CN108845080B - Unmanned aerial vehicle for environment monitoring and monitoring method thereof - Google Patents
Unmanned aerial vehicle for environment monitoring and monitoring method thereof Download PDFInfo
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- CN108845080B CN108845080B CN201810617356.8A CN201810617356A CN108845080B CN 108845080 B CN108845080 B CN 108845080B CN 201810617356 A CN201810617356 A CN 201810617356A CN 108845080 B CN108845080 B CN 108845080B
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Abstract
The invention discloses an unmanned aerial vehicle for environment monitoring, which comprises an unmanned aerial vehicle body and a cloud platform mechanism, wherein the bottom of the unmanned aerial vehicle body is fixedly assembled with the top of a first vertical plate, the bottom of the first vertical plate is fixedly assembled with a first transverse plate, and the first transverse plate is fixedly assembled with the cloud platform mechanism. The invention also discloses a monitoring method of the unmanned aerial vehicle for environment monitoring. The cradle head component has a simple structure, and can realize accurate adjustment of the rotation angles of the infrared camera and the infrared imager, thereby realizing multi-point fixed angle image acquisition and ensuring comprehensive detection of the surrounding environment of a monitoring point. The monitoring method of the invention carries out multi-point and multi-angle detection, thereby increasing sampling data and improving sampling precision, and simultaneously, the abnormal part of the sampling data is found out by adopting image recognition and comparison technologies so as to be responded by an operator in time. The invention integrates the functions of image acquisition, gas detection and the like, and can carry out emergency monitoring, high-altitude monitoring, rapid pollution source searching and the like.
Description
Technical Field
The invention relates to an unmanned aerial vehicle, in particular to an unmanned aerial vehicle for environment monitoring and a monitoring method thereof.
Background
Environmental protection is a basic national policy in China. With the development of environmental protection career in China, the environmental management work is deepened continuously, and informatization becomes an important technical foundation for improving the environmental management and decision level. The national environmental protection bureau clearly provides a struggle target for environment information construction in China, the environment information construction is used as an important work for environment management capacity construction, the development of the environment information construction is actively promoted, and good technical service and support are provided for environment management and decision making.
The environmental monitoring is an important component of environmental protection work, which is the basis and technical support of environmental management, and the air quality monitoring is an important component of environmental monitoring.
The air pollution condition of China is quite serious, and is one of three acid rain areas in the world, the environment is influenced more and more greatly by improving the industrialization level along with the rapid development of social economy, a large number of factories, vehicles and population are particularly concentrated in cities, the urban environment bears great pressure, and the air quality faces the threat of newly increased emission sources.
With the improvement of living standard and the improvement of environmental protection consciousness of the whole society, people pay more and more attention to the health of living environment, pay more and more attention to the air quality of life and have higher and more requirements on the provision of environmental information. The air quality is not deteriorated, and the air quality is deteriorated in some places, the deterioration degree is improved, the development trend is improved, experts concern the air quality, people concern the air quality, and governments concern the air quality more. The air quality condition is published in a public way through media transmission, which is not only beneficial to the public transparency of the environmental protection work, but also beneficial to the improvement of public environmental protection consciousness and the participation of the public to the environmental protection work.
At present, most areas in China still adopt an atmosphere monitoring means mainly based on manual sampling and laboratory analysis, and the method cannot timely and accurately monitor the real-time emission condition of pollutants, so that environmental managers cannot easily find out the actual conditions of all polluted areas in a short time, and cannot timely and accurately monitor and process various sudden pollution sources and pollution sites.
Therefore, the novel air quality detection system has been upgraded by high-tech means, and is developed to an automatic monitoring stage from the traditional manual sampling-laboratory analysis. The monitored items are gradually increased by original SO2, NOx and TSP to new items, such as CO, O3, VOC, toxic and harmful organic matters in air and the like.
However, there is no good method for solving the problems in the aspects of environmental emergency monitoring, high-altitude environmental quality monitoring, rapid pollution source searching and the like. And unmanned aerial vehicle has characteristics such as high flexibility, high mobility, adaptation complex environment, and it is used for environmental monitoring just can reach the purpose of emergent monitoring, high altitude monitoring, pollution sources quick seek.
Therefore, the applicant proposes an unmanned aerial vehicle for environmental monitoring and a monitoring method thereof, which can perform emergency monitoring, high-altitude monitoring, rapid search of pollution sources and the like.
Disclosure of Invention
In view of the above-mentioned defects in the prior art, the present invention provides an unmanned aerial vehicle for environmental monitoring and a monitoring method thereof.
In order to achieve the purpose, the invention provides an unmanned aerial vehicle for environmental monitoring, which comprises an unmanned aerial vehicle body and a cloud platform mechanism, wherein the bottom of the unmanned aerial vehicle body is fixedly assembled with the top of a first vertical plate, the bottom of the first vertical plate is fixedly assembled with a first transverse plate, and the first transverse plate is fixedly assembled with the cloud platform mechanism.
Preferably, the holder mechanism comprises a second motor, the second motor is mounted on the first transverse plate, an output shaft of the second motor is assembled and connected with one end of the fifth shaft, and the other end of the fifth shaft penetrates through the first transverse plate, is assembled with the fifth pinion and then is rotatably assembled with the second transverse plate;
the first transverse plate is provided with a mounting groove, a bearing is mounted in the mounting groove, an inner ring of the bearing is fixedly assembled with one end of the fourth shaft body, and the other end of the fourth shaft body penetrates through the first transverse plate and then is fixedly assembled with the fifth gear, and then penetrates through the second transverse plate and then is fixedly assembled with the third transverse plate;
the bottom plate of the third transverse plate is fixedly assembled with the tops of the two second vertical plates, the two second vertical plates are fixedly connected through a fourth transverse plate, a first motor is mounted on the fourth transverse plate, an output shaft of the first motor is fixedly connected with one end of a third shaft body, the other end of the third shaft body penetrates through one of the second vertical plates and then is fixedly assembled with a second gear, the second gear is in meshing transmission with the first gear, the first gear is mounted at one end of the second shaft body, and the other end of the second shaft body penetrates through one of the second vertical plates and then is rotatably assembled with the other second vertical plate;
a fourth gear is mounted on the second shaft body and is in meshing transmission with the clamping teeth on the sector teeth;
the fan-shaped teeth are fixed on a fifth transverse plate, and the fifth transverse plate is arranged between the two second vertical plates;
the two sides of the fifth transverse plate are respectively fixedly connected with the seventh transverse plate through a fourth vertical plate, the middle of the two fourth vertical plates is fixedly connected through a sixth transverse plate, and the fifth transverse plate and the seventh transverse plate are fixedly connected through a third vertical plate;
an infrared imager and an infrared camera are respectively arranged on two sides of the sixth transverse plate, and the end surface between the fifth transverse plate and the seventh transverse plate, which is parallel to the third vertical plate, is fixedly assembled with the limiting plate;
the outer side of the fourth vertical plate is fixedly assembled with one end of the first shaft body, and the other end of the first shaft body is rotatably assembled with the fourth vertical plate;
the outer sides of the two second vertical plates are respectively assembled and fixed with the first shell and the second shell.
Preferably, a first distance measuring plate is arranged at the bottom of the first shell, and two sides of the distance measuring plate are respectively assembled and fixed with one of the second vertical plates and the second distance measuring plate;
the top of the second distance measuring plate is fixedly assembled with the fourth distance measuring plate, a third distance measuring plate is arranged between the fourth distance measuring plate and the first distance measuring plate, a miniature radar distance measuring instrument is fixed on the inner side of the first distance measuring plate, a counterweight plate is arranged between the third distance measuring plate and the fourth distance measuring plate, and the first pressing shaft penetrates through the fourth distance measuring plate and then is pressed with the counterweight plate;
and the first pressing shaft penetrates through one end of the fourth distance measuring plate and is fixedly assembled with the first knob.
Preferably, a first shell plate is arranged at the bottom of the second shell, a plurality of vent holes are formed in the first shell plate, the vent holes are used for sucking part of air into a gas detector, and the gas detector is used for detecting various components in the air;
the gas detector is tightly pressed on the first shell plate through the third shell plate, the first shell plate is fixedly assembled with the fifth shell plate through the second shell plate, and the fifth shell plate and the first shell plate are fixedly assembled with the other second vertical plate respectively.
Preferably, the third shell plate is provided with a first guide cylinder, the first guide cylinder is rotatably assembled with one end of the second pressing shaft, the other end of the second pressing shaft penetrates through the fifth shell plate and then is fixedly assembled with the second knob, and the second pressing shaft is assembled with the fifth shell plate in a screwing manner through threaded screwing assembly.
Preferably, two ends of the second shell plate are respectively assembled and fixed with one end plate, and one end of the third pressing shaft penetrates through one end plate and then is installed in the second guide cylinder and rotatably assembled with the second guide cylinder;
the second guide cylinder is fixed on a second pressure plate, and the second pressure plate is tightly pressed with one side of the gas detector;
the other end of the third pressing shaft is fixedly assembled with the third knob, and the third pressing shaft and the end plate are assembled in a screwing mode through threads.
The invention also discloses a monitoring method based on the unmanned aerial vehicle.
The invention has the beneficial effects that:
1. the cradle head component has a simple structure, and can realize accurate adjustment of the rotation angles of the infrared camera and the infrared imager, thereby realizing multi-point fixed angle image acquisition and ensuring comprehensive detection of the surrounding environment of a monitoring point.
2. The monitoring method of the invention carries out multi-point and multi-angle detection, thereby increasing sampling data and improving sampling precision, and simultaneously, the abnormal part of the sampling data is found out by adopting image recognition and comparison technologies so as to be responded by an operator in time.
3. The invention integrates the functions of image acquisition, gas detection and the like, and can carry out emergency monitoring, high-altitude monitoring, rapid pollution source searching and the like.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of an unmanned aerial vehicle for environmental monitoring according to the present invention.
Fig. 2 is a schematic structural diagram of an embodiment of the unmanned aerial vehicle for environmental monitoring according to the present invention.
Fig. 3 is a schematic structural view of a cradle head assembly of an embodiment of the unmanned aerial vehicle for environmental monitoring.
Fig. 4 is a schematic structural view of a cradle head assembly of an embodiment of the unmanned aerial vehicle for environmental monitoring.
Fig. 5 is a schematic structural view of a cradle head assembly of an embodiment of the unmanned aerial vehicle for environmental monitoring.
Fig. 6 is a schematic structural view of a cradle head assembly of an embodiment of the unmanned aerial vehicle for environmental monitoring.
Fig. 7 is a schematic structural view of a pan-tilt assembly of an embodiment of the unmanned aerial vehicle for environmental monitoring.
Detailed Description
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
referring to fig. 1 to 7, an unmanned aerial vehicle for environmental monitoring includes an unmanned aerial vehicle body 100 (i.e., an unmanned aerial vehicle) and a pan-tilt mechanism, wherein the bottom of the unmanned aerial vehicle body 100 is fixedly assembled with the top of a first vertical plate 211, and the bottom of the first vertical plate 211 is fixedly assembled with a first horizontal plate 221;
the second motor 260 is mounted on the first transverse plate 221, an output shaft of the second motor 260 is assembled and connected with one end of the fifth shaft body 550, and the other end of the fifth shaft body passes through the first transverse plate 221, is assembled with the fifth pinion 652 and then is rotatably assembled with the second transverse plate 222;
the first transverse plate 221 is provided with a mounting groove 2211, a bearing 660 is mounted in the mounting groove 2211, an inner ring of the bearing 660 is fixedly assembled with one end of the fourth shaft body 540, and the other end of the fourth shaft body 540 penetrates through the first transverse plate 221 and then is fixedly assembled with the fifth gear 651, and then penetrates through the second transverse plate 222 and then is fixedly assembled with the third transverse plate 223;
the bottom plate of the third transverse plate 223 is fixedly assembled with the tops of the two second vertical plates 212, the two second vertical plates 221 are fixedly connected through a fourth transverse plate 224, the first motor 250 is mounted on the fourth transverse plate 224, an output shaft of the first motor 250 is fixedly connected with one end of a third shaft body 530, the other end of the third shaft body 530 penetrates through one of the second vertical plates 212 and is fixedly assembled with a second gear 620, the second gear 620 is in meshing transmission with the first gear 610, the first gear 610 is mounted at one end of the second shaft body 520, and the other end of the second shaft body 520 penetrates through one of the second vertical plates and is rotatably assembled with the other second vertical plate;
a fourth gear 640 is mounted on the second shaft body 520, and the fourth gear 640 is in meshing transmission with the latch on the sector gear 630;
the sector-shaped teeth 630 are fixed on the fifth transverse plate 225, and the fifth transverse plate 225 is arranged between the two second vertical plates 212;
the two sides of the fifth horizontal plate 225 are respectively connected and fixed with the seventh horizontal plate 227 through one fourth vertical plate 214, the middle of the two fourth vertical plates 214 is connected and fixed through the sixth horizontal plate 226, and the fifth horizontal plate 225 and the seventh horizontal plate 227 are also connected and fixed through the third vertical plate 213;
the infrared imager 210 and the infrared camera 220 are respectively mounted on two sides of the sixth transverse plate 216, and the end surface between the fifth transverse plate 225 and the seventh transverse plate 227, which is parallel to the third vertical plate 213, is further assembled and fixed with the limiting plate 340, so that the infrared imager 210 and the infrared camera 220 are fixed between the fifth transverse plate 225 and the seventh transverse plate 227.
The outer side of the fourth vertical plate 214 is fixedly assembled with one end of the first shaft 510, and the other end of the first shaft 510 is rotatably assembled with the fourth vertical plate 214. When the infrared camera is used, the first motor drives the third shaft body 530 to drive the fourth gear 640 to rotate, and the fourth gear 640 is meshed with the fan-shaped teeth 630 to drive the infrared imager 210 and the infrared camera 220 to rotate around the first shaft body 510;
in addition, the second motor 260 drives the fourth shaft 540 to rotate by driving the fifth shaft 550 to rotate, so that the infrared imager 210 and the infrared camera 220 rotate in the fifth shaft circumferential direction.
The outer sides of the two second vertical plates 212 are respectively assembled and fixed with the first shell 310 and the second shell 320, wherein the bottom of the first shell 310 is provided with a first distance measuring plate 311, and two sides of the distance measuring plate 311 are respectively assembled and fixed with one of the second vertical plates 212 and the second distance measuring plate 312;
the top of the second distance measuring plate 312 is fixedly assembled with the fourth distance measuring plate 314, a third distance measuring plate 313 is arranged between the fourth distance measuring plate 314 and the first distance measuring plate 311, a miniature radar distance measuring instrument 240 is fixed on the inner side of the first distance measuring plate 311, a counterweight plate 318 is arranged between the third distance measuring plate 313 and the fourth distance measuring plate 314, a first pressing shaft 317 penetrates through the fourth distance measuring plate 314 and then is pressed against the counterweight plate 318, and preferably, the first pressing shaft 317 and the fourth distance measuring plate 314 are assembled in a screwing mode through threads;
the first pressing shaft 316 penetrates through one end of the fourth distance measuring plate 314 and is fixedly assembled with the first knob 317. In use, the first pressing shaft 316 can be driven to move in the axial direction by rotating the first knob, so as to press the weight plate 318.
The miniature radar range finder is used for detecting the distance between the unmanned aerial vehicle and a ground obstacle;
the bottom of the second casing 320 is provided with a first shell plate 321, the first shell plate 321 is provided with a plurality of vent holes 3211, the vent holes 3211 are used for sucking part of the air into the gas detector 230, and the gas detector 230 is used for detecting various components in the air, such as combustible gas, toxic gas, oxygen, and the like;
the gas detector 230 is pressed against the first shell plate 321 through the third shell plate 323, the first shell plate 321 is fixedly assembled with the fifth shell plate 325 through the second shell plate 322, and the fifth shell plate 325 and the first shell plate 321 are fixedly assembled with the other second vertical plate respectively;
the third shell plate 323 is provided with a first guide cylinder 324, one end of the first guide cylinder 324 is rotatably assembled with one end of a second pressing shaft 326, the other end of the second pressing shaft 326 penetrates through the fifth shell plate 325 and then is assembled and fixed with a second knob 327, and the second pressing shaft 326 is assembled with the fifth shell plate 325 in a screwing manner through screwing assembly;
two ends of the second shell plate 322 are respectively assembled and fixed with one end plate 331, and one end of the third pressing shaft 328 passes through one end plate 331 and then is installed in the second guide cylinder 332 and rotatably assembled with the second guide cylinder 332;
the second guide cylinder 332 is fixed on a second pressing plate 3281, and the second pressing plate 3281 is tightly pressed against one side of the gas detector;
the other end of the third pressing shaft 328 is fixedly assembled with the third knob 329, the third pressing shaft 328 is assembled with the end plate 331 in a screwing mode through threads, and when the gas detector is used, the third pressing shaft is driven to rotate through the third knob, so that the second pressing plate can be driven to press the gas detector.
A monitoring method based on the unmanned aerial vehicle comprises the following steps:
s1, setting a monitoring target point, and enabling the unmanned aerial vehicle to fly to a monitoring place and a monitoring height;
s2, driving the infrared imager and the infrared camera to rotate by the unmanned aerial vehicle through the first motor and the second motor, so as to realize multi-angle image acquisition;
meanwhile, the gas detector is started, and the inhaled gas detects the air components of the monitored place;
the detected gas data and the collected image are sent back to the server in a wireless mode in real time;
and S3, comparing the gas data by the server, finding out gas components with higher content, and identifying the image so as to find out abnormal conditions of the monitoring point.
Further, in the S2, the unmanned aerial vehicle takes a set place as a circle center, performs circumference detection at a certain radius and performs detection at a certain height;
preferably, the sampling radius is 300 meters, the height is 60 meters, the unmanned aerial vehicle firstly flies to the circle center of the sampling radius and the top point of the height for sampling, then flies along the sampling radius, and samples are carried out once every 60 degrees until a circle is sampled;
then descending every 8 meters in the height direction for sampling again until reaching the sampling circumference at the lowest point;
in the sampling process, the infrared camera and the infrared imager rotate at the angles of 60 degrees and 60 degrees respectively in the circumferential direction of the rotating shaft cylinder and the circumferential direction of the second transmission shaft, and then sampling is carried out;
further, the method also comprises the following steps: s4, the server compares the images of the infrared camera and the infrared imager at the same angle in the height direction, identifies the image outline, finally finds out different points of the acquired images at different heights and at the same angle, and simultaneously reminds an operator;
the server also compares the data detected by the gas detector at the same rotation angle and different heights, draws a curve graph at different heights, compares the larger error part in the curve graph and reminds an operator of the error part.
S5, when the electric quantity of the unmanned aerial vehicle is insufficient in the detection process, a request return instruction is sent to the control terminal, and the unmanned aerial vehicle returns according to a preset line after the operation terminal agrees or a certain time elapses;
when the operator disagrees, unmanned aerial vehicle continues work, waits to the electric quantity when seriously low on the low side, and unmanned aerial vehicle descends on the flat ground by oneself, and the flat ground is discerned and mark the coordinate through the image when the monitoring.
S6, when the unmanned aerial vehicle is in a non-landing state and the unmanned aerial vehicle detects that the distance from the ground or the height of an obstacle reaches a preset parameter, the CPU (built-in microcontroller) of the unmanned aerial vehicle directly controls the unmanned aerial vehicle not to descend any more.
The invention is not described in detail, but is well known to those skilled in the art.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (9)
1. An unmanned aerial vehicle for environmental monitoring comprises an unmanned aerial vehicle body and a tripod head mechanism, and is characterized in that the bottom of the unmanned aerial vehicle body is fixedly assembled with the top of a first vertical plate, the bottom of the first vertical plate is fixedly assembled with a first transverse plate, and the first transverse plate is fixedly assembled with the tripod head mechanism;
the holder mechanism comprises a second motor, the second motor is arranged on the first transverse plate, an output shaft of the second motor is assembled and connected with one end of a fifth shaft body, and the other end of the fifth shaft body penetrates through the first transverse plate, is assembled with a fifth pinion and then is rotatably assembled with the second transverse plate;
the first transverse plate is provided with a mounting groove, a bearing is mounted in the mounting groove, an inner ring of the bearing is fixedly assembled with one end of the fourth shaft body, and the other end of the fourth shaft body penetrates through the first transverse plate and then is fixedly assembled with the fifth gear, and then penetrates through the second transverse plate and then is fixedly assembled with the third transverse plate;
the bottom plate of the third transverse plate is fixedly assembled with the tops of the two second vertical plates, the two second vertical plates are fixedly connected through a fourth transverse plate, a first motor is mounted on the fourth transverse plate, an output shaft of the first motor is fixedly connected with one end of a third shaft body, the other end of the third shaft body penetrates through one of the second vertical plates and then is fixedly assembled with a second gear, the second gear is in meshing transmission with the first gear, the first gear is mounted at one end of the second shaft body, and the other end of the second shaft body penetrates through one of the second vertical plates and then is rotatably assembled with the other second vertical plate;
a fourth gear is mounted on the second shaft body and is in meshing transmission with the clamping teeth on the sector teeth;
the fan-shaped teeth are fixed on a fifth transverse plate, and the fifth transverse plate is arranged between the two second vertical plates;
the two sides of the fifth transverse plate are respectively fixedly connected with the seventh transverse plate through a fourth vertical plate, the middle of the two fourth vertical plates is fixedly connected through a sixth transverse plate, and the fifth transverse plate and the seventh transverse plate are fixedly connected through a third vertical plate;
an infrared imager and an infrared camera are respectively arranged on two sides of the sixth transverse plate, and the end surface between the fifth transverse plate and the seventh transverse plate, which is parallel to the third vertical plate, is fixedly assembled with the limiting plate;
the outer side of the fourth vertical plate is fixedly assembled with one end of the first shaft body, and the other end of the first shaft body is rotatably assembled with the fourth vertical plate; the outer sides of the two second vertical plates are respectively assembled and fixed with the first shell and the second shell.
2. The unmanned aerial vehicle for environment monitoring as claimed in claim 1, wherein a first distance measuring plate is disposed at the bottom of the first housing, and two sides of the distance measuring plate are respectively fixedly assembled with one of the second vertical plates and the second distance measuring plate;
the top of the second distance measuring plate is fixedly assembled with the fourth distance measuring plate, a third distance measuring plate is arranged between the fourth distance measuring plate and the first distance measuring plate, a miniature radar distance measuring instrument is fixed on the inner side of the first distance measuring plate, a counterweight plate is arranged between the third distance measuring plate and the fourth distance measuring plate, and the first pressing shaft penetrates through the fourth distance measuring plate and then is pressed with the counterweight plate;
and the first pressing shaft penetrates through one end of the fourth distance measuring plate and is fixedly assembled with the first knob.
3. The unmanned aerial vehicle for environmental monitoring as defined in claim 1, wherein a first shell plate is provided at a bottom of the second housing, the first shell plate being provided with a plurality of air vents, the air vents being adapted to draw air into a gas detector, the gas detector being adapted to detect various components in the air;
the gas detector is tightly pressed on the first shell plate through the third shell plate, the first shell plate is fixedly assembled with the fifth shell plate through the second shell plate, and the fifth shell plate and the first shell plate are fixedly assembled with the other second vertical plate respectively.
4. The unmanned aerial vehicle for environmental monitoring as defined in claim 3, wherein the third coverplate is provided with a first guide cylinder, the first guide cylinder is rotatably assembled with one end of a second hold-down shaft, the other end of the second hold-down shaft penetrates out of the fifth coverplate and is fixedly assembled with a second knob, and the second hold-down shaft is rotatably assembled with the fifth coverplate through threaded screwing.
5. The unmanned aerial vehicle for environmental monitoring as defined in claim 3, wherein both ends of the second shell plate are respectively fixedly assembled with an end plate, and one end of the third pressing shaft passes through one of the end plates and then is installed in the second guide cylinder and rotatably assembled therewith;
the second guide cylinder is fixed on a second pressure plate, and the second pressure plate is tightly pressed with one side of the gas detector;
the other end of the third pressing shaft is fixedly assembled with the third knob, and the third pressing shaft and the end plate are assembled in a screwing mode through threads.
6. A monitoring method based on any one of claims 1-5, comprising the steps of:
s1, setting a monitoring target point, and enabling the unmanned aerial vehicle to fly to a monitoring place and a monitoring height;
s2, driving the infrared imager and the infrared camera to rotate by the unmanned aerial vehicle through the first motor and the second motor, so as to realize multi-angle image acquisition;
meanwhile, the gas detector is started, and the inhaled gas detects the air components of the monitored place;
the detected gas data and the collected image are sent back to the server in a wireless mode in real time;
and S3, comparing the gas data by the server, finding out gas components with higher content, and identifying the image so as to find out abnormal conditions of the monitoring point.
7. The monitoring method of claim 6, wherein in S2, the UAV is detected by taking a set place as a circle center, setting a radius as a circle center, and setting a height as a circle center.
8. The monitoring method of claim 7, wherein the sampling radius is 300 meters and the height is 60 meters, the unmanned aerial vehicle first flies to the center of the sampling radius and the top of the height to sample, and then flies along the sampling radius, and samples are performed once every 60 degrees until one circle is sampled;
then descending every 8 meters in the height direction for sampling again until reaching the sampling circumference at the lowest point;
in the sampling process, the infrared camera and the infrared imager rotate at the angles of 60 degrees and 60 degrees respectively in the circumferential direction of the rotating shaft cylinder and the circumferential direction of the second transmission shaft, and then sampling is carried out.
9. The monitoring method of claim 6, further comprising the steps of: s4, the server compares the images of the infrared camera and the infrared imager at the same angle in the height direction, identifies the image outline, finally finds out different points of the acquired images at different heights and at the same angle, and simultaneously reminds an operator;
the server also compares the data detected by the gas detector at the same rotation angle and different heights, draws a curve graph at different heights, compares the larger error part in the curve graph and reminds an operator of the error part;
s5, when the electric quantity of the unmanned aerial vehicle is insufficient in the detection process, a request return instruction is sent to the control terminal, and the unmanned aerial vehicle returns according to a preset line after the operation terminal agrees or a certain time elapses;
when the operator does not agree, the unmanned aerial vehicle continues to work, and when the electric quantity is seriously low, the unmanned aerial vehicle automatically lands on the flat ground, and the flat ground is identified and marked with coordinates through images during monitoring;
s6, when the unmanned aerial vehicle is in a non-landing state, when the unmanned aerial vehicle detects that the distance from the ground or the height of an obstacle reaches a preset parameter, the CPU of the unmanned aerial vehicle directly controls the unmanned aerial vehicle not to descend any more.
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| CN111413708A (en) * | 2020-04-10 | 2020-07-14 | 湖南云顶智能科技有限公司 | Unmanned aerial vehicle autonomous landing site selection method based on laser radar |
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| CN206367581U (en) * | 2016-11-23 | 2017-08-01 | 安徽理工大学 | New many rotor multi-purpose unmanned aerial vehicles |
| CN206734648U (en) * | 2017-05-04 | 2017-12-12 | 杭州云柒贰零文化传媒有限公司 | A kind of multi-angle VR takes photo by plane unmanned plane |
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