Sensor unit and aerial vehicle equipped with the same

Abstract

To provide a sensor unit and an aerial vehicle equipped with the sensor unit, which make it easier to detect odors.SOLUTION: A sensor unit 20 disclosed herein is to be installed on an aerial vehicle 10 configured to fly by rotation of multiple propellers 14, where the aerial vehicle 10 flies when the multiple propellers 14 blow air toward a bottom surface of the aerial vehicle 10. The sensor unit comprises an odor sensor 21 installed on a bottom surface of the aerial vehicle 10 below the multiple propellers 14, and an enclosing part 22 designed to surround the odor sensor 21 so as to avoid wind from the propellers 14 and provided with an open end 25 for introducing air from below to the inside.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a sensor unit and an aircraft equipped with a sensor unit. [Background technology]

[0002] Conventionally, there are known techniques for installing various sensors on an aircraft that flies by rotating multiple propellers. For example, Patent Document 1 below discloses a technique for installing a sensor that detects carbon dioxide on a drone. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6635626 Summary of the Invention [Problem to be solved by the invention]

[0004] Air vehicles that fly using multiple rotating propellers tend to blow away the surrounding air with the wind generated by the propellers, which makes it difficult to detect odors when installing odor sensors on the aircraft.

[0005] The present invention was developed in light of the above-mentioned circumstances, and has an object to provide a sensor unit and an aircraft with a sensor unit that can easily detect odors. [Means for solving the problem]

[0006] The sensor unit of the present invention is a sensor unit installed on an aircraft that flies by rotating multiple propellers, and the aircraft flies by the multiple propellers blowing air in the direction of the underside of the aircraft, and is equipped with an odor sensor installed on the underside of the aircraft below the multiple propellers, and an enclosure portion that surrounds the odor sensor to protect against the wind from the propellers and has an open surface that allows air to enter in from below.

[0007] The sensor unit-equipped flying body of the present invention is a flying body that flies by rotating a plurality of propellers, and has the sensor unit installed thereon. Effect of the Invention

[0008] According to the present invention, the air below the flying object enters the enclosure while being prevented from being blown away by the wind from the propeller, which makes it easier to detect odors. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a front view showing an aircraft equipped with a sensor unit according to a first embodiment; [Diagram 2] A partially enlarged cross-sectional view of an aircraft equipped with a sensor unit, showing an enlarged view of the sensor unit. [Diagram 3] FIG. 11 is a partially enlarged cross-sectional view showing the sensor unit of the sensor unit-equipped flying object according to the second embodiment; [Figure 4] FIG. 11 is a partially enlarged cross-sectional view showing the sensor unit of the sensor unit-equipped flying object according to the third embodiment; [Diagram 5] FIG. 13 is a partially enlarged cross-sectional view showing a sensor unit of an aircraft equipped with a sensor unit according to another embodiment (1). [Figure 6] FIG. 11 is a partially enlarged cross-sectional view showing a sensor unit of an aircraft equipped with a sensor unit according to another embodiment (2). [Figure 7] FIG. 11 is a partially enlarged cross-sectional view showing a sensor unit of an aircraft equipped with a sensor unit according to another embodiment (3). [Figure 8]FIG. 11 is a partially enlarged cross-sectional view showing a sensor unit of an aircraft equipped with a sensor unit according to another embodiment (4). DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] A preferred embodiment of the present invention is described below. [1] The sensor unit of the present invention is a sensor unit installed on an aircraft that flies by rotating multiple propellers, and the aircraft flies by the multiple propellers blowing air toward the underside of the aircraft, and includes an odor sensor installed on the underside of the aircraft below the multiple propellers, and an enclosure that surrounds the odor sensor to protect against the propeller wind and has an open surface that lets air in from below. With this configuration, the air below the aircraft enters the enclosure while being prevented from being blown away by the propeller wind. This makes it easier to detect odors. [2] The sensor unit described in [1] above may further include an airflow generating unit that generates an airflow toward the odor sensor within the enclosure. With this configuration, air below the flying object tends to flow toward the odor sensor, making it easier to detect odors. [3] The sensor unit described in [1] or [2] above may include a filter that removes foreign matter from the air flowing toward the odor sensor. With this configuration, foreign matter such as sand and dust is removed by the filter, so that it is possible to prevent the foreign matter from adversely affecting the odor sensor. [4] In the sensor unit according to any one of [1] to [3] above, the enclosure may have an expandable section that expands and contracts in the vertical direction, and the height position of the open surface may be lower when the expandable section is in an expanded state than when the expandable section is in a contracted state. With this configuration, odors can be more easily detected by extending the expandable section and placing the open surface of the enclosure at a position closer to the ground. When the flying object is flying, the expandable section can be contracted to prevent it from interfering with the flight. [5] In the sensor unit according to any one of [1] to [4] above, the enclosure may be tiltable to change the orientation of the open surface. With this configuration, the open surface can be oriented toward the source of the odor, making it easier to detect the odor. [6] In the sensor unit according to any one of [1] to [5] above, the enclosure may be openable to increase the open area of ​​the open face. With this configuration, the open area of ​​the open face can be increased to make it easier to detect odors. [7] In the sensor unit described in any one of [1] to [6] above, the surrounding part may have an elongated tubular part, and the open surface may be formed at the tip of the tubular part. With this configuration, it is possible to easily detect odors in a narrow gap by inserting the tubular part into the narrow gap. [8] In the sensor unit described in any one of [1] to [7] above, the airflow generating unit may be a fan that draws in air below the flying object and sends it to the odor sensor. With this configuration, the air below the flying object tends to flow toward the odor sensor, making it easier to detect odors. [9] The sensor unit-equipped flying object of the present invention is an flying object that flies by rotating multiple propellers, and is equipped with a sensor unit described in any one of [1] to [8] above. With this configuration, the sensor unit-equipped flying object can easily reach places that are difficult to reach by traveling on the ground or places that are difficult for people to approach. The air below the flying object enters the inside of the enclosure while being prevented from being blown away by the wind from the propellers. Therefore, it is possible to easily detect odors even in places that are difficult to reach by traveling on the ground or places that are difficult for people to approach.

[0011] <Example 1> A first embodiment of the present invention will be described in detail with reference to Fig. 1 and Fig. 2. As shown in Fig. 1, the sensor unit-equipped flying object F in this embodiment includes an flying object 10 and a sensor unit 20. The sensor unit-equipped flying object F can be used for, for example, rescue of human lives during disasters, patrol and surveillance of suspicious individuals, etc.

[0012] The aircraft 10 is an unmanned aerial vehicle that can be remotely or automatically controlled. The aircraft 10 is a drone weighing 100 g or more. A commercially available known drone may be used as the aircraft 10.

[0013] The aircraft 10 includes a main body 11, an arm 13, a propeller 14, and landing legs 15. The aircraft 10 flies by rotating four propellers 14. Only two of the four propellers 14 are shown in the drawings. The four propellers 14 blow air toward the bottom of the aircraft 10. The bottom of the aircraft 10 is the direction from the top to the bottom in each drawing.

[0014] The main body 11 is provided in the center of the aircraft 10. The main body 11 includes a power supply unit, a control unit, a communication unit, etc., which are not shown.

[0015] Four arms 13 are provided. Only two of the four arms 13 are shown in the drawings. Each arm 13 extends horizontally outward from the main body 11. The arms 13 and the main body 11 may be integrally formed, or may be configured as separate members and connected to each other. The arms 13 support the propeller 14 rotatably.

[0016] The propeller 14 is disposed at the top end of the drone. The propeller 14 rotates by receiving power from a motor (not shown). The drone obtains lift as the propeller 14 rotates and flies. The direction and number of rotations of the propeller 14 are controlled by a control unit. The flying object 10 can ascend, descend, move forward, move backward, turn, hover, and the like in the air. The state in which the flying object 10 is moving among the states in which it is flying in the air is called a moving state, the state in which it is hovering among the states in which it is flying in the air is called a hovering state, and the state in which it is landing is called a landing state.

[0017] The landing legs 15 extend downward from the bottom surface of the flying vehicle 10. The bottom surface of the flying vehicle 10 includes the bottom surface 12 of the main body 11 and the bottom surfaces of the arms 13. In the landing state, the bottom ends of the landing legs 15 contact the ground or the like.

[0018] The sensor unit 20 is installed in the flying object 10. The sensor unit 20 is attached to the underside 12 of the main body 11. The sensor unit 20 is disposed in the center of the flying object 10. This allows the flying object 10 to fly stably. The sensor unit 20 is provided on the inside of the landing legs 15. When in the landing state, the sensor unit 20 is suspended above the ground or the like.

[0019] As shown in Fig. 2, the sensor unit 20 includes an odor sensor 21, an enclosure 22, a fan 23 as an airflow generating unit, and a filter 24. The odor sensor 21, the fan 23, and the filter 24 are disposed inside the enclosure 22. The odor sensor 21 is a sensor device that detects odors. The fan 23 generates an airflow toward the odor sensor 21 inside the enclosure 22. The filter 24 removes foreign matter from the air toward the odor sensor 21. The enclosure 22 prevents the odor sensor 21, the fan 23, and the filter 24 from being exposed to the wind from the propeller 14.

[0020] The odor sensor 21 is attached to the underside 12 of the main body 11. The odor sensor 21 may be attached directly to the underside 12 of the main body 11, or may be attached via an attachment member. The attachment member may constitute a part of the sensor unit 20. The odor sensor 21 is located below the propeller 14.

[0021] The odor sensor 21 detects and outputs the concentration of odor components around the installation position. There are no particular restrictions on the configuration of the odor sensor 21, and various configurations can be adopted. The odor sensor 21 may be, for example, a semiconductor sensor or a quartz crystal oscillator sensor. The odor sensor 21 may be one that reacts to multiple odor components, or one that reacts to only one odor component.

[0022] The odor components to be detected may be various, ranging from odorless ones such as carbon dioxide to odors that people can notice. The odor components to be detected may be components contained in specific odors released from the human body through the skin, such as stress odor, aging odor, armpit odor, fatigue odor, etc., or odor components generated from dangerous materials or illegal drugs.

[0023] The enclosure 22 is fixed to the underside 12 of the main body 11. The enclosure 22 may be fixed directly to the underside 12 of the main body 11, or may be fixed via a fixing member. The fixing member may constitute a part of the sensor unit 20. The enclosure 22 is a windbreak enclosure that protects against wind from the propeller 14. The enclosure 22 may be made of any material as long as it has a windbreak function.

[0024] The enclosure 22 surrounds the entire periphery of the odor sensor 21. The enclosure 22 hangs down from the underside 12 of the main body 11. The lower end of the enclosure 22 is located below the filter 24. The lower end of the enclosure 22 is spaced upward from the ground when in a landing state. The lower end of the enclosure 22 is an open surface 25. The open surface 25 allows air below the flying object 10 to enter the inside of the enclosure 22.

[0025] The enclosure 22 has an upper portion 26, a lower portion 27, and a partition portion 28. The upper portion 26 and the lower portion 27 are cylindrical. The upper portion 26 houses the odor sensor 21 and the fan 23. An exhaust port 29 is formed in the upper portion 26. The exhaust port 29 is provided at the upper end of the upper portion 26. The exhaust port 29 is located above the fan 23. A plurality of exhaust ports 29 are provided in a direction surrounding the odor sensor 21.

[0026] The lower portion 27 is continuous with the lower end of the upper portion 26. The lower portion 27 is inclined so as to expand the internal space from the top to the bottom.

[0027] The partition portion 28 separates the upper portion 26 from the lower portion 27. An opening 31 is formed in the partition portion 28. The opening 31 is formed in the center of the partition portion 28. The opening 31 is located directly below the odor sensor 21 and the fan 23. The opening 31 allows the internal space of the upper portion 26 to communicate with the internal space of the lower portion 27.

[0028] The fan 23 is disposed below the odor sensor 21. The fan 23 is an axial fan. The blades of the fan 23 are installed horizontally. The fan 23 draws in air from the lower side of the blades and expels it from the upper side of the blades. The fan 23 operates by receiving electricity from a power supply unit.

[0029] Filter 24 is disposed below fan 23. Filter 24 is fixed to partition 28. Filter 24 covers opening 31. Filter 24 removes dust and dirt from the air taken into upper portion 26 through opening 31. This makes it possible to reduce the amount of dust and dirt in the air taken into upper portion 26.

[0030] Next, an example of using the sensor unit-equipped flying object F will be described. First, the sensor unit-equipped flying object F is flown to a destination. The destination may be a place where a person is suspected to be buried alive, a place where a suspicious person is suspected to be present, or a place to patrol for the presence of a suspicious person.

[0031] When the sensor unit-equipped flying object F reaches its destination, the sensor unit-equipped flying object F is put into a hovering state. The enclosure 22 makes it difficult for the air below the sensor unit-equipped flying object F to be affected by the wind generated by the propeller 14. The air below the flying object 10 is not blown away by the wind generated by the propeller 14, but is instead drawn into the inside of the enclosure 22 by the fan 23 and flows upward. Air that enters the inside of the enclosure 22 from the open surface 25 of the enclosure 22 passes through the filter 24 and heads toward the odor sensor 21. The odor sensor 21 detects the odor components of the air that has entered the inside of the enclosure 22 and outputs the detection result. The air that has entered the inside of the enclosure 22 is exhausted to the outside through the exhaust port 29.

[0032] The sensor unit-equipped flying object F determines the direction of disaster victims or suspicious people based on the detection results of the odor sensor 21, flies in that direction, and identifies their location. This makes it possible to identify the location of people buried alive or people carrying dangerous materials or illegal drugs. In this way, the sensor unit-equipped flying object F can identify people's locations based on information that cannot be obtained from images, making it possible to effectively rescue lives during disasters, patrol for suspicious people, and the like.

[0033] Next, the operation and effect of the embodiment configured as described above will be described. The sensor unit 20 is installed on the flying object 10 that flies by the rotation of the multiple propellers 14. The flying object 10 flies by the four propellers 14 blowing air toward the bottom of the flying object 10. The sensor unit 20 includes an odor sensor 21 and an enclosure 22. The odor sensor 21 is installed on the bottom of the flying object 10 below the four propellers 14. The enclosure 22 surrounds the odor sensor 21 so as to prevent the wind of the propellers 14. The enclosure 22 has an open surface 25 that allows air to enter from below. According to this configuration, the air below the flying object 10 enters the inside of the enclosure 22 while being prevented from being blown away by the wind of the propellers 14. This makes it easier to detect odors.

[0034] The sensor unit 20 includes a fan 23. The fan 23 generates an air flow toward the odor sensor 21 within the enclosure 22. With this configuration, the air below the flying object 10 tends to flow toward the odor sensor 21, making it easier to detect odors.

[0035] The sensor unit 20 includes a filter 24. The filter 24 removes foreign matter from the air flowing toward the odor sensor 21. According to this configuration, foreign matter such as sand and dust is removed by the filter 24, and therefore, adverse effects on the odor sensor 21 can be suppressed.

[0036] <Example 2> Next, a sensor-unit-equipped flying object F according to a second embodiment of the present invention will be described with reference to Fig. 3. The sensor-unit-equipped flying object F of this embodiment differs from the first embodiment in that the fan 23 is disposed above the odor sensor 21. Note that the same components as those in the first embodiment are given the same reference numerals and will not be described again.

[0037] The sensor unit-equipped flying object F of this embodiment, like that of the first embodiment, comprises an flying object 10 and a sensor unit 20, and the sensor unit 20 comprises an odor sensor 21, an enclosure 22, a fan 23, and a filter 24.

[0038] The fan 23 is disposed above the odor sensor 21. As in the first embodiment, the fan 23 generates an air flow inside the enclosure 22 toward the odor sensor 21. As in the first embodiment, the air below the flying object 10 is not blown away by the wind generated by the propeller 14, but enters the inside through the open surface 25 of the enclosure 22 and is exhausted to the outside through the exhaust port 29. As in the first embodiment, the odor sensor 21 detects odor components in the air that has entered the enclosure 22 and outputs the detection result.

[0039] As described above, in this embodiment, the odor sensor 21 of the sensor unit 20 is installed on the underside of the flying object 10 below the four propellers 14, similar to the first embodiment, and the enclosure 22 surrounds the periphery of the odor sensor 21 so as to protect against the wind of the propellers 14. With this configuration, similar to the first embodiment, the air below the flying object 10 enters the inside of the enclosure 22 while being prevented from being blown away by the wind of the propellers 14, making it easier to detect odors.

[0040] <Example 3> Next, a sensor unit-equipped flying vehicle F according to a third embodiment of the present invention will be described with reference to Fig. 4. The sensor unit-equipped flying vehicle F of this embodiment differs from the second embodiment in that the fan 23 is installed in the exhaust port 29. Note that the same components as those in the second embodiment are given the same reference numerals and redundant explanations will be omitted.

[0041] The sensor unit-equipped aircraft F of this embodiment, like that of the second embodiment, comprises an aircraft 10 and a sensor unit 20, and the sensor unit 20 comprises an odor sensor 21, an enclosure 22, a fan 23, and a filter 24.

[0042] The fan 23 is attached to the exhaust port 29. The blades of the fan 23 are installed vertically. One side of the blades of the fan 23 faces the inside of the enclosure 22. The other side of the blades of the fan 23 faces the outside of the enclosure 22. The fan 23 draws in air from the inside of the blades and expels it to the outside of the blades. As a result, the fan 23 generates an air flow toward the odor sensor 21 inside the enclosure 22, similar to the second embodiment. The air below the flying object 10 enters the enclosure 22 from the open surface 25 and is discharged to the outside from the exhaust port 29 without being blown away by the wind generated by the propeller 14, similar to the second embodiment. The odor sensor 21 detects odor components of the air that has entered the enclosure 22, similar to the second embodiment, and outputs the detection result.

[0043] As described above, in this embodiment, the odor sensor 21 of the sensor unit 20 is installed on the underside of the flying object 10 below the four propellers 14, similar to the second embodiment, and the enclosure 22 surrounds the periphery of the odor sensor 21 so as to protect against the wind of the propellers 14. With this configuration, similar to the second embodiment, the air below the flying object 10 enters the enclosure 22 while being prevented from being blown away by the wind of the propellers 14, making it easier to detect odors.

[0044] <Other Examples> The present invention is not limited to the embodiments described above and illustrated in the drawings, and the following embodiments, for example, are also included within the technical scope of the present invention. (1) The enclosure 22 of the above embodiment may have a telescopic section 32 that telescopically expands and contracts in the vertical direction, as shown in FIG. 5. In this case, the height position of the open surface 25 is lower when the telescopic section 32 is in the expanded state than when it is in the contracted state. With this configuration, the telescopic section 32 is expanded to position the open surface 25 of the enclosure 22 closer to the ground, making it easier to detect odors. When the flying object 10 is flying, the telescopic section 32 can be contracted to prevent it from interfering with flight. The telescopic section 32 may have, for example, a telescopic structure. The telescopic section 32 may be provided in the vertical middle of the enclosure 22. (2) The enclosing portion 22 in the above embodiment may be tiltable to change the orientation of the open surface 25, as shown in Fig. 6. In this case, the open surface 25 may be oriented vertically downward in the moving state, and the enclosing portion 22 may be tilted in the hovering state to change the orientation of the open surface 25. With this configuration, the open surface 25 may be oriented toward the source of the odor, making it easier to detect the odor. The mechanism for changing the orientation of the open surface 25 may be provided below the expandable portion 32 described in the other embodiment (1). (3) The enclosure 22 in the above embodiment may be able to open so as to increase the open area of ​​the open surface 25, as shown in Fig. 7. In this case, the enclosure 22 may be closed in the moving state so as to reduce the open area of ​​the open surface 25, and may be opened in the hovering state so as to increase the open area of ​​the open surface 25. With this configuration, the open area of ​​the open surface 25 can be increased to make it easier to detect odors. The mechanism for increasing the open area of ​​the open surface 25 may be provided together with the mechanism for changing the orientation of the open surface 25 described in the other embodiment (2). (4) The enclosure 22 of the above embodiment may have a slender tubular portion 33 as shown in FIG. 8. In this case, the open surface 25 may be formed on the lower end of the tubular portion 33 or on the side surface of the lower end. With this configuration, the tubular portion 33 can be inserted into a narrow gap to facilitate detection of odors in the narrow gap. The tubular portion 33 may be a hose, a tube, or the like. The tubular portion 33 may have the expandable portion 32 described in the other embodiment (1). The tubular portion 33 may be provided below the expandable portion 32 described in the other embodiment (1). The lower end of the tubular portion 33 may be provided with a mechanism for changing the direction of the open surface 25 described in the other embodiment (2) or a mechanism for increasing the open area of ​​the open surface 25 described in the other embodiment (3). (5) In the above embodiments 1 to 3, the upper portion 26 and the lower portion 27 may be inclined at the same gradient. (6) In the above embodiment, the fan 23 is used as the airflow generating unit. However, the present invention is not limited to this, and a pump may be used as the airflow generating unit, or a fan and a pump may be used together. The position of the airflow generating unit is not limited to the position exemplified in the above embodiment, and may be changed as appropriate as long as the position is capable of generating a flow of air toward the odor sensor within the enclosure. (7) In the above embodiment, the fan 23 is an axial fan. However, the fan is not limited to this and may be a blower fan or a centrifugal fan. (8) In the above embodiment, the aircraft 10 has four propellers 14. However, the number of propellers of the aircraft may be two, three, five or more. (9) In the above embodiment, the aircraft 10 is a drone. However, the aircraft is not limited to this, and may be a small unmanned aircraft weighing 100 g or less that can be flown by remote control or automatic pilot, a radio-controlled helicopter that can be flown by remote control, etc. (10) The sensor unit 20 in the above embodiment may be supplied with electricity from the power supply unit of the aircraft 10. (11) The sensor unit 20 of the above embodiment may be attached to an aircraft that has already been manufactured, such as a commercially available aircraft, or may be manufactured as part of the aircraft during the manufacturing process. (12) In the above embodiment, the controller of the aircraft 10 may be provided with a control unit that controls the sensor unit 20. (13) In the above embodiment, the purpose of use of the sensor unit-equipped flying object F is illustrated. However, the purpose of use of the sensor unit-equipped flying object may be changed. [Explanation of symbols]

[0045] 10. Flying object 11...Main body 12…Bottom surface 13…Arm 14…Propeller 15…Landing legs 20...Sensor unit 21...Odor sensor 22...Enclosure 23…Fan 24…Filter 25...Open surface 26…Upper 27…Lower 28…Partition 29…Exhaust port 31...Opening 32…Extendable part 33...Tubular part F: Aircraft with sensor unit

Claims

1. A sensor unit installed on an aircraft that flies by rotating a plurality of propellers, The flying object flies by the plurality of propellers blowing air in a direction toward the underside of the flying object, an odor sensor installed on a bottom surface of the aircraft below the plurality of propellers; The sensor unit is provided with an enclosure portion that surrounds the odor sensor so as to protect against wind from the propeller and has an open surface that allows air to enter from below.

2. The sensor unit according to claim 1 , further comprising an airflow generating section that generates an airflow toward the odor sensor within the enclosure.

3. The sensor unit according to claim 1 , further comprising a filter for removing foreign matter from air flowing toward the odor sensor.

4. The enclosure has an expandable portion that expands and contracts in the vertical direction, The sensor unit according to claim 1 , wherein a height position of the open surface is lower when the expandable portion is in an expanded state than when the expandable portion is in a contracted state.

5. The sensor unit according to claim 1 , wherein the enclosure can be tilted to change the orientation of the open surface.

6. The sensor unit according to claim 1 , wherein the enclosure can be opened to increase an open area of ​​the open surface.

7. The enclosure has an elongated tubular portion, The sensor unit according to claim 1 , wherein the open surface is formed at a tip end of the tubular portion.

8. The sensor unit according to claim 2 , wherein the airflow generating unit is a fan that draws air below the flying object and sends it to the odor sensor.

9. A flying object that flies by rotating multiple propellers, A sensor-unit-equipped flying object having the sensor unit according to any one of claims 1 to 8 installed thereon.

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