Detection of Gas Drifting Near the Ground by Drone Hovering Over: Using Airflow Generated by Two Connected Quadcopters †

This paper describes the utilization of the downwashes of multicopters for gas-sensing applications. Multirotor drones are an attractive platform for sensing applications. Their high maneuverability enables swift scanning of a target area with onboard sensors. When equipped with a gas sensor and used for gas-sensing applications, however, the strong downwash produced by the rotors poses a problem. When a multicopter is hovering at a low altitude, gas puffs leaked from a gas source on the ground are all blown away. Here, we propose to use two multicopters connected by a rod or a string and place a gas sensor at the midpoint of the rod/string. The downwash generated by each multicopter spreads radially after it impinges on the ground. When two multicopters are connected, the airflows spreading radially along the ground from the two multicopters impinge at the center and are deflected in the upward direction. Gas puffs wafting near the ground surface between the two multicopters are carried by this upward airflow to the gas sensor. Experimental results are presented to show the soundness of the proposed method. The connected quadcopters hovering over an ethanol gas source was able to detect the gas even with a moderate cross-flow.