CN108896714B - Atmospheric pollution source tracking method based on unmanned aerial vehicle and unmanned aerial vehicle system - Google Patents
Atmospheric pollution source tracking method based on unmanned aerial vehicle and unmanned aerial vehicle system Download PDFInfo
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Abstract
The invention provides an air pollution source tracking method based on an unmanned aerial vehicle and an unmanned aerial vehicle system, wherein the unmanned aerial vehicle flies for a plurality of times in a circular track, the position with the highest content of polluted gas on each track is measured, linear fitting is carried out after all the positions are connected, the advancing direction of a secondary wheel is obtained, the unmanned aerial vehicle continuously flies for a plurality of times in the circular track after flying for a distance towards the advancing direction of the secondary wheel, and the steps are repeated, so that the pollution source is automatically tracked. According to the atmospheric pollution source tracking method based on the unmanned aerial vehicle and the unmanned aerial vehicle system, the pollution source tracking efficiency is improved, the pollution source is accurately tracked in a windy complex natural environment, and the problems of manual operation and ground monitoring in the prior art are solved.
Description
Technical Field
The invention relates to the technical field of pollution source tracking, in particular to an air pollution source tracking method based on an unmanned aerial vehicle and an unmanned aerial vehicle system.
Background
Along with the increase of haze days in China, particularly in North China, the attention of people to atmospheric pollution treatment is increasing day by day, and the key appeal of people is to grasp accurate pollution information. In atmospheric pollution, flue gas, a mixture of gas and smoke dust, is the main component of the polluted atmosphere. The composition of the flue gas is complex, the gas comprises water vapor, sulfur dioxide, nitrogen, oxygen, carbon monoxide, carbon dioxide and the like, and also comprises some hydrocarbons, nitrogen oxides and the like, and the smoke dust comprises ash content, coal particles, oil drops of fuel, high-temperature cracking routine of the petrochemical industry and the like, so that the pollution of the flue gas to the environment and the atmosphere is composite pollution of various components, the pollution is monitored, particularly the emission condition of the flue gas of a pollution source is determined, the method is an important way for effectively treating the atmospheric pollution, and has important practical significance and social value.
The existing atmospheric pollution source monitoring and tracking equipment is generally a ground facility, and is monitored and judged manually by hands or vehicles. Chinese patent CN201710315977.6 "a method and system for unmanned aerial vehicle to troubleshoot pollution source" provides a method for unmanned aerial vehicle to troubleshoot pollution source, which determines the position of the corresponding pollution source by the hexagonal flight of unmanned aerial vehicle in the air, but the method and system can only be used for the troubleshooting and tracking of pollution source in windless state, and in reality, the probability of windless in the area is very small, so the invention has weak practicability, and can not realize the undisturbed tracing and troubleshooting of pollution source under common environmental factors.
Therefore, the existing pollution source monitoring and tracking method or facility cannot realize automatic and omnibearing monitoring and tracking under a relatively complicated real environment.
Disclosure of Invention
In order to solve the problem that the atmospheric pollution source cannot be automatically and comprehensively tracked in a complex environment in the prior art, the invention provides an atmospheric pollution source tracking method based on an unmanned aerial vehicle and an unmanned aerial vehicle system.
The technical scheme of the invention is as follows:
the invention provides an atmosphere pollution source tracking method based on an unmanned aerial vehicle, which comprises the following steps:
the method comprises the following steps that firstly, an unmanned aerial vehicle flies for multiple times according to a circular track by taking a fixed point as a circle center, the flying radius of each time is larger than the flying radius of the previous time, the content change of polluted gas in the air on the circular track is recorded, and the position with the highest content of the polluted gas on each circular track is determined;
connecting the positions with the highest content of the polluted gas on each circular track in sequence, performing linear fitting to obtain a direction line of a pollution source, and further determining the advancing direction of the secondary wheel;
thirdly, the unmanned aerial vehicle flies the secondary wheel forward distance to another fixed point along the secondary wheel forward direction, wherein the secondary wheel forward distance is a fixed value;
step four, repeating the step one, the step two and the step three by taking a fixed point reached by the unmanned aerial vehicle along the advancing direction of the secondary wheel as a circle center until the advancing direction of the secondary wheel obtained in a certain flight is intersected with the extension line of the advancing direction of the secondary wheel obtained in the previous flight at one point, so that the unmanned aerial vehicle flies for 1/N times of the advancing distance along the advancing direction of the secondary wheel obtained in the flight of the certain flight, and repeating the step one and the step two, wherein N is a fixed value and is more than or equal to 2;
and fifthly, after the fourth step, the flying distance of each round of unmanned aerial vehicle along the advancing direction of the secondary wheel is 1/N of the flying distance of the previous round, and the circle center of the last round of flying track is the position of the pollution source when the flying distance along the advancing direction of the secondary wheel is smaller than a set value.
Further, in the first step, the unmanned aerial vehicle flies for multiple times according to a circular track by taking a fixed point as a circle center, the flying radius of each time is 2 times of the previous flying radius, the content change of the polluted gas in the air on the circular track is recorded, the position with the highest content of the polluted gas on each circular track is determined, and the position is sequentially marked as a polluted point A, a polluted point B and a polluted point C … …;
connecting the positions of a pollution point A, a pollution point B and a pollution point C … … in sequence, performing linear fitting to obtain a pollution source direction line, and setting the direction of the pollution source direction line far away from the fixed point in the step one as the advancing direction of the secondary wheel;
thirdly, the unmanned aerial vehicle flies the secondary wheel forward distance to another fixed point along the secondary wheel forward direction, wherein the secondary wheel forward distance is a fixed value;
step four, with the fixed point reached by the unmanned aerial vehicle in the step three as the center of a circle, repeating the step one, the step two and the step three until the advancing direction of the secondary wheel obtained in a certain round of flight is intersected with the extension line of the advancing direction of the secondary wheel obtained in the previous round of flight at a point, enabling the unmanned aerial vehicle to fly 1/2 secondary wheel advancing distances along the advancing direction of the secondary wheel obtained in the round of flight, and repeating the step one and the step two;
and step five, after step four, the flying distance of each round of unmanned aerial vehicle along the advancing direction of the secondary wheel is 1/2 of the flying distance of the previous round, until the flying distance along the advancing direction of the secondary wheel is less than 20 meters, and the circle center of the last round of flying track is the position of the pollution source.
Further, the step of obtaining the advancing direction of the secondary wheel comprises:
a. establishing a plane coordinate system by taking the circle center of the flight path of the unmanned aerial vehicle as an origin;
b. obtaining the plane coordinates (x, y) of the pollution point A, the pollution point B and the pollution point C … …iI is a contamination point mark;
c. will plane coordinate (x, y)iPerforming linear fitting by using a least square method to obtain a linear formula;
d. drawing the obtained linear formula on a plane coordinate system in a to obtain a pollution source direction line, and making a perpendicular line of the pollution source direction line through the original point, wherein the perpendicular line divides the flight track of the unmanned aerial vehicle into two parts, the direction of the part containing more pollution points is the forward extending direction of the pollution source direction line, and the forward extending direction is the advancing direction of the secondary wheel.
Further, the step one specifically includes the following steps:
a. monitoring the content of the polluted gas in the air in the process of the unmanned aerial vehicle lifting off, when the detected content of the polluted gas exceeds a set value, taking the position as the center of a circle, flying for a circle along a circular track according to a preset radius, and simultaneously measuring the content of the polluted gas on the circular track to obtain the position with the highest content of the polluted gas on the circular track;
b. taking the position with the highest content of the polluted gas on the circular track in the step a as a starting point, flying upwards to a preset height by using a preset slope, synchronously measuring the content of the polluted gas in the air in the upward flying process, performing circular track flying for one circle by using the circle center set in the step a as the circle center, and simultaneously measuring the content of the polluted gas on the circular track to obtain the position with the highest content of the polluted gas on the circular track; the radius of the flight is larger than that of the flight in a;
c. if the position of the highest value of the content of the polluted gas in the air measured in the upward flying process in the step b is located between the planes of the two flying tracks, the unmanned aerial vehicle is made to fly downwards to the plane of the position of the highest value of the content of the polluted gas in the air measured in the upward flying process of the unmanned aerial vehicle in the step b according to a preset slope by taking the position of the highest content of the polluted gas in the circular track in the step b as a starting point, the circular track is flown for one circle by taking the circle center set in the step a as a circle center, and the content of the polluted gas on the circular track is measured at the same time, so that the position of the highest content of the polluted gas on the circular; the radius of the flight is larger than that of the flight in b; at the moment, the unmanned aerial vehicle finishes first-wheel flight, positions with the highest content of the polluted gas on the circular tracks obtained in the steps a, b and c are connected in sequence and then subjected to linear fitting to obtain a direction line of a pollution source, further obtain the advancing direction of a secondary wheel, and the unmanned aerial vehicle flies according to the advancing direction of the secondary wheel by taking the starting point of the third circle of flight as the starting point to perform the following steps;
d. if the position of the highest value of the content of the polluted gas in the air measured in the upward flying process in the step b is located on the plane of the second flying track, enabling the unmanned aerial vehicle to fly upwards to a preset height according to a preset slope by taking the position with the highest content of the polluted gas on the circular track in the step b as a starting point, synchronously measuring the content of the polluted gas in the air in the upward flying process, performing circular track flying for one circle by taking the circle center set in the step a as the circle center, and simultaneously measuring the content of the polluted gas on the circular track to obtain the position with the highest content of the polluted gas on the circular track; the radius of the flight is larger than that of the flight in b;
e. if the position of the highest value of the content of the polluted gas in the air measured in the upward flying process in the step d is positioned between the two flying tracks, the method is carried out according to the method c; if the highest value of the content of the polluted gas in the air measured in the upward flying process in the step d is positioned on the plane of the third flying track, continuing flying according to the method d;
f. according to the difference of the positions of the highest values of the content of the polluted gas in the air obtained by measurement in the upward flight of the unmanned aerial vehicle, performing flight measurement according to c or d until the first-wheel flight measurement is completed; after the corresponding secondary wheel advancing direction is obtained, the unmanned aerial vehicle flies according to the secondary wheel advancing direction by taking the starting point of the last circle of flying as the starting point, and the following steps are carried out;
g. each subsequent flight is performed according to the steps a to f above until the location of the contamination source is determined.
Further, the flying radius of each circle in one-wheel flight is RiIf the preset height during upward flight is H, the preset slope is k = (R)i+1-Ri)/H。
The invention also provides an unmanned aerial vehicle system adopting the unmanned aerial vehicle-based atmospheric pollution source tracking method, wherein the unmanned aerial vehicle is a rotor unmanned aerial vehicle, the rotor unmanned aerial vehicle is provided with sulfur dioxide, nitrogen, oxygen, carbon monoxide, carbon dioxide, PM2.5 and PM10 air quality sensors, the rotor unmanned aerial vehicle is also provided with a microprocessor and a 4G wireless communication module, and the microprocessor is respectively and electrically connected with the air quality sensors and the 4G wireless communication module.
Further, still be equipped with image acquisition equipment on the rotor unmanned aerial vehicle, microprocessor with image acquisition equipment electric connection.
Furthermore, the system also comprises a ground remote control monitoring terminal which is in communication connection with the 4G wireless communication module and can transmit information to the microprocessor.
The atmospheric pollution source tracking method based on the unmanned aerial vehicle and the unmanned aerial vehicle system provided by the invention have the following beneficial effects:
1. according to the atmospheric pollution source tracking method based on the unmanned aerial vehicle, the content of the pollution gas in the air is measured in the flight process of the unmanned aerial vehicle, the position of the pollution source is automatically tracked after the unmanned aerial vehicle flies for multiple times through a special track, and the problems of manual operation and ground monitoring in the prior art are solved.
2. According to the atmospheric pollution source tracking method based on the unmanned aerial vehicle, the special flight track is set, the point with the highest content of the polluted gas in the flight track is marked, the pollution source is tracked after calculation and fitting, the method is suitable for tracking the pollution source in the complex real environment, the defect that the pollution source can only be tracked under the windless condition in the prior art is overcome, and the pollution source tracking in the windy environment is realized.
3. According to the atmosphere pollution source tracking method based on the unmanned aerial vehicle, the measurement is synchronously performed in the vertical direction, the height information of the position of the pollution source can be determined, and the position of the pollution source can be more accurately positioned.
4. According to the unmanned aerial vehicle system adopting the atmospheric pollution source tracking method based on the unmanned aerial vehicle, the image information of the position of the pollution source can be acquired through the acquisition equipment, and the unmanned aerial vehicle system is communicated with the ground remote control monitoring terminal through the 4G wireless communication module, so that monitoring personnel can obtain relevant information of the position of the pollution source in a long distance, and the pollution source tracking efficiency is greatly improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flowchart 1 of an atmospheric pollution source tracking method based on an unmanned aerial vehicle according to the present invention;
fig. 2 is a flowchart 2 of an atmospheric pollution source tracking method based on an unmanned aerial vehicle according to the present invention;
FIG. 3 is a top view of the flight trajectory of the embodiment;
FIG. 4 is a side view of the first wheel flight trajectory of the embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The atmospheric pollution source tracking method based on the unmanned aerial vehicle adopts the processes shown in fig. 1 and fig. 2, and the specific implementation examples are as follows:
as shown in fig. 3, fig. 3 is a top view of a flight trajectory diagram of an embodiment of the method for tracking an atmospheric pollution source based on an unmanned aerial vehicle and the unmanned aerial vehicle system provided in the present invention, that is, a flight trajectory diagram of the unmanned aerial vehicle viewed from the top down and a position of the pollution source determined last are specifically:
s001, the unmanned aerial vehicle is lifted off to carry out first-round flight, and the specific flight track is shown in figure 4. The unmanned aerial vehicle monitors the content of the polluted gas in the air in the lift-off process, when the detected content of the polluted gas exceeds a set value, the unmanned aerial vehicle rises to a certain point in the air of 124 meters, and flies for the first circle by taking the point as the circle center and taking 50 as the radius, the flying track is shown in figures 3 and 4, and the content of the polluted gas on the circular track is measured at the same time, so that the position with the highest content of the polluted gas on the circular track, namely a polluted point A, is obtained;
s002, taking the pollution point A as a starting point, taking 1 as a slope, flying upwards for 50 meters, reaching the height of a second circle of flying track, measuring the content of the polluted gas in the air in the upward flying process, measuring the highest position of the content of the polluted gas as a black triangular position on the second circle of flying track in the graph 4, performing second circle of circular flying at the height by taking the center of a circle of the first circle of flying as the center of a circle and taking 100 meters as the radius, and measuring the content of the polluted gas on the second circle of flying circular track to obtain a pollution point B;
s003, taking a pollution point B as a starting point, flying upwards with a vertical height of 50 meters by taking 1.2 as a slope, reaching the height of a third circle of flight track, measuring the content of polluted gas in the air in the upward flight process, measuring the highest position of the content of the polluted gas as black triangular positions on a second circle of flight track and a third circle of flight track in the graph 4, performing third circle of circular flight by taking the circle center of the first circle of flight as the circle center at the height and taking 160 meters as the radius, and measuring the content of the polluted gas on the third circle of flight circular track to obtain a pollution point C;
s004, taking the pollution point C as a starting point, flying downwards to a plane where black triangles on a second circle of flight track and a third circle of flight track are located with a slope of 3.6 as a slope, performing fourth circle of circular flight at the height by taking the circle center of the first circle of flight as the circle center and taking 250 meters as the radius, and measuring the content of pollution gas on the fourth circle of flight circular track to obtain a pollution point D;
s005, establishing a plane coordinate system by taking the plane of the pollution point D, projecting the pollution point A, the pollution point B and the pollution point C onto the coordinate system by taking the original point of the coordinate system as the center of a flight track, performing linear fitting to obtain a pollution source direction line shown in the figure 3, and making a perpendicular line for the pollution source direction line to pass through the original point, wherein the perpendicular line divides the flight track of the unmanned aerial vehicle into two parts, and the direction of the part containing more pollution points is the direction pointed by the arrow on the pollution source direction line obtained by the first-round flight track in the figure 3, namely the advancing direction of the secondary wheel of the unmanned aerial vehicle;
s006, enabling the unmanned aerial vehicle to fly for 250 meters in the advancing direction of the secondary wheel by taking the pollution point D as a starting point, reaching the circle center position of the second wheel flight, obtaining a pollution point A after flying by taking 50 meters as a radius, taking the pollution point A as a starting point, flying upwards by taking 0.71 as a slope and having the vertical height of 70 meters, measuring that the highest value of the content of the polluted gas in the upward flight process is positioned between the second circle of flight track and the first circle of flight track, obtaining a pollution point B after flying for the second circle by taking 100 meters as a radius, taking the pollution point B as a starting point, flying downwards to the highest value of the content of the polluted gas between the second circle of flight track and the first circle of flight track by taking 4.3 as a slope, and flying for the third circle by taking 250 meters as a radius to obtain a pollution point C; establishing a coordinate system by using a plane where a pollution point C in the second round of flight is located, and performing linear fitting on projections of the pollution point A, the pollution point B and the pollution point C on the coordinate system to obtain the advancing direction of a secondary wheel of the unmanned aerial vehicle;
and S007, enabling the unmanned aerial vehicle to advance 250 meters in the advancing direction of the secondary wheel by taking the pollution point C of the second wheel flight as a starting point and reach the circle center of the third wheel flight track. The subsequent steps are similar to the above, as shown in fig. 3, until the unmanned aerial vehicle performs the fourth round of flight, the obtained secondary wheel advancing direction intersects with the extension line of the secondary wheel advancing direction obtained by the previous round of flight at a point, at this time, the unmanned aerial vehicle flies for 125 meters towards the secondary wheel advancing direction obtained by the flight of the wheel, and reaches the circle center of the flight track of the fifth wheel;
s008, as shown in FIG. 3, when the unmanned aerial vehicle flies towards the advancing direction of the secondary wheel obtained by subsequent flying, the distance from the unmanned aerial vehicle to the center of the sixth flying track is 62.5 meters, the distance from the unmanned aerial vehicle to the center of the seventh flying track is 31.25 meters, the unmanned aerial vehicle flies 16.625 meters towards the advancing direction of the secondary wheel obtained by the seventh flying track, and the flying distance is within 20 meters at the moment, and the position of the unmanned aerial vehicle is the position of the pollution source at the moment;
s009, starting an image acquisition device at the determined pollution source position by the unmanned aerial vehicle, and transmitting the acquired image to a ground remote control monitoring terminal through a 4G wireless currency module; the ground remote control monitoring terminal can transmit instruction information to a microprocessor of the unmanned aerial vehicle, so that the unmanned aerial vehicle can acquire relevant information of a pollution source position from multiple angles.
The plane of each point in the above embodiments is perpendicular to the line connecting the point to the ground.
In the flying process, the unmanned aerial vehicle sequentially performs plane flying and ascending flying in each round of flying, determines the position with the highest content of the polluted gas on the flying track in the plane flying, determines the position with the highest content of the polluted gas in each round of flying because the flying track is circular and can perform multi-turn flying in each round of flying, determines the position with the highest content of the polluted gas in each round of flying through the multi-turn flying, and obtains the advancing direction of a corresponding secondary wheel after linear fitting, so that the problem that the approximate direction of a pollution source cannot be determined due to uneven diffusion of the polluted gas in the windy condition can be effectively solved. Meanwhile, in S007 and subsequent steps, the flying distance of the unmanned aerial vehicle towards the advancing direction of the secondary wheel is reduced in an equal ratio, and the region is reduced step by step, so that the position of the pollution source is determined, the purpose of automatic tracking is achieved, and meanwhile, the problem that the pollution source cannot be locked to determine the region due to uneven distribution of pollution gas under the action of wind is avoided due to the reciprocating flying.
In addition, unmanned aerial vehicle is at the ascending flight strategy of vertical side, makes unmanned aerial vehicle can confirm the position that the gaseous pollutant content in vertical side is the highest through simple step, makes each round of flight afterwards all can further confirm the gaseous distribution condition of gaseous pollutant in the air on the vertical side, and then confirms the height information of pollution source position, is convenient for fix a position the position that the pollution source was located more accurately.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. An atmospheric pollution source tracking method based on an unmanned aerial vehicle is characterized in that: the method comprises the following steps:
the method comprises the following steps that firstly, an unmanned aerial vehicle flies for multiple times according to a circular track by taking a fixed point as a circle center, the flying radius of each time is larger than the flying radius of the previous time, the content change of polluted gas in the air on the circular track is recorded, and the position with the highest content of the polluted gas on each circular track is determined;
connecting the positions with the highest content of the polluted gas on each circular track in sequence, performing linear fitting to obtain a direction line of a pollution source, and further determining the advancing direction of the secondary wheel;
thirdly, the unmanned aerial vehicle flies the secondary wheel forward distance to another fixed point along the secondary wheel forward direction, wherein the secondary wheel forward distance is a fixed value;
step four, repeating the step one, the step two and the step three by taking a fixed point reached by the unmanned aerial vehicle along the advancing direction of the secondary wheel as a circle center until the advancing direction of the secondary wheel obtained in a certain flight is intersected with the extension line of the advancing direction of the secondary wheel obtained in the previous flight at one point, so that the unmanned aerial vehicle flies for 1/N times of the advancing distance along the advancing direction of the secondary wheel obtained in the flight of the certain flight, and repeating the step one and the step two, wherein N is a fixed value and is more than or equal to 2;
and fifthly, after the fourth step, the flying distance of each round of unmanned aerial vehicle along the advancing direction of the secondary wheel is 1/N of the flying distance of the previous round, and the circle center of the last round of flying track is the position of the pollution source when the flying distance along the advancing direction of the secondary wheel is smaller than a set value.
2. The atmospheric pollution source tracking method based on the unmanned aerial vehicle as claimed in claim 1, wherein: the method comprises the following steps:
the method comprises the following steps that firstly, an unmanned aerial vehicle flies for multiple times according to a circular track by taking a fixed point as a circle center, the flying radius of each time is 2 times of the previous flying radius, the content change of polluted gas in the air on the circular track is recorded, the position with the highest content of the polluted gas on each circular track is determined, and the position is sequentially marked as a polluted point A, a polluted point B and a polluted point C … …;
connecting the positions of a pollution point A, a pollution point B and a pollution point C … … in sequence, performing linear fitting to obtain a pollution source direction line, and setting the direction of the pollution source direction line far away from the fixed point in the step one as the advancing direction of the secondary wheel;
thirdly, the unmanned aerial vehicle flies the secondary wheel forward distance to another fixed point along the secondary wheel forward direction, wherein the secondary wheel forward distance is a fixed value;
step four, with the fixed point reached by the unmanned aerial vehicle in the step three as the center of a circle, repeating the step one, the step two and the step three until the advancing direction of the secondary wheel obtained in a certain round of flight is intersected with the extension line of the advancing direction of the secondary wheel obtained in the previous round of flight at a point, enabling the unmanned aerial vehicle to fly 1/2 secondary wheel advancing distances along the advancing direction of the secondary wheel obtained in the round of flight, and repeating the step one and the step two;
and step five, after step four, the flying distance of each round of unmanned aerial vehicle along the advancing direction of the secondary wheel is 1/2 of the flying distance of the previous round, until the flying distance along the advancing direction of the secondary wheel is less than 20 meters, and the circle center of the last round of flying track is the position of the pollution source.
3. The atmospheric pollution source tracking method based on the unmanned aerial vehicle as claimed in claim 2, wherein: the third and subsequent steps of obtaining the advancing direction of the secondary wheel comprise the following steps:
a. establishing a plane coordinate system by taking the circle center of the flight path of the unmanned aerial vehicle as an origin;
b. obtaining the plane coordinates (x, y) of the pollution point A, the pollution point B and the pollution point C … …iI is a contamination point mark;
c. will plane coordinate (x, y)iPerforming linear fitting by using a least square method to obtain a linear formula;
d. drawing the obtained linear formula on a plane coordinate system in a to obtain a pollution source direction line, and making a perpendicular line of the pollution source direction line through the original point, wherein the perpendicular line divides the flight track of the unmanned aerial vehicle into two parts, the direction of the part containing more pollution points is the forward extending direction of the pollution source direction line, and the forward extending direction is the advancing direction of the secondary wheel.
4. The atmospheric pollution source tracking method based on the unmanned aerial vehicle as claimed in claim 1, wherein: the first step specifically comprises the following steps:
a. monitoring the content of the polluted gas in the air in the process of the unmanned aerial vehicle lifting off, when the detected content of the polluted gas exceeds a set value, taking the position as the center of a circle, flying for a circle along a circular track according to a preset radius, and simultaneously measuring the content of the polluted gas on the circular track to obtain the position with the highest content of the polluted gas on the circular track;
b. taking the position with the highest content of the polluted gas on the circular track in the step a as a starting point, flying upwards to a preset height by using a preset slope, synchronously measuring the content of the polluted gas in the air in the upward flying process, performing circular track flying for one circle by using the circle center set in the step a as the circle center, and simultaneously measuring the content of the polluted gas on the circular track to obtain the position with the highest content of the polluted gas on the circular track; the radius of the flight is larger than that of the flight in a;
c. if the position of the highest value of the content of the polluted gas in the air measured in the upward flying process in the step b is located between the planes of the two flying tracks, the unmanned aerial vehicle is made to fly downwards to the plane of the position of the highest value of the content of the polluted gas in the air measured in the upward flying process of the unmanned aerial vehicle in the step b according to a preset slope by taking the position of the highest content of the polluted gas in the circular track in the step b as a starting point, the circular track is flown for one circle by taking the circle center set in the step a as a circle center, and the content of the polluted gas on the circular track is measured at the same time, so that the position of the highest content of the polluted gas on the circular; the radius of the flight is larger than that of the flight in b; at the moment, the unmanned aerial vehicle finishes first-wheel flight, positions with the highest content of the polluted gas on the circular tracks obtained in the steps a, b and c are connected in sequence and then subjected to linear fitting to obtain a direction line of a pollution source, further obtain the advancing direction of a secondary wheel, and the unmanned aerial vehicle flies according to the advancing direction of the secondary wheel by taking the starting point of the third circle of flight as the starting point to perform the following steps;
d. if the position of the highest value of the content of the polluted gas in the air measured in the upward flying process in the step b is located on the plane of the second flying track, enabling the unmanned aerial vehicle to fly upwards to a preset height according to a preset slope by taking the position with the highest content of the polluted gas on the circular track in the step b as a starting point, synchronously measuring the content of the polluted gas in the air in the upward flying process, performing circular track flying for one circle by taking the circle center set in the step a as the circle center, and simultaneously measuring the content of the polluted gas on the circular track to obtain the position with the highest content of the polluted gas on the circular track; the radius of the flight is larger than that of the flight in b;
e. if the position of the highest value of the content of the polluted gas in the air measured in the upward flying process in the step d is positioned between the two flying tracks, the method is carried out according to the method c; if the highest value of the content of the polluted gas in the air measured in the upward flying process in the step d is positioned on the plane of the third flying track, continuing flying according to the method d;
f. according to the difference of the positions of the highest values of the content of the polluted gas in the air obtained by measurement in the upward flight of the unmanned aerial vehicle, performing flight measurement according to c or d until the first-wheel flight measurement is completed; after the corresponding secondary wheel advancing direction is obtained, the unmanned aerial vehicle flies according to the secondary wheel advancing direction by taking the starting point of the last circle of flying as the starting point, and the following steps are carried out;
g. each subsequent flight is performed according to the steps a to f above until the location of the contamination source is determined.
5. The atmospheric pollution source tracking method based on the unmanned aerial vehicle as claimed in claim 4, wherein: the flying radius of each circle in one-wheel flying is RiIf the preset height during upward flight is H, the preset slope is k = (R)i+1-Ri)/H。
6. An unmanned aerial vehicle system adopting the unmanned aerial vehicle-based atmospheric pollution source tracking method according to any one of claims 1 to 5, wherein: unmanned aerial vehicle is rotor unmanned aerial vehicle, be equipped with sulfur dioxide, nitrogen gas, oxygen, carbon monoxide, carbon dioxide, PM2.5, PM10 air quality sensor on the rotor unmanned aerial vehicle, last microprocessor and the 4G wireless communication module of still being equipped with of rotor unmanned aerial vehicle, microprocessor respectively with air quality sensor with 4G wireless communication module electric connection.
7. The drone system of claim 6, wherein: still be equipped with image acquisition equipment on the rotor unmanned aerial vehicle, microprocessor with image acquisition equipment electric connection.
8. The drone system of claim 7, wherein: the system also comprises a ground remote control monitoring terminal which is in communication connection with the 4G wireless communication module and can transmit information to the microprocessor.
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