CN108956864A - A kind of gas concentration detection mark system and its detection identification method based on unmanned plane - Google Patents
A kind of gas concentration detection mark system and its detection identification method based on unmanned plane Download PDFInfo
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Abstract
The invention discloses a kind of gas concentration detection mark system and detection identification method based on unmanned plane, the flight control system that mark system includes ground control system and is located on unmanned plane is detected, flight control system includes gas concentration acquisition unit, Unmanned Aerial Vehicle Data transmission unit, flies control unit and data integrated unit；Ground control system includes terrestrial data transmission unit, human-computer interaction display unit and data processing and analysis unit.The Gas identification Efficient image that the present invention generates intuitively shows gas concentration variation tendency in region.
Description
Technical field
The present invention relates to unmanned plane fields, and in particular to a kind of gas concentration detection mark system and inspection based on unmanned plane
Survey identification method.
Background technique
Currently, in the prior art when carrying out gas concentration detection, it is dangerous to be substantially artificial contact type measurement, measurement
It is height-limited inconvenient, it is with a varied topography be difficult to measure it is not flexible.Measurement range is small to localize very much, for a wide range of continuous measurement skill
Art is immature.
The utility model patent of the patent No. 201420103431.6 discloses a kind of UAV system chemical gas detecting system.
It is easy to operate although facilitating the detection to high-altitude or danger zone using unmanned plane.But this kind of technology is unresolved vulnerable to environment
It influences, the multiple defect for setting test point and artificial control unmanned plane is needed to go to detection is needed to extensive area detection.
The patent of invention of the patent No. 201720431111.7 provides a kind of unmanned machine detecting device and system, advantage are
The testing result of unmanned plane can be obtained by terminal device using maintenance personnel, easy to operate, use is safe.But it is a wide range of
When region detection, can not provide more intuitive is easily the mark image of gas concentration variation in the clear region of operator.
Summary of the invention
The gas concentration based on unmanned plane that the purpose of the present invention is to provide a kind of detects mark system and detection mark side
Method to solve to be difficult in the prior art to carry out complete detection to extensive area, and can not provide and show each position gas in region
The defect of the image of bulk concentration variation tendency.
Gas concentration based on unmanned plane detect mark system, fly including ground control system and being located on unmanned plane
Control system, flight control system include:
Gas concentration acquisition unit is connected with data fusion unit, for detect obtain concurrent inspection measuring point gas it is dense
Degree evidence；
Unmanned Aerial Vehicle Data transmission unit is communicated to connect with terrestrial data transmission unit wireless；
Fly control unit, is connected with Unmanned Aerial Vehicle Data transmission unit, for obtaining flight attitude, position and the height of unmanned plane
The image data information that winged control information and combined ground control system including information are sent controls unmanned plane during flying；
Data fusion unit, be connected with winged control unit obtain unmanned plane location information, for by gas concentration data through filtering
It merges with corresponding unmanned plane location information after wave and is packaged into data packet, then flown control unit and be sent to Unmanned Aerial Vehicle Data transmission list
Member；
Ground control system includes:
Terrestrial data transmission unit is connected with Data Management Analysis unit；
Human-computer interaction display unit is connected with Data Management Analysis unit, for carrying out man-machine information interaction with operator；
Data Management Analysis unit, the address of the gas sampling for providing cartographic information and binding operation person's input, inspection
It surveys range and detection high-degree of conversion is that image data information is sent to terrestrial data transmission unit, the data packet for being also used to will acquire
Fractionation combined data image information is converted into Gas identification image and is sent to human-computer interaction display unit.
Preferably, fly control unit to include attitude transducer, navigation positioning system, altimeter and fly control calculator, posture passes
Sensor, navigation positioning system and altimeter, which are connected respectively to, flies control calculator, flies control calculator and is also respectively connected to data fusion
Unit and Unmanned Aerial Vehicle Data transmission unit.
Preferably, altimeter is infrared assist gas pressure meter.
Preferably, gas concentration acquisition unit includes the air intake duct being located on unmanned plane body, detector, air pressure sense
Device, temperature inductor and microprocessor are answered, is equipped with suction fan, detector, air pressure inductor and temperature at inlet mouth
Inductor is located in air intake duct and is connected with the microprocessor.
Preferably, detector includes multiple semiconductor transducers for detecting corresponding gaseous species.
The detection identification method for the gas concentration detection mark system based on unmanned plane that the present invention also provides a kind of, including
Following steps:
S1, operator obtain the map in area to be detected from Data Management Analysis unit, and input needs gas sampling to detect
Detection position, input detection range and detection height and further formulate course line, Data Management Analysis unit is defeated by operator
The information entered generates image data information in conjunction with cartographic information, sends the winged control to unmanned plane by terrestrial data transmission unit
System；
S2, unmanned plane winged control unit from Unmanned Aerial Vehicle Data transmission unit obtain image data information, fly to geodetic to be checked
Area and according to airline operation；
S3, winged control unit constantly detect the gas concentration obtained everywhere by gas concentration acquisition unit in flight course
Information is sent to data fusion unit and is packaged in conjunction with the winged control collected corresponding unmanned plane location information of unit, and will give birth to
At data packet through fly control unit be sent to Unmanned Aerial Vehicle Data transmission unit；
S4, terrestrial data transmission unit obtain the data packet that flight control system issues, and Data Management Analysis unit obtains data
It is split after packet and concentration of the combined data image information according to gas in different location is identified on map, form gas
Body mark image is sent to human-computer interaction display unit；
S5, operator confirm that Detection task issues information from ground control system after the completion and allows unmanned plane in flight control system
Control is lower to return to landing.
Preferably, step S1 further includes that Data Management Analysis unit is set to according to the information that operator inputs with check bit
Center automatically generates the constant-level flight task of equidistant netted flight detection zone and vertical direction, further adjusts through operator
Each lines spacing in flight detection zone, setting pass through the course line of flight detection zone, and finally to flight detection zone, course line
And after the height confirmation of each flight detection zone, Data Management Analysis unit re-forms image data information.
Preferably, step S4 further includes that Data Management Analysis unit combines current datagraphic information gas concentration
Map reference corresponding with unmanned plane location information is written in information, and each pixel in course line can pass through the gas at this on image
Bulk concentration data are shown as corresponding translucent color, and gas concentration is shown with the proportional corresponding mode of RGB color value；Do not exist
On course line but belong to each pixel in flight detection zone by the more adjacent each course line of Data Management Analysis unit
Concentration sealing goes out the concentration value of each pixel in flight detection zone, and is shown as corresponding translucent color, while at data
Flight detection zone is depicted as the contour map of gas concentration with minimum curvature algorithm by reason analytical unit, ultimately forms gas mark
Know image.
The present invention has the advantages that the secondary setup that operator can pass through Data Management Analysis unit in ground control system
Good large-scale gas detection region and course line reach test point it is not necessary that test point is arranged one by one and directly controls unmanned plane.Cause
This this detection mark system is fast in the course line speed for formulating unmanned plane, and detection process is more efficient, and can once set to the region
It sets and multiple height is detected.Data Management Analysis unit can also by flight control system send data packet and picture number it is believed that
Breath, which is combined into, carries out marker concentration in different colors to netted flight detection zone, and dense with contour map mark three-dimensional structure
Spend the Gas identification image of the variation tendency in region.It realizes and is modeled on a large scale with the concentration gradient of different longitude and latitude,
Gas identification Efficient image intuitively shows gas concentration variation tendency in region.
Detailed description of the invention
Fig. 1 is the system structure diagram of the embodiment of the present invention；
Fig. 2 is the detection identification method flow chart of the embodiment of the present invention；
The image that Fig. 3 shows for human-computer interaction display unit before the formulation course line of the embodiment of the present invention；
Fig. 4 is one of the Gas identification image ultimately produced of the embodiment of the present invention.
Wherein, 1, human-computer interaction display unit, 2, Data Management Analysis unit, 3, terrestrial data transmission unit, 4, nobody
Machine data transmission unit, 5, gas concentration acquisition unit, 6, data fusion unit, 7, winged control calculator, 8, altimeter, 9, navigation
Positioning system, 10, attitude transducer.
Specific embodiment
Below against attached drawing, by the description of the embodiment, making further details of theory to the specific embodiment of the invention
It is bright, to help those skilled in the art to have more complete, accurate and deep reason to inventive concept of the invention, technical solution
Solution.
Embodiment
The present invention provides a kind of gas concentration detection mark system and detection identification method based on unmanned plane.Such as Fig. 1-
Shown in Fig. 4, the gas concentration based on unmanned plane detects the winged control that mark system includes ground control system and is located on unmanned plane
System.Flight control system includes gas concentration acquisition unit 5, Unmanned Aerial Vehicle Data transmission unit 4, flies control unit and data integrated unit
6。
Gas concentration acquisition unit 5 is connected with data fusion unit 6, for detect obtain concurrent inspection measuring point gas it is dense
Degree evidence.Gas concentration acquisition unit 5 includes air intake duct, detector, the air pressure inductor, temperature being located on unmanned plane body
Inductor and microprocessor are spent, is equipped with suction fan at inlet mouth, detector, air pressure inductor and temperature inductor are set
In air intake duct and it is connected with the microprocessor.Detector, air pressure inductor and temperature inductor are respectively used to detection gas
Bulk concentration, air pressure and temperature, the data that will test are sent to microprocessor, and microprocessor is according to the data of air pressure and temperature
The data of gas concentration are modified.Detector includes multiple semiconductor transducers for detecting corresponding gaseous species.Half
Conductor sensor bulk is small, high sensitivity is suitable for the small space in unmanned plane, can be arranged a variety of for gas with various
Sensor.
Unmanned Aerial Vehicle Data transmission unit 4 is wirelessly communicated with terrestrial data transmission unit 3 and is connected.
Fly control unit to be connected with Unmanned Aerial Vehicle Data transmission unit 4, flying control unit includes attitude transducer 10, navigator fix system
System 9, altimeter 8 and winged control calculator 7, attitude transducer 10, navigation positioning system 9 and altimeter 8, which are connected respectively to, flies control meter
Device 7 is calculated, flies control calculator 7 and is also respectively connected to data fusion unit 6 and Unmanned Aerial Vehicle Data transmission unit 4.Wherein altimeter 8
For infrared assist gas pressure meter.
Attitude transducer 10, navigation positioning system 9 and altimeter 8 are respectively used to obtain flight attitude, the position of unmanned plane
And elevation information, these information, which are constituted, flies control information in conjunction with the image data information that ground control system issues to control nobody
Machine according to formulation airline operation.
Data fusion unit 6 with fly control unit be connected acquisition unmanned plane location information, for by gas concentration data through filtering
It is packaged into data packet with corresponding unmanned plane location information fusion at this time after wave and is sent to and fly control unit, fly control unit and re-send to
Unmanned Aerial Vehicle Data transmission unit 4.
Ground control system includes terrestrial data transmission unit 3, human-computer interaction display unit 1 and data processing and analysis unit
2。
Terrestrial data transmission unit 3 is connected with Data Management Analysis unit 2, for realizing the flight control system sum number of unmanned plane
According to carrying out data exchange between processing and analysis unit 2.
Human-computer interaction display unit 1 is connected with Data Management Analysis unit 2, for carrying out man-machine information friendship with operator
Mutually, and with Data Management Analysis unit 2 information exchange is carried out.The various image informations that Data Management Analysis unit 2 generates are logical
It crosses it and shows operator.
Data Management Analysis unit 2 is used to provide the address of cartographic information and the gas sampling of binding operation person's input, inspection
It surveys range and detection high-degree of conversion is that image data information is sent to terrestrial data transmission unit 3, terrestrial data transmission unit 3 is again
It is sent to flight control system.Image data information includes regional address information to be detected and cartographic information, netted flight detection zone
Domain information, route information and detection elevation information.
The data packet that Data Management Analysis unit 2 is also used to will acquire splits combined data image information and is converted into gas mark
Know image and is sent to human-computer interaction display unit 1.
The detection identification method for the gas concentration detection mark system based on unmanned plane that the present invention also provides a kind of, including
Following steps:
S1, operator obtain the map in area to be detected from Data Management Analysis unit 2, and input needs gas sampling to detect
Detection position, input detection range and detection height and further formulate course line, Data Management Analysis unit 2 is defeated by operator
The information entered generates image data information in conjunction with cartographic information, is sent by terrestrial data transmission unit 3 to unmanned plane and is flown
Control system；
S2, unmanned plane winged control unit from Unmanned Aerial Vehicle Data transmission unit 4 obtain image data information, fly to geodetic to be checked
Area and according to airline operation；
S3, flying control unit, by gas concentration acquisition unit 5, constantly to detect the gas obtained everywhere dense in flight course
Information is spent, data fusion unit 6 is sent to and is packaged in conjunction with the winged control collected corresponding unmanned plane location information of unit, and will
The data packet of generation is flown control unit and is sent to Unmanned Aerial Vehicle Data transmission unit 4；
S4, terrestrial data transmission unit 3 obtain the data packet that flight control system issues, and Data Management Analysis unit 2 obtains number
According to being split after packet and concentration of the combined data image information according to gas in different location is identified on map, formed
Gas identification image is sent to human-computer interaction display unit 1；
S5, operator confirm that Detection task issues information from ground control system after the completion and allows unmanned plane in flight control system
Control is lower to return to landing.
Wherein step S1 further includes, during Data Management Analysis unit 2 is set to according to the information that operator inputs with check bit
The heart automatically generates the constant-level flight task of equidistant netted flight detection zone and vertical direction, further adjusts and flies through operator
Each lines spacing in row detection zone, setting by the course line of flight detection zone, and finally to flight detection zone, course line with
And after the height confirmation of each flight detection zone, Data Management Analysis unit 2 re-forms image data information.
The good large-scale gas inspection of secondary setup that operator can pass through Data Management Analysis unit 2 in ground control system
Region and course line are surveyed, reaches test point it is not necessary that test point is arranged one by one and directly controls unmanned plane.Therefore this detection mark system
Formulate unmanned plane course line speed it is fast, detection process is more efficient, and the region can once be set to multiple height into
Row detection.
Wherein step S4 further includes that Data Management Analysis unit 2 believes gas concentration in conjunction with current datagraphic information
Map reference corresponding with unmanned plane location information is written in breath, and each pixel in course line can pass through the gas at this on image
Concentration data is shown as corresponding translucent color, and gas concentration is shown with the proportional corresponding mode of RGB color value；It is not navigating
On line but belong to each pixel in flight detection zone pass through it is dense on the more adjacent each course line of Data Management Analysis unit 2
Degree estimates the concentration value of each pixel in flight detection zone, and is shown as corresponding translucent color, while data processing
Flight detection zone is depicted as the contour map of gas concentration with minimum curvature algorithm by analytical unit 2, ultimately forms gas mark
Know image.
Data Management Analysis unit 2 is by the gas concentration information detected in netted flight detection zone with different face
Color marker concentration, and with the Gas identification image of contour map mark three-dimensional structure concentration variation tendency in region.It realizes
It is modeled on a large scale with the concentration gradient of different longitude and latitude, it is dense that Gas identification Efficient image intuitively shows gas in region
Variation tendency is spent, formulates corresponding solution convenient for operator.
The present invention is exemplarily described above in conjunction with attached drawing, it is clear that the present invention implements not by aforesaid way
Limitation, it is or not improved as long as using the improvement for the various unsubstantialities that the method for the present invention conception and technical scheme carry out
Present inventive concept and technical solution are directly applied into other occasions, within that scope of the present invention.
Claims (8)
1. a kind of gas concentration based on unmanned plane detects mark system, it is characterised in that: including ground control system and be located at
Flight control system on unmanned plane, the flight control system include:
Gas concentration acquisition unit (5) is connected with data fusion unit (6), for detecting the gas for obtaining concurrent inspection measuring point
Concentration data；
Unmanned Aerial Vehicle Data transmission unit (4) is wirelessly communicated with terrestrial data transmission unit (3) and is connected；
Fly control unit, be connected with the Unmanned Aerial Vehicle Data transmission unit (4), for obtain the flight attitude of unmanned plane, position and
The image data information that winged control information and combined ground control system including elevation information are sent controls unmanned plane during flying；
Data fusion unit (6), be connected with winged control unit obtain unmanned plane location information, for by gas concentration data through filtering
Data packet is packaged into the fusion of corresponding unmanned plane location information afterwards, then is flown control unit and is sent to Unmanned Aerial Vehicle Data transmission unit
(4)；
The ground control system includes:
Terrestrial data transmission unit (3) is connected with the Data Management Analysis unit (2)；
Human-computer interaction display unit (1) is connected with Data Management Analysis unit (2), for carrying out man-machine information friendship with operator
Mutually；
Data Management Analysis unit (2), the address of the gas sampling for providing cartographic information and binding operation person's input, detection
Range and detection high-degree of conversion are that image data information is sent to terrestrial data transmission unit (3), the data for being also used to will acquire
Packet fractionation combined data image information is converted into Gas identification image and is sent to human-computer interaction display unit (1).
2. a kind of gas concentration based on unmanned plane according to claim 1 detects mark system, it is characterised in that: described
Fly control unit to include attitude transducer (10), navigation positioning system (9), altimeter (8) and fly control calculator (7), the posture
Sensor (10), navigation positioning system (9) and altimeter (8) are connected respectively to the winged control calculator (7), and the winged control calculates
Device (7) is also respectively connected to the data fusion unit (6) and Unmanned Aerial Vehicle Data transmission unit (4).
3. a kind of gas concentration based on unmanned plane according to claim 2 detects mark system, it is characterised in that: described
Altimeter (8) is infrared assist gas pressure meter.
4. a kind of gas concentration based on unmanned plane according to claim 1 detects mark system, it is characterised in that: described
Gas concentration acquisition unit (5) includes the air intake duct being located on unmanned plane body, detector, air pressure inductor, temperature sense
It answers device and microprocessor, is equipped with suction fan at the inlet mouth, the detector, the air pressure inductor and described
Temperature inductor is located in the air intake duct and is connected with the microprocessor.
5. a kind of gas concentration based on unmanned plane according to claim 4 detects mark system, it is characterised in that: described
Detector includes multiple semiconductor transducers for detecting corresponding gaseous species.
6. a kind of detection of gas concentration detection mark system based on unmanned plane according to any one of claims 1-5
Identification method, characterized by the following steps:
S1, operator obtain the map in area to be detected from the Data Management Analysis unit (2), and input needs gas sampling to examine
The detection position of survey, input detection range and detection height simultaneously further formulate course line, and the Data Management Analysis unit (2) will
Operator input information image data information is generated in conjunction with cartographic information, by terrestrial data transmission unit (3) send to
The flight control system of unmanned plane；
S2, unmanned plane winged control unit from Unmanned Aerial Vehicle Data transmission unit (4) obtain image data information, area to be detected of flying to
And according to airline operation；
S3, winged control unit obtain gas concentration everywhere by gas concentration acquisition unit (5) constantly detection in flight course
Information is sent to data fusion unit (6) and is packaged in conjunction with the winged control collected corresponding unmanned plane location information of unit, and will
The data packet of generation is flown control unit and is sent to Unmanned Aerial Vehicle Data transmission unit (4)；
S4, the terrestrial data transmission unit (3) obtain the data packet that the flight control system issues, Data Management Analysis unit
(2) obtain is split after the data packet simultaneously combined data image information according to gas different location concentration on map
It is identified, forms Gas identification image and be sent to human-computer interaction display unit (1)；
S5, operator confirm that Detection task issues information from ground control system after the completion and allows unmanned plane in the control of flight control system
Lower return landing.
7. a kind of detection identification method of gas concentration detection mark system based on unmanned plane according to claim 6,
It is characterized by: the step S1 further includes, the information that the Data Management Analysis unit (2) inputs according to operator is to detect
The constant-level flight task that equidistant netted flight detection zone and vertical direction are automatically generated centered on position, through operator into one
Each lines spacing in flight detection zone described in successive step, setting pass through the course line of flight detection zone, and finally examine to flight
Survey region, course line and each flight detection zone height confirmation after, Data Management Analysis unit (2) re-form picture number it is believed that
Breath.
8. a kind of detection identification method of gas concentration detection mark system based on unmanned plane according to claim 6,
It is characterized by: the step S4 further includes, the Data Management Analysis unit (2) combines current datagraphic information gas
Map reference corresponding with unmanned plane location information is written in bulk concentration information, and each pixel in course line can be by this on image
The gas concentration data at place are shown as corresponding translucent color, and gas concentration is aobvious with the proportional corresponding mode of RGB color value
Show；Not on-course but belong to each pixel in flight detection zone by Data Management Analysis unit (2) it is more adjacent
Concentration sealing on each course line goes out the concentration value of each pixel in flight detection zone, and is shown as corresponding translucent color,
Flight detection zone is depicted as the contour map of gas concentration with minimum curvature algorithm by Data Management Analysis unit (2) simultaneously,
Ultimately form Gas identification image.
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| CN112213443B (en) * | 2020-05-25 | 2021-05-14 | 南京大学环境规划设计研究院集团股份公司 | Method for correcting deviation of atmospheric pollutant concentration monitoring value of rotor unmanned aerial vehicle |
| CN111947037A (en) * | 2020-07-16 | 2020-11-17 | 苏州恒井泰信息技术有限公司 | Natural gas pipeline leakage detection system based on unmanned aerial vehicle |
| CN111947037B (en) * | 2020-07-16 | 2022-04-08 | 苏州恒井泰信息技术有限公司 | Natural gas pipeline leakage detection system based on unmanned aerial vehicle |
| CN112327904A (en) * | 2020-10-14 | 2021-02-05 | 北京鑫康尔兴科技发展有限公司 | Unmanned aerial vehicle-based harmful gas distribution and traceability detection method in airspace range |
| CN112327904B (en) * | 2020-10-14 | 2024-04-26 | 北京鑫康尔兴科技发展有限公司 | Harmful gas distribution and traceability detection method in airspace range based on unmanned aerial vehicle |
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