US010209188B2

( 12 ) United States Patent Ng et al .

( 10 ) Patent No . : US 10 , 209 , 188 B2 ( 45 ) Date of Patent : Feb . 19 , 2019

( 54 ) METHODS AND SYSTEMS FOR INCORPORATING BIO - SENSORS IN DRONES TO WIRELESSLY DETECT BIOLOGICAL MOLECULES AND HAZARDS

( 71 ) Applicant : The United States of America as represented by the Secretary of the Navy , Washington , DC ( US )

( 72 ) Inventors : Kin Chiu Ng , Fresno , CA ( US ) ; Subrata Sanyal , Eastvale , CA ( US )

( 73 ) Assignee : The United States of America , as represented by the Secretary of the Navy , Washington , DC ( US )

( * ) Notice : Subject to any disclaimer , the term of this patent is extended or adjusted under 35 U . S . C . 154 ( b ) by 0 days .

( 52 ) U . S . CI . CPC . . . . . . . . . GOIN 21 / 636 ( 2013 . 01 ) ; B64C 39 / 024

( 2013 . 01 ) ; GOID 21 / 02 ( 2013 . 01 ) ; GOIN 21 / 645 ( 2013 . 01 ) ; GOIN 21 / 6454 ( 2013 . 01 ) ;

G08G 5 / 0013 ( 2013 . 01 ) ; G08G 5 / 0056 ( 2013 . 01 ) ; G08G 5 / 0069 ( 2013 . 01 ) ; G08G 5 / 0073 ( 2013 . 01 ) ; G08G 5 / 0086 ( 2013 . 01 ) ; B64C 2201 / 027 ( 2013 . 01 ) ; B64C 2201 / 126

( 2013 . 01 ) ; GOIN 2021 / 637 ( 2013 . 01 ) ; GOIN 2021 / 6415 ( 2013 . 01 ) ; GOIN 2021 / 6421

( 2013 . 01 ) ; GOIN 2021 / 6491 ( 2013 . 01 ) ; GOIN 2201 / 0214 ( 2013 . 01 )

( 58 ) Field of Classification Search CPC . . . . . . . . GO1J 3 / 02 ; GO1J 3 / 4406 ; GOIN 21 / 718 ;

GO1N 21 645 ; GOIN 21 / 6458 USPC . . . . . . . . 356 / 318 See application file for complete search history .

( 56 ) References Cited U . S . PATENT DOCUMENTS

2003 / 0085348 Al * 5 / 2003 Megerle . . . . . . . . . . . . . . GOIN 1 / 2202 250 / 287

2017 / 0003684 Al * 1 / 2017 Knudsen . . . . . . . . . . . . . . . GOIN 21 / 51 * cited by examiner Primary Examiner — Md M Rahman ( 74 ) Attorney , Agent , or Firm — Christopher A . Monsey ( 57 ) ABSTRACT Exemplary methods and systems for incorporating bio sensors in drones to wirelessly detect biological molecules and hazards without exposing an operator to harmful con taminants or conditions . Bio - sensors can incorporate simul taneous dual - detection methods to ensure accuracy of mea surements . Methods of operation include registering blank and safe air profiles for comparison against unknown air profiles to accurately determine the presence of bio - con taminants in unknown air .

9 Claims , 5 Drawing Sheets

( 21 ) Appl . No . : 15 / 801 , 296 ( 22 ) Filed : Nov . 1 , 2017

( 65 ) Prior Publication Data US 2018 / 0120227 A1 May 3 , 2018

Related U . S . Application Data ( 60 ) Provisional application No . 62 / 416 , 267 , filed on Nov .

2 , 2016 .

( 51 ) Int . CI . GO1J 3 / 30 GOIN 21 / 63 B64C 39 / 02 G08G 5 / 00 GO1D 21 / 02 GOIN 21 / 64

( 2006 . 01 ) ( 2006 . 01 ) ( 2006 . 01 ) ( 2006 . 01 ) ( 2006 . 01 ) ( 2006 . 01 )

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METHODS AND SYSTEMS FOR INCORPORATING BIO - SENSORS IN DRONES TO WIRELESSLY DETECT

BIOLOGICAL MOLECULES AND HAZARDS

illustrative embodiment exemplifying the best mode of carrying out the invention as presently perceived .

BRIEF DESCRIPTION OF THE DRAWINGS

CROSS - REFERENCE TO RELATED The detailed description of the drawings particularly APPLICATIONS refers to the accompanying figures in which :

FIG . 1 shows an overview of an exemplary drone - sensor The present application claims priority to U . S . Provisional system in an operational environment .

Patent Application Ser . No . 62 / 416 , 267 , filed Nov . 2 , 2016 , 2016 10 FIG . 2 shows an exemplary bio - sensor . entitled “ Biosensor for Drone Applications , ” the disclosure FIG . 3 shows an exemplary bio - sensor with an exemplary of which is expressly incorporated by reference herein . housing structure .

FIG . 4 is a block diagram illustrating interactions between STATEMENT REGARDING FEDERALLY various components of an exemplary drone - sensor system .

T 15 FIG . 5 shows an exemplary method for operating a SPONSORED RESEARCH OR DEVELOPMENT drone - sensor system .

The invention described herein includes contributions by DETAILED DESCRIPTION OF THE DRAWINGS one or more employees of the Department of the Navy made in performance of official duties and may be manufactured , 20 The embodiments of the invention described herein are used and licensed by or for the United States Government not intended to be exhaustive or to limit the invention to for any governmental purpose without payment of any precise forms disclosed . Rather , the embodiments selected royalties thereon . This invention ( Navy Case 200 , 385 ) is for description have been chosen to enable one skilled in the assigned to the United States Government and is available art to practice the invention . for licensing for commercial purposes . Licensing and tech - 25 FIG . 1 shows an exemplary drone - sensor system 51 in an nical inquiries may be directed to the Technology Transfer exemplary operating environment . A drone - sensor system Office , Naval Surface Warfare Center ( NSWC ) Corona 51 can include a drone 53 , a bio - sensor 55 , and a video Division , e - mail : CRNA _ CTO @ navy . mil . camera system 57 . A drone - sensor system 51 can be

remotely operated using a remote control station 61 through BACKGROUND AND SUMMARY OF THE 30 wirelessly transmitted control signals 63 . A video - camera

INVENTION system 57 or other sensors ( e . g . , the Global Positioning System ( GPS ) , infrared sensor , etc . ) can be used to gather

The present invention relates generally to a drone - sensor information about the operating environment , such as loca system capable of wirelessly detecting the presence of tion of the drone - sensor system 51 or a condition of interest hazardous agents without requiring people ( e . g . emergency 35 59 ( e . g . , a chemical spill ) . A drone - sensor system 51 can be responders ) from being endangered by those hazardous positioned near a condition of interest 59 so that a bio - sensor agents . The present invention can detect , monitor , and 55 can determine the presence of particular chemical or analyze passive and active threats and hazards at incident bio - agents in proximity to the condition of interest 59 . scenes in real time to rapidly identify hazardous agents and FIG . 2 shows an exemplary bio - sensor 55 which can be contaminants . Using a drone - sensor system can protect 40 used in a drone - sensor system . Biomolecules can enter the against multiple hazards by preventing unnecessary expo - bio - sensor 55 through a first air inlet 115 ( e . g . , an inverted sure to such hazards while also remotely scanning for signs funnel ) and stem 119 ( e . g . , a tube 3 " long and 0 . 25 " inner of life and decomposition to identify and locate casualties diameter ) . Baffles 117 in spiral stages prevent scattered light and fatalities to assist in evacuation near an accident or or droplets of water from entering the bio - sensor 55 . First air contamination scene . 45 inlet 115 and stem 119 can have a grooved surface for

According to an illustrative embodiment of the present facilitating drainage of liquids captured by baffles 117 . disclosure , a drone - sensor system can be attached to an Sampling chamber 121 can be a quartz rectangular pipe or unmanned aerial vehicle ( UAV ) . A system controller in the cell ( e . g . , a 0 . 5 " by 0 . 5 " by 4 " box , or a pipe with about a 20 drone - sensor system can transmit preprogrammed instruc - mL volume ) with apertures on opposite ends to allow air to tions to flight control systems to direct the drone - sensor 50 enter and exit . Part of sampling chamber 121 is coated with system towards a condition or object of interest . A remote a reflective coating 85 ( e . g . , aluminum with MgF , overcoat ) controller can allow an operator to manually control the to reflect both a laser beam 123 and fluorescence emissions . drone - sensor system or send new instructions to the drone - A non - reflective black holder 125 surrounds sampling cham sensor system . A plurality of sensors can allow the drone - ber 121 to help keep the humidity - level in the sampling sensor system to identify potential threats or conditions of 55 chamber 121 the same as that of the external atmosphere for interest so that the drone - sensor system can approach the preventing possible condensation in the chamber . Pump 89 threat or condition and use an onboard bio - sensor to detect can draw air through the bio - sensor 55 at a fixed rate for the presence of a biological agent . consistent testing results . The air passes through sample According to a further illustrative embodiment of the chamber 121 , enters pump 89 , and exits through a first air

present disclosure , a fluorescence - detector for sensing laser - 60 outlet 90 . excited - molecular - fluorescence and an absorption - detector Biomolecules can absorb laser wavelengths of about 275 for sensing laser - intensity can be used as simultaneous nm , resulting in a signature absorption signal . Biomolecules methods of detecting the presence of biomolecules in an air selectively absorb laser radiation , get excited , and generate sample . a signature fluorescence signal of about a 345 nm wave

Additional features and advantages of the present inven - 65 length . Reading a signature absorption signal and signature tion will become apparent to those skilled in the art upon fluorescence signal in tandem can increase the confidence consideration of the following detailed description of the for positive detection . To detect both signals , an exemplary

US 10 , 209 , 188 B2

bio - sensor 55 can include a fluorescence detector 105 ( e . g . to be removed from the first thermal - electric cooling ele a high quantum efficiency avalanche photodiode or array of ments / modules 147 by convective heat transfer to ambient photodiodes ) for sensing laser - excited - molecular - fluores - air as the drone - sensor system moves . A second air inlet 145 cence , and an absorption - detector 113 ( e . g . a silicon photo can allow air to pass through the housing container 141 to diode ) for sensing laser - intensity . Therefore , a higher fluo - 5 enter a first air inlet . A second air outlet 146 in housing rescence - signal represents more biomolecules ; a lower container 141 can connect to a first air outlet of a pump to absorption - signal also represents more biomolecules allow air to leave the bio - sensor 55 . because more of the laser - beam is absorbed . Directional FIG . 4 shows a block diagram of the component interac laser beam 123 is produced by a laser diode 91 ( e . g . a 1 - 100 tions between systems and subsystems of an exemplary mW radiation power diode emitting radiation of 275 nm 10 drone - sensor system . A first system controller 11 includes a wavelength ) which uses a diode driver 93 ( e . g . , a 50 - 200 mA processor 13 , first input / output ( I / O ) system 15 , power current power source ) . A first quartz lens 94 collimates and supply 17 , and memory 19 . The first system controller 11 directs the laser beam 123 into the sampling chamber 121 . The laser beam 123 is reflected within the sampling chamber interacts with other system components , performs calcula 121 by reflective coating 85 and reflective filter 107 ( e . g . a 15 tions , and allows for interaction with external systems 345 mu band pass filter reflective to 275 nm lasers ) . A through a first I / O system 15 ( e . g . , wired or wireless second quartz lens 101 collects the ~ 345 nm wavelength of connections ) . Computer readable instructions stored in fluorescent - light ( that is emitted by biomolecules that could memory 19 can be passed to the processor 13 to carry out be present in the contaminated air drawn in to the sampling actions or tasks . First I / O system 15 can be used to add , chamber 121 , and passed through the reflective filter 107 ) , 20 update , or remove computer readable instruction stored in and focuses the fluorescent light through a first spectral filter memory 19 . First system controller 11 can be connected to 103 that allows very - narrow band of the ~ 345 nm wave a first wireless transmitter 19 . A remote control station 61 length of light to go through and onto the fluorescence can allow an operator or computer program to wirelessly detector 105 . The laser beam 123 enters a small - channel 127 transmit operational instructions to a first system controller that has a small inner diameter ( e . g . , ~ 2 mm ) and designed 25 11 . A first wireless transmitter 19 can communicate with a to be aligned at about 45° to the vertical - axis , preventing the second wireless transmitter 23 within a remote control detector receiving light from first air inlet 115 . A second station 61 . A remote controller 21 can include a second spectral filter 111 allows only ~ 275 nm radiation - wavelength wireless transmitter 23 , a graphical display 25 , a second to pass through to the absorption - detector 113 . Direct air system controller 27 , and a second I / O system 29 . First sampling requires highly - sensitive detection because the 30 system controller 11 can be connected to flight control amount of biomolecules in air is expected to be very low . systems 31 , which control mechanical components for a The laser beam 123 enters the sampling chamber 121 at an drone ' s flight and movement . First controller 11 can be angle . The optical path of laser beam 123 is lengthened in connected to bio - sensor system 33 ( e . g . , a bio - sensor and the sampling chamber 121 by laser - reflection from the coupling cables ) such that a plurality of signals can be sent reflective coating 85 and the reflective filter 107 to maximize 35 to the first system controller 11 when bio - sensor system 33 the amount of air impacted by the laser beam 123 . A longer detects a biological agent or hazard . First controller 11 can optical path increases the number of biomolecules in the be connected to flight sensor systems 35 , which can include drawn air exposed to the laser beam 123 for absorption and a camera system 37 that can detect and identify environ excitation , thereby allowing for stronger and more reliable mental objects ( e . g . a barrel with a particular label ) or signal generation . 40 conditions ( e . g . a fire ) . In an exemplary usage , camera

A remote - controller 87 can interface with a signal - con - system 37 can detect an obstacle and transmit the location of troller 97 for data - processing , analog to digital ( A / D ) con the obstacle to the first system controller 11 , which can version , noise - filtering and for signal - average , with a system transmit a plurality of instructions to flight control system 31 controller within the drone - sensor system for GPS speed , so that flight control systems 31 can adjust the flight path of direction , geographical coordinates , photographing , and 45 the drone - sensor system to avoid the obstacle . Flight sensor video - taking ; and with a server at a remote control station system 35 can also include other sensors , such as an orien where date and time are registered , raw - data can be encoded , tation sensor 39 for determining the direction and tilt of the decoded , and kept in database ; and the data are presented in drone - sensor system . Additional embodiments can include user - defined formats with conventional software . Power to a an onboard GPS system for tracking a drone - sensor system bio - sensor 55 can be provided by the drone - sensor system ' s 50 or for guiding a drone - sensor system towards a particular power supply , or a battery 83 can provide an independent location . power source . Power to a fluorescence detector 105 can be F IG . 5 shows an exemplary method of operating a drone provided by a first power supply 99 , and power to an sensor system . At step 201 , drawing clean air through an air absorption - detector 113 can be provided by a second power inlet into a bio - sensor with a suction pump . At step 203 , supply 109 . All the components in bio - sensor 55 are 55 measuring the clean air and recording a first measurement mounted securely , and electronic circuitry is assembled on data to a blank profile . At step 205 , directing drone to a printed boards . known uncontaminated area . At step 207 , drawing known air

FIG . 3 shows an exemplary bio - sensor 55 with a housing through the air inlet into the bio - sensor with the suction structure . Bio - sensor can be enclosed in a sealed , robust pump . At step 209 , measuring the known air in the known housing container 141 with protection / insulation from ambi - 60 uncontaminated area and recording a second measurement ent - light , precipitation , vibration , and electro - magnetic or data to a first evaluation profile . At step 211 , directing drone other forms of radiation including heat . First and second to area of interest . At step 213 , drawing unknown air through thermal - electric cooling elements / modules sections 147 and the air inlet into the bio - sensor with the suction pump . At 149 , respectively can be used for cooling the electronic step 215 , measuring unknown air and recording a third components by conductively absorbing heat from the com - 65 measurement data to a second evaluation profile . At step ponents so they continue to function properly and generate 217 , comparing the first evaluation profile with the second meaningful signals . A plurality of heat sinks 143 allow heat evaluation profile to determine presence of biological con

US 10 , 209 , 188 B2

taminant . At step 219 , cleansing the bio - sensor with a high a housing structure comprising : purity methyl alcohol solution . an exterior and interior wall ;

Although the invention has been described in detail with a plurality of heat sinks ; and reference to certain preferred embodiments , variations and at least one thermal - electric cooling module ; modifications exist within the spirit and scope of the inven - 5 wherein the interior wall forms a second cavity section , tion as described and defined in the following claims . wherein the bio - sensor is within the second cavity

The invention claimed is : section , wherein the bio - sensor is mechanically 1 . A drone - sensor system comprising : coupled to the housing structure , wherein each of the an unmanned aerial vehicle ( UAV ) comprising : at least one thermal - electric cooling modules is in

a system controller comprising a processor , an input / 10 contact with the bio - sensor , wherein the plurality of output ( I / O ) system , memory , and a first power heat sinks are in contact with the at least one thermal supply ; electric cooling module , wherein heat generated by

a wireless transmitter electronically coupled to the the bio - sensor is transferred to the plurality of heat system controller , wherein the wireless transmitter is sinks through the at least one thermal - electric cool configured to receive a plurality of instructions from 15 ing module , wherein heat in the plurality of heat a remote control station and transfer the plurality of sinks is dissipated to surrounding air through con instruction to flight control systems , flight sensor vective heat transfer , wherein the housing structure is systems , and a bio - sensor ; mechanically coupled to the UAV .

the flight control systems electronically coupled to the 2 . The system of claim 1 , wherein the bio - sensor is system controller , wherein the flight control systems 20 electrically coupled to the UAV such that the first power maneuver the UAV based on instructions received supply powers the bio - sensor . from ; and 3 . The system of claim 1 , wherein the laser diode , the

flight sensor systems comprising a video - camera sys - fluorescence detector , the absorption detector , and the pump tem and an orientation sensor , wherein the flight are powered by a second , a third , a fourth , and a fifth power sensor systems are electronically coupled to the 25 supply , respectively . system controller ; 4 . The system of claim 1 , wherein the bio - sensor further

a bio - sensor comprising : comprises : a sampling chamber comprising a cell forming a first an air inlet funnel comprising a funnel section and a tube

cavity section , a first and second aperture on a first section , further comprising plurality of baffle on an and second end , respectively , a third and fourth 30 interior surface of the tube section . aperture , a reflective filter , and a reflective coating ; 5 . The system of claim 1 , wherein the flight sensor

a laser diode configured to generate and direct a laser systems further comprise a GPS system comprising a GPS beam at a first wavelength through the third aperture receiver . into the sampling chamber and through the fourth 6 . A method of detecting bio - molecules comprising : aperture out of the sampling chamber , wherein the 35 providing an unmanned aerial vehicle comprising a bio reflective filter is reflective to the first wavelength , sensor ; wherein as a first optical path of the laser beam drawing clean air through an air inlet into the bio - sensor passes through the sampling chamber , the first opti with a suction pump ; cal path reflects off of the reflective coating and measuring the clean air and recording a first plurality of reflective filter at least once each ; measurement data to a blank profile ;

a first spectral filter ; directing the UAV to a known uncontaminated area ; a fluorescence detector configured to detect a second drawing known air through the air inlet into a bio - sensor wavelength and generate a first plurality of detection with the suction pump ; signals ; measuring the known air in the known uncontaminated

a second spectral filter that allows the first wavelength 45 area and recording a second plurality of measurement to pass through ; data to a first evaluation profile ;

an absorption detector configured to detect the first directing the UAV to area of interest ; wavelength and generate a second plurality of detec drawing unknown air through the air inlet into a bio tion signals ; sensor with the suction pump ;

a signal controller configured to receive the plurality of 50 measuring unknown air and recording a third plurality of instructions from the system controller and transmit measurement data to a second evaluation profile ; and the first and second pluralities of detection signals to comparing the first evaluation profile with the second the system controller ; and evaluation profile to determine presence of biological

a pump , wherein the pump draws air into the sampling contaminants . chamber through the first aperture and draws air out 55 7 . The method of claim 6 , further comprising : of the sampling chamber through the second aper cleansing the bio - sensor with a high purity methyl alcohol ture ; solution after recording the third plurality of measure

wherein when the laser beam hits biomolecules in the ment data ; sampling chamber , the wavelength of the laser beam removing and replacing the suction pump with a new changes to the second wavelength ; wherein the 60 pump after recording the third plurality of measurement reflective filter and the first spectral filter allow the data . second wavelength to pass through to the fluores 8 . A method of detecting bio - molecules comprising : cence detector ; providing a drone - sensor system comprising :

wherein when the laser beam is not absorbed by an unmanned aerial vehicle ( UAV ) comprising : biomolecules in the sampling chamber , the laser 65 a system controller comprising a processor , an input / beam passes through the second spectral filter to the output ( I / O ) system , memory , and a first power absorption detector ; and supply

40

US 10 , 209 , 188 B2

a wireless transmitter electronically coupled to the system controller , wherein the wireless transmitter is configured to receive a plurality of instructions from a remote control station and transfer the plurality of instruction to flight control systems , 5 flight sensor systems , and a bio - sensor ;

the flight control systems electronically coupled to the system controller , wherein the flight control systems maneuver the UAV based on instructions

10 received from ; and flight sensor systems comprising a video - camera

system and an orientation sensor , wherein the flight sensor systems are electronically coupled to the system controller ; 15 a bio - sensor comprising :

a sampling chamber comprising a cell forming a first cavity section , a first and second aperture on a first and second end , respectively , a third and four aperture , a reflective filter , and a reflective coat - 20 ing ;

a laser diode configured to generate and direct a laser beam at a first wavelength through the third aper ture into the sampling chamber and through the fourth aperture out of the sampling chamber , 25 wherein the reflective filter is reflective to the first wavelength , wherein as a first optical path of the laser beam passes through the sampling chamber , the first optical path reflects off of the reflective coating and reflective filter at least once each ; 30

a first spectral filter ; a fluorescence detector configured to detect a second

wavelength and generate a first plurality of detec tion signals ;

a second spectral filter that allows the first wave - 35 length to pass through ;

an absorption detector configured to detect the first wavelength and generate a second plurality of detection signals ;

a signal controller configured to receive the plurality 40 of instructions from the system controller and transmit the first and second pluralities of detec tion signals to the system controller ; and

a pump , wherein the pump draws air into the sam pling chamber through the first aperture and draws 45 ws 45 air out of the sampling chamber through the second aperture ;

wherein when the laser beam hits biomolecules in the sampling chamber , the wavelength of the laser beam changes to the second wavelength ; wherein

the reflective filter and the first spectral filter allow the second wavelength to pass through to the fluorescence detector ;

wherein when the laser beam is not absorbed by biomolecules in the sampling chamber , the laser beam passes through the second spectral filter to the absorption detector ; and

a housing structure comprising : an exterior and interior wall ; a plurality of heat sinks ; and at least one thermal - electric cooling module ; wherein the interior wall forms a second cavity

section , wherein the bio - sensor is within the sec ond cavity section , wherein the bio - sensor is mechanically coupled to the housing structure , wherein each of the at least one thermal - electric cooling modules is in contact with the bio - sensor , wherein the plurality of heat sinks are in contact with the at least one thermal - electric cooling mod ule , wherein heat generated by the bio - sensor is transferred to the plurality of heat sinks through the at least one thermal - electric cooling module , wherein heat in the plurality of heat sinks is dissipated to surrounding air through convective heat transfer , wherein the housing structure is mechanically coupled to the UAV ;

drawing clean air through an air inlet funnel into the sampling chamber with the pump ;

measuring the clean air and recording a first plurality of measurement data to a blank profile ;

directing the UAV to a known uncontaminated area ; drawing known uncontaminated air through the air inlet

funnel into the sampling chamber with the pump ; measuring the known uncontaminated air in the known

uncontaminated area and recording a second plurality of measurement data to a first evaluation profile ;

directing the UAV to an area of interest ; drawing unknown air through the air inlet funnel into the

sampling chamber with the pump ; measuring unknown air and recording a third plurality of

measurement data to a second evaluation profile ; and comparing the first evaluation profile with the second

evaluation profile to determine presence of biological contaminants .

9 . The method of claim 8 , further comprising : cleansing the sampling chamber with a high purity methyl

alcohol solution after recording the third plurality of measurement data ;

removing and replacing the pump with a new pump after recording the third plurality of measurement data .

* * * *