一种用于口袋型四旋翼飞行器的气味感知方法的设计与实验评估。

Design and Experimental Evaluation of an Odor Sensing Method for a Pocket-Sized Quadcopter.

机构信息

Division of Systems Research, Yokohama National University, 79-5 Tokiwadai, Hodogaya-ku, Yokohama 240-8501, Japan.

Department of Systems and Control Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan.

出版信息

Sensors (Basel). 2018 Nov 1;18(11):3720. doi: 10.3390/s18113720.

DOI:10.3390/s18113720

PMID:30388833

原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC6263624/

Abstract

In this study, we design and verify an intake system using the wake of a pocket-sized quadcopter for the chemical plume tracing (CPT) problem. Solving CPT represents an important technique in the field of engineering because it can be used to perform rescue operations at the time of a disaster and to identify sources of harmful substances. An appropriate intake of air when sensing odors plays an important role in performing CPT. Hence, we used the air flow generated by a quadcopter itself to intake chemical particles into two alcohol sensors. By experimental evaluation, we verified that the quadcopter wake intake method has good directivity and can be used to realize CPT. Concretely, even at various odor source heights, the quadcopter had a three-dimensional CPT success rate of at least 70%. These results imply that, although a further development of three-dimensional CPT is necessary in order to conduct it in unknown and cluttered environments, the intake method proposed in this paper enables a pocket-sized quadcopter to perform three-dimensional CPT.

摘要

在这项研究中，我们设计并验证了一种使用口袋大小的四旋翼飞行器尾流的进气系统，用于化学羽流追踪（CPT）问题。解决 CPT 是工程领域的一项重要技术，因为它可以用于在灾难发生时进行救援行动，并识别有害物质的来源。在感知气味时适当吸入空气对于执行 CPT 起着重要作用。因此，我们使用四旋翼飞行器本身产生的气流将化学颗粒吸入两个酒精传感器中。通过实验评估，我们验证了四旋翼飞行器尾流进气方法具有良好的指向性，可以用于实现 CPT。具体来说，即使在各种气味源高度下，四旋翼飞行器的三维 CPT 成功率至少也有 70%。这些结果表明，尽管为了在未知和杂乱的环境中进行三维 CPT 需要进一步开发，但本文提出的进气方法使口袋大小的四旋翼飞行器能够进行三维 CPT。