission (flight plan).

  In the sensing (measurement) shown in FIGS. 22 and 23, each measurement point draws a concentric circle in a three-dimensional direction from the target arrival point, and the first of the descending orbits spirally descending so as to draw a circle of substantially the same diameter. 6 measurement points 35f to first measurement point 35a. The sixth measurement point 35f is an altitude 150m point in the air (sixth (n) air), and the fifth measurement point 35e descends in a spiral manner 25m from the target arrival point in a three-dimensional direction (sixth measurement point 35f). 125m altitude (5th aerial) at 25m in a three-dimensional direction.

  The fourth measurement point 35d is an altitude 100m point (fourth aerial) that descends 50m spirally in the three-dimensional direction from the target arrival point (25m spirally descends in the three-dimensional direction from the fifth measurement point 35e). The third measurement point 35c is an altitude 75m point (third air) that descends 75m spirally in the three-dimensional direction from the target arrival point (falls 25m spirally in the three-dimensional direction from the fourth measurement point 35d). The second measurement point 35b is an altitude 50m point (second aerial) that descends 100m spirally in the three-dimensional direction from the target arrival point (25m spirally descends in the three-dimensional direction from the third measurement point 35c). The one measurement point 35a is a point (first aerial) at an altitude of 25m that descends in a 125 m spiral shape in the three-dimensional direction from the target arrival point (a 25 m spiral drop in the three-dimensional direction from the second measurement point 35b). In addition, a measurement location is not limited to 6 locations, The measurement location of less than 6 locations or 7 or more locations can be set.

  After the flight mission is created, when a flight instruction (sensing (measurement start)) is sent from the automatic navigation system to the controller of the multicopter 10C, the multicopter 10C rises from the takeoff point to the target arrival point according to the flight mission. Then, while drawing a concentric circle in the three-dimensional direction, it gradually descends in a spiral shape so as to draw a circle with substantially the same diameter. In the atmospheric environment measurement method, the multi-copter 10C is continuously lowered spirally from the target arrival point while using the weather sensor 36 and the component measurement sensor 36, various data of the air in the sky is measured at the sixth measurement location 35f (sixth ( n) Obtained in the air) to the first measurement location 35a (first air).

  In the process in which the multicopter 10C descends in a spiral manner, weather data (at least one of wind direction, wind speed, temperature, humidity, and pressure) is measured by the weather sensor 36 at the sixth measurement location 35f (sixth (n) air). ) To the first measurement point 35a (first air) or the air component (at least one of aerosol, harmful air pollutant and radioactive substance) is measured by the component measurement sensor 36 at the sixth measurement point. Measurement is performed from 35f (sixth (n) air) to first measurement point 35a (first air), and weather data and component data are transmitted to the controller of the multicopter 10C. The controller of the multicopter 10C stores weather data (measurement data) and component data (measurement data) transmitted from the weather sensor 36 and the component measurement sensor 36 together with time information, position information (coordinate information), and the like. Measurement data) and component data (measurement data) are transmitted in real time to the ground automatic navigation system together with time information and position information (coordinate information). The automatic navigation system stores weather data (measurement data) and component data (measurement data) received from the controller of the multicopter 10C together with time information, position information (coordinate information), and the like. The multicopter 10C is landed at a takeoff point (destination) while descending in a spiral shape.

  As in the sensing (measurement) shown in FIGS. 20 and 21, the multicopter 10C draws a concentric circle from the takeoff point in a three-dimensional direction and gradually rises in a spiral shape so as to draw a circle of substantially the same diameter. After acquiring various air air data using the sensor 36 and the component measurement sensor 36 at the first measurement point 35a (first air) to the sixth measurement point 35f (sixth (n) air), the multicopter 10C A concentric circle is drawn in a three-dimensional direction, and gradually descends in a spiral shape so as to draw a circle with substantially the same diameter. Various data of the air in the sky are measured using the meteorological sensor 36 and the component measurement sensor 36 at the sixth measurement location 35f ( It can also be acquired from the sixth (n) air) to the first measurement point 35a (first air).

  In the multi-copter 10C and the atmospheric environment measurement method using the multi-copter 10C, the multi-copter is continuously lowered in a spiral form from the air (target arrival point), and various data of the air in the sky are measured at the sixth measurement point 35f (sixth measurement point 35f). (N) In the air) to the first measurement point 35a (first air), by acquiring air in a wide range in the sky in one flight, the sixth measurement point 35f (sixth (n) air) to the first measurement Various measurements from the sixth measurement point 35f (sixth (n) air) to the first measurement point 35a (first aerial) that can be measured at the point 35a (first aerial) and are accurate and reliable in the air. Data can be acquired.

10A Multicopter 10B Multicopter 10C Multicopter 11 Airframe body 12 Rotor arm 13 Rotor 14 Upper surface 15a, b Sampling pipe 16 Top portion 17 Wind direction wind speed sensor 18 Support rod 19 Lower end connection portion 20 Top portion sampling port 21 Intermediate tube portion 22 Top portion 23a to f 1st-6th storage bag 24a, b 1st and 2nd tube 25a-f Valve mechanism 26a, b Intake fan 27a, b Main tube 28a-f 1st-6th subtube 29a-f 1st-6th sampling Location (1st altitude to nth altitude)
30a, b 1st and 2nd sensor 31 Lower surface 32a-f 1st-6th measurement location (1st altitude-nth altitude)
33 Meteorological sensor 34a, b Meteorological data first and second measurement points 35a to f First to sixth measurement points (first aerial to nth aerial)
36 sensors

Claims (22)

In the multicopter equipped with the fuselage main body and rotor, hovering in the air while flying in the air,
The multicopter extends upward from the upper surface of the airframe body, and collects the air from the sky, the air storage means for storing the air from the air sampled by the sampling pipe, and the sampling pipe. And a component measuring means for measuring a component contained in the air above the multicopter.   The sampling pipe has a lower end connecting part connected to the upper surface of the body body, and a top sampling port that opens at a position spaced apart from the lower end connecting part by a predetermined dimension and takes in the air above the air, 2. The multicopter according to claim 1, wherein the top sampling port opens upward in the vertical direction of the sampling pipe, or opens toward a radial side of the sampling pipe.   3. The multicopter according to claim 1, wherein the sampling pipe is rotatable in a horizontal direction around a central axis extending in a vertical direction.   The multicopter according to any one of claims 1 to 3, wherein the sampling pipe can be expanded and contracted in the vertical direction, and the length dimension in the vertical direction can be changed.   The component measuring means measures at least one of a fine particulate matter and an aerosol contained in the above air, a harmful air pollutant contained in the above air, and a radioactive material contained in the above air. The multicopter according to any one of claims 1 to 4.   As a result of analyzing the flow of the airflow due to the rotation of the rotor during the hovering of the multicopter, the position of the top sampling port that is not affected by the airflow due to the rotation of the rotor of the multicopter during the hovering is from the top surface of the aircraft body. The multicopter according to any one of claims 1 to 5, wherein the length is 80 cm or more upward, and a length dimension in a vertical direction from a lower end connecting portion of the sampling pipe to a top sampling port is 80 cm or more. In the multicopter equipped with the fuselage main body and rotor, hovering in the air while flying in the air,
The multicopter includes a support rod that extends upward from the upper surface of the airframe body, and a weather sensor that is installed on the top of the support rod and measures weather data in the sky.   The multicopter according to claim 7, wherein the support rod is rotatable in a horizontal direction around a central axis extending in the vertical direction.   The multicopter according to claim 7 or 8, wherein the support rod can be expanded and contracted in a vertical direction and a length dimension in the vertical direction can be changed.   The multicopter according to any one of claims 7 to 9, wherein the air weather data measured by the weather sensor is wind direction, wind speed, temperature, humidity, atmospheric pressure, and rainfall.   As a result of analyzing the flow of the airflow due to the rotation of the rotor during the hovering of the multicopter, the position of the weather sensor that is not affected by the airflow due to the rotation of the rotor of the multicopter during the hovering is above the upper surface of the aircraft body. The multicopter according to any one of claims 7 to 10, wherein a length dimension in a vertical direction from a lower end portion to a top portion of the support rod is 80 cm or more. In an atmospheric environment measurement method that measures the atmospheric environment of the sky using a multicopter that includes a fuselage body and a rotor, and that hovers in the air while flying in the air,
The air environment measurement method uses a sampling pipe extending upward from the upper surface of the multicopter body body, and collects the air in the hovering state in the air of the multicopter, and the air sampling process. At least one of an air storage step for storing the collected air in the multicopter and a component measurement step for measuring a component contained in the air collected by the air sampling step in the multicopter. An atmospheric environment measuring method, comprising:   The atmospheric environment measurement method performs the air sampling step while hovering the multicopter at a first altitude in the air, and performs at least one of the air storage step and the component measurement step, The multicopter is raised or lowered in three dimensions stepwise from above the altitude to the sky or the ground, and the multicopter is hovered from the second altitude to the nth altitude located above or below the first altitude. The atmospheric environment measurement method according to claim 12, wherein an air sampling process is performed and at least one of the air storage process and the component measurement process is performed.   The atmospheric environment measurement method performs the air sampling process while hovering the multicopter in the first sky at a predetermined altitude and performs at least one of the air storage process and the component measurement process, The multicopter is caused to fly in the horizontal direction from the first sky, and the air collecting step is performed while the multicopter is hovered in the second to n-th sky located in the horizontal direction from the first sky and the air storing step. The atmospheric environment measuring method according to claim 12 or 13, wherein at least one of the component measuring step and the component measuring step is performed. In an atmospheric environment measurement method that measures the atmospheric environment of the sky using a multicopter that includes a fuselage body and a rotor, and that hovers in the air while flying in the air,
The meteorological environment measurement method uses weather sensors installed on top of support rods extending upward from the upper surface of the multicopter fuselage main body, and measures meteorological data in the sky in the hovering state of the multicopter in the air. An air environment measuring method comprising a data measuring step.   The atmospheric environment measurement method performs the meteorological data measurement process while hovering the multicopter at a first altitude in the air, and the multicopter is stepped three-dimensionally from the first altitude toward the sky or the ground. The atmospheric environment measurement method according to claim 15, wherein the meteorological data measurement step is performed while raising or lowering and hovering the multicopter from a second altitude to an nth altitude located above or below the first altitude.   The atmospheric environment measurement method performs the meteorological data measurement step while hovering the multicopter in a first sky at a predetermined altitude, and flies the multicopter in a horizontal direction from the first sky, from the first sky. The atmospheric environment measurement method according to claim 15 or 16, wherein the meteorological data measurement step is performed while hovering the multicopter in the second to n-th positions in the horizontal direction. In an atmospheric environment measurement method that measures the atmospheric environment of the sky using a multicopter that includes a fuselage body and a rotor, and that hovers in the air while flying in the air,
The atmospheric environment measurement method includes: a support rod extending upward from the upper surface of the multicopter body body; and a predetermined sensor installed at an upper end of the support rod and spaced upward from the upper surface of the body body of the multicopter. To obtain various data of the air in the sky using the sensor while raising the multicopter spirally into the air, or using the sensor while lowering the multicopter spirally from the air An atmospheric environment measuring method comprising data acquisition means for acquiring various data of air in the sky.   The data acquisition means continuously acquires various data of the air in the sky while continuously raising the multicopter spirally into the air, or lowering the multicopter continuously from the air spirally. The atmospheric environment measuring method according to claim 18, wherein various data of the air in the sky are continuously acquired.   The data acquisition means acquires the various data of the air in the sky at predetermined time intervals while continuously raising the multicopter into the air in a spiral manner, or continuously acquiring the multicopter from the air in a spiral shape. The atmospheric environment measurement method according to claim 18, wherein various data of the air in the sky are acquired at predetermined time intervals while being lowered.   The data acquisition means acquires various data of the air in the first to nth air while continuously raising the multicopter spirally into the air, or acquires the multicopter from the air spirally. The atmospheric environment measuring method according to claim 18, wherein various data of the air in the sky are acquired in the n-th air to the first air while being continuously lowered.   The sensor is a meteorological sensor that measures at least one meteorological data of wind direction, wind speed, temperature, humidity, and atmospheric pressure, fine particulate matter and aerosol contained in air, and harmful air pollution contained in air The atmospheric environment measuring method according to any one of claims 18 to 21, wherein the atmospheric environment measuring method is at least one of a substance and a component measuring sensor that measures at least one component of a radioactive substance contained in air.

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