CN108535188A - A kind of the unmanned plane gas detecting system and its detection method of single line laser - Google Patents
A kind of the unmanned plane gas detecting system and its detection method of single line laser Download PDFInfo
- Publication number
- CN108535188A CN108535188A CN201810500709.6A CN201810500709A CN108535188A CN 108535188 A CN108535188 A CN 108535188A CN 201810500709 A CN201810500709 A CN 201810500709A CN 108535188 A CN108535188 A CN 108535188A
- Authority
- CN
- China
- Prior art keywords
- gas
- laser
- unmanned plane
- module
- data
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 68
- 238000007405 data analysis Methods 0.000 claims abstract description 54
- 239000004065 semiconductor Substances 0.000 claims abstract description 29
- 230000005540 biological transmission Effects 0.000 claims abstract description 28
- 238000013480 data collection Methods 0.000 claims abstract description 18
- 238000004891 communication Methods 0.000 claims abstract description 7
- 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 24
- 230000003287 optical effect Effects 0.000 claims description 16
- 238000010304 firing Methods 0.000 claims description 15
- 238000004611 spectroscopical analysis Methods 0.000 claims description 14
- 238000001228 spectrum Methods 0.000 claims description 11
- 238000012937 correction Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 6
- 238000002347 injection Methods 0.000 claims description 4
- 239000007924 injection Substances 0.000 claims description 4
- 239000000470 constituent Substances 0.000 claims description 3
- 230000008676 import Effects 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- 238000000465 moulding Methods 0.000 claims description 3
- 238000003908 quality control method Methods 0.000 claims description 2
- 230000003595 spectral effect Effects 0.000 claims description 2
- 235000019504 cigarettes Nutrition 0.000 claims 1
- 239000000428 dust Substances 0.000 abstract description 3
- 238000005259 measurement Methods 0.000 abstract description 3
- 239000007789 gas Substances 0.000 description 109
- 239000000243 solution Substances 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000003500 flue dust Substances 0.000 description 1
- 238000011896 sensitive detection Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000011895 specific detection Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000036413 temperature sense Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012956 testing procedure Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
- G01N21/31—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry
- G01N21/39—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using tunable lasers
-
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Analytical Chemistry (AREA)
- Aviation & Aerospace Engineering (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Chemical & Material Sciences (AREA)
- Spectroscopy & Molecular Physics (AREA)
- Health & Medical Sciences (AREA)
- Optics & Photonics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Investigating Or Analysing Materials By Optical Means (AREA)
Abstract
The invention discloses the unmanned plane gas detecting systems and its detection method of a kind of single line laser, detecting system includes ground control station and unmanned generator terminal, the ground control station is connected by wireless communication module with the data transmission link of the unmanned generator terminal, the unmanned generator terminal includes unmanned plane body and the detection device that is located in the unmanned plane body, and the detection device includes semiconductor laser drive module, flue, laser emitter, photoelectric sensor, data collection module and gas data analysis and control module.The present invention, which has the advantages that not influenced by background gas, do not influenced with form pollution by dust, can correct temperature, pressure automatically influences measurement.
Description
Technical field
The present invention relates to unmanned plane fields, and in particular to a kind of unmanned plane gas detecting system of single line laser and its detection
Method.
Background technology
Currently, with the development of unmanned air vehicle technique, gas detection technology has also been used on unmanned plane.So that in face of
When the gasmetry operation of special screne (such as high-altitude, disaster place), testing procedure is simplified, while protecting staff
Safety.
But current unmanned plane gas detection technology is air-sensitive detection method, flying ring of such method in unmanned plane
When carrying out operation under border, it is big that there is errors, and easily affected by environment, the easy leak stopping of instrument flue, instrument and equipment needs frequent maintenance etc.
Problem.
The utility model patent of the patent No. 201420103431.6 discloses a kind of UAV system chemical gas detecting system.
It is easy to operate although facilitating the detection to high-altitude or danger zone using unmanned plane.But the unresolved error of this kind of technology is big, easily
It is affected by environment, the problems such as the easy leak stopping of instrument flue, instrument and equipment needs frequent maintenance.
The patent of invention of the patent No. 201720431111.7 provides a kind of unmanned machine detecting device and system, advantage are
The testing result of unmanned plane can be obtained by terminal device using maintenance personnel, it is easy to operate, it is safe to use.But the system
It is easily disturbed when detection, sensitivity is affected by temperature change.
Invention content
The purpose of the present invention is to provide the unmanned plane gas detecting systems and its detection method of a kind of single line laser, with solution
Certainly detection error is big in the prior art, defect easily affected by environment.
The unmanned plane gas detecting system of the single line laser, including ground control station and unmanned generator terminal, the ground
Control station is connected by wireless communication module with the data transmission link of the unmanned generator terminal, and the unmanned generator terminal includes unmanned plane
Body and the detection device being located in the unmanned plane body, the detection device include,
Semiconductor laser drive module is located in the unmanned plane body and is connected with gas data analysis and control module,
Signal for being sent out according to gas data analysis and control module carries out driving and frequency modulation to laser emitter Injection Current；
Flue, is located in the unmanned plane body and with the extraneous import of connection, the flue is interior to be equipped with getter device；
Laser emitter is connected with the semiconductor laser drive module, is located at the side of the flue；
Photoelectric sensor is located at the other side of the flue, relative to each other with the corresponding laser emitter, and with number
It is connected according to collection module, sends out laser across flue for receiving laser emitter, and the laser spectrum data of acquisition are sent out
It is sent to data collection module；
Data collection module is located in the unmanned plane body and is connected with gas data analysis and control module, will
It is sent to gas data analysis and control module after the spectroscopic data record for each frequency laser being collected into；
Gas data is analyzed and control module, is connected with the data transmission link, for driving mould to semiconductor laser
Block, which sends signal, makes the laser that semiconductor laser drive module drives the laser emitter to send out corresponding frequencies, then is received from data
Collection module obtains the frequency laser and scans in the flue obtained spectroscopic data after gas, and according to the frequency and light of laser
Modal data is analyzed to obtain the concentration data of corresponding gas, and is sent to the data transmission link.
Preferably, the detection device further includes the temperature inductor and pressure inductor being located in the flue, described
Temperature inductor is analyzed with the gas data and control module is connected, the temperature for detecting and transmitting gas in the flue
Data, the pressure inductor is analyzed with the gas data and control module is connected, for detecting and transmitting in the flue
The barometric information of gas, gas data analysis and control module be additionally operable to according to the barometric information of gas in the flue and
Temperature data is modified the concentration data of corresponding gas.
Preferably, the detection device further includes being located at the flue to have optical splitter and the school of the laser emitter side
Sensor is tested, the optical splitter is located at the transmitting terminal of the corresponding laser emitter, and there are two the output ends of the optical splitter,
One is connected to the check sensor, another is connected to the flue and, verification sensing opposite with the photoelectric sensor
Device is connected to the gas data analysis and control module.
Preferably, the semiconductor laser drive module is equipped with matrix current adjustment circuit and semiconductor device, for according to gas
The signal that volume data is analyzed and control module is sent out further is carried out by current-modulation toothing electric current and to saw-tooth current
Wave spectrum frequency modulation, and the temperature for adjusting laser emitter realizes the frequency modulation to laser.
Preferably, the unmanned generator terminal further includes image capture module and is connected to the flight control of the data transmission link
Molding block, described image acquisition module include the camera being mounted on the unmanned plane body and are connected to the camera
Video memory, described image memory are connected to the flight control modules, and the flight control modules are for receiving image
Ambient image information that acquisition module is sent out simultaneously is sent to the data transmission link, and sent according to data transmission link
Flying quality controls the flight of unmanned plane body.
Preferably, the unmanned generator terminal further includes being connected respectively to the GPS navigation module of the flight control modules, described
Flight control modules are additionally operable to obtain the unmanned plane location information and by what data transmission link obtained flown that GPS navigation module is sent
Row routing information, and control unmanned plane body by comparing unmanned plane location information and flight path information and fly along flight path
Row.
The present invention also provides a kind of detection methods of the unmanned plane gas detecting system of single line laser, including walk as follows
Suddenly：
S1, ground control station are learnt after the target location for needing detection gas constituent concentration through wireless communication module to nothing
Man-machine end sends out the signal that takes off, and the signal that takes off includes flight path information；
S2, unmanned generator terminal data transmission link obtain to take off and start flight control modules, the GPS of unmanned plane after signal and lead
Model plane block and image capture module, the unmanned plane location information and obtain that the flight control modules are sent according to GPS navigation module
Flight path information control unmanned plane body fly to target location；
Continuous earthward control station sends unmanned plane position letter during S3, the unmanned plane body reach target location
It ceases, the operating personnel of ground control station control nothing according to the ambient image information that image capture module obtains after arrival target location
First gas detection point of man-machine arrival；
As soon as S4, unmanned generator terminal are every up to a gas detection point, the operating personnel of ground control station start detection device, open
After dynamic, gas data analysis and control module are driven according to the laser frequency strength information of storage sent out for the first time to semiconductor laser
Dynamic model block sends out laser firing signals corresponding with the laser frequency strength information, and the laser firing signals include current-modulation
Information and temperature control information；
S5, the semiconductor laser drive module drive laser emitter to send out accordingly according to the laser firing signals of acquisition
The laser of frequency, photoelectric sensor receives the laser across flue, and the laser spectrum data of acquisition are sent to data and are received
Collect module, data collection module re-sends to the gas data analysis and control module after recording the spectroscopic data；
The laser sent out with this time that S6, gas data analysis and control module are stored according to spectroscopic data and before
Laser frequency signal corresponding to transmitting signal is analyzed, and the concentration of gas componant corresponding with the laser frequency is calculated,
The concentration of this kind of gas is recorded, and mould is driven to semiconductor laser according to the laser frequency strength information of storage sent out next time
Block sends out laser firing signals corresponding with the laser frequency strength information；
Step S5 to S6 is repeated until the last time of storage sends out laser frequency strength information and also has been completed laser
It is emitted to the concentration for obtaining gas componant corresponding with the secondary laser frequency strength information, is held after recording the concentration of this kind of gas
Row step S7；
S7, gas data analysis and control module are by the concentration information of each gas componant of record and corresponding each gas componant
It is sent to ground control station, ground control station, which obtains, closes detection device after the concentration information of each gas componant and control unmanned plane again
Reach next gas detection point；
S4 to S7 is repeated until each gas detection point is all detected by unmanned generator terminal, ground control station obtains all gas
The concentration data of each gas componant of physical examination measuring point, executes S8 later；
S8, ground control station determine that the detection of each gas detection point is complete, and send the flight path that unmanned plane returns
Information, the unmanned plane body is returned along the flight path to land and closes each module.
Preferably, the step S5 further includes obtaining laser check information by check sensor to be sent to gas data point
Analysis and control module, gas data analysis and control module analyze the letters such as the frequency and intensity of laser according to laser check information
Breath, if be not consistent with the laser frequency strength information sent out before this, gas data analysis and control module are poor according to the two
Different calibration of laser emits signal, sends the laser firing signals after correction after correction again.
Preferably, the step S6 further includes that gas data analysis and control module pass through pressure inductor and temperature sense
Device obtains the barometric information and temperature data of gas in flue respectively, and the gas data analysis and control module are according to air pressure number
The concentration data of corresponding gas componant is modified according to temperature data, revised concentration data is recorded.
The advantage of the invention is that：High-altitude and danger zone can be examined in ground control cabinet by unmanned operators
It surveys, and detection zone can be reached rapidly at a distance.Faster convenience is detected, the safety of personnel is improved.The program uses
The detection method of multi-frequency single line laser scanning can more accurately detect the concentration of various gases, and with not by background gas
Influence, do not influenced by dust and form pollution, temperature, pressure can be corrected automatically to measurement the advantages of influence.
Description of the drawings
Fig. 1 is the system structure diagram of the embodiment of the present invention 1；
Fig. 2 is the detection method flow chart of the embodiment of the present invention 1；
Fig. 3 is the system structure diagram of the embodiment of the present invention 2；
Fig. 4 be the embodiment of the present invention 2 detection method in laser carry out check part flow chart.
Wherein, 1, ground control station, 2, data transmission link, 3, gas data analysis and control module, 4, semiconductor swashs
Optical drive module, 5, laser emitter, 6, flue, 7, photoelectric sensor, 8, data collection module, 9, temperature inductor, 10, pressure
Power inductor, 11, check sensor, 12, optical splitter, 13, flight control modules, 14, image capture module, 15, GPS navigation mould
Block.
Specific implementation mode
Below against attached drawing, by the description of the embodiment, making further details of theory to the specific embodiment of the invention
It is bright, to help those skilled in the art to have more complete, accurate and deep reason to the inventive concept of the present invention, technical solution
Solution.
The present invention provides the unmanned plane gas detecting systems and its detection method of a kind of single line laser.Specific embodiment is such as
Under：
Embodiment 1
As Figure 1-Figure 2, the unmanned plane gas detecting system of single line laser includes ground control station 1 and unmanned generator terminal,
The ground control station 1 is connected by wireless communication module with the data transmission link 2 of the unmanned generator terminal, the unmanned generator terminal
Including unmanned plane body and the detection device being located in the unmanned plane body.
The detection device includes that semiconductor laser drive module 4, laser emitter 5, can measure single line laser at flue 6
Photoelectric sensor 7, data collection module 8 and the gas data analysis of spectroscopic data and control module 3.
Semiconductor laser drive module 4 is located in the unmanned plane body to be connected with gas data analysis and control module 3,
Signal for being sent out according to gas data analysis and control module 3 carries out driving and frequency modulation to 5 Injection Current of laser emitter.
Semiconductor laser drive module 4 is equipped with matrix current adjustment circuit and semiconductor device, for mould to be analyzed and controlled according to gas data
The signal that block 3 is sent out further carries out wave spectrum frequency modulation by current-modulation toothing electric current and to saw-tooth current, and adjusts and swash
The temperature of optical transmitting set 5 realizes the frequency modulation to laser.
Flue 6 is located in the unmanned plane body and with the extraneous import of connection, and the flue 6 is interior to be filled equipped with air-breathing
It sets.Laser emitter 5 relative to each other and photoelectric sensor 7 is respectively set in 6 both sides of flue.6 internal diameter of flue is larger, Laser emission
Device 5 and the most of component of photoelectric sensor 7 are in 6 side wall of flue.It is not connect without too many equipment, detecting instrument itself in flue 6
Flue dust is touched, so as to avoid the 6 easy leak stopping of instrument flue, the problem of instrument and equipment needs frequent maintenance.
Laser emitter 5 is connected with the semiconductor laser drive module 4, according to the electric current of its injection and the temperature of adjustment
Emit the single line laser of corresponding frequencies and intensity.Laser passes through the corresponding photoelectric sensor of gas directive 7 in flue 6.
Photoelectric sensor 7 is connected with data collection module 8, and swashing across flue 6 is sent out for receiving laser emitter 5
Light.The spectroscopic data for scanning gained is generated after receiving laser, the laser spectrum data of acquisition are sent to data collection module
8。
Data collection module 8 is located in the unmanned plane body to be connected with gas data analysis and control module 3, will
It is sent to gas data analysis and control module 3 after the spectroscopic data record for each frequency laser being collected into.
Gas data is analyzed and control module 3 is also connected with the data transmission link 2, for being driven to semiconductor laser
Module 4, which sends signal, makes the laser that semiconductor laser drive module 4 drives the laser emitter 5 to send out corresponding frequencies, then from
Obtained spectroscopic data after gas in the acquisition frequency laser scanning of data collection module 8 flue 6, and according to laser
Frequency and spectral data analysis obtain the concentration data of corresponding gas, recording and sending to the data transmission link 2.
It is stored in advance according to the corresponding laser frequency intensity of the gas that need to be detected in gas data analysis and control module 3
Information.Corresponding laser frequency strength information can be sent out when work successively, when a kind of gas concentration that frequency laser detects is believed
Breath retransmits next laser frequency strength information after completing detection.
Unmanned generator terminal further includes image capture module 14 and is connected to the flight control modules of the data transmission link 2
13.Image capture module 14 includes that the camera being mounted on the unmanned plane body and the image for being connected to the camera are deposited
Reservoir, described image memory are connected to the flight control modules 13.When flight, camera shooting obtains ambient image information
Flight control modules 13 are sent to through video memory, then ground control station 1 is sent to through data transmission link 2.Flight control
Module 13 is used to receive the ambient image information that image capture module 14 is sent out and is sent to the data transmission link 2.Operation
Person can be to the transmission information of flight control modules 13 through data transmission link 2 by ground control station 1 after obtaining ambient image information
Directly unmanned plane is manipulated.
Preferably, the detection device further includes the temperature inductor 9 being located in the flue 6 and pressure inductor 10,
Temperature inductor 9 and pressure inductor 10 are connected with gas data analysis and control module 3 respectively, the former is for detecting simultaneously
The temperature data of gas in the flue 6 is transmitted, the latter is used to detect and transmit the barometric information of gas in the flue 6.Institute
State gas data analysis and control module 3 barometric information of gas and temperature data can be to corresponding gases in obtaining flue 6
Concentration data is modified.
Preferably, unmanned generator terminal further includes being connected respectively to the GPS navigation module 15 of the flight control modules 13, described
Flight control modules 13 are additionally operable to obtain the unmanned plane location information and obtained by data transmission link 2 that GPS navigation module 15 is sent
The flight path information obtained, and unmanned plane body is controlled along flight road by comparing unmanned plane location information and flight path information
Diameter flies.Unmanned plane can reach rapidly detection zone at a distance in this way, improve efficiency.
Following detection method can be used to fire or thing using the unmanned plane gas detecting system of above-mentioned single line laser
Harmful gas concentration information in the quick detection gas in old place area.
Specific detection method is as follows：
Include the following steps：
S1, ground control station 1 learn after the target location for needing detection gas constituent concentration by wireless communication module to
Unmanned generator terminal sends out the signal that takes off, and the signal that takes off includes flight path information；
S2, unmanned generator terminal data transmission link 2 obtain take off start after signal unmanned plane flight control modules 13,
GPS navigation module 15 and image capture module 14, the unmanned plane that the flight control modules 13 are sent according to GPS navigation module 15
Location information and the flight path information of acquisition control unmanned plane body fly to target location；
Continuous earthward control station 1 sends unmanned plane position during S3, the unmanned plane body reach target location
Information reaches the ambient image information that is obtained according to image capture module 14 of operating personnel of ground control station 1 after target location
It controls unmanned plane and reaches first gas detection point；
As soon as S4, unmanned generator terminal are every up to a gas detection point, the operating personnel of ground control station 1 start detection device,
After startup, gas data analysis and control module 3 swash according to the laser frequency strength information of storage sent out for the first time to semiconductor
Optical drive module 4 sends out laser firing signals corresponding with the laser frequency strength information, and the laser firing signals include electricity
Flow modulation intelligence and temperature control information；
S5, the semiconductor laser drive module 4 drive laser emitter 5 to send out phase according to the laser firing signals of acquisition
The laser of frequency is answered, photoelectric sensor 7 receives the laser across flue 6, and the laser spectrum data of acquisition are sent to number
According to collection module 8, data collection module 8 re-sends to the gas data analysis and control module 3 after recording the spectroscopic data；
What S6, gas data analysis and control module 3 were stored according to spectroscopic data and before swashs with what this time was sent out
Laser frequency signal corresponding to light emission signal is analyzed, and the dense of gas componant corresponding with the laser frequency is calculated
Degree records the concentration of this kind of gas, and is driven to semiconductor laser according to the laser frequency strength information of storage sent out next time
Dynamic model block 4 sends out laser firing signals corresponding with the laser frequency strength information；
Step S5 to S6 is repeated until the last time of storage sends out laser frequency strength information and also has been completed laser
It is emitted to the concentration for obtaining gas componant corresponding with the secondary laser frequency strength information, is held after recording the concentration of this kind of gas
Row step S7；
S7, gas data analysis and control module 3 believe the concentration of each gas componant of record and corresponding each gas componant
Breath is sent to ground control station 1, and ground control station 1, which obtains, closes detection device after the concentration information of each gas componant and control nothing again
The man-machine next gas detection point of arrival；
S4 to S7 is repeated until each gas detection point is all detected by unmanned generator terminal, ground control station 1 is owned
The concentration data of each gas componant of gas detection point, executes S8 later；
S8, ground control station 1 determine that the detection of each gas detection point is complete, and send the flight path that unmanned plane returns
Information, the unmanned plane body is returned along the flight path to land and closes each module.
Preferably, the step S6 further includes that gas data analysis and control module 3 pass through pressure inductor 10 and temperature
Inductor 9 obtains the barometric information and temperature data of gas in flue 6, the gas data analysis and control module 3 respectively
The concentration data of corresponding gas componant is modified according to barometric information and temperature data, revised concentration data is recorded
Come.
In the program, unmanned operators can be detected high-altitude and danger zone in ground control cabinet, the peace of personnel
Quan Xing.The program uses the detection method of multi-frequency single line laser scanning, can more accurately detect the concentration of various gases, have
It does not influenced by background gas, by dust and form pollution influenced, influence of the temperature, pressure to measurement can be corrected automatically
Advantage.
Embodiment 2
As shown in Figure 3 to Figure 4, the present embodiment compared with Example 1 itself the difference is that：Detection device further include be located at it is described
Flue 6 has the optical splitter 12 and check sensor 11 of 5 side of the laser emitter.Optical splitter 12 is located at the corresponding laser
The transmitting terminal of transmitter 5, there are two the output ends of the optical splitter 12, and one is connected to the check sensor 11, another
It is connected to the flue 6 and opposite with the photoelectric sensor 7, check sensor 11 is connected to the gas data analysis and control
Molding block 3.The single line laser that laser emitter 5 is sent out is divided into twice light path after entering optical splitter 12.The verified biography of laser all the way
Sensor 11 receives, and check sensor 11 is a kind of photoelectric sensor for detecting single line laser frequency and intensity.Another way laser
It is received by the photoelectric sensor of 6 other side of flue after then flue 6 being passed through to scan wherein gas.
The detection method applied in the present embodiment is distinguished as follows compared with detection method in embodiment 1：Step S5 further includes
Laser check information is obtained by check sensor 11 and is sent to gas data analysis and control module 3, gas data analysis
And control module 3 analyzes the information such as the frequency and intensity of laser according to laser check information.If the frequency of this laser and strong
Degree information is not consistent with the laser frequency strength information sent out before, then illustrates that error, gas has occurred in the single line laser of transmitting
Data analysis and control module 3 send the laser hair after correction according to the two difference correction laser firing signals, after correction again
Penetrate signal.The laser spectrum data that non-timing obtains before gas data analysis simultaneously and control module 3 can be eliminated.Last
Satisfactory laser spectrum data after correcting can be preserved, and calculate gas concentration information accordingly.
The present invention is exemplarily described above in conjunction with attached drawing, it is clear that the present invention implements not by aforesaid way
Limitation, it is or not improved as long as using the method for the present invention design and the improvement of various unsubstantialities that technical solution carries out
Present inventive concept and technical solution are directly applied into other occasions, within the scope of the present invention.
Claims (9)
1. a kind of unmanned plane gas detecting system of single line laser, it is characterised in that：Including ground control station (1) and unmanned plane
End, the ground control station (1) is connected by wireless communication module with the data transmission link (2) of the unmanned generator terminal, described
Unmanned generator terminal includes unmanned plane body and the detection device that is located in the unmanned plane body, and the detection device includes,
Semiconductor laser drive module (4) is located in the unmanned plane body and gas data analysis and control module (3) phase
Even, the signal for being sent out according to gas data analysis and control module (3) is driven to laser emitter (5) Injection Current
And frequency modulation；
Flue (6), is located in the unmanned plane body and with the extraneous import of connection, the flue (6) is interior to be filled equipped with air-breathing
It sets；
Laser emitter (5) is connected with the semiconductor laser drive module (4), is located at the side of the flue (6)；
Photoelectric sensor (7), is located at the other side of the flue (6), with the corresponding laser emitter (5) opposite to each other,
And be connected with data collection module (8), send out the laser across flue (6) for receiving laser emitter (5), and by acquisition
Laser spectrum data are sent to data collection module (8)；
Data collection module (8) is located in the unmanned plane body and is connected with gas data analysis and control module (3),
Gas data analysis and control module (3) are sent to after the spectroscopic data for each frequency laser being collected into is recorded；
Gas data is analyzed and control module (3), is connected with the data transmission link (2), for being driven to semiconductor laser
Module (4), which sends signal, makes semiconductor laser drive module (4) that the laser emitter (5) be driven to send out swashing for corresponding frequencies
Light, then obtain the frequency laser from data collection module (8) and scan in the flue (6) obtained spectroscopic data after gas,
And the concentration data of corresponding gas is obtained according to the frequency of laser and spectral data analysis, and it is sent to the data transmission link
(2)。
2. a kind of unmanned plane gas detecting system of single line laser according to claim 1, it is characterised in that：The detection
Device further includes the temperature inductor (9) being located in the flue (6) and pressure inductor (10), the temperature inductor (9)
It is connected with gas data analysis and control module (3), the temperature number for detecting and transmitting gas in the flue (6)
According to the pressure inductor (10) is analyzed with the gas data and control module (3) is connected, for detecting and transmitting the cigarette
The barometric information of gas in road (6), the gas data analysis and control module (3) are additionally operable to according to gas in the flue (6)
The barometric information and temperature data of body are modified the concentration data of corresponding gas.
3. a kind of unmanned plane gas detecting system of single line laser according to claim 1, it is characterised in that：The detection
Device further includes being located at the flue (6) to have the optical splitter (12) and check sensor (11) of the laser emitter (5) side,
The optical splitter (12) is located at the transmitting terminal of the corresponding laser emitter (5), and the output end of the optical splitter (12) has two
A, one is connected to the check sensor (11), another be connected to the flue (6) and with the photoelectric sensor (7)
Relatively, check sensor (11) is connected to the gas data analysis and control module (3).
4. a kind of unmanned plane gas detecting system of single line laser according to claim 1, it is characterised in that：It is described partly to lead
Volumetric laser drive module (4) is equipped with matrix current adjustment circuit and semiconductor device, for according to gas data analysis and control module
(3) signal sent out further carries out wave spectrum frequency modulation by current-modulation toothing electric current and to saw-tooth current, and adjusts and swash
The temperature of optical transmitting set (5) realizes the frequency modulation to laser.
5. a kind of unmanned plane gas detecting system of single line laser according to any one of claim 1-4, feature exist
In：The unmanned generator terminal further includes image capture module (14) and is connected to the flight control mould of the data transmission link (2)
Block (13), described image acquisition module (14) include the camera being mounted on the unmanned plane body and are connected to the camera shooting
The video memory of head, described image memory are connected to the flight control modules (13), the flight control modules (13)
For receiving ambient image information that image capture module (14) is sent out and being sent to the data transmission link (2), Yi Jigen
The flying quality control unmanned plane body flight sent according to data transmission link (2).
6. a kind of unmanned plane gas detecting system of single line laser according to claim 5, it is characterised in that：It is described nobody
Generator terminal further includes being connected respectively to the GPS navigation module (15) of the flight control modules (13), the flight control modules
(13) it is additionally operable to obtain the unmanned plane location information and by what data transmission link (2) obtained flown that GPS navigation module (15) is sent
Row routing information, and control unmanned plane body by comparing unmanned plane location information and flight path information and fly along flight path
Row.
7. a kind of detection side of the unmanned plane gas detecting system of single line laser according to any one of claim 1-6
Method, it is characterised in that：Include the following steps：
S1, ground control station (1) are learnt after the target location for needing detection gas constituent concentration through wireless communication module to nothing
Man-machine end sends out the signal that takes off, and the signal that takes off includes flight path information；
S2, unmanned generator terminal data transmission link (2) obtain take off start after signal unmanned plane flight control modules (13),
GPS navigation module (15) and image capture module (14), the flight control modules (13) send according to GPS navigation module (15)
Unmanned plane location information and the flight path information control unmanned plane body of acquisition fly to target location；
Continuous earthward control station (1) sends unmanned plane position letter during S3, the unmanned plane body reach target location
It ceases, the operating personnel of ground control station (1) believe according to the ambient image that image capture module (14) obtains after arrival target location
Breath control unmanned plane reaches first gas detection point；
As soon as S4, unmanned generator terminal are every up to a gas detection point, the operating personnel of ground control station (1) start detection device, open
After dynamic, gas data analysis and control module (3) swash according to the laser frequency strength information of storage sent out for the first time to semiconductor
Optical drive module (4) sends out laser firing signals corresponding with the laser frequency strength information, and the laser firing signals include
Current-modulation information and temperature control information；
S5, the semiconductor laser drive module (4) drive laser emitter (5) to send out phase according to the laser firing signals of acquisition
The laser of frequency is answered, photoelectric sensor (7) receives the laser across flue (6), and the laser spectrum data of acquisition are sent
To data collection module (8), data collection module (8) re-sends to the gas data analysis and control after recording the spectroscopic data
Molding block (3)；
The laser sent out with this time that S6, gas data analysis and control module (3) are stored according to spectroscopic data and before
Laser frequency signal corresponding to transmitting signal is analyzed, and the concentration of gas componant corresponding with the laser frequency is calculated,
The concentration of this kind of gas is recorded, and mould is driven to semiconductor laser according to the laser frequency strength information of storage sent out next time
Block (4) sends out laser firing signals corresponding with the laser frequency strength information；
Step S5 to S6 is repeated until the last time of storage sends out laser frequency strength information and also has been completed Laser emission
To the concentration for obtaining gas componant corresponding with the secondary laser frequency strength information, step is executed after recording the concentration of this kind of gas
Rapid S7；
S7, gas data analysis and control module (3) are by the concentration information of each gas componant of record and corresponding each gas componant
It is sent to ground control station (1), close detection device after the concentration information of each gas componant of ground control station (1) acquisition controls again
Unmanned plane reaches next gas detection point；
S4 to S7 is repeated until each gas detection point is all detected by unmanned generator terminal, ground control station (1) obtains all gas
The concentration data of each gas componant of physical examination measuring point, executes S8 later；
S8, ground control station (1) determine that the detection of each gas detection point is complete, and send the flight path letter that unmanned plane returns
Breath, the unmanned plane body is returned along the flight path to land and closes each module.
8. a kind of detection method of the unmanned plane gas detecting system of single line laser according to claim 7, feature exist
In：The step S5 further includes obtaining laser check information by check sensor (11) to be sent to gas data analysis and control
Module (3), gas data analysis and control module (3) analyze the letters such as the frequency and intensity of laser according to laser check information
Breath, if be not consistent with the laser frequency strength information sent out before this, gas data analysis and control module (3) are poor according to the two
Different calibration of laser emits signal, sends the laser firing signals after correction after correction again.
9. a kind of detection method of the unmanned plane gas detecting system of single line laser according to claim 7, feature exist
In：The step S6 further includes that gas data analysis and control module (3) pass through pressure inductor (10) and temperature inductor (9)
The barometric information and temperature data of gas in flue (6) are obtained respectively, and the gas data analysis and control module (3) are according to gas
Pressure data and temperature data are modified the concentration data of corresponding gas componant, and revised concentration data is recorded.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810500709.6A CN108535188A (en) | 2018-05-23 | 2018-05-23 | A kind of the unmanned plane gas detecting system and its detection method of single line laser |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810500709.6A CN108535188A (en) | 2018-05-23 | 2018-05-23 | A kind of the unmanned plane gas detecting system and its detection method of single line laser |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108535188A true CN108535188A (en) | 2018-09-14 |
Family
ID=63472520
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810500709.6A Pending CN108535188A (en) | 2018-05-23 | 2018-05-23 | A kind of the unmanned plane gas detecting system and its detection method of single line laser |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108535188A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109374589A (en) * | 2018-11-26 | 2019-02-22 | 浙江海洋大学 | A kind of monitoring of hazardous gas method using fluorescent tracer |
| CN110376145A (en) * | 2019-08-22 | 2019-10-25 | 北京迪特锐科技有限公司 | A kind of detection system using optical technology detection stationary source |
| CN117147631A (en) * | 2023-10-30 | 2023-12-01 | 南京沃唐光电科技有限公司 | Regional environment analysis-based intelligent gas detection and early warning method and system |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040263852A1 (en) * | 2003-06-03 | 2004-12-30 | Lasen, Inc. | Aerial leak detector |
| CN102735644A (en) * | 2012-07-06 | 2012-10-17 | 北京大方科技有限责任公司 | Online calibration method of in-situ type laser gas analyzer |
| US8358420B1 (en) * | 2010-02-26 | 2013-01-22 | System Planning Corporation | Spectrometer for identifying analyte materials |
| CN105510274A (en) * | 2015-11-30 | 2016-04-20 | 中国科学院光电研究院 | Airborne laser active remote measurement system for concentration of atmospheric CO2 column |
| CN205504489U (en) * | 2016-01-22 | 2016-08-24 | 深圳市燃气集团股份有限公司 | Carry on unmanned aerial vehicle pipeline inspection device of laser methane gas leak detection ware |
| CN106290246A (en) * | 2016-08-09 | 2017-01-04 | 上海禾赛光电科技有限公司 | The terrestrial positioning device of unmanned plane and gas remote measurement system without GPS |
| CN106643916A (en) * | 2017-03-09 | 2017-05-10 | 邹霞 | Environment monitoring system based on unmanned aerial vehicle and monitoring method |
| CN106706488A (en) * | 2016-12-30 | 2017-05-24 | 武汉六九传感科技有限公司 | Laser atmospheric monitoring equipment for large-area operation |
| EP3186605A1 (en) * | 2014-08-25 | 2017-07-05 | Isis Geomatics Inc. | Apparatus and method for detecting a gas using an unmanned aerial vehicle |
| CN206479513U (en) * | 2017-01-10 | 2017-09-08 | 幻飞智控科技（上海）有限公司 | Unmanned aerial vehicle onboard gas detecting instrument |
| EP3225966A1 (en) * | 2016-03-31 | 2017-10-04 | Konica Minolta Laboratory U.S.A., Inc. | Laser scanning leak detection and visualization apparatus |
| CN107909790A (en) * | 2017-11-13 | 2018-04-13 | 成都航空职业技术学院 | A kind of airborne dust monitoring system based on unmanned plane |
| CN107992085A (en) * | 2017-12-29 | 2018-05-04 | 汉威科技集团股份有限公司 | Laser telemetry hazardous gas automatic tour inspection system and automatic detecting method based on unmanned plane |
-
2018
- 2018-05-23 CN CN201810500709.6A patent/CN108535188A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040263852A1 (en) * | 2003-06-03 | 2004-12-30 | Lasen, Inc. | Aerial leak detector |
| US8358420B1 (en) * | 2010-02-26 | 2013-01-22 | System Planning Corporation | Spectrometer for identifying analyte materials |
| CN102735644A (en) * | 2012-07-06 | 2012-10-17 | 北京大方科技有限责任公司 | Online calibration method of in-situ type laser gas analyzer |
| EP3186605A1 (en) * | 2014-08-25 | 2017-07-05 | Isis Geomatics Inc. | Apparatus and method for detecting a gas using an unmanned aerial vehicle |
| CN105510274A (en) * | 2015-11-30 | 2016-04-20 | 中国科学院光电研究院 | Airborne laser active remote measurement system for concentration of atmospheric CO2 column |
| CN205504489U (en) * | 2016-01-22 | 2016-08-24 | 深圳市燃气集团股份有限公司 | Carry on unmanned aerial vehicle pipeline inspection device of laser methane gas leak detection ware |
| EP3225966A1 (en) * | 2016-03-31 | 2017-10-04 | Konica Minolta Laboratory U.S.A., Inc. | Laser scanning leak detection and visualization apparatus |
| CN106290246A (en) * | 2016-08-09 | 2017-01-04 | 上海禾赛光电科技有限公司 | The terrestrial positioning device of unmanned plane and gas remote measurement system without GPS |
| CN106706488A (en) * | 2016-12-30 | 2017-05-24 | 武汉六九传感科技有限公司 | Laser atmospheric monitoring equipment for large-area operation |
| CN206479513U (en) * | 2017-01-10 | 2017-09-08 | 幻飞智控科技（上海）有限公司 | Unmanned aerial vehicle onboard gas detecting instrument |
| CN106643916A (en) * | 2017-03-09 | 2017-05-10 | 邹霞 | Environment monitoring system based on unmanned aerial vehicle and monitoring method |
| CN107909790A (en) * | 2017-11-13 | 2018-04-13 | 成都航空职业技术学院 | A kind of airborne dust monitoring system based on unmanned plane |
| CN107992085A (en) * | 2017-12-29 | 2018-05-04 | 汉威科技集团股份有限公司 | Laser telemetry hazardous gas automatic tour inspection system and automatic detecting method based on unmanned plane |
Non-Patent Citations (2)
| Title |
|---|
| AMIR KHAN 等: "Low Power Greenhouse Gas Sensors for Unmanned Aerial Vehicles", 《REMOTE SENSING》 * |
| 贾云伟: "基于移动机器人平台的有害气体监测技术关键问题研究", 《中国博士学位论文全文数据库 信息科技辑》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109374589A (en) * | 2018-11-26 | 2019-02-22 | 浙江海洋大学 | A kind of monitoring of hazardous gas method using fluorescent tracer |
| CN109374589B (en) * | 2018-11-26 | 2021-08-10 | 浙江海洋大学 | Hazardous gas monitoring device adopting fluorescent tracer |
| CN110376145A (en) * | 2019-08-22 | 2019-10-25 | 北京迪特锐科技有限公司 | A kind of detection system using optical technology detection stationary source |
| CN117147631A (en) * | 2023-10-30 | 2023-12-01 | 南京沃唐光电科技有限公司 | Regional environment analysis-based intelligent gas detection and early warning method and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10520387B2 (en) | Gas leakage treatment method and aerial vehicle | |
| US10704981B2 (en) | Remote leak detection system | |
| CN108535188A (en) | A kind of the unmanned plane gas detecting system and its detection method of single line laser | |
| CN110082782A (en) | A kind of harmful influence garden cruising inspection system and its implementation | |
| CN107965674B (en) | A kind of scan-type gas leakage whole audience early warning system | |
| KR101541032B1 (en) | System for collecting and analyzing data regarding module surface temperature of solar photovoltaic power facilities using unmanned air vehicle | |
| CN105805560A (en) | Natural gas pipeline leak detection system based on unmanned aerial vehicle | |
| CN206710305U (en) | A kind of in-situ type laser gas analyzer based on TDLAS technologies | |
| CN108106998B (en) | Atmosphere pollution detection device and detection method | |
| CN110264570A (en) | A kind of autonomous cruising inspection system in forest land based on unmanned plane | |
| CN104459650B (en) | Real-time calibration system and method of millimeter wave cloud-detection radar | |
| CN107992085A (en) | Laser telemetry hazardous gas automatic tour inspection system and automatic detecting method based on unmanned plane | |
| CN103630474A (en) | Multilane motor vehicle tail gas PM2.5 (Particulate Matter 2.5) telemetering device | |
| CN108918439B (en) | Airborne indoor gas remote measuring system and method | |
| CN105319173A (en) | Gas remote sensing detection device and method | |
| CN105116235A (en) | Searching apparatus and method of automatically searching electromagnetic radiation source | |
| CN208636717U (en) | A kind of natural gas line Small leak cruising inspection system | |
| CN107703516B (en) | Device for remotely measuring ship pollution emission and application method thereof | |
| CN115060850A (en) | Air-ground double-field coupled atmospheric pollution source tracking and flux measuring device and method | |
| CN108957255A (en) | Localization method based on steering engine for unmanned plane Scanning Detction power line corona | |
| WO2017199273A1 (en) | Search system | |
| CN105700500B (en) | A kind of automation equipment of the Internet of Things WIFI module drawing away from test | |
| CN105203485A (en) | Detection device and method for indoor gas | |
| CN108238272A (en) | A kind of UAV system for being used to monitor air quality | |
| CN205068170U (en) | Machine carries positioner and machine carries indoor gaseous remote supervising system of formula |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180914 |