CN108828050A - A kind of poison gas intelligent monitor system and monitoring method - Google Patents
A kind of poison gas intelligent monitor system and monitoring method Download PDFInfo
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- G01N21/35—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light
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Abstract
The invention discloses a kind of poison gas intelligent monitor systems, including unmanned aerial vehicle platform and ground control system；Wherein, unmanned aerial vehicle platform includes unmanned aerial vehicle (UAV) control circuit and the loading device with unmanned aerial vehicle (UAV) control circuit connection；Ground control system control unmanned plane enters toxic gas environment, the gas information and image information of loading device acquisition region, after unmanned aerial vehicle (UAV) control processing of circuit, it is sent to ground end control system, then corresponding information is shown, and unmanned aerial vehicle (UAV) control signal is sent to unmanned aerial vehicle (UAV) control circuit, the motion profile of unmanned aerial vehicle platform is controlled, closed-loop control is formed.The present invention is by being mounted in detection of poison gas module on unmanned aerial vehicle platform; when carrying out chemical warfare agent and industrial detection of poison gas; protect the life security of testing staff; unmanned plane action simultaneously is fast, reaction is flexible; allow detection of poison gas is the fastest to carry out, has won valuable time for the lookup and control in poison gas source.
Description
Technical field
The invention belongs to field of gas detection, and in particular to a kind of poison gas intelligent monitor system and monitoring method.
Background technique
The use of chemical warfare agent is still commonplace in modern war, the chemical warfares such as new chemical war agent such as perfluoroisobutylene
Agent can penetrate biochemical protective clothes and gas mask, constitute grave danger to the life of detection of poison gas personnel.Meanwhile along with work
The development of industry, toxic and harmful gas have become the danger source that we must not face in production and life.It is refined including petroleum
Change industry, chemical industry, environmentally friendly emergent accident, anti-terrorism, dangerous material storage and transportation, garbage loading embeading or even municipal sewage treatment, all kinds of
Underground pipelines etc. various aspects, we may be in the threat that unconsciously just will receive hazardous gas.People-oriented idea
Us are needed to be concerned about our health and safety whenever and wherever possible, all kinds of leakage explosions constantly cause social crisis and public property again
Destruction.
Currently, by taking modern gas warfare as an example, site safety exploration robot vehicle can accomplish that nobody goes through dangers search, observation, quickly
Topography and geomorphology exploration, chemical warfare agent monitoring etc. real-time detection can go out concentration value in the presence of pernicious gas, and be more than certain at it
When limit, sounds an alarm instruct people's action immediately.It is applied to public safety field can be in industrial automation, telemetering, industry
Robot, environmental pollution monitoring, health care, pharmaceutical engineering and bioengineering multiple fields realize that quick, science, hommization are answered
With.But some landform, landforms are not suitable for detection of poison gas vehicle and pass through, in addition, the scene of burning, explosion occurs, poison gas inspection
Measuring car can not also reach scene and be detected.
Therefore, chemical warfare agent and industrial poison gas can fast and accurately be detected while avoid detecting by developing one kind
The novel detection method and detection system that personnel are threatened by poison gas, national defence and public safety, in terms of seem especially
It is important.
Summary of the invention
The technical problem to be solved by the present invention is to：A kind of poison gas intelligent monitor system and monitoring method are provided, solved
Toxic gas monitoring systems can not visualization display and one by landform and weather restricted problem and poison gas concentration range in the prior art
The problem of a little specific occasions detection of poison gas vehicle can not be detected effectively.
The present invention uses following technical scheme to solve above-mentioned technical problem：
A kind of poison gas intelligent monitor system, including unmanned aerial vehicle platform and ground control system；Wherein, unmanned aerial vehicle platform includes for nobody
Machine control circuit and loading device with unmanned aerial vehicle (UAV) control circuit connection；Ground control system include ground surface end control module,
Face end display module and ground signal processing module；
Ground surface end control module control unmanned plane enters toxic gas environment, loading device obtain region gas information and
Image information is sent to ground signal processing module, ground signal processing module is to reception after unmanned aerial vehicle (UAV) control processing of circuit
Data handled after be sent to ground surface end control module, ground surface end control module will be corresponding by ground surface end display module
Information is shown, and unmanned aerial vehicle (UAV) control signal is sent to unmanned aerial vehicle (UAV) control circuit, controls the motion profile of unmanned aerial vehicle platform.
Loading device includes detection of poison gas module, infrared visible photoelectric nacelle, navigation module；Wherein, detection of poison gas module
The gas information of unmanned plane region is obtained, infrared visible photoelectric nacelle obtains the image information of unmanned plane region, leads
The location information of model plane block acquisition unmanned plane region.
Detection of poison gas module includes ionic migration spectrometer and infrared spectrometer, ionic migration spectrometer be used to obtain gas at
Point, infrared spectrometer is used to obtain the type and concentration of gas；The output signal of ionic migration spectrometer and infrared spectrometer is through nothing
Ground signal processing module is sent to after Human-machine Control processing of circuit.
Infrared visible photoelectric nacelle includes video camera, infrared thermal imager, motor and driving circuit, motor driven video camera
360 degree of image informations for obtaining unmanned aerial vehicle platform region are rotated with infrared thermal imager, are carried out through unmanned aerial vehicle (UAV) control circuit
Ground signal processing module is sent to after image procossing.
Unmanned aerial vehicle (UAV) control circuit carries out image procossing and uses the feature point extraction merging algorithm for images based on SUACE algorithm.
SUACE algorithm includes the following steps：
Step 1, the picture for obtaining unmanned plane captured in real-time；
Picture is converted to grayscale image by step 2；
Step 3 obtains illumination responses using the low-pass filter of controllable blur radius；
Step 4, analysis illumination variation, select dynamic reference range, carry out image enhancement processing using linear contrast；
Step 5 obtains low-frequency range using Gaussian filter, and calculates two boundaries of term of reference, excludes background image；
Step 6 carries out binary conversion treatment to step 5 treated image, deletes the pixel for being less than term of reference lower limit value；
Step 7 carries out image mosaic；
Step 8, circulation execute step 2 to step 7, until image procossing is completed.
Data interaction is carried out by wireless communication module between unmanned aerial vehicle (UAV) control circuit and ground surface end control module.
A kind of poison gas intelligent monitoring method, is monitored poison gas using poison gas intelligent monitor system, specifically includes as follows
Step：
Step a, start unmanned plane and its loading device, unmanned plane during flying is controlled to preset sky by ground control system
Domain position；
Step b, UAV flight's device obtains gas information, the image information of unmanned plane position in real time, and will acquire
Ground control system is sent to after information processing；
Step c, ground control system judges that the poison gas of unmanned plane region is dense according to the gas information, the image information that receive
Degree, diffusion and diffusion tendency；
Step d, according to step c's as a result, control unmanned plane during flying to the poison gas prejudged of monitoring system ground controller
Overlay area；
Step e, circulation executes step b to step d, until the monitoring task of setting is completed.
The gas information includes the type and concentration of the ingredient of gas, gas.
Compared with prior art, the present invention the invention has the advantages that：
1, the present invention is carrying out chemical warfare agent and industrial detection of poison gas by the way that detection of poison gas module is mounted on unmanned aerial vehicle platform
When, the life security of testing staff is protected, while unmanned plane action is fast, reaction is flexible, allows detection of poison gas most quick
Progress, for poison gas source lookup and control won valuable time.
2, the present invention allows detection of poison gas with ignoring landform by the way that navigation system is arranged on UAV flight's platform
Looks factor carries out intelligent positioning cruise monitoring in complex environment.
3, the present invention, which passes through, the difunctional photoelectric nacelle of infrared visible and navigation system is arranged on UAV flight's platform,
So as to the visible light and infrared image at the scene of effectively collecting, the limitation at fog machine night is broken through, it can round-the-clock, complicated gas
It works under the conditions of phase, greatly expands monitoring systematic difference range.
4, the present invention is taken by the way that detection of poison gas module, the difunctional gondola of infrared visible and navigation system are arranged in unmanned plane
It, can be with intellectual analysis poison gas range, real-time monitoring toxic gas diffusion trend on carrying platform.
Detailed description of the invention
Fig. 1 is system structure diagram of the invention.
Fig. 2 is the structural block diagram of detection of poison gas module of the present invention.
Specific embodiment
Structure and the course of work of the invention are described further with reference to the accompanying drawing.
A kind of poison gas intelligent monitor system, including unmanned aerial vehicle platform and ground control system；Wherein, unmanned aerial vehicle platform includes
Unmanned aerial vehicle (UAV) control circuit and loading device with unmanned aerial vehicle (UAV) control circuit connection；Ground control system includes ground surface end control mould
Block, ground surface end display module and ground signal processing module；
Ground surface end control module control unmanned plane enters toxic gas environment, loading device obtain region gas information and
Image information is sent to ground signal processing module, ground signal processing module is to reception after unmanned aerial vehicle (UAV) control processing of circuit
Data handled after be sent to ground surface end control module, ground surface end control module will be corresponding by ground surface end display module
Information is shown, and unmanned aerial vehicle (UAV) control signal is sent to unmanned aerial vehicle (UAV) control circuit, controls the motion profile of unmanned aerial vehicle platform.
The system carries out poison gas monitoring by UAV flight's platform, greatly facilitates people in war, toxic gas leakage thing
Therefore environmental protection supervision and detection of gas and monitoring in the disaster relief.
Specific embodiment, as shown in Figure 1, a kind of poison gas intelligent monitor system, including unmanned aerial vehicle platform and ground control system
System；Wherein, unmanned aerial vehicle platform includes unmanned aerial vehicle (UAV) control circuit and the loading device with unmanned aerial vehicle (UAV) control circuit connection；Loading device
Including detection of poison gas module, infrared visible photoelectric nacelle, navigation module；Wherein, detection of poison gas module obtains unmanned plane location
The gas information in domain, infrared visible photoelectric nacelle obtain the image information of unmanned plane region, and navigation module obtains unmanned plane
The location information of region.
Detection of poison gas module, as shown in Fig. 2, including ionic migration spectrometer and infrared spectrometer, ionic migration spectrometer is used for
The ingredient of gas is obtained, infrared spectrometer is used to obtain the type and concentration of gas；Ionic migration spectrometer and infrared spectrometer
Output signal is sent to ground signal processing module after unmanned aerial vehicle (UAV) control processing of circuit.
The sampled circuit of the output end of ionic migration spectrometer and infrared spectrometer is connect with amplifying circuit；The amplifying circuit
Signal is exported to the signal processing circuit of unmanned aerial vehicle (UAV) control circuit.Ionic migration spectrometer and infrared infrared spectrometer are all using existing
The well known sensor having.Amplifying circuit is active amplifying circuit.
The Ion mobility spectrometry that ionic migration spectrometer uses is to grow up nineteen seventies, is generally answered
For measurement of trace materials, including drugs, explosive, poison gas and air pollutants etc., compared with other analysis instruments,
Ionic migration spectrometer is small in size, applied widely, detection time is short, can work in atmospheric pressure and at room temperature.The present invention is using tool
The ionic migration spectrometer for thering is international advanced technology to manufacture, with small in size, precision is high, detection is fireballing in similar-type products
Feature is very suitable to unmanned aerial vehicle platform use.To the detection accuracy of poison gas up to ppm or ppb rank.
Ionic migration spectrometer includes data identification library, and data identify library and unmanned aerial vehicle (UAV) control circuit connection.Data identify library
For chemical warfare agent and industrial poison gas sample double data repository.Store original a large amount of chemical warfare agents and nearly all industrial poison gas
Data sample, thus when acquiring poison gas, comparing with the data in data identification library just can recognize that gaseous species.
Infrared spectrometer be the absorption characteristic of the infra-red radiation of different wave length is carried out using gaseous matter molecular structure and
The instrument of chemical composition analysis.Infrared spectrometer is by light source, monochromator, detector and computer treatmenting information system composition.This
The infrared spectrometer that invention uses can continuously detect multiple gases, have the characteristics that precision is high, fireballing, in spectrometer
Database is set, detection signal is compared with database, can accurately obtain the information such as type, the concentration of under test gas.
Ionic migration spectrometer and infrared spectrometer play complementation to detection of poison gas, have widened the range of detection, some
The signal that ionic migration spectrometer can't detect can be detected by infrared spectrometer, on the contrary, what some infrared spectrometers can't detect
Signal is able to detect that by ionic migration spectrometer.
Above-mentioned detection of poison gas module not only includes ionic migration spectrometer and infrared spectrometer, can also include that electrochemistry passes
Sensor, catalytic combustion sensor, optic ionized sensor and semiconductor transducer the sampled circuit of output end and amplifying circuit
Connection；The amplifying circuit signal is connect through signal processing circuit with CPU.
The difunctional photoelectric nacelle of infrared visible includes video camera, infrared thermal imager, motor and driving circuit；The driving
The input terminal and unmanned aerial vehicle (UAV) control circuit connection of circuit；The output end of the driving circuit and the input terminal of motor connect；It is described
The output end of motor is connect with video camera and thermal infrared imager；The output end of the video camera connects through signal processing circuit and CPU
It connects.The module main function is 360 ° of acquisitions for carrying out video to unmanned plane region in real time, realizes 360 degree of effects looked around
Fruit；Every width initial pictures of acquisition are all planes, but 360 degree of panoramic pictures by obtaining after image procossing, can be given
People's three-dimensional space is felt, gives people sense on the spot in person.In order to enable motor that video camera more preferably to be driven to rotate back and forth, the figure
As the motor of acquisition module uses the stepper motor of model RM35, it has, and rotation precision is high, cheap and service life
Long advantage.In order to keep the picture of shooting clearer, the video recorder is infrared high-definition camera ADT2203-2C-50；It
Has the advantages that cheap and long service life.
The image procossing of the module uses the feature point extraction merging algorithm for images based on SUACE algorithm.
The extraction of SUACE algorithm characteristics point includes the following steps：
Step 1, the picture for obtaining unmanned plane captured in real-time；
Picture is converted to grayscale image by step 2；
Step 3 obtains illumination responses using the low-pass filter of controllable blur radius；
Step 4, analysis illumination variation, select dynamic reference range, carry out image enhancement processing using linear contrast；
Step 5 obtains low-frequency range using Gaussian filter, and calculates two boundaries of term of reference, excludes background image；
Step 6 carries out binary conversion treatment to step 5 treated image, deletes the pixel for being less than term of reference lower limit value；
Step 7 carries out image mosaic；
Step 8, circulation execute step 2 to step 7, until image procossing is completed.
Navigation system includes satellite-signal transmitting receiving antenna and driving circuit, and driving circuit input terminal is through signal processing electricity
Road is connect with CPU；The output end of the driving circuit is connect with satellite-signal transmitting receiving antenna input terminal；The satellite-signal
Transmitting receiving antenna output end is connect through signal processing circuit with CPU.Navigation system is substantially carried out the present invention in poison gas monitoring
Self-navigation, realize real 3D panoramic imagery in conjunction with the difunctional gondola of infrared visible, realize area in conjunction with detection of poison gas module
The analysis of poison gas concentration and diffusion tendency in domain.The navigation system is NEO-M8L-0；It has cheap, service life
Long, registration can self-navigation the advantages that.
Ground control system includes ground surface end control module, ground surface end display module and ground signal processing module；
Ground surface end control module control unmanned plane enters toxic gas environment, loading device obtain region gas information and
Image information is sent to ground signal processing module, ground signal processing module is to reception after unmanned aerial vehicle (UAV) control processing of circuit
Data handled after be sent to ground surface end control module, ground surface end control module will be corresponding by ground surface end display module
Information is shown, and unmanned aerial vehicle (UAV) control signal is sent to unmanned aerial vehicle (UAV) control circuit, controls the motion profile of unmanned aerial vehicle platform.
Data interaction is carried out by wireless communication module between unmanned aerial vehicle (UAV) control circuit and ground surface end control module.
Unmanned aerial vehicle (UAV) control circuit and ground surface end control module include wireless communication module, ground surface end control module respectively with
Ground signal processing module, the connection of ground surface end display module.Chemical warfare agent and industry poison are voluntarily controlled in order to facilitate monitoring personnel
Gas intelligent monitor system and check Fieldable chemical war agent and poison gas situation, the ground surface end control equipment is mobile phone or plate electricity
Brain, user further determine that site environment situation according to the video data on mobile phone or tablet computer.Unmanned aerial vehicle (UAV) control device circuit
CPU use the chip model STM32F429IGT6 of STM series as processing chip, have control precision is high, control is simple,
The advantages of cheap and long service life；Compression processing can be carried out to video data very well, the video data of compression is passed
To wireless module, it is further transmitted to remote control equipment by wireless module, is checked for monitoring personnel.
The unmanned plane is fixed-wing or multi-rotor unmanned aerial vehicle, by hand-held remote control unit and can control software to unmanned plane
Remote control is carried out, the load-carrying ability of unmanned plane will meet the requirement of whole system gross mass.
The concrete operating principle and the course of work of present invention monitoring system are as follows：
1, System Working Principle and process：Ground surface end wireless communication module issues signal, and unmanned aerial vehicle (UAV) control circuit receives signal and rises
Fly, by carrying out auto-navigation, system flight to poison gas region with the navigation system of unmanned aerial vehicle (UAV) control circuit connection；Reach poison gas area
Ground surface end communication module issues signal behind domain, and detection of poison gas module carries out fixed point inspection by the unlatching of unmanned aerial vehicle (UAV) control circuit control
Survey, the region region Nei Moudian poison gas type and concentration are detected by ion mobility spectrometry and infrared spectroscopy, has surveyed a little afterwards nobody
Machine flies to another point and carries out aforesaid way measurement, judges between poison gas area surface after measuring multiple spot according to poison gas concentration difference；It is infrared can
It works depending on difunctional gondola in the case where unmanned plane can control circuit control, image enhancement display area landforms is carried out simultaneously to detection zone
Find poison gas source；The monitoring information of above-mentioned module is finally transmitted to ground by the wireless signal transmission system of unmanned aerial vehicle control system
Face, ground surface end carry out the processing and synthesis of signal, simulate position, landforms, poison gas type and the concentration information in monitoring region, by
Ground surface end display module is shown.
2, detection of poison gas module routine and principle：It monitors zone gas and poison gas receipts is carried out by poison gas monitoring modular
Collection carries out detection of poison gas by ionic migration spectrometer and infrared spectrometer, after information will test by amplifier circuit be transferred to nothing
Signal processing circuit in Human-machine Control circuit, ground surface end to be returned are further processed.
Ionic migration spectrometer working principle：Membrane filtration is impregnated with by one and half after detected sample vapors or particle gasification to remove
Then the impurity such as smog, inorganic molecule and hydrone therein are carried along into the repercussion area of drift tube by carrier gas.In repercussion area
Ray ionization interior, that sample gas is emitted by 63Ni radioactive source first constitutes product ion, in repercussion area under the action of electric field, produces
Object ion shifts to ion gate.The switching pulse of ion gate is controlled, the ion pulse for periodically entering drift region is constituted.In drift electricity
Under the action of, product ion along axial direction to collect drift electrode.The mobility of ion is dependent on its quality, size and is charged
Lotus.Mobility of the product ion that different material generates under same electric field is different, thus by used in entire drift region length
Drift time it is also different.Under the conditions of known drift section length and drift region internal electric field, measures out ion and supported by drift region
Up to the time used in collection electrode, it will be able to the mobility of ion is calculated, so as to recognize detected material kind；By zhang
Measure the area of quasi-molecular ions, it will be able to the pre- concentration for calculating detected material；By change repercussion area and drift region direction of an electric field, IMS
Drift tube can monitor negative ions simultaneously.Thus, it is possible to monitor a variety of chemical substances simultaneously.
3, infrared spectrometer working principle：The detection part of infrared gas detector is identical by two structures arranged side by side
Optical system composition.One is measuring chamber, and one is reference cell.Two Room are either simultaneously or alternately opened and closed by light cutting device with some cycles
Optical path.After importing tested gas in measuring chamber, there is the light of the tested peculiar wavelength of gas to be absorbed, to make through measuring chamber
The luminous flux reduction of this optical path and entrance infrared receiver gas chamber.Gas concentration is higher, enters infrared receiver gas chamber
Luminous flux is fewer；And penetrate reference cell luminous flux be it is certain, the luminous flux for entering infrared receiver gas chamber is also certain.
Therefore, it is higher to be tested gas concentration, it is bigger through the luminous flux difference of measuring chamber and reference cell.
A kind of poison gas intelligent monitoring method, is monitored poison gas using poison gas intelligent monitor system, specifically includes as follows
Step：
Step a, start unmanned plane and its loading device, unmanned plane during flying is controlled to preset sky by ground control system
Domain position；
Step b, UAV flight's device obtains gas information, the image information of unmanned plane position in real time, and will acquire
Ground control system is sent to after information processing；
Step c, ground control system judges that the poison gas of unmanned plane region is dense according to the gas information, the image information that receive
Degree, diffusion and diffusion tendency；
Step d, according to step c's as a result, control unmanned plane during flying to the poison gas prejudged of monitoring system ground controller
Overlay area；
Step e, circulation executes step b to step d, until the monitoring task of setting is completed.
The gas information includes the type and concentration of the ingredient of gas, gas.
The present invention can be realized poison by the way that detection of poison gas module, the difunctional gondola of infrared visible to be mounted on unmanned plane
Gas detection Unmanned operation, avoid detection personnel by the threat of live poison gas, can also to personnel can not be close explosion, combustion
The scenes of the accident such as burning carry out poison gas detection, visible light and thermal imaging, can obtain more information, be conducive to commander to live state
Gesture makes more scientific judgement.This system has flexible, reaction speed is fast, ensures testing staff's safety, obtains abundant information etc.
Feature, this system make poison gas detection enter unmanned, intellectualization times at one stroke.
The preferred embodiment of the present invention has been described in detail above, but the invention is not limited to implement
Example, those skilled in the art can also make equivalent modification on the premise of not violating the inventive spirit of the present invention or replace
It changes, these equivalent variation or replacement are all contained in scope of the present application.
Claims (9)
1. a kind of poison gas intelligent monitor system, it is characterised in that：Including unmanned aerial vehicle platform and ground control system；Wherein, nobody
Machine platform includes unmanned aerial vehicle (UAV) control circuit and the loading device with unmanned aerial vehicle (UAV) control circuit connection；Ground control system includes ground
Hold control module, ground surface end display module and ground signal processing module；
Ground surface end control module control unmanned plane enters toxic gas environment, loading device obtain region gas information and
Image information is sent to ground signal processing module, ground signal processing module is to reception after unmanned aerial vehicle (UAV) control processing of circuit
Data handled after be sent to ground surface end control module, ground surface end control module will be corresponding by ground surface end display module
Information is shown, and unmanned aerial vehicle (UAV) control signal is sent to unmanned aerial vehicle (UAV) control circuit, controls the motion profile of unmanned aerial vehicle platform.
2. poison gas intelligent monitor system according to claim 1, it is characterised in that：Loading device includes detection of poison gas mould
Block, infrared visible photoelectric nacelle, navigation module；Wherein, detection of poison gas module obtains the gas information of unmanned plane region, red
Outer visual photoelectric nacelle obtains the image information of unmanned plane region, and navigation module obtains the position letter of unmanned plane region
Breath.
3. poison gas intelligent monitor system according to claim 2, it is characterised in that：Detection of poison gas module includes Ion transfer
Spectrometer and infrared spectrometer, ionic migration spectrometer are used to obtain the ingredient of gas, and infrared spectrometer is used to obtain the type of gas
And concentration；The output signal of ionic migration spectrometer and infrared spectrometer is sent to ground signal after unmanned aerial vehicle (UAV) control processing of circuit
Processing module.
4. poison gas intelligent monitor system according to claim 2, it is characterised in that：Infrared visible photoelectric nacelle includes camera shooting
Machine, infrared thermal imager, motor and driving circuit, motor driven video camera and infrared thermal imager rotation obtain unmanned aerial vehicle platform
360 degree of image informations of region are sent to ground signal processing module after unmanned aerial vehicle (UAV) control circuit carries out image procossing.
5. poison gas intelligent monitor system according to claim 4, it is characterised in that：Unmanned aerial vehicle (UAV) control circuit carries out at image
Reason uses the feature point extraction merging algorithm for images based on SUACE algorithm.
6. poison gas intelligent monitor system according to claim 5, it is characterised in that：SUACE algorithm includes the following steps：
Step 1, the picture for obtaining unmanned plane captured in real-time；
Picture is converted to grayscale image by step 2；
Step 3 obtains illumination responses using the low-pass filter of controllable blur radius；
Step 4, analysis illumination variation, select dynamic reference range, carry out image enhancement processing using linear contrast；
Step 5 obtains low-frequency range using Gaussian filter, and calculates two boundaries of term of reference, excludes background image；
Step 6 carries out binary conversion treatment to step 5 treated image, deletes the pixel for being less than term of reference lower limit value；
Step 7 carries out image mosaic；
Step 8, circulation execute step 2 to step 7, until image procossing is completed.
7. poison gas intelligent monitor system according to any one of claim 1 to 6, it is characterised in that：Unmanned aerial vehicle (UAV) control electricity
Data interaction is carried out by wireless communication module between road and ground surface end control module.
8. a kind of poison gas intelligent monitoring method, it is characterised in that：Using the intelligence of poison gas described in any one of claims 1 to 7
Monitoring system is monitored poison gas, specifically comprises the following steps：
Step a, start unmanned plane and its loading device, unmanned plane during flying is controlled to preset sky by ground control system
Domain position；
Step b, UAV flight's device obtains gas information, the image information of unmanned plane position in real time, and will acquire
Ground control system is sent to after information processing；
Step c, ground control system judges that the poison gas of unmanned plane region is dense according to the gas information, the image information that receive
Degree, diffusion and diffusion tendency；
Step d, according to step c's as a result, control unmanned plane during flying to the poison gas prejudged of monitoring system ground controller
Overlay area；
Step e, circulation executes step b to step d, until the monitoring task of setting is completed.
9. poison gas intelligent monitoring method according to claim 8, it is characterised in that：The gas information include gas at
Divide, the type and concentration of gas.
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