CN106628142B - Unmanned aerial vehicle for atmosphere sampling detection and early warning and monitoring of inflammable and explosive gas - Google Patents
Unmanned aerial vehicle for atmosphere sampling detection and early warning and monitoring of inflammable and explosive gas Download PDFInfo
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- CN106628142B CN106628142B CN201611168152.8A CN201611168152A CN106628142B CN 106628142 B CN106628142 B CN 106628142B CN 201611168152 A CN201611168152 A CN 201611168152A CN 106628142 B CN106628142 B CN 106628142B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/20—Air quality improvement or preservation, e.g. vehicle emission control or emission reduction by using catalytic converters
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Abstract
The invention discloses an unmanned aerial vehicle for atmospheric sampling detection and flammable and explosive gas early warning monitoring, which mainly comprises an unmanned aerial vehicle body, a GPS controller, an unmanned aerial vehicle main controller, a power system, an atmospheric sampling device, an atmospheric quality monitoring device, a flammable and explosive gas early warning monitoring device, a camera and an altimeter; the temperature sensor, the humidity sensor, the wind speed sensor and the wind direction sensor are installed in the atmosphere quality monitoring device according to requirements, and the unmanned aerial vehicle main controller is connected to ground terminal equipment through wireless communication. The invention not only can be used for environmental protection, but also can be used in the fields of fire protection, security supervision and the like, not only can fly, but also can walk on the ground, thereby realizing multiple purposes of one machine; the method has the advantages of high response speed and wide application range, has strong advantages in emergency rescue, and provides auxiliary decisions for decision making, commanding, on-site monitoring, control and other emergency management of emergencies.
Description
Technical Field
The invention relates to the technical field of environmental monitoring equipment, in particular to an unmanned aerial vehicle for atmospheric sampling detection and early warning and monitoring of inflammable and explosive gas.
Background
The unmanned aerial vehicle is an unmanned aerial vehicle which is controlled by radio remote control equipment or an onboard computer program control system. The unmanned aerial vehicle not only can complete tasks executed by the piloted plane, but also is more suitable for tasks which are not easy to execute by the piloted plane. In early days, unmanned aerial vehicles are mainly used in the military field, are not mature in the fields of emergency rescue and the like, have certain use limitations, and have great differences in different task requirements and use conditions, are inconvenient to carry in most cases and have high cost.
The unmanned aerial vehicle technology has been used in the atmosphere sampling, urban noise pollution monitoring, urban light pollution monitoring, and fixed pollution source smoke emission monitoring for the last two years, for example: the invention discloses a device and a method for monitoring urban light pollution based on Unmanned Aerial Vehicle (UAV) and provides CN 104121986A. The invention comprises an air flight module and a ground control module communicated with the air flight module, and is characterized in that: the aerial flight module is provided with a light intensity tester and a Doppler range radar, the light intensity tester and the Doppler range radar are connected with a central processing unit, and the central processing unit is connected with an aerial receiving and transmitting antenna; the publication number is CN205280697U discloses a portable atmospheric pollutants monitoring devices of high accuracy, including AD sampling module, temperature and humidity sensor, GPRS module, RF module and controller, AD sampling module carries out the sampling detection to the air pollutants, and the controller carries out analysis processing to the sample data, communicates with the host computer through GPRS module and RF module. The invention supports three power supplies of a solar battery, a lithium battery and a commercial power; the AD7606 high-speed high-precision sampling chip is adopted, so that the method has advantages in input protection, filtering treatment, sampling channels and sampling algorithms; the GPS module is arranged, so that the position where the device is placed can be accurately positioned, and the device can be conveniently searched outdoors.
When rescue is carried out on a fire scene, if flammable and explosive gas on the fire scene can be detected through advanced equipment, different rescue modes can be selected according to the types and the concentrations of the flammable and explosive gas, explosion and expansion of the fire range can be prevented, and unnecessary casualties can be reduced. Therefore, the application of the unmanned aerial vehicle can be further expanded, and the unmanned aerial vehicle can be applied to atmosphere detection, danger early warning, fire protection and the like, and has a large research space and development prospect for the comprehensive application of the aspects.
Disclosure of Invention
The invention solves the technical problem of providing the unmanned aerial vehicle for the atmospheric sampling detection and the early warning and monitoring of the inflammable and explosive gas, which can simultaneously sample the atmosphere, detect the inflammable and explosive gas early warning and quickly find a dangerous source, can also quickly detect the leakage of inflammable and explosive dangerous articles on a highway, and provides auxiliary decisions for decision making, command, on-site monitoring, control and other emergency management of emergencies.
In order to solve the technical problems, the invention adopts the following technical scheme:
the unmanned aerial vehicle for atmosphere sampling detection and flammable and explosive gas early warning monitoring mainly comprises an unmanned aerial vehicle body, a GPS controller, an unmanned aerial vehicle main controller, a power system, an atmosphere sampling device, an atmosphere quality monitoring device, a flammable and explosive gas early warning monitoring device, a camera and an altimeter; the unmanned aerial vehicle comprises an unmanned aerial vehicle body, wherein 1-4 propellers are arranged on the upper portion of the unmanned aerial vehicle body, 2 or 4 landing wheels are arranged at the bottom of the unmanned aerial vehicle body, an atmosphere sampling device and an atmosphere quality monitoring device are positioned outside the unmanned aerial vehicle body, a GPS controller, an unmanned aerial vehicle main controller, a power system and an altimeter are all positioned in the unmanned aerial vehicle body, and a camera is positioned at the front end of the unmanned aerial vehicle body; the power system comprises a power supply part and an electric motor driving part, a temperature sensor, a humidity sensor, a wind speed sensor and a wind direction sensor are installed in the atmosphere quality monitoring device according to requirements, and the inflammable and explosive gas early warning monitoring device is positioned in the unmanned aerial vehicle body and connected with the atmosphere sampling device; the system is characterized in that the atmosphere quality monitoring device, the inflammable and explosive gas early warning monitoring device, the camera, the GPS controller and the altimeter are all connected to the data processing device, the data processing device comprises a data acquisition module, a data storage module and a wireless data transmission module, the power system, the atmosphere sampling device, the atmosphere quality monitoring device, the inflammable and explosive gas early warning monitoring device and the data processing device are all connected to the unmanned aerial vehicle main controller through wires, the unmanned aerial vehicle main controller is connected to the ground terminal equipment through wireless communication, receives data information transmitted by the unmanned aerial vehicle through the ground terminal equipment, and performs operation control on the unmanned aerial vehicle main controller.
Furthermore, in the scheme, the unmanned aerial vehicle body forms a shell and an inner cavity for disposable injection molding film, and the shell is made of waterproof, fireproof and corrosion-resistant materials, so that the unmanned aerial vehicle is durable and has a wider application range.
Further, in the above scheme, the atmospheric sampling device comprises a sampling tank, an airflow cover and a filter screen, the sampling tank comprises an outer tank and an inner tank, the tank opening of the outer tank faces the flying direction of the unmanned aerial vehicle, the airflow cover and the filter screen are positioned at the outer side of the tank opening, an air inlet and an air outlet are formed in the inner tank, the air inlet is positioned at the rear of the inner tank (relative to the flying direction of the unmanned aerial vehicle), the air outlet is positioned at the front of the inner tank, an exhaust pipe is connected to the outside of the air outlet, 2 gas production pipes are further arranged on the inner tank, the gas production pipe I and the gas production pipe II are respectively connected to the flammable and explosive gas early warning monitoring device, the gas production pipe II is connected to the gas collection bottles, the gas collection bottles are not limited to one, a plurality of gas collection bottles are placed according to a turntable, and after one gas collection bottle is full of gas, the gas collection bottle is switched to the next gas collection bottle until the last gas collection bottle is full; the opening of the outer tank is provided with a switch control valve, and the switch control valve is connected to the unmanned aerial vehicle main controller. The sampling tank is combined with the outer tank through the inner tank, so that back pressure can be formed, the air flow pressure of the inner tank is reduced, the performance of the sampling device is more stable, and the operation is more reliable.
Further, in the above scheme, 4 propellers are arranged at the top of the unmanned aerial vehicle body, and the 4 propellers are driven by independently controlled electric motors respectively and used for controlling the height and speed of the unmanned aerial vehicle, and simultaneously controlling the unmanned aerial vehicle to transition from a moving state at an initial moment to a hovering state at a final moment.
Further, in the above scheme, the landing wheels can be automatically hidden inwards in a flying state and automatically extend outwards when working on land, and each landing wheel can freely rotate in a horizontal direction. The landing wheel upper portion connect retracting mechanism, actuating mechanism, control mechanism, sensor, landing gear arm and damper, retracting mechanism be for processing respectively in the front and back two backup pads of frame have the upper and lower spacing hole of installation sensor, worm wheel, rocking arm, worm, go up mechanical gag lever post and lower mechanical gag lever post and install on the frame, the one end and the worm wheel of rocking arm link firmly, the other end is connected with damper's one end, damper's the other end passes through the round pin hub connection with landing gear arm upper portion, threaded fit between worm wheel, worm, the one end and the actuating part of worm are connected, the sensor is installed in upper and lower spacing hole, frame fixed mounting is on the unmanned aerial vehicle organism on load bearing structure, the upper end of landing gear arm is connected with the unmanned aerial vehicle organism through the last load bearing pivot of unmanned aerial vehicle organism, landing gear arm's lower extreme is connected with the landing wheel, control mechanism passes through the cable and interfaces with actuating mechanism and sensor respectively.
Further, in the above scheme, the camera is a high-definition camera with light source compensation, and can rotate 360 degrees in all directions. The camera is used for collecting images, so that sensitive areas such as explosion points, ignition points and the like can be found in high altitude, danger signals can be timely transmitted, and dangerous situations can be monitored in real time.
Furthermore, in the scheme, the flammable and explosive gas early warning and monitoring device can carry out qualitative and quantitative detection on the flammable and explosive gas. Auxiliary decisions are provided for decision making, command, on-site monitoring, control and other emergency management of emergencies, and unnecessary casualties are avoided.
Further, in the above scheme, unmanned aerial vehicle still includes the APP that operates in handheld intelligent terminal, and the data information that the real-time receipt unmanned aerial vehicle sent back and issue backstage control command are controlled unmanned aerial vehicle's operation in real time.
The beneficial effects of the invention are as follows: the invention relates to a novel unmanned aerial vehicle which is developed aiming at the requirements of atmospheric sampling, meteorological monitoring, early warning and detection of inflammable and explosive gas, rapid detection of dangerous sources, emergency reconnaissance and the like, can be used for environmental protection, fire protection, security supervision and other fields, can fly and walk on the ground, is used for detecting the leakage of inflammable and explosive dangerous materials on a highway, and realizes multiple purposes; the system has the advantages of real-time monitoring and data transmission, high response speed and wide application range, has strong advantages in emergency rescue, and provides auxiliary decisions for decision making, command, field monitoring, control and other emergency management of emergencies. Has wide market demand and is easy to popularize and apply.
Drawings
FIG. 1 is a block diagram of the structure of the unmanned aerial vehicle of the present invention;
FIG. 2 is a schematic view of the structure of an atmospheric sampling device on the unmanned aerial vehicle of the present invention;
the device comprises a sampling tank, a first sampling tank, a second sampling tank, a gas collecting bottle, a first unmanned aerial vehicle flight direction, a second unmanned aerial vehicle flight direction, a gas flow direction and a flammable and explosive gas early warning and monitoring device, wherein the first sampling tank, the second sampling tank, the outer tank, the first sampling tank, the second sampling tank, the gas flow cover, the third sampling tank, the second sampling tank, the gas filtering screen, the gas inlet, the second sampling tank, the gas outlet, the third sampling tank, the fourth sampling tank, the first sampling tank, the second sampling tank and the gas collecting bottle.
Description of the embodiments
The unmanned aerial vehicle for atmosphere sampling detection and flammable and explosive gas early warning monitoring mainly comprises an unmanned aerial vehicle body, a GPS controller, an unmanned aerial vehicle main controller, a power system, an atmosphere sampling device, an atmosphere quality monitoring device, a flammable and explosive gas early warning monitoring device, a camera and an altimeter; the unmanned aerial vehicle body is formed by one-time injection molding to form a shell and an inner cavity, and the shell is made of waterproof, fireproof and corrosion-resistant materials, so that the unmanned aerial vehicle is durable and has a wider application range; the upper part of the unmanned aerial vehicle body is provided with 1-4 propellers which are driven by independently controlled electric motors respectively and used for controlling the height and the speed of the unmanned aerial vehicle and controlling the unmanned aerial vehicle to transition from a moving state at an initial moment to a hovering state at a final moment; the unmanned aerial vehicle bottom of the body is provided with 2 or 4 landing wheels, and atmospheric sampling device, atmospheric quality monitoring devices are located the unmanned aerial vehicle outside of the body, and GPS controller, unmanned aerial vehicle main control unit, driving system, altimeter all are located the unmanned aerial vehicle body, and the camera is located the positive front end of unmanned aerial vehicle body, and the camera is the high definition digtal camera of taking the light source compensation, can 360 omnidirectional rotations. The camera is used for collecting images, so that sensitive areas such as explosion points, ignition points and the like can be found in high altitude, danger signals can be timely transmitted, and dangerous situations can be monitored in real time; the power system comprises a power supply part and an electric motor driving part, a temperature sensor, a humidity sensor, a wind speed sensor and a wind direction sensor are arranged in the atmosphere quality monitoring device according to requirements, the flammable and explosive gas early warning and monitoring device is positioned in the unmanned plane body and connected with the atmosphere sampling device, and the flammable and explosive gas early warning and monitoring device can carry out qualitative and quantitative detection on flammable and explosive gas, so that auxiliary decisions are provided for decision making, command, field monitoring, control and other emergency management of sudden events, and unnecessary casualties are avoided; the system comprises an air quality monitoring device, a flammable and explosive gas early warning monitoring device, a camera, a GPS controller and an altimeter, wherein the air quality monitoring device, the flammable and explosive gas early warning monitoring device, the camera, the GPS controller and the altimeter are all connected to a data processing device, the data processing device comprises a data acquisition module, a data storage module and a wireless data transmission module, a power system, an air sampling device, the air quality monitoring device, the flammable and explosive gas early warning monitoring device and the data processing device are all connected to an unmanned aerial vehicle main controller through wires, the unmanned aerial vehicle main controller is connected to ground terminal equipment through wireless communication, receives data information transmitted by an unmanned aerial vehicle through the ground terminal equipment, and performs operation control on the unmanned aerial vehicle main controller. The unmanned aerial vehicle further comprises an APP running on the handheld intelligent terminal, receives data information sent back by the unmanned aerial vehicle in real time and issues a background control instruction, and the operation of the unmanned aerial vehicle is controlled in real time.
The atmospheric sampling device comprises a sampling tank 1, an airflow cover 2 and a filter screen 3, wherein the sampling tank 1 comprises an outer tank 1a and an inner tank 1B, a tank opening 1C of the outer tank faces the flying direction of an unmanned aerial vehicle, the airflow cover 2 and the filter screen 3 are positioned outside the tank opening 1C, an air inlet 4 and an air outlet 5 are formed in the inner tank 1B, the air inlet 4 is positioned behind the inner tank 1B (compared with the flying direction of the unmanned aerial vehicle, the direction indicated by an arrow A in the figure is the advancing direction of the unmanned aerial vehicle, the direction indicated by an arrow B is the airflow direction), the air outlet 5 is positioned in front of the inner tank 1B, an exhaust pipe 6 is connected outside the air outlet 5, 2 air taking pipes are further arranged on the inner tank 1B, namely a first air taking pipe 7 and a second air taking pipe 8, the first air taking pipe 7 is connected to a flammable and explosive gas early warning monitoring device C, the second air taking pipe 8 is connected to a gas collecting bottle 9, the gas collecting bottles 9 are not limited to be arranged in a rotary table, and the gas collecting bottles 9 are switched to the next gas collecting bottle 9 after the gas is collected until the gas is fully collected by the gas collecting bottle is completely; the opening 1c of the outer tank 1a is provided with a switch control valve, and the switch control valve is connected to the unmanned aerial vehicle main controller. The sampling tank is combined with the outer tank through the inner tank, so that back pressure can be formed, the air flow pressure of the inner tank is reduced, the performance of the sampling device is more stable, and the operation is more reliable.
The landing wheels can be automatically hidden inwards in a flying state and automatically extend outwards when working on land, and each landing wheel can freely rotate in the horizontal direction. The landing wheel upper portion connect retracting mechanism, actuating mechanism, control mechanism, sensor, landing gear arm and damper, retracting mechanism be for processing respectively in the front and back two backup pads of frame have the upper and lower spacing hole of installation sensor, worm wheel, rocking arm, worm, go up mechanical gag lever post and lower mechanical gag lever post and install on the frame, the one end and the worm wheel of rocking arm link firmly, the other end is connected with damper's one end, damper's the other end passes through the round pin hub connection with landing gear arm upper portion, threaded fit between worm wheel, worm, the one end and the actuating part of worm are connected, the sensor is installed in upper and lower spacing hole, frame fixed mounting is on the unmanned aerial vehicle organism on load bearing structure, the upper end of landing gear arm is connected with the unmanned aerial vehicle organism through the last load bearing pivot of unmanned aerial vehicle organism, landing gear arm's lower extreme is connected with the landing wheel, control mechanism passes through the cable and interfaces with actuating mechanism and sensor respectively. The unmanned aerial vehicle not only can be used for environmental protection, but also can be used in the fields of fire protection, safety supervision and the like, can fly, can walk on the ground, is used for detecting the leakage of inflammable and explosive dangerous goods on a highway, realizes multiple purposes, and has stronger advantages in emergency rescue.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (5)
1. The unmanned aerial vehicle for atmosphere sampling detection and flammable and explosive gas early warning monitoring mainly comprises an unmanned aerial vehicle body, a GPS controller, an unmanned aerial vehicle main controller and a power system, and is characterized by further comprising an atmosphere sampling device, an atmosphere quality monitoring device, a flammable and explosive gas early warning monitoring device, a camera and an altimeter; the bottom of the unmanned aerial vehicle body is provided with 2 or 4 landing wheels, the atmosphere sampling device and the atmosphere quality monitoring device are positioned outside the unmanned aerial vehicle body, the GPS controller, the unmanned aerial vehicle main controller, the power system and the altimeter are all positioned in the unmanned aerial vehicle body, and the camera is positioned at the front end of the unmanned aerial vehicle body; the power system comprises a power supply part and an electric motor driving part, a temperature sensor, a humidity sensor, a wind speed sensor and a wind direction sensor are installed in the atmosphere quality monitoring device according to requirements, the inflammable and explosive gas early warning monitoring device is located in an unmanned aerial vehicle body and is connected with an atmosphere sampling device, the atmosphere quality monitoring device, the inflammable and explosive gas early warning monitoring device, a camera, a GPS controller and an altimeter are all connected to a data processing device, the data processing device comprises a data acquisition module, a data storage module and a wireless data transmission module, the power system, the atmosphere sampling device, the atmosphere quality monitoring device, the inflammable and explosive gas early warning monitoring device and the data processing device are all connected to a main unmanned aerial vehicle controller through wires, and the main unmanned aerial vehicle controller is connected to a ground terminal device through wireless communication, receives data information transmitted by the unmanned aerial vehicle and performs operation control on the main unmanned aerial vehicle controller;
the unmanned aerial vehicle body is formed by one-time injection molding to form a shell and an inner cavity, and the shell is made of waterproof, fireproof and corrosion-resistant materials;
the atmospheric sampling device comprises a sampling tank (1), an airflow cover (2) and a filter screen (3), wherein the sampling tank (1) comprises an outer tank (1 a) and an inner tank (1 b), a tank opening (1 c) of the outer tank faces the flight direction of an unmanned aerial vehicle, the airflow cover (2) and the filter screen (3) are positioned outside the tank opening (1 c), an air inlet (4) and an air outlet (5) are formed in the inner tank (1 b), the air inlet (4) is positioned behind the inner tank (1 b) relative to the flight direction of the unmanned aerial vehicle, the air outlet (5) is positioned in front of the inner tank (1 b), an exhaust pipe (6) is connected to the outside of the air outlet (5), 2 air pipes are further arranged on the inner tank (1 b), namely a first air pipe (7) and a second air pipe (8), the first air pipe (7) is connected to an explosive gas early warning monitoring device, the second air pipe (8) is connected to a gas collecting bottle (9), and a switch control valve is arranged on the tank opening (1 c) of the outer tank (1 a) and is connected to the main control valve.
The unmanned aerial vehicle organism top is equipped with 4 screw, 4 screw be driven by the independently controlled electric motor respectively.
2. The unmanned aerial vehicle for atmospheric sampling detection and early warning and monitoring of flammable and explosive gases according to claim 1, wherein the landing wheels can be automatically hidden inwards in a flying state and automatically extend outwards when working on land, and each landing wheel can freely rotate in a horizontal direction.
3. The unmanned aerial vehicle for atmospheric sampling detection and flammable and explosive gas early warning monitoring according to claim 1, wherein the camera is a high-definition camera with light source compensation and can rotate 360 degrees in all directions.
4. The unmanned aerial vehicle for atmospheric sampling detection and flammable and explosive gas early warning and monitoring according to claim 1, wherein the flammable and explosive gas early warning and monitoring device can perform qualitative and quantitative detection on flammable and explosive gas.
5. The unmanned aerial vehicle for atmospheric sampling detection and flammable and explosive gas early warning monitoring according to claim 1, further comprising an APP running on a handheld intelligent terminal, receiving data information sent back by the unmanned aerial vehicle in real time and issuing a background control instruction, and performing real-time control on the operation of the unmanned aerial vehicle.
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| CN107170222A (en) * | 2017-05-30 | 2017-09-15 | 佛山市神风航空科技有限公司 | A kind of unmanned plane fire fighting system based on internet |
| CN108319248A (en) * | 2018-05-11 | 2018-07-24 | 天津职业技术师范大学 | A kind of substation monitoring system based on LabView and unmanned plane |
| CN109001372A (en) * | 2018-05-25 | 2018-12-14 | 南京工业职业技术学院 | A kind of unmanned aerial vehicle onboard gas-detecting device remotely controlled |
| CN109187884A (en) * | 2018-10-08 | 2019-01-11 | 西北农林科技大学 | A kind of Atmospheric components of anti-disturbance based on unmanned plane monitor system |
| CN109187117A (en) * | 2018-11-09 | 2019-01-11 | 易蕾 | A kind of unmanned plane for altitude air quality testing |
| CN110595847A (en) * | 2019-10-12 | 2019-12-20 | 中国农业大学 | Gas acquisition system, environment monitoring system, unmanned aerial vehicle and working method thereof |
| CN111152925A (en) * | 2020-01-20 | 2020-05-15 | 重庆三峡学院 | Unmanned aerial vehicle for detecting position of fire and explosion disaster point |
| CN113390510B (en) * | 2020-03-11 | 2022-04-19 | 珠海六和节能投资有限公司 | Wild animal epidemic disease propagation early warning device based on unmanned aerial vehicle monitoring |
| CN114280238A (en) * | 2021-12-22 | 2022-04-05 | 山西三合盛智慧科技股份有限公司 | Visual talkback gas detection robot based on night work and detection system thereof |
| EP4209771A1 (en) * | 2022-01-07 | 2023-07-12 | InfraServ GmbH & Co. Höchst KG | Device for taking samples in air, use and method |
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