CN105974934A - Air quality intelligent monitoring quadrotor formation system based on pilotage-following method - Google Patents
Air quality intelligent monitoring quadrotor formation system based on pilotage-following method Download PDFInfo
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- CN105974934A CN105974934A CN201610485243.8A CN201610485243A CN105974934A CN 105974934 A CN105974934 A CN 105974934A CN 201610485243 A CN201610485243 A CN 201610485243A CN 105974934 A CN105974934 A CN 105974934A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 52
- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000015572 biosynthetic process Effects 0.000 title abstract 2
- 238000004891 communication Methods 0.000 claims abstract description 20
- 239000000428 dust Substances 0.000 claims abstract description 10
- 229910052744 lithium Inorganic materials 0.000 claims abstract description 10
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims abstract description 8
- 230000000087 stabilizing effect Effects 0.000 claims abstract description 7
- 230000003993 interaction Effects 0.000 claims abstract description 3
- UCKMPCXJQFINFW-UHFFFAOYSA-N Sulphide Chemical compound [S-2] UCKMPCXJQFINFW-UHFFFAOYSA-N 0.000 claims description 9
- 239000008187 granular material Substances 0.000 claims description 9
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 8
- 230000036772 blood pressure Effects 0.000 claims description 6
- 230000001133 acceleration Effects 0.000 claims description 5
- 150000002641 lithium Chemical class 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 abstract 1
- 239000002245 particle Substances 0.000 abstract 1
- 239000007789 gas Substances 0.000 description 25
- 239000003570 air Substances 0.000 description 14
- 238000005516 engineering process Methods 0.000 description 7
- 230000009187 flying Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- LFQSCWFLJHTTHZ-UHFFFAOYSA-N Ethanol Chemical compound CCO LFQSCWFLJHTTHZ-UHFFFAOYSA-N 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 239000012080 ambient air Substances 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000002153 concerted effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 230000002459 sustained effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 239000011800 void material Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
The invention discloses an air quality intelligent monitoring quadrotor formation system based on a pilotage-following method, and the system is characterized in that the a master-slave quadrotor aircraft is provided with an air quality monitoring system, an air source image collection system, a wireless communication system, and a power module; the system also comprises a ground monitoring system carrying out data interaction with the wireless communication system; the air quality monitoring system comprises a dust particle sensor and an air sensor, which are used for monitoring the air quality; the air source image collection system comprises a camera for obtaining the image information of an air source, and an image transmission transceiver; the wireless communication system comprises a GPS and an nRF2401 wireless transceiver; the power module comprises a lithium battery which supplies power to all power elements, and a voltage reduction and stabilizing module connected with the lithium battery; the ground monitoring system comprises an upper computer which receives the data information of the air quality monitoring system and controls the flight attitude of the quadrotor aircraft; and the upper computer comprises an image receiver and a display.
Description
Technical field
The present invention relates to flying vehicles control technical field, particularly relate to a kind of air quality based on method of navigating-follow intelligence
Monitor four rotor fleet system.
Background technology
Quadrotor is also referred to as four-rotor helicopter, be a kind of have 4 propellers and propeller be staggered form distribution
Six degree of freedom drive lacking aircraft, can arrange in pairs or groups GoPro or other micro-camera recording airborne video.Four rotor flyings
Device uses four rotors as the direct driving force source of flight, and rotor is symmetrically distributed in four direction around body,
Four rotors are in sustained height plane, and the structure of four rotors is the most identical with radius, and four motors are symmetrically installed on
The bracket end of aircraft, support intermediate space lays flight-control computer and external equipment.
Multi-agent system is the set of multiple intelligent body composition, its target be the big and system Construction of complexity is become little,
Communicate each other and coordinate, it is easy to the system of management.Its research relate to the knowledge of intelligent body, target, technical ability,
Planning and how to make intelligent body take concerted efforts solution problem etc..Researcher mainly studies leading to alternately between intelligent body
The aspects such as letter, coordination, conflict resolution, emphasize that the tight colony between multiple intelligent body cooperates, rather than individual capability
Autonomy and performance, mainly illustrate how analyze, design and integrated multiple intelligent bodies constitute co-operating system.
Sensing technology is to obtain information about from natural information source, and it is processed (conversion) and the multidisciplinary friendship identified
The modern science of fork and engineering, it relates to sensor (also known as transducer), information processing and the planning and designing of identification, opens
Send out, make/build, test, apply and evaluate the activities such as improvement.Sensing technology is in compliance with theory of information and systematology, its bag
Contain numerous new and high technology widely used by numerous industries.Sensor is commonly divided into according to its basic perceptive function
Temperature-sensitive element, light-sensitive element, gas sensor, force sensing element, magneto sensor, dew cell, acoustic sensor, lonizing radiation
The ten big classes such as sensing element, color sensor and the quick element of taste.Gas sensor is a kind of the composition of gas, concentration etc. to be believed
Breath is converted into the device of the information that can be utilized by personnel, instrument and meter, computer etc., surface-sensitive type gas sensor
Can detect CO, NO2, freon etc. imflammable gas, volumetric void fraction type semiconductor gas sensor can detect liquefaction stone
The gases such as oil gas, ethanol, combustion furnace tail-gas.
Radio communication is a kind of communication that the characteristic utilizing electromagnetic wave signal to propagate in free space carries out information exchange
Mode, in recent years in the information communications field, with fastest developing speed, most widely used is exactly wireless communication technology.
Summary of the invention
The technical problem to be solved in the present invention is: use a kind of sky based on method of navigating-follow that can detect any spatial domain in real time
Makings amount intellectual monitoring four rotor fleet system.
The present invention solves that technical problem is adopted the technical scheme that present in known technology:
A kind of air quality intellectual monitoring four rotor fleet system based on method of navigating-follow, including: principal and subordinate four rotor flying
Device and for controlling the flight control system of principal and subordinate's quadrotor flight attitude；It is characterized in that:
Described principal and subordinate's quadrotor is equipped with air-quality monitoring system, source of the gas image acquisition system, channel radio
Communication system, power module；The most also include carrying out the ground monitoring system of data interaction with above-mentioned wireless communication system, its
In:
Described air-quality monitoring system includes the dust granules sensor for monitoring air quality and gas sensor；
Described source of the gas image acquisition system includes photographic head and the image transmitting transmitting-receiving of the image information for obtaining gas source
Device；
Described wireless communication system includes GPS and nRF2401 wireless transceiver；
Described power module includes the lithium battery being powered each consuming components, and the blood pressure lowering being connected with this lithium battery
And Voltage stabilizing module；
Described ground monitoring system includes receiving the data message of air-quality monitoring system and to principal and subordinate's quadrotor
The host computer that is controlled of flight attitude；Image receiver and display is included at this host computer.
Further: described flight control system includes what STM32 processor electrically connected with described STM32 processor:
Three-axis gyroscope, 3-axis acceleration sensor, barometer, light flow sensor and electron speed regulator, three-axis gyroscope, three
Axle acceleration sensor, barometer, described electron speed regulator is connected with principal and subordinate's quadrotor motor.
Further: described air-quality monitoring system includes oxycarbide sensor, sulfide sensor, dust granules
Sensor.
Further: the output voltage of described lithium battery is 11.1V；The output voltage of described blood pressure lowering and Voltage stabilizing module be 5V and
3.3V。
The present invention has the advantage that with good effect:
1, simple in construction, bears a heavy burden moderate, low cost.
2, achieve the automatic monitoring of specific environment, thus personnel's injury and the property loss caused by environment can be avoided.
3, can automatic tracing source of the gas complete evidence obtaining task.
4, use wireless charging technology, it is not necessary to too much human intervention, thus human resources can be saved.
Accompanying drawing explanation
Fig. 1 is the overall system diagram of the preferred embodiment of the present invention；
Fig. 2 is host structure chart in the preferred embodiment of the present invention；
Fig. 3 is from machine structure chart in the preferred embodiment of the present invention；
Fig. 4 is the air quality detection system structure chart in the preferred embodiment of the present invention.
In figure, 1-tetra-rotor, 2-tetra-rotor flying support.
Detailed description of the invention
For the summary of the invention of the present invention, feature and effect can be further appreciated that, hereby enumerate following example, and coordinate accompanying drawing
Describe in detail as follows:
Refer to Fig. 1 to Fig. 4, a kind of air quality intellectual monitoring four rotor fleet system based on method of navigating-follow, bag
Include:
Principal and subordinate's quadrotor, air-quality monitoring system, source of the gas image acquisition system, wireless communication system, power supply
Module and ground monitoring system, wherein:
By flight control system, principal and subordinate's quadrotor guarantees that its flight attitude is stablized and for carrying air quality monitoring
System；
Air-quality monitoring system includes dust granules sensor, gas sensor, for the monitoring of air quality；
Source of the gas image acquisition system includes photographic head, image transmitting transceiver, for obtaining the image information of gas source；
Wireless communication system includes GPS and nRF2401 wireless transceiver, is used for realizing main frame and the location from machine and master
Machine, from the communication between machine and host computer；
Power module includes lithium battery, blood pressure lowering and Voltage stabilizing module, it is achieved the power supply to subsystems；
Ground monitoring system includes PC control and data display interface, image receiver and display, it is achieved host computer
Control the attitude of quadrotor and show air quality monitoring data and source of the gas image collection image.
As shown in Figures 2 and 3: principal and subordinate four rotor includes four rotors 1 and four rotor flying supports 2 respectively；
Above-mentioned flight control system include STM32 processor, three-axis gyroscope, 3-axis acceleration sensor, barometer,
Light flow sensor and electron speed regulator, three-axis gyroscope, 3-axis acceleration sensor, barometer, light flow sensor all with
STM32 processor is connected, and electron speed regulator is also connected with principal and subordinate's quadrotor motor.
Above-mentioned air-quality monitoring system includes oxycarbide sensor, sulfide sensor, dust granules sensor
(PM2.5 and PM10).
Above-mentioned power module includes lithium battery (11.1V), 5V and 3.3V blood pressure lowering and Voltage stabilizing module.
Above-mentioned communication system includes GPS and nRF2401 wireless transceiver, be used for realize main frame and the location from machine and
Main frame, from the communication between machine and host computer.
Above preferred embodiment mainly includes flight system and ground host computer, and flight system includes main frame and from machine and lift-launch
Air-quality monitoring system, main frame is responsible for monitoring air quality judge source of the gas orientation, is responsible for shooting image from machine, flies
The data of row system are all to be carried out the exchange of information by wireless communication module and ground host computer, meanwhile, main frame with from machine
Also there is the exchange of information to guarantee the steady and collaborative of flight.
After principal and subordinate's quadrotor receives the instruction of host computer, main frame and simultaneously taking off from chance.In flight course, fly
Row control system can control the stable of principal and subordinate's quadrotor and safe flight.Treat that principal and subordinate's quadrotor flies one
After determining height, flight control system control it and hover in the air.Now, the air-quality monitoring system on main frame is automatic
Start, STM32 microprocessor control sensor acquisition ambient air quality data, turned by radio port and A/D
The analog signals collected is converted into digital quantity signal and is shown by the host computer interface of ground monitoring system by die change block
Out, meanwhile, the sulfide sensor in four orientation can control through STM32 microprocessor, shows in host computer interface
The orientation of dusty gas concentration over-standard is shown, receives control instruction from chance, automatically fly to the orientation of its concentration over-standard,
And shoot evidence obtaining, its image is transferred back to ground monitoring system by image transmitting emitter.
Air-quality monitoring system includes dust granules sensor, gas sensor, for the monitoring of air quality, respectively passes
Sensor connects STM32 microprocessor by A/D modular converter.STM32 microprocessor passes through PB mouth and I2C interface
Sensor monitoring data are sent to ground monitoring system by wireless communication module.In quadrotor flight course,
Air-quality monitoring system can monitor dust in air granule, oxycarbide (CO) and sulfide (SO2) content in real time,
And shoot image forensics.
The work process of this preferred embodiment is:
By host computer, principal and subordinate's quadrotor is sent instruction of taking off so that main frame and simultaneously taking off to certain position from machine,
When main frame is in floating state, its air-quality monitoring system carried starts automatically, detects the air matter in this region
Amount, wherein the content data of sulfide oxycarbide and dust granules (PM2.5 and PM10) can be passed back by wireless module
To ground surface end；Meanwhile, the sulfide sensor being distributed in orientation, four, the four corners of the world can transfer back to data upper
Machine, through ground monitoring system programmed algorithm and setting sulfide gas threshold ratio relatively after judge the gas in which orientation
Content overproof, main frame can fly to source of the gas from machine to sending the instruction to the orientation flight that exceeds standard from machine and passed by image data
Return ground monitoring system, then, host computer send instruction, fly back initial hovering position from machine, finally, main frame and from
Machine lands simultaneously, and task completes.
Above embodiments of the invention are described in detail, but described content has been only presently preferred embodiments of the present invention, no
The practical range for limiting the present invention can be considered.All impartial changes made according to the present patent application scope and improvement etc.,
Within all should still belonging to the patent covering scope of the present invention.
Claims (4)
1. an air quality intellectual monitoring four rotor fleet system based on method of navigating-follow, including: principal and subordinate four rotor
Aircraft and for controlling the flight control system of principal and subordinate's quadrotor flight attitude；It is characterized in that:
Described principal and subordinate's quadrotor is equipped with air-quality monitoring system, source of the gas image acquisition system, channel radio
Communication system, power module；The most also include carrying out the ground monitoring system of data interaction with above-mentioned wireless communication system, its
In:
Described air-quality monitoring system includes the dust granules sensor for monitoring air quality and gas sensor；
Described source of the gas image acquisition system includes photographic head and the image transmitting transmitting-receiving of the image information for obtaining gas source
Device；
Described wireless communication system includes GPS and nRF2401 wireless transceiver；
Described power module includes the lithium battery being powered each consuming components, and the blood pressure lowering being connected with this lithium battery
And Voltage stabilizing module；
Described ground monitoring system includes receiving the data message of air-quality monitoring system and to principal and subordinate's quadrotor
The host computer that is controlled of flight attitude；Image receiver and display is included at this host computer.
Air quality intellectual monitoring four rotor fleet system based on method of navigating-follow the most according to claim 1, its
It is characterised by:
Described flight control system includes what STM32 processor electrically connected with described STM32 processor: three axle tops
Spiral shell instrument, 3-axis acceleration sensor, barometer, light flow sensor and electron speed regulator, three-axis gyroscope, three axles accelerate
Degree sensor, barometer, described electron speed regulator is connected with principal and subordinate's quadrotor motor.
Air quality intellectual monitoring four rotor fleet system based on method of navigating-follow the most according to claim 1, its
It is characterised by:
Described air-quality monitoring system includes oxycarbide sensor, sulfide sensor, dust granules sensor.
4. form into columns according to air quality intellectual monitoring four rotor based on method of navigating-follow described in any one of claim 1-3
System, it is characterised in that:
The output voltage of described lithium battery is 11.1V；The output voltage of described blood pressure lowering and Voltage stabilizing module is 5V and 3.3V.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610485243.8A CN105974934A (en) | 2016-06-24 | 2016-06-24 | Air quality intelligent monitoring quadrotor formation system based on pilotage-following method |
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| CN201610485243.8A CN105974934A (en) | 2016-06-24 | 2016-06-24 | Air quality intelligent monitoring quadrotor formation system based on pilotage-following method |
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| CN201610485243.8A Pending CN105974934A (en) | 2016-06-24 | 2016-06-24 | Air quality intelligent monitoring quadrotor formation system based on pilotage-following method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106325301A (en) * | 2016-10-27 | 2017-01-11 | 浙江理工大学 | Quadrotor formation flight system and formation method based on GPS and ZigBee |
| CN106872645A (en) * | 2017-03-13 | 2017-06-20 | 南昌工程学院 | A kind of air quality detecting device based on solar electric power mixed mover mother's unmanned plane |
| CN106940210A (en) * | 2017-05-08 | 2017-07-11 | 佛山市神风航空科技有限公司 | A kind of environmental monitoring unmanned plane |
| CN107807661A (en) * | 2017-11-24 | 2018-03-16 | 天津大学 | Four rotor wing unmanned aerial vehicle formation demonstration and verification platforms and method in TRAJECTORY CONTROL room |
| CN109470613A (en) * | 2018-11-12 | 2019-03-15 | 湖南电气职业技术学院 | A kind of unmanned plane PM2.5 detection device based on complementary filter posture blending algorithm |
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Application publication date: 20160928 |