CN108732308B - Gas measurement device based on eight rotor unmanned aerial vehicle - Google Patents
Gas measurement device based on eight rotor unmanned aerial vehicle Download PDFInfo
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- CN108732308B CN108732308B CN201810448402.6A CN201810448402A CN108732308B CN 108732308 B CN108732308 B CN 108732308B CN 201810448402 A CN201810448402 A CN 201810448402A CN 108732308 B CN108732308 B CN 108732308B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0004—Gaseous mixtures, e.g. polluted air
- G01N33/0009—General constructional details of gas analysers, e.g. portable test equipment
Abstract
The invention discloses a gas measurement device based on an eight-rotor unmanned aerial vehicle, which comprises an unmanned aerial vehicle main body, wherein a gas chamber, a gas sensor and an unmanned aerial vehicle power supply are arranged in the unmanned aerial vehicle main body, the bottom of the unmanned aerial vehicle main body is connected with a left fixing frame and a right fixing frame, the left fixing frame is connected with a left cantilever beam, the right fixing frame is connected with a right cantilever beam, the left cantilever beam is connected with the right cantilever beam through a three-way joint, an electric motor is arranged on the three-way joint, the three-way joint is communicated with a telescopic gas pipe, the telescopic gas pipe is fixedly provided with a rotating nut, the rotating nut is fixedly provided with an electromagnetic valve, the electric motor is connected with the rotating nut through a rope, the gas chamber is connected with the gas sensor, the gas chamber is communicated with a left gas pipe and a right gas pipe, and the left gas pipe and the right gas pipe are communicated with the three-way joint. According to the invention, the unmanned aerial vehicle body and the gas measuring device are combined to effectively obtain the gas environment parameters in the accident area, and the danger of detecting the gas environment by rescue personnel is reduced under the condition of ensuring the accuracy of data.
Description
Technical Field
The invention relates to the field of aerial gas measurement, in particular to a gas measurement device based on an eight-rotor unmanned aerial vehicle.
Background
With the development of human civilization, our footprints are gradually spread over the planet, and the production and life also influence population distribution, so that an extremely densely populated environment is caused, and rescue and protection work is directly influenced once disasters occur; when disasters occur in densely populated areas, due to complex building conditions, satellites cannot accurately know detailed information, and ground unmanned detection vehicles cannot pass through all terrains, firefighting rescue workers are often dispatched to the exploration conditions, which is extremely dangerous to the rescue workers, and once dangerous gases or radiation is contained in the areas, the rescue workers in unknown conditions are fatal. Therefore, the unmanned aerial vehicle is used for carrying the sensor to enter the accident area for early investigation, which is necessary for later rescue work or life safety protection of rescue workers; compared with the ground unmanned detection vehicle, the unmanned aerial vehicle sensor is superior to the ground unmanned detection vehicle in extremely strong terrain adaptability, and compared with a satellite, the accuracy aspect of low-altitude reconnaissance is incomparable; therefore, the unmanned aerial vehicle-mounted sensor is most convenient and effective at present for early detection. Therefore, a gas measurement device based on an unmanned aerial vehicle is urgently needed to solve the problem that the gas environment parameters in the accident area cannot be obtained effectively at present.
Disclosure of Invention
The invention aims to solve the technical problem that the gas environment parameters in the accident area cannot be obtained effectively in the prior art, and provides a gas measuring device based on an eight-rotor unmanned aerial vehicle.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
the utility model provides a gas measurement device based on eight rotor unmanned aerial vehicle, includes the unmanned aerial vehicle main part, the internally mounted of unmanned aerial vehicle main part has air chamber, gas sensor and unmanned aerial vehicle power supply, the bottom of unmanned aerial vehicle main part is connected with left mount and right mount, the right flank fixedly connected with left side cantilever beam of left side mount, the left side cantilever beam passes through three way connection with right cantilever beam fixed connection, install electric motor on the three way connection, three way connection's bottom intercommunication has telescopic tracheal top, telescopic tracheal bottom mounting has the top of turning round female, install the solenoid valve on the turning round female bottom mounting has the inlet port, electric motor's output shaft is last to be connected with the rope, the rope with turning round female fixed connection, the inside of left side mount, left side cantilever beam and right cantilever beam is equipped with the air flue, the air chamber is connected with gas sensor, thereby left air chamber intercommunication has left air pipe and right air pipe, thereby the left side air pipe passes left side air flue and inside the interior air flue of left side and right cantilever beam in proper order and the air flue, thereby the air flue and the air flue of three way connection of electric motor and the inside the three way connection of the three way connection, thereby air flue and the three way connection of the electronic nose of the unmanned aerial vehicle and the right air chamber.
As a further improved technical scheme of the invention, the left cantilever beam and the right cantilever beam are made of metal materials, the left end and the right end of the three-way joint are respectively provided with a gas outlet, the bottom end of the three-way joint is provided with a gas inlet, the three-way joint comprises an inner layer and an outer layer which are mutually connected, the outer layer is made of hard plastic materials, the left end of the outer layer is fixedly connected with the left cantilever beam, the right end of the outer layer is fixedly connected with the right cantilever beam, the inner layer is made of sealing flexible materials, the gas outlet at the left end of the inner layer is communicated with a left gas pipe, the gas outlet at the right end of the inner layer is communicated with a right gas pipe, and the gas inlet at the bottom end of the inner layer is communicated with a telescopic gas pipe.
As a further improved technical scheme of the invention, the telescopic air pipe comprises an upper air pipe, a lower air pipe and an outer protection pipe, wherein the bottom end of the lower air pipe is connected with the top end of the rotating nut, the top end of the lower air pipe stretches into the upper air pipe so as to realize sliding connection of the lower air pipe and the upper air pipe, the bottom end of the upper air pipe stretches into the inner part of the outer protection pipe so as to realize sliding connection of the upper air pipe and the outer protection pipe, and the top end of the upper air pipe is communicated with the air inlet at the bottom end of the three-way joint.
As a further improved technical scheme of the invention, the screw nut is made of a hollow metal material, the top end of the screw nut is in threaded connection with the bottom end of the lower air duct, the diameter of the screw nut is larger than that of the outer protection duct, and the buffer layer is sleeved on the lower air duct and is positioned between the outer protection duct and the screw nut.
As a further improved technical scheme of the invention, the upper air duct and the lower air duct comprise three layers, wherein the outer layers of the three layers are made of hard metal materials, the middle layers of the three layers are made of high-density foam materials, the inner layers of the three layers are disposable air ducts, the outer protection tube comprises two layers, the outer layers of the two layers are made of hard plastic materials, and the inner layers of the two layers are disposable air ducts.
As a further improved technical scheme of the invention, the air inlet port comprises a metal sheet and a filter screen, a through hole is formed in the middle of the metal sheet, the inner wall of the through hole is welded with the bottom end of the rotary nut in a sealing manner, the filter screen is in an inverted circular jar shape, and the periphery of the top of the filter screen is connected with the periphery of the outer circle edge of the metal sheet.
As a further improved technical scheme of the invention, the air chamber comprises two air inlets and one air outlet, the two air inlets of the air chamber are respectively communicated with the left air pipe and the right air pipe, the air sensor is an active air sensor with an air suction function, and the air outlet of the air chamber is connected with the air sensor.
As a further improved technical scheme of the invention, the air chamber is made of sealing elastic materials, the bottom of the air chamber is provided with an air dispersing port, and the air dispersing port is connected with a sealing valve.
According to the technical scheme, the unmanned aerial vehicle is characterized in that a plurality of cantilevers are connected to the periphery of the top of the unmanned aerial vehicle main body, an unmanned aerial vehicle driving motor is arranged at the extending end of each cantilever, each unmanned aerial vehicle driving motor is connected with a propeller, a landing gear is fixed at the bottom of the unmanned aerial vehicle main body, a main control unit is arranged in the unmanned aerial vehicle main body and is electrically connected with an unmanned aerial vehicle power supply, the unmanned aerial vehicle driving motor, a gas sensor, an electric motor and an electromagnetic valve respectively, and the main control unit is remotely connected with a ground control terminal through a wireless communication module.
According to the technical scheme, the left fixing frame and the right fixing frame are made of metal, the bottoms of the unmanned aerial vehicle main bodies are connected with the left fixing frame and the right fixing frame through electromagnetic locks, the electromagnetic locks are connected with the main control unit, the left air pipe comprises an upper left air pipe and a lower left air pipe, the upper left air pipe penetrates through the inside of the unmanned aerial vehicle main body and is communicated with the air inlet at the left end of the air chamber, the lower left air pipe sequentially penetrates through an air passage in the left fixing frame and an air passage in the left hanging beam and is communicated with the air outlet at the left end of the three-way joint, the upper left air pipe and the lower left air pipe are movably connected in an inserting mode, the upper right air pipe and the lower right air pipe penetrate through the inside of the unmanned aerial vehicle main body and are communicated with the air inlet at the right end of the air chamber, the lower right air pipe sequentially penetrates through the air passage in the right fixing frame and the air passage in the right hanging beam so as to be communicated with the air outlet at the right end of the three-way joint, the electric motor and the electromagnetic valve are movably connected with the female wire through wires, and the male wire main control unit and the female wire are movably connected with the male wire through the male wire and the female wire.
The beneficial effects of the invention are as follows:
(1) The unmanned aerial vehicle system and the gas measuring device are combined, so that the cost of a preliminary detection task in rescue actions can be effectively reduced, and the personnel and property safety can be guaranteed to the greatest extent under the condition of guaranteeing the accuracy of data.
(2) When the unmanned aerial vehicle body flies to the upper air of an accident area to collect and measure gas, the telescopic air pipe can be stretched, the electric motor drives the telescopic air pipe to stretch, and then the gas is collected and measured, when the unmanned aerial vehicle body is not used, the upper air pipe and the lower air pipe in the telescopic air pipe can be contracted into the outer protection pipe, the occupied space of the telescopic air pipe is reduced, the upper air pipe and the lower air pipe are effectively protected by the outer protection pipe, and the service life of the unmanned aerial vehicle body is prolonged.
(3) The filter screen is arranged on the air inlet port, so that large particles can be filtered out firstly by the filter screen, the data result is prevented from being influenced, and the accuracy of the data is improved.
(4) When the unmanned aerial vehicle is ready for returning, if the condition of insufficient electric quantity or unstable fuselage occurs, the electromagnetic lock can be controlled by the main controller, the electromagnetic lock is disconnected with the left fixing frame and the right fixing frame, the upper left air pipe and the lower left air pipe are separated due to the gravity action of the probe structure part below the unmanned aerial vehicle body, the upper right air pipe and the lower right air pipe are separated, and the lead female terminal and the lead male terminal are separated, so that the whole probe structure is thrown away, and the safe returning of the unmanned aerial vehicle body is ensured.
(5) The upper air duct and the lower air duct are mainly composed of a metal layer, a foam isolation layer and a disposable air duct, wherein the disposable air duct does not react with detected gas to influence final data, the foam isolation layer is covered on the disposable air duct and is used for protecting the disposable air duct from being damaged by bending an outermost metal layer, and the outermost metal layer is made of aviation aluminum. The protection tube is composed of a disposable air tube and a plastic protection layer and is used for accommodating and protecting the upper and lower air guide tubes and transmitting gas.
Drawings
Fig. 1 is a static schematic of the present invention.
Fig. 2 is a schematic representation of the flight of the present invention.
Fig. 3 is a schematic view of the overall structure of the gas sensor and the telescopic gas tube of the present invention.
Fig. 4 is a schematic view of the structure of the air cell of the present invention.
Fig. 5 is a schematic side view of a transmission module according to the present invention.
Fig. 6 is a schematic view of the contracted structure of the present invention.
Fig. 7 is a schematic view of the structure of the air inlet port of the present invention.
Fig. 8 is a schematic view of the structure of the upper airway tube or the lower airway tube of the present invention.
Fig. 9 is a schematic view of the structure of the outer protective tube of the present invention.
Fig. 10 is a schematic structural view of the right fixing frame of the present invention.
Fig. 11 is a schematic top view of the right fixing frame of the present invention.
Fig. 12 is a flow chart of the present invention.
Fig. 13 is a schematic diagram of the flight path planning principle of the present invention.
Fig. 14 is a standard schematic diagram of whether the acquisition of the present invention is completed.
Detailed Description
The following further describes embodiments of the present invention with reference to fig. 1 to 14:
referring to fig. 1 and 2, an eight-rotor unmanned aerial vehicle-based gas measurement device comprises an unmanned aerial vehicle main body 1 and a gas measurement device 6, and referring to fig. 3, the gas measurement device 6 comprises a gas chamber 8, a gas sensor 7, a left fixing frame 11, a right fixing frame 12, a left cantilever 13, a right cantilever 14, a three-way joint 15, an electric motor 16, a telescopic gas pipe, a rotating nut 21 and an air inlet port 23. The inside mounting of unmanned aerial vehicle main part 1 has air chamber 8, gas sensor 7 and unmanned aerial vehicle power supply, the bottom of unmanned aerial vehicle main part 1 is connected with left mount 11 and right mount 12, the right flank fixedly connected with left cantilever beam 13 of left mount 11, the left flank fixedly connected with right cantilever beam 14 of right mount 12, left cantilever beam 13 pass through three way connection 15 with right cantilever beam 14 fixed connection, install electric motor 16 on three way connection 15, three way connection 15's bottom intercommunication has telescopic tracheal top, telescopic tracheal bottom mounting has the top of rotating mother 21, install the solenoid valve on the rotating mother 21, the bottom mounting of rotating mother 21 has air inlet port 23, be connected with rope 17 on electric motor 16's the output shaft, rope 17 with rotating mother 21 fixed connection, left mount 11, right mount 12, left cantilever beam 13 and right cantilever beam 14's inside all is equipped with the air flue, 8 and gas sensor 7 are connected, 8 intercommunication has left tracheal 9 and right tracheal bottom mounting to have the top of rotating mother 21, thereby the left and right tracheal 10, the electric motor 9 passes through three way connection 10 and the three way connection 10 in proper order with the air chamber 10 and the inside of three way connection 10 and the three way connection 10, thereby the three way connection 10 and the inside of the three way connection 10 has the air chamber 10 and the air chamber 13.
The left cantilever 13 and the right cantilever 14 are made of metal materials, see fig. 5, the left end and the right end of the three-way joint 15 are respectively provided with a gas outlet 27, the bottom end of the three-way joint 15 is provided with a gas inlet, the three-way joint 15 comprises an inner layer and an outer layer which are mutually connected, the outer layer is made of hard plastic materials, the left end of the outer layer is fixedly connected with the left cantilever 13, the right end of the outer layer is fixedly connected with the right cantilever 14, the inner layer is made of sealing flexible materials, the gas outlet at the left end of the inner layer is communicated with the left gas pipe 9, the gas outlet at the right end of the inner layer is communicated with the right gas pipe 10, and the gas inlet at the bottom end of the inner layer is communicated with the telescopic gas pipe.
Referring to fig. 3, the telescopic air pipe includes an upper air pipe 18, a lower air pipe 19 and an outer protection pipe 20, the bottom end of the lower air pipe 19 is connected with the top end of the rotating nut 21, the top end of the lower air pipe 19 extends into the interior of the upper air pipe 18 to realize sliding connection between the lower air pipe 19 and the upper air pipe 18, the bottom end of the upper air pipe 18 extends into the interior of the outer protection pipe 20 to realize sliding connection between the upper air pipe 18 and the outer protection pipe 20, and the top end of the upper air pipe 18 is communicated with the gas inlet at the bottom end of the three-way joint 15.
The spiral nut 21 is made of a hollow metal material, the top end of the spiral nut 21 is in threaded connection with the bottom end of the lower air duct 19, the diameter of the spiral nut 21 is larger than that of the outer protection tube 20, and the lower air duct 19 is sleeved with a buffer layer 22 and the buffer layer 22 is located between the outer protection tube 20 and the spiral nut 21.
Referring to fig. 8, the upper air duct 18 and the lower air duct 19 each include three layers, wherein an outer layer of the three layers is made of a hard metal material (i.e., a metal layer 31), a middle layer of the three layers is made of a high-density foam material (i.e., a foam isolation layer 32), an inner layer of the three layers is made of a disposable air duct 33, the disposable air duct 33 does not react with the gas to be measured to affect final data, the foam isolation layer 32 covers the disposable air duct 33 to protect the disposable air duct 33 from damage to the air duct caused by bending of the metal layer 31 of the outer layer, and the metal layer 31 of the outermost layer is made of aviation aluminum. Referring to fig. 9, the outer protective tube 20 includes two layers, wherein the outer layers of the two layers are made of hard plastic (i.e., plastic protective layer 34), and the inner layers of the two layers are made of disposable air tubes 33 for accommodating the upper air guide tube 18, the lower air guide tube 19 and the transmission gas.
Referring to fig. 7, the air inlet port 23 includes a metal sheet 28 and a filter screen 29, a through hole is formed in the middle of the metal sheet 28, the inner wall of the through hole is welded to the bottom end of the screw 21 in a sealing manner, the filter screen 29 is in an inverted circular jar shape, and the periphery of the top of the filter screen 29 is connected with the periphery of the outer periphery of the metal sheet 28 through a buckle 30. Filter 29 may first filter out large particulates to avoid data effects.
The gas chamber 8 comprises two gas inlets and a gas outlet, the two gas inlets of the gas chamber 8 are respectively communicated with the left gas pipe 9 and the right gas pipe 10, the gas sensor 7 is an active gas sensor 7 with a gas suction function, and the gas outlet of the gas chamber 8 is connected with the gas sensor 7. The air chamber 8 is made of sealing elastic materials, and an air dispersing port is arranged at the bottom of the air chamber 8 and is connected with a sealing valve 24. Referring to fig. 4, the specific structure of the air chamber 8 is that the air chamber 8 comprises an air chamber inner layer 25 and an air chamber outer shell 26, wherein the air chamber inner layer 25 is arranged inside the air chamber outer shell, the air chamber inner layer 25 is made of sealing elastic materials, and the space of the air chamber outer shell is 1.2 times of the space of the air chamber inner layer in a normal state. The air chamber inner layer 25 is connected with the gas sensor 7, and the air chamber inner layer 25 is respectively communicated with the left air pipe 9 and the right air pipe 10.
Referring to fig. 1 and 2, be connected with a plurality of cantilevers 2 all around at the 1 top of unmanned aerial vehicle, cantilever 2 stretches out the end and is equipped with unmanned aerial vehicle driving motor 4, unmanned aerial vehicle driving motor 4 is connected with screw 3, the bottom of unmanned aerial vehicle body is fixed with undercarriage 5, the inside of unmanned aerial vehicle body is equipped with main control unit, main control unit is connected with unmanned aerial vehicle power, unmanned aerial vehicle driving motor 4, gas sensor 7, electric motor 16 and solenoid valve electricity respectively, main control unit has ground control terminal through wireless communication module remote connection. The structure of eight rotor unmanned aerial vehicle among the prior art is adopted in this embodiment, only needs to install gas sensor 7, air chamber 8, left air duct, right air duct and mount, cantilever beam, three way connection 15, telescopic trachea, revolve female 21, inlet port 23 isotructure on current eight rotor unmanned aerial vehicle. The main control unit in this embodiment may use the same controller to control the flight (unmanned aerial vehicle driving motor 4) and the gas collection (gas sensor 7, electric motor 16 and solenoid valve) at the same time, or may use 2 controllers to control the flight and the gas collection respectively. The output shaft of the electric motor 16 in this embodiment is connected to a bobbin around which a rope 17 is wound.
Referring to fig. 10 and 11, the left fixing frame 11 and the right fixing frame 12 are made of metal materials, the bottom of the unmanned aerial vehicle main body 1 is connected with the left fixing frame 11 and the right fixing frame 12 through electromagnetic locks 36, the electromagnetic locks 36 are connected with the main control unit, the left air pipe 9 comprises an upper left air pipe and a lower left air pipe, the upper left air pipe penetrates through the inside of the unmanned aerial vehicle main body 1 and is communicated with the air inlet 27 at the left end of the air chamber 8, the lower left air pipe sequentially penetrates through the air passage in the left fixing frame 11 and the air passage in the left cantilever beam 13 and is communicated with the air outlet 27 at the left end of the three-way joint 15, the upper left air pipe and the lower left air pipe are movably connected in a plugging manner, the right air pipe 10 comprises an upper right air pipe and a lower right air pipe 35, the upper right air pipe penetrates through the inside of the unmanned aerial vehicle main body 1 and is communicated with the air inlet at the right end of the air chamber 8, the lower right air pipe 35 sequentially penetrates through the air passage in the right fixing frame 12 and the air passage in the right cantilever beam 14 so as to be communicated with the air outlet 27 at the right end of the three-way joint 15, the upper right air pipe and the lower air pipe 35 sequentially penetrates through the motor movable wire connection terminal 16 and the main control unit and the female wire is connected with the female wire through the male wire through the plug-type motor wire. The left fixing frame 11 and the right fixing frame 12 are arranged oppositely as the structure.
The sensor main body is separated from the air inlet module, and the air inlet module is arranged on the belly of the unmanned aerial vehicle; the whole air inlet module and the transmission module (namely the probe structure) of the unmanned aerial vehicle after configuration is in a contracted state under the static condition, and the unmanned aerial vehicle is accommodated in the protection tube, when the finger is obtainedAnd then stretched to the desired length. The sensor main body comprises the air chamber 8 and the air sensor 7, and the air inlet module comprises the two independent upper air guide pipes 18 and lower air guide pipes 19, an outer protection pipe 20 for accommodating, a buffer layer 22 for preventing abrasion, a screw nut 21 (an electromagnetic valve on the screw nut 21) for determining the opening and closing of an air passage and an air inlet port 23 with filtering capability, and is used for collecting air; the transmission module comprises a left fixing frame 11 and a right fixing frame 12 which are connected with the body of the unmanned aerial vehicle body 1, and the left fixing frame 11 and the right fixing frame 12 adopt aviation aluminum protective shells. The left air tube 9 and the right air tube 10 are PCB tubes. The gas in this embodiment is CO, SO 2 、CO 2 、Cl 2 Harmful gases such as ammonia; the gas sensor 7 is installed selectively according to the specific situation, and is built in the machine body, and a partition plate type spacer is arranged between the gas sensor and the unmanned aerial vehicle power supply (battery).
The structure of the gas measuring device 6 when the present embodiment is not in operation is shown in fig. 6. When receiving the instruction of starting acquisition, the main controller respectively controls the gas sensor 7, the electric motor 16 (micro electric motor) and the electromagnetic valve, the gas sensor 7 is started, the electric motor 16 starts to rotate the release rope 17, the telescopic air pipe starts to stretch to a proper length and then stops rotating and keeps, and the specific stretching process is that the upper air pipe 18, the lower air pipe 19 and the outer protection pipe 20 in the telescopic air pipe slide downwards relative to the upper air pipe 18 due to the self gravity effect, the outer protection pipe 20 slides downwards relative to the upper air pipe 18, so that the stretching is realized, the electromagnetic valve in the screw 21 is opened, and then the gas enters the air chamber 8 along the air inlet port 23, the screw 21, the lower air pipe 19, the upper air pipe 18, the three-way joint 15 and the left air pipe 9, the air chamber 8 is made of sealing elastic materials and has a expansion ratio which is 1.2 times that of the normal state, when the air chamber 8 is not started and is in the normal state, no space is occupied, when the air chamber 8 is filled with air for the first time, the air enters the air sensor 7 again when the maximum volume value of the air chamber 8 is 1.2 times that of the air, the air sensor 7 is an active air sensor 7 with the air suction function in the prior art, the active air sensor 7 generally comprises a shell, a reaction bin for realizing air detection is arranged in the shell, an air inlet, a detection air channel and an air outlet are arranged in the shell, an axial flow fan is arranged in the detection air channel, the reaction bin is arranged between the air inlet and the inlet of the axial flow fan, the outlet of the axial flow fan is communicated with the air outlet, the signal output ends of the reaction bins are connected with the main control unit, and the axial flow fan is connected with the main control unit. The gas sensor 7 detects and analyzes the sucked gas and feeds back the analyzed result to the main control unit, which may be stored by a memory or directly fed back to the ground control terminal. After the command of completing acquisition is issued, the electric motor 16 is activated and rotated again by the main control unit, the telescopic air pipe is contracted, the rope 17 drives the rotating nut 21 to move upwards, the rotating nut 21 is fixedly connected with the lower air duct 19 through threads, the lower air duct 19 is driven to slide upwards, the rotating nut is contracted into the upper air duct 18, when the rotating nut 21 touches the buffer layer 22, the buffer layer 22 touches the outer protection pipe 20, the outer protection pipe 20 slides upwards relative to the upper air duct 18, the upper air duct 18 is contracted into the outer protection pipe 20, the outer protection pipe 20 can protect the upper air duct 18 and the lower air duct 19 in the rotating nut when the rotating nut is not in use, the buffer layer 22 can be made of elastic rubber materials, and a buffer effect is achieved between the rotating nut 21 and the outer protection pipe 20. When the upper air duct 18 and the lower air duct 19 shrink into the outer protection tube 20 and then are ready for returning, the main controller closes the electromagnetic valve on the spiral nut 21, if the condition of insufficient electric quantity or unstable fuselage occurs in the returning process, the bottom of the unmanned aerial vehicle main body 1 is connected with the left fixing frame 11 and the right fixing frame 12 through the electromagnetic locks 36, the electromagnetic locks 36 connected with the left fixing frame 11 and the right fixing frame 12 can be selectively controlled through the main controller unit, the whole probe structure (the air inlet module and the transmission module) is lost through the electromagnetic locks 36 connected with the left fixing frame 11 and the right fixing frame 12, the upper left air duct and the lower left air duct are movably connected in an inserting mode, the electric motor 16 and the electromagnetic valve are movably connected with the wire female terminal through wires, the main control unit and the unmanned aerial vehicle main body are connected with the wire male terminal which is movably inserted with the wire female terminal through wires, so that when the whole probe structure is lost, the whole probe structure is separated between the upper left air duct and the lower left air duct due to self gravity, the separation between the upper right air duct and the lower air duct 35 is realized, the whole unmanned aerial vehicle main body is ensured to be lost. Of course, if the condition of insufficient electric quantity or unstable machine body does not occur in the returning process, the probe structure does not need to be discarded, and the probe structure can be reused next time. In this embodiment, the extra gas in the air chamber 8 can be released by opening the sealing valve 24 on the air chamber. The upper air guide pipe 18 and the lower air guide pipe 19 in the air inlet module mainly comprise a metal layer 31, a foam isolating layer 32 and a disposable air pipe 33, wherein the disposable air pipe 33 does not react with the detected gas to influence final data, the foam isolating layer 31 is covered on the disposable air pipe 33 and is used for protecting the disposable air pipe 33 from air pipe damage caused by bending of the outermost metal layer 31, and the outermost metal layer 31 is made of aviation aluminum. As shown in fig. 11, the protective tube is composed of a disposable air tube 33 and a plastic protective layer 34 for accommodating the upper and lower air guide tubes and the transmission gas.
The overall task execution flow in this embodiment is shown in fig. 12, after receiving a task, the corresponding gas sensor 7 needs to be selected according to the general situation of the site, and placed in the unmanned aerial vehicle body, a corresponding interface is connected, and inspection before take-off is performed, when the unmanned aerial vehicle reaches a designated area, a start-up instruction of the gas sensor 7 is issued, at this time, the electromagnetic valve on the screw nut 21 is opened, gas enters the gas sensor 7 through the air inlet module, corresponding data are generated and transmitted to the ground through the wireless communication module (transceiver) on the unmanned aerial vehicle body, then whether the acquisition task is completed is judged according to the subsequent instruction, and whether return is determined.
As for the whole unmanned aerial vehicle route planning principle, as shown in fig. 13 and 14, after the unmanned aerial vehicle takes off and reaches a designated area, the point is set as a point C, the environmental parameter X at the moment is collected, and the principle selected by the point C is an accident influence edge area, is low-altitude and can be calibrated by using a GPS; after the ground receives the parameter X, the unmanned plane is controlled to fly upwards in a straight line (can be automatically planned according to the wind speed and the temperature in a specific environment) to acquire real timeEnvironmental parameters of (2)
The result of each feedback is compared with X until the value of X is close to or reached; maintaining the height at the moment and calibrating the height as a point A, wherein the point calibration principle is that the edge area of the high-altitude accident is; at this time, the command unmanned aerial vehicle flies through the central area and collects real-time data
And the position calibration is the point B when the numerical value approaches or equals to X, the calibration principle is that the high-altitude accident edge area can be calibrated by a coordinate GPS, the high-altitude accident edge area is suspended and turned to return to the point C, the shortest principle is followed and real-time data is fed back, dangerous obstacles are avoided by high vigilance until the point C is reached, and the data acquisition is completed. Because this embodiment needs to install gas sensor 7, electric motor 16, electromagnetic lock 36 and solenoid valve these all need the electric energy, do not be equipped with independent unmanned aerial vehicle power to guarantee that the enough light of load, all connect the unmanned aerial vehicle power on the unmanned aerial vehicle body, so can meet the electric quantity inadequately when returning, can select to throw the structure to guarantee safe returning this moment.
The present embodiment provides a measurement method according to the structure of the gas measurement device 6 described above, including:
step 1: selecting a corresponding gas sensor 7 according to the general situation of the accident scene, and following the principle of the active gas sensor 7 and the built-in;
step 2: checking the condition before taking off, and in a static state, the upper air duct 18 and the lower air duct 19 are contained in the outer protection tube 20 by default;
step 3: when the unmanned aerial vehicle arrives at the appointed area and then executes the detection task, the electric motor 16 is started to work, and the length of the required telescopic air pipe is adjusted according to the specific situation;
step 4: opening the electromagnetic valve on the rotary nut 21;
step 5: the active gas sensor 7 is started, gas is sucked through the gas inlet module for analysis, and data are summarized to the wireless communication module on the unmanned aerial vehicle body for feedback;
step 6: the electric motor 16 starts the telescopic air pipe to be in a static state, and closes the electromagnetic valve on the rotary nut 21;
step 7: and finishing the return of all tasks, and selecting whether to discard the probe structure.
The beneficial effect of the embodiment is an effective measure under the condition that ground equipment cannot reach and space equipment cannot be detected; the cost of the early detection task in the rescue action can be effectively reduced, and the personnel and property safety can be furthest ensured under the condition of ensuring the accuracy of data; the operator should be familiar with the performance of the selected gas sensor 7, proficient in the relevant operation of the eight-rotor drone, and communicate with the commander in time.
The scope of the present invention includes, but is not limited to, the above embodiments, and any alterations, modifications, and improvements made by those skilled in the art are intended to fall within the scope of the invention.
Claims (5)
1. Gas measurement device based on eight rotor unmanned aerial vehicle, including the unmanned aerial vehicle main part, its characterized in that: the unmanned aerial vehicle comprises an unmanned aerial vehicle body, a gas chamber, a gas sensor and an unmanned aerial vehicle power supply, wherein the bottom of the unmanned aerial vehicle body is connected with a left fixing frame and a right fixing frame, the right side surface of the left fixing frame is fixedly connected with a left cantilever beam, the left cantilever beam is fixedly connected with the right cantilever beam through a three-way joint, an electric motor is arranged on the three-way joint, the bottom end of the three-way joint is communicated with the top end of a telescopic gas pipe, the bottom end of the telescopic gas pipe is fixedly provided with the top end of a spinning nut, an electromagnetic valve is arranged on the spinning nut, the bottom end of the spinning nut is fixedly provided with an air inlet, the output shaft of the electric motor is connected with a rope, the rope is fixedly connected with the spinning nut, the left fixing frame, the right fixing frame, the left cantilever beam and the right cantilever beam are internally provided with an air passage, the gas chamber is connected with the gas sensor, the gas chamber is sequentially communicated with the left gas pipe and the right gas pipe, and the left gas pipe passes through the air passage in the left fixing frame and the left cantilever beam to be sequentially communicated with the left end of the three-way joint, the electromagnetic valve is sequentially communicated with the right gas pipe, and the electromagnetic valve is sequentially communicated with the air passage in the air passage and the electromagnetic valve;
the telescopic air pipe comprises an upper air pipe, a lower air pipe and an outer protection pipe, wherein the bottom end of the lower air pipe is connected with the top end of the rotating nut, the top end of the lower air pipe stretches into the upper air pipe so as to realize sliding connection of the lower air pipe and the upper air pipe, the bottom end of the upper air pipe stretches into the outer protection pipe so as to realize sliding connection of the upper air pipe and the outer protection pipe, and the top end of the upper air pipe is communicated with an air inlet at the bottom end of the three-way joint;
the screw nut is made of hollow metal materials, the top end of the screw nut is in threaded connection with the bottom end of the lower air duct, the diameter of the screw nut is larger than that of the outer protection tube, the buffer layer is sleeved on the lower air duct and is positioned between the outer protection tube and the screw nut;
the upper air duct and the lower air duct respectively comprise three layers, wherein the outer layers of the three layers are made of hard metal materials, the middle layers of the three layers are made of high-density foam materials, the inner layers of the three layers are disposable air ducts, the outer protective tube comprises two layers, the outer layers of the two layers are made of hard plastic materials, and the inner layers of the two layers are disposable air ducts;
the unmanned aerial vehicle comprises an unmanned aerial vehicle main body, wherein a plurality of cantilevers are connected to the periphery of the top of the unmanned aerial vehicle main body, an unmanned aerial vehicle driving motor is arranged at the extending end of each cantilever, a propeller is connected to each unmanned aerial vehicle driving motor, a landing gear is fixed to the bottom of the unmanned aerial vehicle main body, a main control unit is arranged in the unmanned aerial vehicle main body and is electrically connected with an unmanned aerial vehicle power supply, the unmanned aerial vehicle driving motor, a gas sensor, an electric motor and an electromagnetic valve respectively, and the main control unit is remotely connected with a ground control terminal through a wireless communication module;
the utility model discloses a wireless communication system, including unmanned aerial vehicle main part, left mount and right mount, left side mount and right mount are the metal material, the bottom of unmanned aerial vehicle main part all is connected with left mount and right mount through the electromagnetic lock, left side trachea includes left trachea and lower left trachea, go up left trachea pass the inside of unmanned aerial vehicle main part and with the gas entry intercommunication of the left end of air chamber, left trachea passes the air flue in left mount and left cantilever in proper order and with the gas exit intercommunication of three way connection's left end down, go up left trachea and left trachea down through the mode swing joint of pegging graft, right trachea includes right trachea and lower right trachea, go up right trachea pass the inside of unmanned aerial vehicle main part and with the gas entry intercommunication of the right end of air chamber, thereby lower right trachea passes the air flue in the right mount and the gas exit intercommunication of the right end of three way connection in proper order, go up right trachea and lower right trachea through the mode swing joint of pegging graft, electric motor and solenoid valve are connected with wire female terminal through the wire, main control unit and unmanned aerial vehicle power supply are used for pegging graft with male terminal through wire swing joint with wire.
2. The eight rotor unmanned aerial vehicle-based gas measurement device of claim 1, wherein: the left cantilever beam and the right cantilever beam are made of metal materials, the left end and the right end of the three-way joint are respectively provided with a gas outlet, the bottom end of the three-way joint is provided with a gas inlet, the three-way joint comprises an inner layer and an outer layer which are mutually connected, the outer layer is made of hard plastic materials, the outer layer is fixedly connected with the left cantilever beam, the outer layer is fixedly connected with the right cantilever beam, the inner layer is made of a sealing flexible material, the gas outlet at the left end of the inner layer is communicated with a left gas pipe, the gas outlet at the right end of the inner layer is communicated with a right gas pipe, and the gas inlet at the bottom end of the inner layer is communicated with a telescopic gas pipe.
3. The eight rotor unmanned aerial vehicle-based gas measurement device of claim 1, wherein: the air inlet port comprises a metal sheet and a filter screen, a through hole is formed in the middle of the metal sheet, the inner wall of the through hole is welded with the bottom end of the rotary nut in a sealing mode, and the filter screen is in an inverted circular jar shape and the periphery of the top of the filter screen is connected with the periphery of the outer circle of the metal sheet.
4. The eight rotor unmanned aerial vehicle-based gas measurement device of claim 1, wherein: the gas chamber comprises two gas inlets and a gas outlet, the two gas inlets of the gas chamber are respectively communicated with the left gas pipe and the right gas pipe, the gas sensor is an active gas sensor with an air suction function, and the gas outlet of the gas chamber is connected with the gas sensor.
5. The eight rotor unmanned aerial vehicle-based gas measurement device of claim 4, wherein: the air chamber is made of sealing elastic materials, an air dispersing port is arranged at the bottom of the air chamber, and the air dispersing port is connected with a sealing valve.
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| CN112083129A (en) * | 2020-09-18 | 2020-12-15 | 上海交通大学 | A unmanned aerial vehicle machine carries sensor device for environmental monitoring |
| CN114689111B (en) * | 2020-12-29 | 2024-03-22 | 香港理工大学 | Real-time acquisition system, real-time acquisition equipment and real-time acquisition method for three-dimensional fire scene information |
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