JP2018144587A - Multicopter and sensing method utilizing the same, or sampling method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a multicopter capable of performing a variety of sensing from air in a building structure or a hazardous area into which a person cannot enter.SOLUTION: A multicopter 10 comprises an electric reel 14 that is installed in an airframe body 11, and a predetermined sensor 16 that is attached to a line string 15 of the electric reel 14. The multicopter has flight means for flying from a takeoff point to an inspection point (in the air), and sensing means for performing a variety of sensing at the inspection point through the use of the sensor 16 by paying out the line string 15 from the electric reel 14 so as to lower the sensor 16 downward in a vertical direction, in a hovering state at the inspection point.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a multicopter including a main body and a rotor, and also relates to a sensing method or a sampling method 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 uses the multicopter for sampling to sample air at the inspection point (in the air) and various sensing at the inspection point I can't do it.

  In buildings and dangerous areas where people cannot enter, sensing using various sensors cannot be performed, and sampling using a sampler cannot be performed. Especially in nuclear reactor buildings where radioactive materials are distributed due to accidents and high-concentration contaminated places, human life is exposed to danger by radioactive materials, and human access is prohibited. Radiation dose sensing and air sampling cannot be performed manually. In active volcanoes where volcanic activity is active, human life is exposed to danger due to eruptions and gas, and entry of people into the crater and its surroundings is prohibited. Sensing and air sampling cannot be performed manually. Furthermore, in the disaster area immediately after the earthquake, human life is exposed to danger due to fires and falling objects, and entry of people into the disaster area is prohibited, so humans are required to sense various gases and sample air in the disaster area. Can not be done through.

  An object of the present invention is to provide a multicopter capable of performing various types of sensing from the air in buildings and dangerous areas where humans cannot enter. Another object of the present invention is to provide a multicopter capable of sampling air from the air in buildings and danger areas where people cannot enter. Another object of the present invention is to provide a sensing method that uses a multicopter and can perform various types of sensing from the air in buildings and dangerous areas where people cannot enter. Another object of the present invention is to provide a sampling method that uses a multicopter and can sample air from the air in buildings and dangerous areas where people cannot enter.

  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 multi-copter of the present invention according to the first premise is that the multi-copter comprises a reel installed in the fuselage main body and a predetermined sensor attached to the line thread of the reel, and is inspected from the takeoff point. Flight means that flies to a point (in the air) and sensing means that, in the hovering state at the inspection point, lowers the sensor vertically by unwinding the line thread from the reel, and performs various sensing at the inspection point using the sensor It is in having.

  The second feature of the multi-copter of the present invention according to the first premise is that the multi-copter comprises a reel installed in the fuselage main body, and a sampler attached to the reel line yarn to sample air, In which the sampler descends vertically by unwinding the line thread from the reel in the hovering state at the inspection point and sampling the air at the inspection point using the sampler. Means.

  As an example of the multicopter having the first and second features, the multicopter moves up and down the sensor or sampler by winding the line yarn after the sensing or air sampling at a predetermined inspection point is completed. Winding means is included that raises the direction upward and places the sensor or sampler directly below the reel.

  As another example of the multicopter having the first and second features, the sensing means or sampling means feeds the reel line yarn from the inspection point and lowers the sensor or sampler stepwise in the vertical direction. The sensors or samplers are sequentially stopped in the first to n-th spaces in the first to n-th spaces and the ground in the vertical direction in the air, and the first to n-th spaces and the ground using the sensors or samplers. And sensing or sampling at least the first to nth spaces.

  As another example of the multicopter having the first and second characteristics, the flight means may fly toward the next inspection point after sensing or air sampling is completed at a predetermined inspection point. , By moving in order from the first inspection point (in the air) to the nth inspection point (in the air), the sensing means or sampling means unwinds the line yarn from the reel in the hovering state at the first to nth inspection points. The sensor or sampler is lowered stepwise in the vertical direction, and at the first to nth inspection points, the sensor or sampler is arranged in at least the first to nth spaces on the ground with the first to nth spaces arranged in the vertical direction in the air. Stop in order, using sensors or samplers, the 1st to nth spaces at the 1st to nth inspection points and the ground Performing sensing or sampling of at least a first to n space.

  As another example of the multicopter having the first and second features, the multicopter is hovering at the inspection point while flying to the inspection point by autonomous automatic flight, and the reel is line yarn in the hovering state at the inspection point. Is automatically fed downward in the vertical direction, and the reel automatically winds the line yarn upward in the vertical direction.

  As another example of the multicopter having the first and second features, the sensing means is at least one of a fine particulate matter and an aerosol, harmful air pollutant, radiation dose, volcanic gas, temperature and humidity. And sampling means samples at least one of fine particulate matter and aerosol contained in air, harmful air pollutant contained in air, radioactive material contained in air, and volcanic gas contained in air .

  A second premise of the present invention for solving the above-described problem is a sensing method using a multicopter that includes a fuselage main body and a rotor, and hovers in the air while flying in the air.

  In the second premise, the sensing method of the present invention is characterized in that the sensing method uses a reel installed on the fuselage main body and a predetermined sensor attached to a line thread of the reel, and the multicopter is removed from the takeoff point. In the flight process to fly to the inspection point (in the air) and the hovering state at the inspection point of the multicopter, the sensor is lowered vertically by unwinding the line yarn from the reel, and various sensing is performed at the inspection point using the sensor And a sensing step for performing.

  In the second premise, the sampling method of the present invention is characterized in that the sampling method uses a reel installed in the fuselage main body and a sampler that is attached to a reel line thread and samples air to take off the multicopter. In the flight process to fly from the point to the inspection point and the hovering state at the inspection point of the multicopter, the sampler is lowered vertically by unwinding the line yarn from the reel, and the sampler is used to sample the air at the inspection point A sampling step.

  As an example of the sensing method and the sampling method of the present invention, the sensing method or the sampling may be performed by moving the sensor or the sampler in the vertical direction by winding the line yarn around the reel after the sensing or air sampling at the predetermined inspection point is completed. A winding step in which the sensor or sampler is positioned directly below the reel.

  As another example of the sensing method and the sampling method of the present invention, the sensing method or the sampling method is a method in which a reel or a line thread of a reel is unwound from an inspection point and the sensor or sampler is lowered stepwise in the vertical direction. The samplers are stopped in order from the first space to the n-th space and the ground in order in the vertical direction in the air in order from the first to the n-th space, and at least the first to the n-th space and the ground using the sensor or the sampler. Sensing or sampling of the first to nth spaces is performed.

  As another example of the sensing method and the sampling method of the present invention, the flight process is performed by flying the multicopter toward the next inspection point after the sensing or air sampling at the predetermined inspection point is completed. Moving from the first inspection point (in the air) to the nth inspection point (in the air) in order, the sensing method or sampling method unwinds the line yarn from the reel in the multicopter hovering state at the first to nth inspection points. The sensor or sampler is lowered stepwise downward in the vertical direction, and at the first to n-th inspection points, the first to n-th spaces in which the sensors or samplers are arranged in the vertical direction in the air and the ground are at least first to n-th. Stop in order in the space and use the sensor or sampler to perform the 1st to nth detection Performing sensing or sampling of at least a first to n space between the first to n-th space and ground at the point.

  As another example of the sensing method and the sampling method of the present invention, the sensing method or the sampling method is such that the multicopter is hovered at the inspection point while flying to the inspection point by the automatic flight, and the reel is in the hovering state at the inspection point. The line yarn is automatically fed downward in the vertical direction, and the reel automatically winds the line yarn upward and downward.

  As another example of the sensing method and sampling method of the present invention, the sensing method uses a multicopter, and at least one of fine particulate matter and aerosol, harmful air pollutant, radiation dose, volcanic gas, temperature and humidity is used. Sensing one, sampling method using multicopter, minute particulate matter and aerosol contained in air, harmful air pollutants contained in air, radioactive materials contained in air, volcanic gas contained in air Sample at least one of them.

  According to the multicopter of the present invention having the first feature, it flies from the takeoff point to the inspection point (in the air), and in the hovering state at the inspection point, the line yarn is fed out from the reel to move the sensor downward in the vertical direction. Since it is lowered and various sensing is performed at the inspection point using the sensor, the building and its area can be accessed by flying over buildings and dangerous areas where people can not enter or people are difficult to enter It is possible to reach various inspection data by moving the sensor down from the sky above the building or area (inspection point) and various measurement data of the building or area. Can be obtained. The multicopter can be used to perform various types of sensing from above in the reactor building and high-concentration contaminated areas after an accident where human life is exposed to danger. In addition to being able to perform various types of sensing from above in the crater, its surroundings, and mountainous areas that are exposed to fire, it is also possible to perform various types of sensing from above in the disaster-affected areas immediately after an earthquake where human life is exposed to danger it can.

  According to the multicopter of the present invention having the second feature, it flies from the take-off point to the inspection point, and in the hovering state at the inspection departure point, the line thread is fed from the reel to lower the sampler in the vertical direction. Because the sampler is used to sample the air from the inspection point, the building and the inspection point of the area can be accessed by flying over buildings and dangerous areas that are not accessible or difficult for humans to enter. Can be sampled from the sky of the building or the area to sample the air, and analyze the various components in the air of the building and the area Can do. By using it, the multicopter can sample air from the sky in the reactor building and high-concentration contaminated areas after an accident where human life is exposed to danger. In addition to sampling air from above in the crater, its surroundings, and mountainous areas that are exposed to air, it is also possible to sample air from above in disaster-affected areas immediately after an earthquake where human life is at risk it can.

  After sensing at the inspection point or after sampling air at the inspection point, the reel winds up the line yarn to raise the sensor or sampler up and down, and the sensor or sampler is directly below the reel. The multicopter to be positioned can be operated after the sensing at the inspection point is completed, or after the air sampling at the inspection point is completed, by placing the sensor or sampler directly under the reel. There is no obstacle, and it is possible to easily leave the building or dangerous area where people cannot enter, and the risk of crashing in the building or the area can be reduced.

  The reel line yarn is fed out from the inspection point and the sensor or sampler is lowered stepwise in the vertical direction, while the sensor or sampler is arranged in the vertical direction in the air in the first space to the nth space and the ground first. A multi-copter that stops in order in the nth space and senses or samples at least the first to nth spaces between the first to nth spaces and the ground using a sensor or a sampler cannot be entered by a person or By flying over buildings and dangerous areas where people are difficult to enter, you can reach the inspection point in the building and the area while gradually lowering the sensor from the sky over the building and the area. , Various 1st to nth spaces in the air of the building The ring can be performed, and various measurement data in the air in the building and the area in the air and in the ground can be acquired, and in the air in the air in the building and the area Various components contained in n-space or air on the ground can be analyzed.

  After sensing or sampling at a predetermined inspection point is completed, the aircraft moves in order from the first inspection point (in the air) to the nth inspection point (in the air) by flying toward the next inspection point. In the hovering state at the nth inspection point, the sensor or sampler is lowered stepwise in the vertical direction by feeding the line yarn from the reel, and the sensors or samplers are lined up in the vertical direction in the air at the first to nth inspection points. 1st to n-th space and at least first to n-th space on the ground in order, and using sensors or samplers, at least first to n-th space and ground above the first to n-th inspection points A multicopter that performs sensing or sampling of the 1st to nth spaces cannot be entered by people or Flying up to the 1st to n-th inspection points in buildings and hazardous areas that are difficult to enter, while reaching the 1st to n-th inspection points in the building and the area, over the building and the area By gradually lowering the sensor from the first to nth space in the air of the first to nth inspection points in the building and the area, various types of sensing on the ground and sampling of air can be performed, The first to nth spaces in the air at the first to nth inspection points in the building and the area and various measurement data on the ground can be acquired, and the first to nth in the building and the area are obtained. Various components contained in the first to nth spaces in the air at the inspection point and the air on the ground can be analyzed.

  Hovering at the inspection point while flying to the inspection point by autonomous automatic flight, and in the hovering state at the inspection point, the reel automatically feeds the line yarn up and down, and the reel automatically winds the line yarn up and down The multicopter creates flight missions (flight plans) in advance, so that the multicopter automatically flies to the inspection point by autonomous automatic flight while hovering at the inspection point, and the feeding and winding of the line yarn is automatic Therefore, it is possible to perform various types of sensing and air sampling while maintaining an accurate position and altitude as compared with remote control using a radio.

  At least one of fine particulate matter and aerosol, harmful air pollutant, radiation dose, volcanic gas, temperature and humidity is sensed, and minute particulate matter and aerosol contained in air, harmful air pollutant contained in air Multi-copters that sample at least one of radioactive materials contained in the air and volcanic gases contained in the air are fine particulate matter, aerosols and harmful air from above the buildings and hazardous areas where humans cannot enter It can sense pollutants, radiation dose, volcanic gas, temperature and humidity, and fine particulate matter contained in the air from the sky over buildings and hazardous areas where humans cannot enter, aerosols and harmful air pollutants, radioactive Materials and volcanic gases can be sampled.

  According to the sensing method of the present invention, the multicopter is made to fly from the takeoff point to the inspection point (in the air), and the sensor is moved downward in the vertical direction by feeding the line yarn from the reel while the multicopter is hovered at the inspection point. Since it is lowered and various sensing is performed at the inspection point using the sensor, the multicopter cannot be entered by people or it is difficult for people to enter, or it can fly to the sky over dangerous areas To the inspection point of the area and the area, and various sensing can be performed by lowering the sensor from the sky of the building and the area, and various measurement data of the building and the area Can be acquired. As for the sensing method, by using a multicopter, various types of sensing can be performed from the sky in the reactor building and high-concentration contaminated areas after an accident where human life is exposed to danger. In addition to being able to perform various types of sensing from above in craters, surroundings, and mountainous areas that are exposed to danger, various types of sensing must be performed from above in disaster-affected areas immediately after an earthquake where human life is at risk. Can do.

  According to the sampling method of the present invention, the sampler is lowered downward in the vertical direction by flying the multicopter from the take-off point to the inspection point and feeding the line yarn from the reel while the multicopter is hovered at the inspection departure point. Since the sampler is used to sample the air at the inspection point, the multicopter will fly over buildings and dangerous areas that are inaccessible or difficult for people to enter. It is possible to reach the inspection point of the building and to sample the air by lowering the sampler from the sky of the building and the area, and various components contained in the air of the building and the area Can be analyzed. Sampling can be done by using a multicopter to sample air from the air in the reactor building and high-concentration areas after an accident where human life is at risk. Sampling air from above in craters, surroundings, and mountainous areas exposed to danger, and sampling air from above in disaster-affected areas immediately after an earthquake where human life is at risk Can do.

  After the sensing or air sampling at a predetermined inspection point is completed, the sensor or sampler is lifted up and down by winding the line yarn around the reel, and the sensor or sampler is positioned directly below the reel. After the sensing at the inspection point is completed or after sampling of air at the inspection point is completed, the line thread, sensor, and sampler may interfere with the flight of the multicopter by positioning the sensor or sampler directly under the reel. The multicopter can easily be removed from the sky above buildings and dangerous areas that cannot be accessed by people, reducing the risk of the multicopter crashing in the building or area. it can.

  The reel or line thread is unwound from the inspection point and the sensor or sampler is lowered stepwise in the vertical direction, while the sensor or sampler is arranged in the vertical direction in the air from the first space to the nth space and the ground at least first. A person enters the sensing method or sampling method that stops in order in the n-th space and senses or samples at least the first to n-th space between the first to n-th space and the ground using a sensor or a sampler. A multicopter can fly to the sky over buildings and dangerous areas where people can't enter or are difficult to enter, and the sensor is staged over the building and the area while reaching the inspection point in the building and the area. The first to nth space in the air of the building and the area Various types of sensing and sampling of air can be performed, and various measurement data on the building and the first to nth spaces in the area and on the ground can be acquired. Various components contained in the first to nth spaces in the air in the area and air on the ground can be analyzed.

  After the sensing or air sampling is completed at a predetermined inspection point, the multicopter is made to fly over the next inspection point, so that the multicopter is moved from the first inspection point (in the air) to the nth inspection point (in the air). In the state where the multicopter is hovered at the first to nth inspection points, the sensor or sampler is lowered stepwise in the vertical direction by feeding the line yarn from the reel. At the n inspection point, the sensor or sampler is sequentially stopped in the first to nth spaces arranged in the vertical direction in the air and at least the first to nth spaces on the ground, and the first to nth inspection points are used using the sensor or the sampler. Sensing or sampling of at least first to nth spaces between the first to nth spaces above the ground and the ground The sensing method or sampling method that performs the operation of the building is difficult for humans to enter or is difficult for humans to enter, or by flying the multicopter over the first to nth inspection points in the hazardous area. While reaching the 1st to nth inspection points in the area, the sensor is lowered stepwise from above the building and the area, so that the first to nth inspection points in the building and the area are in the air. 1st to nth space and various types of sensing on the ground and sampling of air, the 1st to nth space in the air of the 1st to nth inspection points in the building and the area, and various types on the ground Measurement data can be acquired, and the first to nth spaces in the air of the first to nth inspection points in the building and the area and the ground It can be analyzed various components contained in the air.

  While the multicopter is flying to the inspection point by rhythmic flight and hovering at the inspection point, and the multicopter is hovering at the inspection point, the reel automatically feeds the line yarn up and down and the reel picks up the line yarn. The sensing method or sampling method that automatically winds up and down in the vertical direction creates a flight mission (flight plan) in advance so that the multicopter can fly to the inspection point by autonomous automatic flight and hover at the inspection point. Since the feeding and winding of the yarn are automatically performed, various sensing and air sampling can be performed in a state where the accurate position and altitude are maintained as compared with the remote control by the transmitter.

  Using a multicopter, sense at least one of fine particulate matter and aerosol, harmful air pollutants, radiation dose, volcanic gas, temperature and humidity, and use the multicopter to make fine particulate matter contained in the air. Sensing method or sampling method for sampling at least one of substances and aerosols, harmful air pollutants contained in air, radioactive materials contained in air, volcanic gas contained in air, by using a multicopter, By sensing fine particulate matter and aerosols and harmful air pollutants, radiation dose, volcanic gas, temperature and humidity from the sky over buildings and hazardous areas where humans cannot enter, by using a multicopter, Included in the air from the top of buildings and hazardous areas that cannot be accessed by people Fine particulate matter and aerosols and harmful air pollutants that can be sampled radioactive material, volcanic gas.

The perspective view of the multicopter shown as an example. The figure which shows an example of a flight mission (menu) screen. The figure which shows an example of a flight mission (measurement area setting) screen. The figure which shows an example of a flight mission (inspection point setting) screen. The figure which shows an example of a flight mission (inspection altitude setting) screen. The figure which shows an example of a flight mission (flight start) screen. The figure which shows an example of the flight to the 1st-3rd test | inspection point of a multicopter. The figure which shows an example of the radiation dose sensing using a multicopter. The figure which shows the sensing of the radiation dose which continues from FIG. The figure which shows an example of a sensing result display screen. The figure which shows another example of a flight mission (inspection point setting) screen. The figure which shows another example of a flight mission (inspection altitude setting) screen. The figure which shows another example of a flight mission (flight) screen. The figure which shows an example of the flight to the 1st and 2nd test | inspection point of a multicopter. The figure which shows an example of sampling of the air (volcanic gas) using a multicopter. The figure which shows the sampling of the air (volcanic gas) which continues from FIG. The figure which shows an example of a sampling result display screen.

  The details of the multicopter and the sensing method or sampling method using the multicopter 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 multicopter 10 shown as an example. . The multicopter 10 (unmanned aerial vehicle) (drone) includes a body body 11, four rotor arms 12 extending from the body body 11, a rotor 13 (rotary wings) attached to the rotor arms 12, and an electric reel 14. (Reel) and line yarn 15.

  The multicopter 10 hovers (stops flying) at a predetermined point in the air while flying in the air, performs various types of sensing (measurement) in the hovering state, and samples (collects) air. The multicopter 10 is a quadcopter having four rotors 13 and four motors (not shown), but has a hexacopter having six rotors and six motors, and eight rotors and eight motors. It may be an octocopter.

  Although not shown in the figure, the multicopter 10 has a large-capacity battery, a flight control device, GPS (including a GPS self-supporting stabilizer), a camera-mounted gimbal, an attitude control device, an IOSD (on-screen real-time display), and a high-definition image. A transmission wireless device, a controller (including a storage device), a high-resolution camera, a real-time monitor, and the like are installed. The multicopter 10 can capture still images and moving images with a high-resolution camera during the flight (including hovering). The multi-copter 10 is a model that performs a self-sustained flight (automatic self-sustained flight) in which a pre-made flight mission (flight plan) is installed, or a model that performs a flight (manual flight) by remote control using a radio control. Any of these can be used.

  In self-sustained flight by a flight mission, an automatic navigation system that includes a computer (including input devices such as a touch panel and a mouse and an output device such as a display and a printer) and automatically performs takeoff, flight (flight path), and landing of the multicopter 10 A system (not shown) is used. In the automatic navigation system, a take-off point (three-dimensional coordinates), a flight point (three-dimensional coordinates), and a landing point (three-dimensional coordinates) are specified on a map (aerial photograph), flight speed, inspection altitude, measurement time, air A flight mission (flight plan) is created by inputting each data such as the accommodation amount and the air accommodation order.

  The created flight mission is transmitted from the automatic navigation system to the controller of the multicopter 10, and the multicopter 10 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 10 and in the automatic navigation system.

  In the remote operation using the prop, the operator operates the multicopter 10 using the prop. The transmitter is connected to a control system (not shown) equipped with a computer. When the multicopter 10 is operated by the propo, the flight speed, altitude, map information, photographed video display, remaining battery power, etc. of the multicopter 10 are displayed on the display of the control system. The flight record is stored in the controller of the multicopter 10 and in the control system.

  The electric reel 14 is installed on the lower surface side of the machine body 11 of the multicopter 10. The electric reel 14 automatically feeds the line yarn 15 by driving a motor (not shown) and automatically winds the line yarn 15. The electric reel 14 is turned on / off for the line yarn 15 and is turned on / off, the feeding length and the winding length of the line yarn 15 are adjusted, the feeding start signal and the feeding completion signal of the line yarn 15 are transmitted, the line yarn 15 A control unit for controlling the electric reel 14 such as transmission of a winding start signal and a winding completion signal is incorporated. The control unit of the electric reel 14 is connected to the controller of the multicopter 10. The number of electric reels 14 installed in the multicopter 10 is not particularly limited, and two or more electric reels 14 may be installed in the multicopter 10.

  The line yarn 15 is wound around a bobbin (yarn winding) of the electric reel 14. For the line yarn 15, nylon or fluorocarbon single wire yarn or knitting yarn is used. Various sensors 16 are detachably attached to the tip of the line yarn 15. The sensor 16 is connected to the controller of the multicopter 10. The number of sensors 16 attached to the line yarn 15 is not particularly limited, and two or more sensors 16 may be attached to the line yarn 15.

  The multicopter 10 is constructed by various sensors 16 attached to the line yarn 15 so that a person cannot enter or is difficult to enter a building or a dangerous area (reactor after an accident in which human life is exposed to danger). Of fine particulate matter and aerosol, harmful air pollutants, radiation dose, volcanic gas, temperature and humidity from above in buildings, high-concentration contaminated areas, craters and surrounding areas, mountainous areas, disaster areas immediately after earthquakes, etc.) It is used for at least one sensing (measurement).

  The multicopter 10 has a sampler (collecting tool) attached to the line thread 15 so that it cannot be accessed by people or is difficult for people to enter. It is used for sampling (collecting) air from above the furnace building, high-concentration contaminated sites, craters and their surroundings, mountainous areas, disaster areas immediately after the earthquake, etc.).

  The sensor 16 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. An aerosol measuring (analyzing) device such as a particle counter or a condensed particle counter is used as the sensor 16 for measuring aerosol (including radioactive aerosol).

  The sensor 16 for measuring harmful air pollutants measures exhaust gas analyzers for measuring combustion exhaust gas, VOC measuring devices 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 sensors and dosimeters are used for the sensor 16 for measuring the radiation dose. Gas sensors that detect methane, hydrogen sulfide, and carbon monoxide are used for sensors that measure volcanic gas. A temperature / humidity sensor is used as the sensor 16 for measuring temperature and humidity.

  FIG. 2 is a diagram showing an example of a flight mission (menu) screen displayed on the display 17 connected to the automatic navigation system, and FIG. 3 is an example of a flight mission (measurement area setting) screen continued from FIG. FIG. FIG. 4 is a diagram showing an example of a flight mission (inspection point setting) screen continued from FIG. FIG. 5 is a diagram showing an example of a flight mission (inspection altitude setting) screen continued from FIG. FIG. 6 is a diagram showing an example of a flight mission (flight start) screen continued from FIG. In FIG. 3 to FIG. 6, description of specific data for each input area and each display area is omitted.

  An example of a sensing procedure (measurement procedure) using the multicopter 10 will be described as follows. 2 to 9, radiation dose sensing will be described as an example. As described above, the sensing method using the multicopter 10 and the multicopter 10 selects the sensor 16 to be attached to the tip of the line yarn. By doing so, at least one sensing of fine particulate matter and aerosol, harmful air pollutant, radiation dose, volcanic gas, temperature and humidity can be performed. The multicopter 10 performs automatic autonomous flight by an automatic navigation system. A radiation measuring device 16 a (sensor 16) having a GPS function is attached to the line yarn 15. The radiation measuring instrument 16 a is located directly below the electric reel 14.

  When the automatic navigation system is activated on the ground, the flight mission (menu) screen shown in FIG. 2 is displayed on the display 17 connected to the automatic navigation system. On the flight mission (menu) screen shown in FIG. 2, a sensing button 2a, a sampling button 2b, a sensing result display button 2c, a sampling result display button 2d, and a cancel button 2e are displayed. Clicking (or tapping) the cancel button 2e stops the automatic navigation system (the same applies to the following cancel buttons).

  When sensing (measuring), click (or tap) the sensing button 2a. When the sensing button 2a is clicked, the flight mission (measurement / collection area setting) screen shown in FIG. 3 is displayed on the display 17 connected to the automatic navigation system. The flight mission (measurement / collection area setting) screen of FIG. 3 displays a measurement / collection area selection area 3a, a measurement / collection area display area 3b, an area setting button 3c, a clear button 3d, a return button 3e, and a cancel button 3f. Is done. When the clear button 3d is clicked, the input data is deleted and data is input again (the same applies to the following clear buttons). When the return button 3e is clicked, the flight mission (menu) screen of FIG. 2 is restored (the same applies to the following return buttons).

  In the measurement / collection area selection area 3a of the flight mission (measurement / collection area setting) screen of FIG. 3, the name, address, and aerial photograph of the measurement area are displayed. In the measurement / collection area selection area 3a, a measurement area is selected (inverted) (multiple selection is possible). The measurement area is photographed in advance by aerial photography, and the photographed aerial photograph is stored (stored) in the storage device of the automatic navigation system together with the address and name of the measurement area. When the measurement area is selected (inverted), an aerial photograph of the selected measurement area (the nuclear power plant after the accident in FIGS. 3 to 6) is displayed in the measurement / collection area display area 3b. When the region setting button 3c is clicked after selecting the measurement region, the flight mission (inspection point setting) screen shown in FIG.

  The flight mission (inspection point setting) screen of FIG. 4 includes an inspection point designation area 4a (map), a flight speed input area 4b, a sensing (measurement) time input area 4c, a condition setting button 4d, a clear button 4e, and a return button 4f. A cancel button 4g is displayed. In the inspection point designation area 4a (map), an aerial photograph of the measurement area (the building of the nuclear power plant) selected on the flight mission (measurement area setting) screen of FIG. 3 is displayed.

  In the inspection point designation area 4a (map), a take-off point L, inspection points M1 to M3 (above the building of the nuclear power plant), and a landing point N are designated. When the take-off point L, the inspection points M1 to M3, and the landing point N are designated in the inspection point designation area 4a, the three-dimensional coordinates (position information) of the designated take-off point L, the three-dimensional of the designated inspection points M1 to M3 The coordinates (position information) and altitude, and the three-dimensional coordinates (position information) of the designated landing point N are set. When the flight speed of the multicopter 10 is input to the flight speed input area 4b and the sensing (measurement) time is input to the sensing (measurement) time input area 4c and then the condition setting button 4d is clicked, the automatic navigation system is changed to FIG. The flight mission (inspection altitude setting) screen shown in FIG.

  The flight mission (inspection altitude setting) screen of FIG. 5 includes an inspection point display area 5a, a flight speed display area 5b, a sensing (measurement) time display area 5c, a take-off / inspection / landing point coordinate display area 5d, first to first Three inspection altitude input areas 5e to 5g, an inspection altitude setting button 5h, a clear button 5i, a return button 5j, and a cancel button 5k are displayed. In the inspection point display area, take-off point L, first to third inspection points M1 to M3 (first to nth inspection points), and landing point N designated on the flight mission (inspection point setting) screen of FIG. An aerial photo of the displayed measurement area is displayed. Note that the number of inspection points is not limited to three, and four or more inspection points (first to nth inspection points) can be set.

  In the first to third inspection altitude input areas 5e to 5g, the respective inspection altitudes at the first to third inspection points M1 to M3 (the first to nth spaces in the air at the first to nth inspection points and the ground) are input ( Multiple input is possible). The inspection altitude is the height at the inspection points M1 to M3 of the radiation measuring instrument 16a (sensor 16) attached to the line yarn 15, and can be set from 0 m or more (0 m is the ground) to the height of the multicopter 10. . In the first to third inspection altitude input areas 5e to 5g in FIG. 5, the first inspection altitude is set to 25 m (first space) from the ground and the second inspection altitude is set to 10 m (second space) from the ground. To do. The inspection altitude is not limited to two, and three or more inspection altitudes (first to nth spaces and the ground) can be set.

  After entering the examination altitude in the first to third examination altitude input areas 5e to 5g, the altitude setting button 5h is clicked. When the altitude setting button 5h is clicked, the automatic navigation system displays the three-dimensional coordinates of the takeoff point L, the three-dimensional coordinates and altitudes of the first to third inspection points M1 to M3 (first to nth inspection points), and the landing point N. 3 dimensional coordinates, flight speed, sensing (measurement) time, and first and second inspection altitudes (first to nth spaces and ground) at the first to third inspection points M1 to M3 are specified for the multicopter 10. While being stored (stored) in a storage device in a state associated with a unique identifier and storage time (date and time), a flight mission (flight) screen shown in FIG. 6 is displayed on the display 17.

  The flight mission (flight) screen of FIG. 6 includes an inspection point display area 6a, a flight speed display area 6b, a sensing (measurement) time display area 6c, a take-off / inspection / landing point coordinate display area 6d, and first to third inspections. An altitude display area 6e, a flight start button 6f, a return button 6g, and a cancel button 6h are displayed. In order to perform radiation dose sensing using the multicopter 10, the flight start button 6f on the flight mission (flight) screen of FIG. 6 is clicked. When the flight start button 6f is clicked, the three-dimensional coordinates of the take-off point L, the three-dimensional coordinates and altitudes of the inspection points M1 to M3, the three-dimensional coordinates of the landing point N, the flight speed, the sensing (measurement) time, the first to third A flight signal (sensing start signal) including each inspection altitude at the inspection points M1 to M3 is transmitted from the automatic navigation system to the controller of the multicopter 10.

  FIG. 7 is a diagram illustrating an example of a flight of the multicopter 10 to the first to third inspection points M1 to M3, and FIG. 8 is a diagram illustrating an example of radiation dose sensing using the multicopter 10. is there. FIG. 9 is a diagram showing sensing of radiation dose continuing from FIG.

  When the flight signal is transmitted to the controller of the multicopter 10, the controller of the multicopter 10 moves from the takeoff point L to the first inspection point M1 (above the reactor building 18) at the set flight speed according to the flight mission. The multicopter 10 is caused to fly (flight means, flight process), and the multicopter 10 is hovered at the first inspection point M1 (altitude 40 m). The controller of the multicopter 10 activates the electric reel 14 while maintaining the hovering state of the multicopter 10 at the first inspection point M1, feeds the line yarn 15 from the electric reel 14, and gradually moves the radiation measuring device 16a (sensor 16). Lower.

  When the feeding length of the line yarn 15 is 15 m and the radiation measuring device 16a (sensor 16) is lowered to the first inspection altitude Y1 (first space) (25 m from the ground), the line yarn 15 from the electric reel 15 is drawn. The feeding out stops. When the radiation measuring device 16a is lowered to the first inspection altitude Y1 (first space), the controller of the multicopter 10 activates the radiation measuring device 16a. The radiation measuring device 16a starts measuring radiation dose at the first inspection height Y1 (first space) at the first inspection point M1 (above the reactor building 18), and measures the dose during the sensing (measurement) time. (Sensing means, sensing process). When the sensing (measurement) time ends, the radiation measuring instrument 16a stops.

  Note that the three-dimensional coordinates (position information) of the first examination altitude Y1 (first space) of the first examination point M1 are acquired by the GPS function of the radiation measuring instrument 16a (sensor 16). The dose (measured value) of the first inspection height Y1 (first space) at the first inspection point M1 measured by the radiation measuring device 16a, the first inspection height Y1 of the first inspection point M1 acquired by the radiation measuring device 16a. The three-dimensional coordinates (position information) of (first space) are transmitted from the radiation measuring device 16a to the controller of the multicopter 10, and transmitted from the controller of the multicopter 10 to the ground automatic navigation system (wireless transmission).

  The automatic navigation system includes a flight record, a three-dimensional coordinate (position information) and altitude of the first inspection point M1, and a three-dimensional coordinate (position information) and altitude of the first inspection altitude Y1 (first space) of the first inspection point M1. , Flight speed, sensing (measurement) time, radiation dose at the first examination altitude Y1 (first space) at the first examination point M1 is associated with a unique identifier that identifies the multicopter 10 and measurement time (date and time) Store (store) in the storage device in the state.

  When the radiation dose measurement (sensing) at the first examination altitude Y2 (first space) at the first examination point M1 is completed, the controller of the multicopter 10 maintains the hovering state of the multicopter 10 at the first examination point M1. Then, the electric reel 14 is activated again, the line yarn 15 is fed out from the electric reel 14, and the radiation measuring device 16a (sensor 16) is gradually lowered from the first inspection altitude Y1 (first space).

  When the feeding length of the line yarn 15 is 30 m (first inspection altitude Y1 to 10 m) and the radiation measuring device 16a (sensor 16) is lowered to the second inspection altitude Y2 (second space) (10 m from the ground). The feeding of the line yarn 15 from the electric reel 14 is stopped. When the radiation measuring device 16a is lowered to the second examination altitude Y2 (second space), the controller of the multicopter 10 activates the radiation measuring device 16a again. The radiation measuring device 16a starts measuring radiation dose at the second inspection altitude Y2 (second space) at the first inspection point M1 (above the reactor building 18), and measures the dose during the sensing (measurement) time. (Sensing means, sensing process). When the sensing (measurement) time ends, the radiation measuring instrument 16a stops.

  Note that the three-dimensional coordinates (position information) of the second examination altitude Y2 (second space) of the first examination point M1 are acquired by the GPS function of the radiation measuring instrument 16a (sensor 16). The dose of the second inspection height Y2 (second space) at the first inspection point M1 measured by the radiation measuring device 16a, the second inspection height Y2 (second space) of the first inspection point M1 acquired by the radiation measuring device 16a. 3D coordinates (position information) is transmitted from the radiation measuring device 16a to the controller of the multicopter 10, and is transmitted from the controller of the multicopter 10 to the automatic navigation system on the ground.

  The automatic navigation system includes flight records, three-dimensional coordinates (position information) and altitude of the first inspection point M1, and three-dimensional coordinates (position information) and altitude of the second inspection altitude Y2 (second space) of the first inspection point M1. , Flight speed, sensing (measurement) time, radiation dose at the second examination altitude Y2 (second space) at the first examination point M1 is associated with a unique identifier that identifies the multicopter 10A and measurement time (date and time) Store (store) in the storage device in the state.

  When the radiation dose measurement (sensing) at the second inspection altitude Y2 (second space) at the first inspection point M1 is completed, the controller of the multicopter 10 activates the electric reel 14 and causes the electric reel 14 to pull the line yarn 15 on. Winding is started (winding means, winding process). When the line yarn 15 is wound around the electric reel 14 and the winding length reaches 30 m, the electric reel 14 stops. When the winding of the line yarn 15 by the electric reel 14 is completed, the radiation measuring instrument 16a (sensor 16) is positioned immediately below the electric reel 14.

  After the sensing of the first inspection point M1 is completed (after the winding of the line yarn 15 by the electric reel 14 is completed), the controller of the multicopter 10 performs the first inspection point M1 (reactor building 18 at the set flight speed). The multicopter 10 is caused to fly from the sky) to the second inspection point M2 (above the reactor building 18) (flight means, flight process), and the multicopter 10 is moved at the second inspection point M2 (altitude 40 m). Hover.

  The radiation measuring device 16a (sensor 16) is lowered by the procedure described above, and the radiation dose at the first examination altitude Y1 (first space) at the second examination point M2 is measured, and the second at the second examination point M2 is measured. The radiation dose at the inspection altitude Y2 (second space) is measured (sensing means, sensing process). Further, the three-dimensional coordinates (position information) of the first and second inspection altitudes Y1 and Y2 (first and second spaces) of the second inspection point M2 are acquired.

  The dose (measured value) of the first inspection altitude Y1 (first space) and the second inspection altitude Y2 (second space) at the second inspection point M2 measured by the radiation measuring instrument 16a, and the first at the second inspection point M2. The three-dimensional coordinates (position information) of the second inspection altitudes Y1 and Y2 (first and second spaces) are transmitted from the radiation measuring device 16a to the controller of the multicopter 10, and automatic navigation on the ground from the controller of the multicopter 10 is performed. Sent to the system.

  The automatic navigation system includes a flight record, a three-dimensional coordinate (positional information) and altitude of the second inspection point M2, and a tertiary of the first and second inspection altitudes Y1 and Y2 (first and second spaces) of the second inspection point M2. The original coordinates (position information) and altitude, flight speed, sensing (measurement) time, radiation dose at the first and second inspection altitudes Y1 and Y2 (first and second spaces) of the second inspection point M2, a multicopter 10 is stored (stored) in a storage device in a state associated with a unique identifier that specifies 10 and a measurement time (date and time).

  When the radiation dose measurement (sensing) at the second inspection altitude Y2 (second space) at the second inspection point M2 is completed, the controller of the multicopter 10 activates the electric reel 14 and causes the electric reel 14 to pull the line yarn 15 on. Winding is started (winding means, winding process). When the line yarn 15 is wound around the electric reel 14 and the winding length reaches 30 m, the electric reel 14 stops. When the winding of the line yarn 15 by the electric reel 14 is completed, the radiation measuring device 16a is positioned immediately below the electric reel 14.

  After the sensing of the second inspection point M2 is completed (after the winding of the line yarn 15 by the electric reel 14 is completed), the controller of the multicopter 10 performs the second inspection point M2 (reactor building 18 at the set flight speed). The multicopter 10 is made to fly from the sky) to the third inspection point M3 (above the reactor building 18) (flight means, flight process), and the multicopter 10A is moved at the third inspection point M3 (altitude 40 m). Hover. The radiation measuring device 16a (sensor 16) is lowered by the procedure described above to measure the radiation dose at the first examination altitude Y1 (first space) at the third examination point M3, and at the second examination point M3. The radiation dose at the inspection altitude Y2 (second space) is measured (sensing means, sensing process). Further, the three-dimensional coordinates (position information) of the first and second inspection altitudes Y1 and Y2 (first and second spaces) of the third inspection point M3 are acquired.

  The dose (measured value) of the first examination altitude Y1 (first space) and the second examination altitude Y2 (second space) at the third examination point M3 measured by the radiation measuring device 16a, the first at the third examination point M3. The three-dimensional coordinates (position information) of the second inspection altitudes Y1 and Y2 (first and second spaces) are transmitted from the radiation measuring device 16a to the controller of the multicopter 10, and automatic navigation on the ground from the controller of the multicopter 10 is performed. Sent to the system.

  The automatic navigation system includes the flight record, the three-dimensional coordinates (positional information) and altitude of the third inspection point M3, and the tertiary of the first and second inspection altitudes Y1 and Y2 (first and second spaces) of the third inspection point M3. Multi-copter of original coordinates (position information) and altitude, flight speed, sensing (measurement) time, radiation dose at the first and second inspection altitudes Y1, Y2 (first and second spaces) at the third inspection point m3 10 is stored (stored) in a storage device in a state associated with a unique identifier that specifies 10 and a measurement time (date and time).

  When the radiation dose measurement (sensing) at the second inspection altitude Y2 (second space) at the third inspection point M3 is completed, the controller of the multicopter 10 activates the electric reel 14 and causes the electric reel 14 to pull the line yarn 15 on. Winding is started (winding means, winding process). When the line yarn 15 is wound around the electric reel 14 and the winding length reaches 30 m, the electric reel 14 stops. When the winding of the line yarn 15 by the electric reel 14 is completed, the radiation measuring instrument 16a (sensor 16) is positioned immediately below the electric reel 14. After the sensing of the third inspection point M3 is completed (after the winding of the line yarn 15 by the electric reel 14 is completed), the controller of the multicopter 10 performs the third inspection point M3 (reactor building 18) at the set flight speed. The multicopter 10 is made to fly toward the landing point N from the above), and the multicopter 10 is landed on the landing point N.

  The multicopter 10 and the sensing method using the multicopter 10 are the first to the first in the nuclear building 18 (a building or a dangerous area where a person cannot enter or a person cannot enter) after the accident. A radiation measuring device from above the nuclear building 18 while arriving at the first to third inspection points M1 to M3 of the nuclear building 18 by flying to three inspection points M1 to M3 (first to nth inspection points). By lowering 16a (sensor 16) stepwise, in the first and second space Y1, Y2 (first to nth spaces) in the air at the first to third inspection points M1 to M3 in the nuclear building 18 Radiation dose measurement (various sensing) can be performed, and the first to second spaces Y1, Y in the air at the first to third inspection points M1 to M3 in the nuclear building 18 Dose data of radiation in (various measurement data) can be acquired.

  The multicopter 10 and the sensing method using the multicopter 10 use the multicopter 10 to make not only a radiation dose but also a building or a dangerous area (for example, a person unable to enter or difficult to enter). From the sky after the accident, reactor buildings and high-concentration locations, active volcano craters and their surroundings, mountainous areas, disaster areas immediately after the earthquake, etc.), aerosols and harmful air pollutants, volcanic gases Sensing temperature and humidity.

  In addition, when the multicopter 10 is made to fly (manual flight) by remote control by a radio (radio control), the pilot can fly the multicopter 10 from the takeoff point over the nuclear building 18 while checking the control system display. The first to third inspection points M1 to M3 are sequentially flew in order, and the radiation measuring device 16a is sequentially placed in the first and second spaces Y1 and Y2 of the first to third inspection points M1 to M3 in accordance with instructions from the control system. The radiation dose is lowered to sense (measure) the radiation dose. After the dose measurement is completed, the multicopter 10 is landed from the third inspection point M3 to the landing point.

  FIG. 10 is a diagram illustrating an example of a sensing result display screen displayed on the display 17 of the automatic navigation system. When displaying the past sensing result, the sensing result display button 2c of the flight mission (menu) screen of FIG. 2 is clicked. When the sensing result display button 2c is clicked, a sensing result display area selection screen is displayed on the display 17 (not shown). When a result display area is selected (inverted) (multiple selections are possible) in the sensing result display area selection area on the sensing result display area selection screen and a result display button is clicked, a sensing result display screen shown in FIG. The

  The sensing result display screen of FIG. 10 includes an inspection point display area 10a, a flight speed display area 10b, a sensing (measurement) time display area 10c, a take-off / inspection / landing point coordinate display area 10d, a sensing result display area 10e, and a print button. 10f, a return button 10g, and a cancel button 10h are displayed. In the sensing result display area 10e, radiation doses in the first and second spaces Y1, Y2 (first to nth spaces) of the first to third inspection points M1 to M3 (first to nth inspection points) are stored. Is displayed. By looking at the sensing result display area 10e, the first and second spaces Y1, Y2 (first to second inspection points) 1st to 3rd inspection points M1 to M3 (first to nth inspection points) above the nuclear building 18 are displayed. The radiation dose in the (nth space) can be known.

  FIG. 11 is a diagram showing another example of the flight mission (inspection point setting) screen, and FIG. 12 is a diagram showing another example of the flight mission (inspection altitude setting) screen continued from FIG. FIG. 13 is a diagram showing another example of the flight mission (flight) screen continued from FIG. 12, and FIG. 14 is a diagram showing an example of the flight of the multicopter 10 to the first and second inspection points M1, M2. It is. FIG. 15 is a diagram illustrating an example of air (volcanic gas) sampling using the multicopter 10, and FIG. 16 is a diagram illustrating sampling of air (volcanic gas) continuing from FIG. In FIG. 11 to FIG. 13, description of specific data for each input area and each display area is omitted.

  An example of air (volcanic gas) sampling procedure (collecting procedure) using the multicopter 10 will be described as follows. 11 to 16, the air sampling at the crater of the active volcano and its surroundings will be described as an example. The sampling method using the multicopter 10 and the multicopter 10 is the same as that of the reactor building described above. Sampling can be performed from above in the surrounding area, the disaster area immediately after the earthquake, etc. (a building or a dangerous area where people cannot enter or people are difficult to enter). A sampler 19 (collecting tool) for sampling air is detachably attached to the tip of the line yarn 15.

  When sampling (collecting), the automatic navigation system is activated on the ground, and the sampling button 2b on the flight mission (menu) screen of FIG. 2 is clicked (or tapped). The sampling button 2b is clicked, and the sampling area is selected (inverted) (multiple selection is possible) in the measurement / collection area selection area 3a on the flight mission (measurement / collection area setting) screen of FIG. The collection area is photographed in advance by aerial photography, and the photographed aerial photograph is stored (stored) in the storage device of the automatic navigation system together with the address and name of the collection area. When the collection area is selected (inverted), an aerial photograph of the selected collection area (the active volcano and its surrounding area in FIG. 4) is displayed in the collection / collection area display area 3b. When the region setting button 3c is clicked after the sampling region is selected, the flight mission (inspection point setting) screen shown in FIG.

  The flight mission (inspection point setting) screen of FIG. 11 includes an inspection point designation area 11a (map), a flight speed input area 11b, a sampling (collection) time input area 11c, a condition setting button 11d, a clear button 11e, and a return button 11f. A cancel button 11g is displayed. In the inspection point designation area 11a (map), an aerial photograph of the sampling area (active volcano crater and its surrounding area) selected on the flight mission (measurement / collection area setting) screen of FIG. 3 is displayed.

  In the inspection point designation area 11a (map), a take-off point L, inspection points M1, M2 (above the active volcano crater and its surrounding area), and a landing point N are designated. When the take-off point L, the inspection points M1, M2 and the landing point N are designated in the inspection point designation area 11a, the three-dimensional coordinates (position information) of the designated take-off point L, the three-dimensional of the designated inspection points M1, M2 The coordinates (position information) and altitude, and the three-dimensional coordinates (position information) of the designated landing point N are set. When the flight speed of the multicopter 10 is input to the flight speed input area 11b and the sampling (collection) time is input to the sampling (collection) time input area 11c and then the condition setting button 11d is clicked, the automatic navigation system is The flight mission (inspection altitude setting) screen shown in FIG.

  The flight mission (inspection altitude setting) screen of FIG. 12 includes an inspection point display area 12a, a flight speed display area 12b, a sampling (collection) time display area 12c, a take-off / inspection / landing point coordinate display area 12d, first and first 2 Inspection altitude input areas 12e and 12f, an inspection altitude setting button 12g, a clear button 12h, a return button 12i, and a cancel button 12j are displayed. In the inspection point display area, take-off point L, first and second inspection points M1, M2 (first to nth inspection points), and landing point N designated on the flight mission (inspection point setting) screen of FIG. An aerial photo of the displayed measurement area is displayed. Note that the number of inspection points is not limited to two, and three or more inspection points (first to nth inspection points) can be set.

  In the first and second inspection altitude input areas 12e and 12f, the inspection altitudes at the first and second inspection points M1 and M2 (the first to nth spaces in the air at the first to nth inspection points and the ground) are input ( Multiple input is possible). The inspection altitude is the height at the inspection points M1 and M2 of the sampler 19 attached to the line yarn 15, and can be set from 0 m or more (0 m is the ground) to the height of the multicopter 10. In the first and second inspection altitude input areas 12e and 12f in FIG. 10, the first inspection altitude is set to 10 m (first space) from the ground and the second inspection altitude is set to 5 m (second space) from the ground. To do. The inspection altitude is not limited to two, and three or more inspection altitudes (first to nth spaces and the ground) can be set.

  After entering the examination altitude in the first and second examination altitude input areas 12e and 12f, the altitude setting button 12h is clicked. When the altitude setting button 12h is clicked, the automatic navigation system displays the three-dimensional coordinates of the takeoff point L, the three-dimensional coordinates and altitudes of the first and second inspection points M1, M2 (first to nth inspection points), and the landing point N. 3D coordinates, flight speed, sampling (collection) time, first and second inspection altitudes Y1 and Y2 (first to nth spaces and ground) at the first and second inspection points M1 and M2, the multicopter 10 Is stored (stored) in a storage device in a state associated with a unique identifier for specifying the storage time (date and time), and a flight mission (flight) screen shown in FIG.

  The flight mission (flight) screen of FIG. 13 includes an inspection point display area 13a, a flight speed display area 13b, a sampling (collection) time display area 13c, a take-off / inspection / landing point coordinate display area 13d, first and second inspections. An altitude display area 13e, a flight start button 13f, a return button 13g, and a cancel button 13h are displayed. In order to perform air sampling using the multicopter 10, the flight start button 13f on the flight mission (flight) screen of FIG. 12 is clicked.

  When the flight start button 13f is clicked, the three-dimensional coordinates of the take-off point L, the three-dimensional coordinates and altitudes of the inspection points M1, M2, the three-dimensional coordinates of the landing point N, the flight speed, the sampling (collection) time, the first and second Flight signals (sampling start signals) including the respective inspection altitudes at the inspection points M1 and M2 are transmitted from the automatic navigation system to the controller of the multicopter 10. A sampler 19 (collecting tool) having a GPS function is attached to the line yarn 15. The sampler 19 automatically collects air from the intake port a plurality of times, and stores the collected air in each accommodation bag (plastic bag). The sampler 19 is located immediately below the electric reel 14.

  When the flight signal is transmitted to the controller of the multicopter 10, as shown in FIG. 14, the controller of the multicopter 10 follows the flight mission from the takeoff point L at the set flight speed to the first inspection point M1 (of the active volcano 19). The multicopter 10 is caused to fly toward the sky (flight means, flight process), and the multicopter 10 is hovered at the first inspection point M1 (altitude 100 m). The controller of the multicopter 10 activates the electric reel 14 while maintaining the hovering state of the multicopter 10 at the first inspection point M1, feeds the line yarn 15 from the electric reel 14, and gradually lowers the sampler 19.

  When the feeding length of the line yarn 15 is 90 m and the sampler 19 is lowered to the first inspection altitude Y1 (first space) (10 m from the ground), the feeding of the line yarn 15 from the electric reel 15 is stopped. When the sampler 19 is lowered to the first inspection altitude Y1 (first space), the controller of the multicopter 10 activates the sampler 19. The sampler 19 starts sampling air (volcanic gas) at the first inspection height Y1 (first space) at the first inspection point M1 (above the crater of the active volcano 19), and during the sampling (collection) time Sampling of air into the first storage bag is performed (sampling means, sampling step). When the sampling (collection) time ends, the sampler 19 stops.

  The three-dimensional coordinates (position information) of the first inspection altitude Y1 (first space) of the first inspection point M1 are acquired by the GPS function of the sampler 19. The three-dimensional coordinates (position information) of the first inspection height Y1 (first space) of the first inspection point M1 acquired by the sampler 19 are transmitted from the sampler 19 to the controller of the multicopter 10, and from the controller of the multicopter 10 It is transmitted (wireless transmission) to the ground automatic navigation system. The automatic navigation system includes a flight record, a three-dimensional coordinate (position information) and altitude of the first inspection point M1, and a three-dimensional coordinate (position information) and altitude of the first inspection altitude Y1 (first space) of the first inspection point M1. The flight speed and the sampling (collection) time are stored (stored) in the storage device in a state associated with the unique identifier that identifies the multicopter 10 and the measurement time (date and time).

  When sampling of air (volcanic gas) at the first inspection altitude Y2 (first space) at the first inspection point M1 is completed, the controller of the multicopter 10 is in the hovering state of the multicopter 10 at the first inspection point M1. , The electric reel 14 is started again, the line yarn 15 is fed out from the electric reel 14, and the sampler 19 is gradually lowered from the first inspection altitude Y1 (first space).

  When the feeding length of the line yarn 15 is 95 m (first inspection altitude Y1 to 5 m) and the sampler 19 descends to the second inspection altitude Y2 (second space) (5 m from the ground), The feeding of the line yarn 15 stops. When the sampler 19 is lowered to the second inspection altitude Y2 (second space), the controller of the multicopter 10 activates the sampler 19 again. The sampler 19 starts sampling air (volcanic gas) at the second inspection altitude Y2 (second space) at the first inspection point M1 (above the crater of the active volcano 19), and during the sampling (collection) time Sampling of air into the second storage bag is performed (sampling means, sampling step). When the sampling (collection) time ends, the sampler 19 stops.

  The three-dimensional coordinates (position information) of the second inspection altitude Y2 (second space) of the first inspection point M1 are acquired by the GPS function of the sampler 19. The three-dimensional coordinates (position information) of the second inspection altitude Y1 (first space) of the first inspection point M1 acquired by the sampler 19 is transmitted from the sampler 19 to the controller of the multicopter 10, and from the controller of the multicopter 10 It is transmitted (wireless transmission) to the ground automatic navigation system. The automatic navigation system includes flight records, three-dimensional coordinates (position information) and altitude of the first inspection point M1, and three-dimensional coordinates (position information) and altitude of the second inspection altitude Y2 (second space) of the first inspection point M1. The flight speed and the sensing (measurement) time are stored (stored) in a storage device in a state associated with the unique identifier that identifies the multicopter 10 and the measurement time (date and time).

  When the sampling (collecting) of air (volcanic gas) at the second inspection altitude Y2 (second space) at the first inspection point M1 is completed, the controller of the multicopter 10 activates the electric reel 14 and lines it to the electric reel 14. Winding of the yarn 15 is started (winding means, winding process). When the line yarn 15 is wound around the electric reel 14 and the winding length reaches 30 m, the electric reel 14 stops. When the winding of the line yarn 15 by the electric reel 14 is completed, the sampler 19 is positioned immediately below the electric reel 14.

  After the sensing of the first inspection point M1 is completed (after the winding of the line yarn 15 by the electric reel 14 is completed), the controller of the multicopter 10 performs the first inspection point M1 (eruption of the active volcano 19) at the set flight speed. The multicopter 10 is made to fly from the sky (above the mouth) to the second inspection point M2 (above the crater of the active volcano 19) (flight means, flight process), and at the second inspection point M2 (altitude 100 m). Hover 10

  The sampler 19 is lowered by the procedure described above, and sampling (collecting) of air (volcanic gas) into the third containing bag at the first inspection altitude Y1 (first space) at the second inspection point M2 is performed. Sampling (collecting) of air (volcanic gas) into the fourth accommodation bag at the second inspection altitude Y2 (second space) at the inspection point M2 (sampling means, sampling process). Further, the three-dimensional coordinates (position information) of the first and second inspection altitudes Y1 and Y2 (first and second spaces) of the second inspection point M2 are acquired.

  The three-dimensional coordinates (position information) of the first and second inspection altitudes Y1 and Y2 (first and second spaces) of the second inspection point M2 acquired by the sampler 19 are transmitted from the radiation measuring device 16a to the controller of the multicopter 10. And transmitted from the controller of the multicopter 10 to the ground automatic navigation system. The automatic navigation system includes a flight record, a three-dimensional coordinate (positional information) and altitude of the second inspection point M2, and a tertiary of the first and second inspection altitudes Y1 and Y2 (first and second spaces) of the second inspection point M2. The original coordinates (position information), altitude, flight speed, and sampling (collection) time are stored (stored) in a storage device in a state associated with a unique identifier that identifies the multicopter 10 and measurement time (date and time).

  When sampling of air at the second inspection altitude Y2 (second space) at the second inspection point M2 is completed, the controller of the multicopter 10 starts the electric reel 14 and starts winding the line yarn 15 on the electric reel 14. (Winding means, winding process). When the line yarn 15 is wound around the electric reel 14 and the winding length reaches 95 m, the electric reel 14 stops. When the winding of the line yarn 15 by the electric reel 14 is completed, the sampler 19 is positioned immediately below the electric reel 14.

  After the sampling of the second inspection point M2 is completed (after the winding of the line yarn 15 by the electric reel 14 is completed), the controller of the multicopter 10 performs the second inspection point M2 (eruption of the active volcano 19) at the set flight speed. The multicopter 10 is made to fly from the sky) to the landing point N, and the multicopter 10 is landed on the landing point N. The first to fourth storage bags are taken out from the sampler 19, and components (methane, hydrogen sulfide, carbon monoxide, etc.) contained in the air stored in the storage bags are detected by a gas detector. The detection result is stored in the storage device of the automatic navigation system.

  The multicopter 10 and the sampling method using the multicopter 10 are the first and second inspection points M1 and M2 at the crater of the active volcano 20 (where humans cannot enter or people are in danger). The sampler 19 descends stepwise from above the crater of the active volcano 20 while arriving at the first to third inspection points M1 to M3 of the nuclear building 18 by flying to (first to nth inspection points). By sampling the air (volcanic gas) in the first and second spaces Y1, Y2 (first to nth spaces) in the air at the first and second inspection points M1, M2 at the crater of the active volcano 20 ( In the first and second spaces Y1, Y2 in the air at the first and second inspection points M1, M2 at the crater of the active volcano 20 It can be analyzed various components contained in the air (gas component).

  The sampling method using the multicopter 10 and the multicopter 10 is not only for sampling the volcanic gas contained in the air, but also for a building that is not accessible or difficult for humans to enter by using the multicopter 10. And particulate matter contained in the air from above the hazardous area (for example, the reactor building after the accident, high-concentration contamination, active volcano crater and its surroundings, mountainous area, disaster area immediately after the earthquake, etc.) It can sample aerosols, harmful air pollutants and radioactive materials.

  In addition, when the multicopter 10 is made to fly (manual flight) by remote control by a radio (radio control), the pilot confirms the display of the control system and the pilot takes the multicopter 10 from the takeoff point by the propo to the crater of the active volcano 19 In order toward the first and second inspection points M1 and M2 in the sky, and in accordance with instructions from the control system, the sampler 19 is sequentially placed in the first and second spaces Y1 and Y2 of the first and second inspection points M1 and M2. Lower and sample air (volcanic gas). After the sampling is completed, the multicopter 10 is landed from the second inspection point M2 to the landing point.

  FIG. 17 is a diagram illustrating an example of a sampling result display screen displayed on the display 17 of the automatic navigation system. When displaying the past sampling result, the sampling result display button 2d of the flight mission (menu) screen of FIG. 2 is clicked. When the sampling result display button 2d is clicked, a sampling result display area selection screen is displayed on the display 17 (not shown). When a result display area is selected (inverted) (multiple selection is possible) in the sampling result display area selection area on the sampling result display area selection screen and a result display button is clicked, the sampling result display screen shown in FIG. The

  The sampling result display screen of FIG. 17 includes an inspection point display area 17a, a flight speed display area 17b, a sampling (collection) time display area 17c, a take-off / inspection / landing point coordinate display area 17d, a sampling result display area 17e, and a print button. 17f, a return button 17g, and a cancel button 17h are displayed. The sampling result display area 17e is sampled (collected) in the first and second spaces Y1, Y2 (first to nth spaces) of the first and second inspection points M1, M2 (first to nth inspection points). The concentration of methane, hydrogen sulfide, and carbon monoxide contained in the air is displayed. By looking at the sampling result display area 17e, the first and second spaces Y1, Y2 (first and second inspection points) M1, M2 (first to nth inspection points) above the crater of the active volcano 19 are displayed. It is possible to know the concentrations of methane, hydrogen sulfide, and carbon monoxide contained in the air in the first to nth spaces.

10 Multicopter 11 Airframe body 12 Rotor arm 13 Rotor 14 Electric reel (reel)
15 Line thread 16 Sensor 16a Radiation measuring instrument 17 Display 18 Reactor building 19 Sampler 20 Active volcano

Claims (14)

In the multicopter equipped with the fuselage main body and rotor, hovering in the air while flying in the air,
The multicopter includes a reel installed in the fuselage main body, a predetermined sensor attached to a line thread of the reel, and flight means for flying from a takeoff point to an inspection point (in the air); A multi-copter comprising: a sensing means for lowering the sensor in the vertical direction by drawing a line yarn from the reel in a hovering state, and performing various types of sensing at the inspection point using the sensor. . In the multicopter equipped with the fuselage main body and rotor, hovering in the air while flying in the air,
The multicopter includes a reel installed in the fuselage main body, a sampler attached to a line thread of the reel to sample air, and flight means for flying from a take-off point to an inspection point (in the air), and the inspection And a sampling means for sampling the air at the inspection point by using the sampler to lower the sampler downward in the vertical direction by drawing the line yarn from the reel in a hovering state at the point. Copter.   After the multicopter completes sensing or sampling of air at a predetermined inspection point, the reel winds up the line yarn to raise the sensor or the sampler in the vertical direction, and the sensor or the sampler is moved up and down. The multicopter according to claim 1, further comprising a winding unit positioned immediately below the reel.   The sensing means or the sampling means feeds the reel line yarn from the inspection point and lowers the sensor or the sampler stepwise downward in the vertical direction, while arranging the sensors or the sampler in the vertical direction in the air. The first to nth spaces and the ground are sequentially stopped at least in the first to nth spaces and the ground, and at least the first to the first to nth spaces and the ground using the sensor or the sampler. The multicopter according to any one of claims 1 to 3, which performs sensing or sampling of the nth space.   After the flight means completes sensing or sampling of air at a predetermined inspection point, it flies toward the next inspection point, from the first inspection point (in the air) to the nth inspection point (in the air). The sensing means or the sampling means descends the sensor or the sampler stepwise in the vertical direction by feeding the line yarn from the reel in the hovering state at the first to nth inspection points. The sensors or the samplers at the first to nth inspection points are sequentially stopped in at least the first to nth spaces of the first to nth spaces and the ground arranged in the vertical direction in the air. Or using the sampler, the first to n-th spaces and the ground at the first to n-th inspection points. Multirotor of claim 4 for sensing or sampling of at least said to n-th space.   The multicopter is hovering at the inspection point while flying to the inspection point by autonomous automatic flight, and in the hovering state at the inspection point, the reel automatically feeds the line yarn vertically downward, and the reel The multicopter according to any one of claims 1 to 5, wherein the multi-copter is automatically wound upward and downward.   The sensing means senses at least one of fine particulate matter and aerosol, harmful air pollutants, radiation dose, volcanic gas, temperature and humidity, and the sampling means comprises fine particulate matter contained in air and The multicopter according to any one of claims 1 to 6, wherein at least one of aerosol, harmful air pollutants contained in air, radioactive substances contained in air, and volcanic gas contained in air is sampled. In the sensing method using a multicopter equipped with a fuselage body and a rotor and hovering in the air while flying in the air,
The sensing method uses a reel installed in the fuselage main body and a predetermined sensor attached to a line thread of the reel to fly the multicopter from a take-off point to an inspection point (in the air); A sensing step of lowering the sensor in the vertical direction by unwinding the line yarn from the reel in the hovering state at the inspection point of the multicopter, and performing various types of sensing at the inspection point using the sensor. A sensing method characterized by comprising: In a sampling method using a multicopter that includes a fuselage body and a rotor and hovers in the air while flying in the air,
The sampling method uses a reel installed in the fuselage body and a sampler attached to a line thread of the reel to sample air, and a flight process of flying the multicopter from a takeoff point to an inspection point; A sampling step of sampling the air at the inspection point using the sampler by lowering the sampler in the vertical direction by unwinding the line yarn from the reel in the hovering state at the inspection point of the multicopter. A sampling method characterized by   After the sensing or sampling at a predetermined inspection point is completed, the sensing method or the sampling method raises the sensor or the sampler upward and downward by winding a line thread around the reel. The sensing method or sampling method according to claim 8 or 9, further comprising a winding step of positioning the sampler directly below the reel.   In the sensing method or the sampling method, the line yarn of the reel is drawn out from the inspection point and the sensor or the sampler is gradually lowered in the vertical direction, while the sensor or the sampler is moved in the vertical direction in the air. The first to n-th spaces are sequentially stopped from the first space to the n-th space and the ground, and at least the first to n-th spaces and the ground are used by using the sensor or the sampler. The sensing method or sampling method according to any one of claims 8 to 10, wherein sensing or sampling of the 1st to nth spaces is performed.   In the flight process, after sensing at a predetermined inspection point or sampling of air is completed, the multicopter is made to fly toward the next inspection point, so that the first inspection point (in the air) to the nth inspection point (in the air) ), The sensing method or the sampling method moves the sensor or the sampler up and down by unwinding the line yarn from the reel in the hovering state of the multicopter at the first to nth inspection points. In the first to nth spaces, the sensors or the samplers are arranged in the vertical direction in the air and at least the first to nth spaces. Stop in order and use the sensor or the sampler to check the first to nth inspection points The first to sensing method or sampling method according to claim 11 and the n space for performing sensing or sampling of at least said to n-th space between the ground which definitive.   In the sensing method or the sampling method, the multicopter is hovered at the inspection point while flying to the inspection point by means of automated flight, and in the hovering state at the inspection point, the reel automatically moves the line yarn vertically downward. The sensing method or sampling method according to claim 8, wherein the reel automatically winds the line yarn upward and downward in the vertical direction. The sensing method uses the multicopter to sense at least one of fine particulate matter and aerosol, harmful air pollutants, radiation dose, volcanic gas, temperature and humidity, and the sampling method includes the multicopter. 9. The method of sampling at least one of fine particulate matter and aerosol contained in air, harmful air pollutant contained in air, radioactive material contained in air, and volcanic gas contained in air using a copter. 14. The sensing method or sampling method according to claim 13.

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