Design, analysis and prototyping of a spherical drone for underground mines

Abstract

This paper aims to provide performance optimisation of a multirotor drone that is designed for underground spaces. Currently, drones are being used efficiently for various applications in surface fieldwork projects. But using drones for underground spaces is challenging because of confined space, GPS-denied environment and various air properties in underground spaces. In this paper, first, the designed and manufactured drone is discussed. Then, to improve the drone performance for defined missions, a sensitivity analysis is done over the effective design parameters of the drone components and air density as an environmentally effective parameter. The sensitivity analysis over the flight simulations shows that drone performance increases by increasing air density, while the optimised number of propellers blades is presented. The results show that by increasing the battery capacity, the flight time increases but the overall performance of the drone decrease. Also, the drone would be able to carry about 450 grams payload and payloads more than 450 grams can significantly decrease flight time. Finally, the results of sensitivity analysis lead to optimise the drone performance efficiently for the designed mission in underground mines.