CN107917988A - A kind of toxic and harmful gas detecting system and method based on multi-rotor unmanned aerial vehicle - Google Patents
A kind of toxic and harmful gas detecting system and method based on multi-rotor unmanned aerial vehicle Download PDFInfo
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- 231100000331 toxic Toxicity 0.000 title claims abstract description 77
- 230000002588 toxic effect Effects 0.000 title claims abstract description 77
- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000001514 detection method Methods 0.000 claims abstract description 103
- 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 abstract description 31
- 238000004891 communication Methods 0.000 claims abstract description 7
- 238000012856 packing Methods 0.000 claims description 10
- 231100000614 poison Toxicity 0.000 claims description 7
- 230000007096 poisonous effect Effects 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 3
- 239000007789 gas Substances 0.000 abstract description 216
- 238000009434 installation Methods 0.000 abstract description 7
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 238000012544 monitoring process Methods 0.000 abstract description 2
- 238000007689 inspection Methods 0.000 description 3
- QBQNMIPDPJEZHR-UHFFFAOYSA-N 4-[(4-hydroxyphenyl)methoxymethyl]-2-[(4-hydroxyphenyl)methyl]phenol Chemical compound C1=CC(O)=CC=C1COCC1=CC=C(O)C(CC=2C=CC(O)=CC=2)=C1 QBQNMIPDPJEZHR-UHFFFAOYSA-N 0.000 description 2
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- 230000005518 electrochemistry Effects 0.000 description 1
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- 230000007613 environmental effect Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 239000002440 industrial waste Substances 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000000505 pernicious effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
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- G01N33/0009—General constructional details of gas analysers, e.g. portable test equipment
- G01N33/0027—General constructional details of gas analysers, e.g. portable test equipment concerning the detector
- G01N33/0031—General constructional details of gas analysers, e.g. portable test equipment concerning the detector comprising two or more sensors, e.g. a sensor array
- G01N33/0032—General constructional details of gas analysers, e.g. portable test equipment concerning the detector comprising two or more sensors, e.g. a sensor array using two or more different physical functioning modes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
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- 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
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Abstract
The present invention provides a kind of toxic and harmful gas detecting system and method based on multi-rotor unmanned aerial vehicle, the system includes multi-rotor unmanned aerial vehicle, earth station system and toxic and harmful gas detection device, and toxic and harmful gas detection device is connected by POGOPIN modes with multi-rotor unmanned aerial vehicle；Wherein, multi-rotor unmanned aerial vehicle includes flight control system, and flight control system and earth station system are by data link system into row data communication；Earth station system obtains the Flight Condition Data of multi-rotor unmanned aerial vehicle and the gas concentration data of toxic and harmful gas detection device collection to realize from main task flight course planning by wireless data link system.Toxic and harmful gas detection device is connected by POGOPIN modes with multi-rotor unmanned aerial vehicle in the present invention can carry out Fast Installation connection, shorten installation time during live execution task, also multiple gases can be detected at the same time, and by the data of monitoring by data link transmission to earth station system to get rid of the danger in time.
Description
Technical field
The present invention relates to toxic and harmful gas detection technique field, more particularly to it is a kind of based on the poisonous of multi-rotor unmanned aerial vehicle
Harmful gas detection system and method.
Background technology
Multi-rotor unmanned aerial vehicle, is a kind of special unmanned plane with three and above rotor shaft.It passes through on each axis
Motor rotate, rotor is driven, so that a liter thrust is produced, by varying the relative rotation speed between different rotors, thus it is possible to vary single
The size of axis propulsive force, so as to control the running orbit of aircraft.
Multi-rotor unmanned aerial vehicle application range is than relatively limited at present, in terms of being concentrated mainly on consumer entertainment and sector application；
It can be used for forest, public safety, first aid, mapping etc. in sector application.As Development of Urbanization is more and more rapider, sending out
The industrial waste gas that is produced during exhibition, PM2.5, fire-fighting toxic and harmful gas etc. drastically influence the life health of people.
The toxic and harmful gas detection carried out at present using unmanned plane is mainly using Storage Time in Gas Collecting Bag, is pumped into formula gas biography
The modes such as sensor are realized.It is that collection bag is installed on unmanned plane by the way of Storage Time in Gas Collecting Bag, unmanned plane passes through to be detected
Sample gas are collected during the overhead of region, then ground surface end staff carries out reprocessing analysis to determine gas to the gas gathered
Body situation, this mode can there are gas attack collection bag, collect gas it is insufficient, cannot repeat detection, it is of high cost, operation
The problem of complicated.Another way is to use to be pumped into formula gas sensor mode, will be pumped into formula gas sensor and is installed on nobody
On machine, unmanned plane realizes gathering in real time for gas into gas sensor in region to be detected by being pumped into air.This mode
In pump be vulnerable part, easily break down during the work time, and this failure can cause the gas data of detection inaccurate,
So as to cause earth station system to judge that decision-making malfunctions.
The content of the invention
The shortcomings that present invention is directed to existing way, proposes a kind of toxic and harmful gas detection system based on multi-rotor unmanned aerial vehicle
System and method, to solve the above problem existing in the prior art.
A kind of according to an aspect of the invention, there is provided toxic and harmful gas detection system based on multi-rotor unmanned aerial vehicle
System, including multi-rotor unmanned aerial vehicle, earth station system and toxic and harmful gas detection device：
The toxic and harmful gas detection device includes the gas sensor of collection plate and at least eight detection gas with various,
Each gas sensor is installed on the collection plate using base plug-in；
The toxic and harmful gas detection device is connected by POGOPIN modes with the multi-rotor unmanned aerial vehicle；
The earth station system obtains Flight Condition Data and the institute of the multi-rotor unmanned aerial vehicle by data link system
State the gas concentration data of toxic and harmful gas detection device collection.
Wherein, the earth station system is carried out with the flight control system in multi-rotor unmanned aerial vehicle by wireless data link system
Data communication.
Further, the toxic and harmful gas detection device further includes controller, and each gas sensor passes through
Topological mode is connected with the controller, in particular to the transmitting terminal RXD in each gas sensor and the controller
Transmitting terminal TXD between concatenate an isolating diode.
Further, gas of each gas sensor using serial mode to flight control system output collection
Concentration data.
Further, each gas sensor interior is respectively provided with ID number for the toxic and harmful gas detection device
Judge the type of the gas sensor detection gas.
Further, the gas sensor is powered using unified power supply mode；
If the gas sensor is eight, six gas sensors therein are detected using electrochemical means principle
Gas, two gas sensors therein use infrared detection principle detection gas.
According to another aspect of the present invention, there is provided a kind of toxic and harmful gas detection side based on multi-rotor unmanned aerial vehicle
Method, comprises the following steps that：
The multi-rotor unmanned aerial vehicle start of carry toxic and harmful gas detection device has so that perform detection target area is poisonous
The aerial mission of evil gas；
The flight control system satellite receiver system that the toxic and harmful gas detection device passes through the multi-rotor unmanned aerial vehicle
The detection toxic and harmful gas instruction sent；
The gas sensor of at least eight detection gas with various carries out gas collecting, the toxic and harmful gas detection device
The gas gathered is analyzed, is handled to obtain corresponding gas concentration data, then transmits the gas concentration data extremely
The flight control system；
Gas concentration data are carried out uniform packing by the flight control system, and according to Data Transport Protocol by the data of packing
Earth station system is sent to by wireless data link system；
The earth station system unpacks the data of packing, is analyzed, being handled to obtain and store the gas concentration
Data, concurrently sell the instruction that the toxic and harmful gas detection device stops collection gas；
The toxic and harmful gas detection device stops collection gas, and flight control system control multi-rotor unmanned aerial vehicle is maked a return voyage；
Wherein, the toxic and harmful gas detection device further includes collection plate, and each gas sensor uses base
Plug-in is installed on the collection plate；
The toxic and harmful gas detection device is connected by POGOPIN modes with the multi-rotor unmanned aerial vehicle；
The earth station system obtains Flight Condition Data and the institute of the multi-rotor unmanned aerial vehicle by data link system
State the gas concentration data of toxic and harmful gas detection device collection.
Further, the toxic and harmful gas detection device further includes controller, and each gas sensor passes through
Topological mode is connected with the controller, in particular to the transmitting terminal RXD in each gas sensor and the controller
Transmitting terminal TXD between concatenate an isolating diode.
Further, gas of each gas sensor using serial mode to flight control system output collection
Concentration data.
Further, each gas sensor interior is respectively provided with ID number for the toxic and harmful gas detection device
Judge the type of the gas sensor detection gas.
Further, the gas sensor is powered using unified power supply mode；
If the gas sensor is eight, six gas sensors therein are detected using electrochemical means principle
Gas, two gas sensors therein use infrared detection principle detection gas.
Compared with prior art, the beneficial effects of the invention are as follows：
1st, toxic and harmful gas detection device is connected by POGOPIN modes with multi-rotor unmanned aerial vehicle can carry out Fast Installation
Connection, shortens installation time during live execution task, and also at least eight kinds of gases can be detected at the same time, and will monitoring
Data earth station system is transferred to get rid of the danger in time by wireless data link；
2nd, eight kinds of gas sensors are installed on a collection plate using independent mode, and it is dense can to detect eight kinds of gases at the same time
Degree, integrated level is high, and cost is lower, and application range is wider；
3rd, gas sensor using base plug-in install, can quickly be replaced with ensure to greatest extent more rotors without
Man-machine application range.
The additional aspect of the present invention and advantage will be set forth in part in the description, these will become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
Of the invention above-mentioned and/or additional aspect and advantage will become from the following description of the accompanying drawings of embodiments
Substantially and it is readily appreciated that, wherein：
Fig. 1 is a kind of structure of toxic and harmful gas detecting system based on multi-rotor unmanned aerial vehicle of the embodiment of the present invention one
Figure；
Fig. 2 is the multi-rotor unmanned aerial vehicle structure chart in the embodiment of the present invention one；
Fig. 3 is the toxic and harmful gas structure of the detecting device figure in the embodiment of the present invention one；
Fig. 4 is the topology diagram of eight kinds of gas sensor serial communications in the embodiment of the present invention one；
Fig. 5 is that a kind of toxic and harmful gas detecting system detection based on multi-rotor unmanned aerial vehicle of the embodiment of the present invention one has
The flow chart of malicious pernicious gas.
Embodiment
In order to make those skilled in the art more fully understand the present invention program, below in conjunction with the embodiment of the present invention
Attached drawing, is clearly and completely described the technical solution in the embodiment of the present invention.
In some flows of description in description and claims of this specification and above-mentioned attached drawing, contain according to
Particular order occur multiple operations, but it should be clearly understood that these operation can not occur herein according to it is suitable
Sequence is performed or performed parallel, and the sequence number such as 101,102 etc. of operation, be only used for distinguishing each different operation, sequence number
Any execution sequence is not represented for itself.In addition, these flows can include more or fewer operations, and these operations can
To perform or perform parallel in order.It should be noted that the description such as " first " and " second " herein, is to be used to distinguish not
Message together, equipment, module etc., do not represent sequencing, it is different types also not limit " first " and " second ".
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only a part of example of the present invention, is implemented instead of all the embodiments.It is based on
Embodiment in the present invention, the every other implementation that those skilled in the art are obtained without creative efforts
Example, belongs to the scope of protection of the invention.
Therefore, to solve the above-mentioned problems, there is provided a kind of toxic and harmful gas detection system based on multi-rotor unmanned aerial vehicle
System.
Embodiment one
As shown in Figure 1, the embodiment of the present invention one provides a kind of toxic and harmful gas detection based on multi-rotor unmanned aerial vehicle
System, including multi-rotor unmanned aerial vehicle 101, flight control system 102, earth station system 103 and toxic and harmful gas detection device 104,
Toxic and harmful gas detection device includes the gas sensor of collection plate and at least eight detection gas with various, each gas sensing
Device is installed on collection plate using base plug-in；
Toxic and harmful gas detection device is connected by POGOPIN modes with multi-rotor unmanned aerial vehicle；
Earth station system obtains the Flight Condition Data of multi-rotor unmanned aerial vehicle and poisonous and harmful gas by data link system
The gas concentration data of body detection device collection.
Wherein, earth station system carries out data with the flight control system in multi-rotor unmanned aerial vehicle by wireless data link system
Communication.
As shown in Fig. 2, the multi-rotor unmanned aerial vehicle include unmanned plane body 201, flight control system 202, GPS navigation system 203,
Blade 204, motor and electricity adjust 205, toxic and harmful gas detection device 206, multi-rotor unmanned aerial vehicle battery 207, more rotors nobody
Machine undercarriage 208 and multi-rotor unmanned aerial vehicle data-link antenna 209.
Multi-rotor unmanned aerial vehicle carries poisonous harmful gas detecting device, is obtained and flown in real time by airborne GPS navigation system
Position coordinates during row；Flight control system further includes microcontroller, IMU units, barometer, magnetometer；Specifically, fly control system
Unite satellite receiver system flight control signal or earth station system course line assignment instructions, monitored in real time by IMU with
Control the flight attitude of multi-rotor unmanned aerial vehicle；Magnetometer is used to determine the course information in multi-rotor unmanned aerial vehicle flight course, magnetic
Power meter detects Geomagnetism Information, and the course information of multi-rotor unmanned aerial vehicle flight can be obtained after data processing and resolving；Gas
Pressure meter is mainly used for assessing the elevation information of multi-rotor unmanned aerial vehicle flight course.
Multi-rotor unmanned aerial vehicle is by merging desired attitude data and GPS navigation system, IMU, magnetometer, barometer etc.
After the data surveyed, it is possible to calculate the data of multi-rotor unmanned aerial vehicle real-time flight, then controlled by pid control algorithm
The change of output motor rotating speed, it is expected posture to ensure that the stabilization of multi-rotor unmanned aerial vehicle flies to adjust aspect and progressively reach
OK.
Multi-rotor unmanned aerial vehicle is equipped with data link system, and the data message of flight control system can pass through data link system
Communicate with earth station system, earth station system can show the state of flight of multi-rotor unmanned aerial vehicle；Earth station system passes through
Wireless data link system obtains the Flight Condition Data of multi-rotor unmanned aerial vehicle and the gas of toxic and harmful gas detection device collection
Bulk concentration data are to realize from main task flight course planning.
The toxic and harmful gas detection device includes at least eight gas sensors, as shown in figure 3, eight gas sensors
Label be respectively 303,304,305,306,307,308,309,310.
Each gas sensor being installed on a collection plate independently using base plug-in, can examine at the same time
The concentration of eight kinds of gas is surveyed, integrated level is high, and cost is lower, and application range is wider.For unmanned plane fire-fighting, environmental protection industry (epi) should
With general gas on-site component in region to be measured is more, ensures nothing to greatest extent using eight kinds of gas sensor integration modes at the same time
Man-machine application range.Nor being fixedly mounted, gas sensor uses base plug-in for gas sensor on collection plate
Installation, can quickly be replaced, easy to be unable to meet demand in eight kinds of gas sensors of some particular applications, standard configuration
When, can by replace gas sensor mode be extended realize other gases detect.All gas sensor agreement systems
One, each gas sensor interior is respectively provided with ID number so that toxic and harmful gas detection device judges gas sensor detection gas
Type, ID number is identified to judge installed gas by microcontroller on gas-detecting device when gas sensor is replaced
Sensor type.
Further, the label 301 in Fig. 3 is anchor point with multi-rotor unmanned aerial vehicle Fast Installation, label 302 be with it is more
The POGOPIN interfaces that rotor wing unmanned aerial vehicle quickly connects, label 311 are installation fixed card buckle point.
As shown in figure 4, data of each gas sensor using serial mode to flight control system output collection.
Further, toxic and harmful gas detection device further includes controller, and each gas sensor passes through topological mode
It is connected with controller, in particular to concatenates one between the transmitting terminal RXD of each gas sensor and the transmitting terminal TXD of controller
A isolating diode.
Specifically, the transmitting terminal RXD of each gas sensor that is to say that the transmitting terminal TXD of gas-detecting device concatenates one
Diode, the diode are specially isolating diode, such as label D1~D8 in Fig. 4.When gas-detecting device sends data to gas
During body sensor, all eight kinds of gas sensors can receive data.Gas sensor is when data are replied, gas sensing
Device drags down level, then can be also pulled low when the level of bus passes through D1, and signal just occurs in the receiving terminal RXD of gas-detecting device
Data, transmitting terminal signal intensity of other gas sensors due to not interfering with by the presence of isolating diode itself.Gas is examined
Survey device and one serial ports and multiple gases can be achieved in a manner of poll one by one to each gas sensor communication protocol
Communication between sensor.Data of each gas sensor using serial mode to flight control system output collection.
All gas sensor is using unified power supply mode.
If gas sensor is eight, six gas sensors D3, D4, D5, D6, D7, D8 therein use electrochemistry side
Formula principle detection gas, two gas sensors D9, D10 therein use infrared detection principle detection gas.
Embodiment two
The embodiment of the present invention two provides a kind of toxic and harmful gas detection method based on multi-rotor unmanned aerial vehicle, specific step
It is rapid as follows：
The multi-rotor unmanned aerial vehicle start of carry toxic and harmful gas detection device has so that perform detection target area is poisonous
The aerial mission of evil gas；
The inspection that toxic and harmful gas detection device is sent by the flight control system satellite receiver system of multi-rotor unmanned aerial vehicle
Survey toxic and harmful gas instruction；
The gas sensor of at least eight detection gas with various carries out gas collecting, and toxic and harmful gas detection device is to institute
The gas of collection is analyzed, handled to obtain corresponding gas concentration data, then transmits gas concentration data to flight control system；
Gas concentration data are carried out uniform packing by flight control system, and pass through the data of packing according to Data Transport Protocol
Wireless data link system is sent to earth station system；
Earth station system unpacks the data of packing, is analyzed, being handled to obtain and store gas concentration data, concurrently
Sell the instruction that toxic and harmful gas detection device stops collection gas；
Toxic and harmful gas detection device stops collection gas, and flight control system control multi-rotor unmanned aerial vehicle is maked a return voyage；
Wherein, toxic and harmful gas detection device further includes collection plate, and each gas sensor is pacified using base plug-in
On collection plate；
Toxic and harmful gas detection device is connected by POGOPIN modes with multi-rotor unmanned aerial vehicle；Earth station system passes through
It is dense that data link system obtains the gas that the Flight Condition Data of multi-rotor unmanned aerial vehicle and toxic and harmful gas detection device gather
Degrees of data.
Further, toxic and harmful gas detection device further includes controller, and each gas sensor passes through topological mode
It is connected with controller, in particular to concatenates one between the transmitting terminal RXD of each gas sensor and the transmitting terminal TXD of controller
A isolating diode.
Further, gas concentration number of each gas sensor using serial mode to flight control system output collection
According to.
Further, each gas sensor interior is respectively provided with ID number so that toxic and harmful gas detection device judges gas
The type of sensor detection gas.
Further, gas sensor is powered using unified power supply mode, if gas sensor is eight, therein six
A gas sensor uses electrochemical means principle detection gas, and two gas sensors therein are examined using infrared detection principle
Survey gas.
As shown in figure 5, it is a kind of work of the toxic and harmful gas detecting system based on multi-rotor unmanned aerial vehicle of the present embodiment
Flow, comprises the following steps that：
Step 1: the multi-rotor unmanned aerial vehicle starting up of carry toxic and harmful gas detection device carries out self-test, with inspection
Whether the working status of examining system meets that flight requires, and step 2 is performed if checking that normal satisfaction flight requires, if inspection
Look into be unsatisfactory for flying extremely and require then to perform step 8.
Step 2: multi-rotor unmanned aerial vehicle carries out aerial mission, aerial mission derives from two kinds, and a kind of is from remote controler
Manual state of flight, can control multi-rotor unmanned aerial vehicle to fly to mission area is performed by flying hand；Another way is
By the way of task course line, way point position is set in region to be detected, multi-rotor unmanned aerial vehicle can be according to pre-set
Way point information is stopped in gas zones position to be collected, autonomous control course line and detection height, detecting distance etc..
Step 3: earth station system sends gas collecting order, if multi-rotor unmanned aerial vehicle receives unlatching gas collecting
Control toxic and harmful gas detection device carries out gas concentration collection after order, and eight kinds of gas sensors proceed by work at this time
Make, each gas sensor can perform step 4 operation for the response time of gas there are certain difference；
If multi-rotor unmanned aerial vehicle is not received by the order for opening collection, multi-rotor unmanned aerial vehicle performs step 2 behaviour
Make, continue aerial mission.
Step 4: gas sensor is analyzed, handled and is exported gathered gas concentration to the gas gathered
Data；Gas concentration data are sent in flight control system by serial ports, and the data of gas sensor transmission are according to default volume
Number (such as setting the numbering of gas sensor as 1-8) carries out successively.
Step 5: gas concentration numerical value is carried out uniform packing by flight control system, and pass through according to Data Transport Protocol form
Wireless data link system is sent to earth station system.
Step 6: earth station system unpacks the data of reception, is analyzed, is handled, by gas concentration data with curve
Mode be shown on earth station system screen, and data are stored in earth station system local data base or storage device in real time
In, conveniently carry out contrast inquiry.Earth station system can set gas concentration alarm limits, can be with when gas concentration exceedes limit value
Alarmed accordingly, there is prompting and decision guidance effect to controllers and command centre.
Step 7: after toxic and harmful gas detection device receives the instruction of stopping gas collecting of earth station system transmission
Stop gas collecting operation, perform step 8 operation；
Step is continued to execute if poisonous harmful gas detecting device is not received by the ceasing and desisting order of earth station system
Four operations.
Step 8: terminate this gas concentration acquisition tasks.
It is apparent to those skilled in the art that for convenience and simplicity of description, described in embodiment 2
System, device, the specific work process of module and related work unit, may be referred to corresponding in preceding method embodiment
Journey, details are not described herein.
In embodiment provided herein, it should be understood that disclosed system, device or device, can pass through
Other modes are realized.For example, embodiment of the method described above is only schematical, for example, the division of the module,
Only a kind of division of logic function, can there is an other dividing mode when actually realizing, such as multiple module or components can be with
With reference to or be desirably integrated into another system, or some features can be ignored, or not perform.It is described to be used as separating component explanation
Unit may or may not be physically separate, may or may not be as the component that unit is shown
Physical location, you can with positioned at a place, or can also be distributed in multiple network unit.Can be according to the actual needs
Some or all of unit therein is selected to realize the purpose of this embodiment scheme.
The above is only some embodiments of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (10)
- A kind of 1. toxic and harmful gas detecting system based on multi-rotor unmanned aerial vehicle, it is characterised in that including multi-rotor unmanned aerial vehicle, Earth station system and toxic and harmful gas detection device：The toxic and harmful gas detection device includes the gas sensor of collection plate and at least eight detection gas with various, each The gas sensor is installed on the collection plate using base plug-in；The toxic and harmful gas detection device is connected by POGOPIN modes with the multi-rotor unmanned aerial vehicle；The earth station system obtains the Flight Condition Data of the multi-rotor unmanned aerial vehicle by data link system and described has The gas concentration data of malicious harmful gas detecting device collection.Wherein, the earth station system carries out data with the flight control system in multi-rotor unmanned aerial vehicle by wireless data link system Communication.
- 2. system according to claim 1, it is characterised in that the toxic and harmful gas detection device further includes control Device, each gas sensor are connected by topological mode with the controller, in particular in each gas sensing An isolating diode is concatenated between the transmitting terminal RXD of device and the transmitting terminal TXD of the controller.
- 3. system according to claim 1 or 2, it is characterised in that each gas sensor uses serial mode To the gas concentration data of flight control system output collection.
- 4. system according to claim 3, it is characterised in that each gas sensor interior be respectively provided with ID number for The toxic and harmful gas detection device judges the type of the gas sensor detection gas.
- 5. system according to claim 4, it is characterised in that the gas sensor is supplied using unified power supply mode Electricity；If the gas sensor is eight, six gas sensors therein are using electrochemical means principle detection gas Body, two gas sensors therein use infrared detection principle detection gas.
- 6. a kind of toxic and harmful gas detection method based on multi-rotor unmanned aerial vehicle, it is characterised in that comprise the following steps that：The multi-rotor unmanned aerial vehicle of carry toxic and harmful gas detection device is started shooting with the poisonous and harmful gas in perform detection target area The aerial mission of body；The toxic and harmful gas detection device is sent by the flight control system satellite receiver system of the multi-rotor unmanned aerial vehicle Detection toxic and harmful gas instruction；The gas sensor of at least eight detection gas with various carries out gas collecting, and the toxic and harmful gas detection device is to institute The gas of collection is analyzed, handled to obtain corresponding gas concentration data, then transmits the gas concentration data to described Flight control system；Gas concentration data are carried out uniform packing by the flight control system, and pass through the data of packing according to Data Transport Protocol Wireless data link system is sent to earth station system；The earth station system unpacks the data of packing, is analyzed, being handled to obtain and store the gas concentration data, Concurrently sell the instruction that the toxic and harmful gas detection device stops collection gas；The toxic and harmful gas detection device stops collection gas, and the flight control system control multi-rotor unmanned aerial vehicle is maked a return voyage；Wherein, the toxic and harmful gas detection device further includes collection plate, and each gas sensor is plugged using base Formula is installed on the collection plate；The toxic and harmful gas detection device is connected by POGOPIN modes with the multi-rotor unmanned aerial vehicle；The earth station system obtains the Flight Condition Data of the multi-rotor unmanned aerial vehicle by data link system and described has The gas concentration data of malicious harmful gas detecting device collection.
- 7. according to the method described in claim 6, it is characterized in that, the toxic and harmful gas detection device further includes control Device, each gas sensor are connected by topological mode with the controller, in particular in each gas sensing An isolating diode is concatenated between the transmitting terminal RXD of device and the transmitting terminal TXD of the controller.
- 8. the method according to claim 6 or 7, it is characterised in that each gas sensor uses serial mode To the gas concentration data of flight control system output collection.
- 9. according to the method described in claim 8, it is characterized in that, each gas sensor interior be respectively provided with ID number for The toxic and harmful gas detection device judges the type of the gas sensor detection gas.
- 10. according to the method described in claim 9, it is characterized in that, the gas sensor is supplied using unified power supply mode Electricity；If the gas sensor is eight, six gas sensors therein are using electrochemical means principle detection gas Body, two gas sensors therein use infrared detection principle detection gas.
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