CN109342667A - A wide range of gas-dynamic detection device and its detection method based on unmanned plane - Google Patents
A wide range of gas-dynamic detection device and its detection method based on unmanned plane Download PDFInfo
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- CN109342667A CN109342667A CN201811508812.1A CN201811508812A CN109342667A CN 109342667 A CN109342667 A CN 109342667A CN 201811508812 A CN201811508812 A CN 201811508812A CN 109342667 A CN109342667 A CN 109342667A
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- 238000001514 detection method Methods 0.000 title claims abstract description 68
- 238000012360 testing method Methods 0.000 claims abstract description 32
- 239000002689 soil Substances 0.000 claims abstract description 11
- QGZKDVFQNNGYKY-UHFFFAOYSA-N Ammonia Chemical compound N QGZKDVFQNNGYKY-UHFFFAOYSA-N 0.000 claims description 18
- 238000001704 evaporation Methods 0.000 claims description 12
- 230000008020 evaporation Effects 0.000 claims description 12
- 229910021529 ammonia Inorganic materials 0.000 claims description 9
- 238000007689 inspection Methods 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 4
- 239000011521 glass Substances 0.000 claims description 3
- 238000005192 partition Methods 0.000 claims description 3
- 229920003023 plastic Polymers 0.000 claims description 3
- 239000002985 plastic film Substances 0.000 claims description 3
- 238000011897 real-time detection Methods 0.000 claims description 3
- 238000004162 soil erosion Methods 0.000 claims description 3
- 210000003608 fece Anatomy 0.000 description 6
- 244000144977 poultry Species 0.000 description 6
- 244000144972 livestock Species 0.000 description 5
- 239000010871 livestock manure Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0004—Gaseous mixtures, e.g. polluted air
- G01N33/0009—General constructional details of gas analysers, e.g. portable test equipment
- G01N33/0073—Control unit therefor
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C7/00—Tracing profiles
- G01C7/02—Tracing profiles of land surfaces
- G01C7/04—Tracing profiles of land surfaces involving a vehicle which moves along the profile to be traced
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/24—Earth materials
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention discloses a wide range of gas-dynamic detection devices and its detection method based on unmanned plane, including several fixed point dynamic detector, unmanned plane and management terminals, collector, several range sensors, unmanned plane wireless signal transceiver and power supply are at least installed on unmanned plane, management terminal includes control device, information input terminal and display end, unmanned plane is scanned target area, the acquired device of scanning information is sent to control device after summarizing, control device draws the relief model of target area according to information；Pinpointing dynamic detector includes annular base and gas gathering mask, annular base is horizontal base, unmanned plane lower end is equipped with openable and closable gripper, gripper can grip on gas gathering mask, fixed point dynamic detector is fixed below unmanned plane, fixed point dynamic detector can cover conjunction on test point, and annular base is sealingly pressed on the soil that will test a surrounding, base plate through holes are located on test point, and the gas of test point soil volatilization is completely into gas gathering mask.
Description
Technical field
The invention belongs to the technical fields of gas detection equipment, and in particular to a wide range of gas-dynamic inspection based on unmanned plane
Survey device and its detection method.
Background technique
For the measurement of the object gas volatile quantity of certain volatile matter, conventional method is to need collecting sample to detection container
In, this process is easy to cause the natural environment near sample to change, and leads to sample object gaseous volatilization amount and practical feelings
Condition is not consistent, and when in situ detection gas volatile quantity, will use gas detection case, its working principle is that by gas detection case
It covers on object, the gas that object volatilizes can be full of gas detection case, and detector is installed in gas detection case, real
The situation of change of target gas content in Shi Jilu gas detection case, more accurately, however, original place detection is in certain topographic features
Under, it is difficult to reach, for detecting the Ammonia valatilization amount on manure of livestock and poultry mountain top, farm's manure of livestock and poultry mountain takes up an area several mu often, in
Portion position is difficult to approach, and original place detection is not known where to begin.
Summary of the invention
The technical problem to be solved by the present invention is to solve the above shortcomings of the prior art and to provide one kind to ignore landform, leads to
The mode for crossing flight reaches the monitoring system and its inspection of detection site, the multiple spot gas-dynamic detection that can carry out big region detection
Survey method.
To realize the above-mentioned technical purpose, the technical scheme adopted by the invention is as follows:
A wide range of gas-dynamic detection device based on unmanned plane, in which: including several fixed point dynamic detectors, unmanned plane and
Management terminal is at least equipped with collector, several range sensors, unmanned plane wireless signal transceiver and electricity on unmanned plane
Source, range sensor and unmanned plane wireless signal transceiver are connect with collector, and the detector lens of range sensor are towards ground
Face, management terminal include control device, information input terminal and display end, unmanned plane wireless signal transceiver and control device without
The connection of line signal, control device can be issued to range sensor by unmanned plane wireless signal transceiver and be instructed, and Distance-sensing is made
Device is scanned target area, and the acquired device of scanning information is sent to control device after summarizing, and control device is drawn according to information
The relief model of target area out；Pinpointing dynamic detector includes annular base and gas gathering mask, and annular base is horizontal base, in
Between there are base plate through holes, the cross-sectional areas of base plate through holes is predetermined value, the inner cavity of gas gathering mask and the base plate through holes one of annular base
Body is connected to, and offers inlet channel and outlet passageway on gas gathering mask, it is opposite that inlet channel and outlet passageway are located at gas gathering mask
Two sides, inlet channel and the equal one end of outlet passageway be connected to outside, and one end is connected to gas gathering mask inner cavity, is installed on inlet channel
There is air inlet detector, outlet detector is installed on outlet passageway, is further fixed on detector in the side wall of gas gathering mask
The detector controller of power supply and built-in wireless signal transceiver module, detector power supply and air inlet detector, outlet gas
Detector and detector controller connect and are three's power supply, detector controller and air inlet detector and outlet gas
Detector and the signal that air inlet detector, outlet detector can be received, and management terminal is transmitted the signal to,
Unmanned plane lower end is equipped with openable and closable gripper, and gripper can grip on gas gathering mask, and fixed point dynamic detector is fixed under unmanned plane
Side, fixed point dynamic detector can cover conjunction on test point, and annular base is sealingly pressed on the soil that will test a surrounding, pedestal
Through-hole is located on test point, and the gas of test point soil volatilization is completely into gas gathering mask.
To optimize above-mentioned technical proposal, the concrete measure taken further include:
Above-mentioned unmanned plane is lift unmanned plane, is equipped with flight controller and camera on unmanned plane, management terminal and is flown
The connection of line control unit wireless signal, the propeller motor and empennage of flight controller and unmanned plane connect, and management terminal can be to flying
Line control unit issues control information, so that flight controller is adjusted propeller motor speed and empennage direction, to control unmanned plane
Heading and flying height.
The quantity of above-mentioned range sensor is three, these three range sensors are each attached to unmanned plane horizontal frames
Lower part.
Above-mentioned range sensor is laser scanner or ultrasonic scanner.
Above-mentioned flight controller, collector and detector controller is for single-chip microcontroller, model STM32L series.
Above-mentioned management terminal is computer.
Above-mentioned gas gathering mask is transparent plastic sheet or transparency glass plate.
Above-mentioned air inlet detector and outlet detector is ammonia detector.
The detection method of a wide range of gas-dynamic detection device based on unmanned plane, comprising the following steps:
Step 1: delimiting detection zone；
Step 2: a standard point is determined near detection zone, using the standard point as height origin；
Step 3: control unmanned plane takes off, in detection zone flying overhead, it is desirable that two range sensors can scan standard
Point, the downward face landing ground of at least one range sensor, and can scan to detection zone, the data of range sensor scanning
Acquired device is back to management terminal, due to known the distance between two range sensors that can be scanned to standard point, simultaneously
Also obtain the two range sensors to standard point distance, so as to converse range sensor relative to standard point
Highly, management terminal draws out the earth's surface three-dimensional mould of detection zone further according to the information of the range sensor of scanning to detection zone
Type；
Step 4:, according to actual needs by earth's surface threedimensional model subregion, will test region in earth's surface threedimensional model and be cut into number
A subregion；One or several test points are selected in each subregion, it is desirable that monitoring point ground flat degree is examined convenient for placing fixed point dynamic
Survey device；
Step 5: carrying fixed point dynamic detector on unmanned plane, management terminal is sat according to the test point in earth's surface threedimensional model
Mark, control unmanned plane are flown at coordinate points, and fixed point dynamic detector is put down；Unmanned plane, which returns, carries another fixed point dynamic inspection
Device is surveyed, management terminal control unmanned plane flies at another coordinate points, fixed point dynamic detector is put down；Until all coordinate points
Fixed point dynamic detector is all put down；
Step 6: fixed point dynamic detector covers in coordinate points, gas enters gas gathering mask by inlet channel, through outlet passageway stream
Target gas content in gas gathering mask out, air inlet detector and outlet detector real-time detection gas coming through, and will letter
Breath is sent to management terminal；
It is detected Step 7: the target gas content that outlet detector detects is subtracted air inlet detector by management terminal
The target gas content arrived obtains the object gas volatile quantity in time point fixed point dynamic detector；Then according to gas collection
The area soil erosion size surrounded is covered, the object gas volatile quantity and volatilization speed of soil at unit area test point are conversed
Degree, in addition, management terminal can also be converted into the object gas volatile quantity and evaporation rate of the subregion as unit of subregion；Management
The target gas content and evaporation rate that terminal will test are integrated in earth's surface threedimensional model as unit of subregion, Mei Gefen
Area, which can individually click, checks subregion object gas volatile quantity curve in different time periods and evaporation rate curve；Management is eventually
End can also be as needed, calculates any partition conbination object gas volatile quantity in different time periods and evaporation rate；
Step 8: successively being recycled by unmanned plane by dynamic detector is pinpointed after having detected the predetermined time.
A wide range of gas-dynamic detection device and its detection method based on unmanned plane of the invention, has the advantage that
1, it is equipped with unmanned plane, the landform that intelligent is not easy to reach can be arrived, therefore the scope of application is wider, is very suitable to landform complexity
Detection scene.
2, by the cooperation of unmanned plane and computer, topographic mapping, and subregion is set, each subregion is provided with detection
Point, is detected as unit of subregion, effectively endures high detection efficiency, is prevented detector layout uneven, is improved detection accuracy.
3, it is detected simultaneously by carrying out multiple spot to detection zone, available same time point, the mesh of different test points
Standard gas body volatile quantity can obtain the higher detected value of precision, compared to existing single-point then by converting to data
Detection, substantially reduces detection time, while also improving detection accuracy.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is the structural schematic diagram for pinpointing dynamic detector；
Fig. 3 is the top view of unmanned plane；
Fig. 4 is the schematic diagram that unmanned plane is detected in detection zone.
Appended drawing reference therein are as follows: fixed point dynamic detector 1, annular base 11, base plate through holes 11a, gas gathering mask 12, air inlet
Channel 12a, outlet passageway 12b, air inlet detector 13, outlet detector 14, detector power supply 15, detector control
Device 16, collector 21, range sensor 22, camera 23, unmanned plane wireless signal transceiver 24, gripper 25, flies at unmanned plane 2
Line control unit 26, management terminal 3, control device 31, information input terminal 32, display end 33.
Specific embodiment
The embodiment of the present invention is described in further detail below in conjunction with attached drawing.
A wide range of gas-dynamic detection device based on unmanned plane of the invention, in which: pinpoint dynamic including several and examine
Survey device 1, unmanned plane 2 and management terminal 3, be at least equipped on unmanned plane 2 collector 21, several range sensors 22, nobody
Machine wireless signal transceiver 24 and power supply, range sensor 22 and unmanned plane wireless signal transceiver 24 connect with collector 21
It connects, towards ground, management terminal 3 includes control device 31, information input terminal 32 and shows the detector lens of range sensor 22
Show end 33, unmanned plane wireless signal transceiver 24 is connect with 31 wireless signal of control device, and control device 31 can pass through unmanned plane
Wireless signal transceiver 24 is issued to range sensor 22 and is instructed, and is scanned range sensor 22 to target area, is scanned
The acquired device 21 of information is sent to control device 31 after summarizing, control device 31 draws the landform mould of target area according to information
Type；Pinpointing dynamic detector 1 includes annular base 11 and gas gathering mask 12, and annular base 11 is horizontal base, and centre has pedestal
The cross-sectional area of through-hole 11a, base plate through holes 11a are predetermined value, the inner cavity of gas gathering mask 12 and the base plate through holes 11a of annular base 11
One is connected to, and inlet channel 12a and outlet passageway 12b are offered on gas gathering mask 12, and inlet channel 12a and outlet passageway 12b divide
Not Wei Yu the opposite two sides of gas gathering mask 12, inlet channel 12a and the equal one end outlet passageway 12b with outside be connected to, one end and gas collection
The connection of 12 inner cavities is covered, air inlet detector 13 is installed on inlet channel 12a, outlet gas is installed on outlet passageway 12b
Detector 14 is further fixed on the detector control of detector power supply 15 and built-in wireless signal transceiver module in the side wall of gas gathering mask 12
Device 16 processed, detector power supply 15 are connect with air inlet detector 13, outlet detector 14 and detector controller 16
And it is three's power supply, detector controller 16 and air inlet detector 13 and outlet detector 14 and air inlet can be received
The signal of detector 13, outlet detector 14, and management terminal 3 is transmitted the signal to, 2 lower end of unmanned plane is equipped with
Openable and closable gripper 25, gripper 25 can grip on gas gathering mask 12, and fixed point dynamic detector 1 is fixed on 2 lower section of unmanned plane, fixed point
Dynamic detector 2 can cover conjunction on test point, and annular base 11 is sealingly pressed on the soil that will test a surrounding, base plate through holes
11a is located on test point, and the gas of test point soil volatilization is completely into gas gathering mask 12.
In embodiment, unmanned plane 2 is lift unmanned plane, is equipped with flight controller 26 and camera 23 on unmanned plane 2,
Management terminal 3 is connect with 26 wireless signal of flight controller, and the propeller motor and empennage of flight controller 26 and unmanned plane connect
It connects, management terminal 3 can issue control information to flight controller 26, and flight controller 26 is made to adjust propeller motor speed and tail
Wing direction, to control the heading and flying height of unmanned plane 2.
In embodiment, the quantity of range sensor 22 is three, these three range sensors 22 are each attached to 2 water of unmanned plane
The lower part of flat rack.
In embodiment, range sensor 22 is laser scanner or ultrasonic scanner.
In embodiment, flight controller 26, collector 21 and detector controller 16 are for single-chip microcontroller, model
STM32L series.
In embodiment, management terminal 3 is computer.
In embodiment, gas gathering mask 12 is transparent plastic sheet or transparency glass plate.
In embodiment, air inlet detector 13 and outlet detector 14 are ammonia detector.
The detection method of a wide range of gas-dynamic detection device based on unmanned plane, comprising the following steps:
Step 1: delimiting detection zone；
Step 2: a standard point is determined near detection zone, using the standard point as height origin；
Step 3: control unmanned plane 2 takes off, in detection zone flying overhead, it is desirable that two range sensors 22 can be scanned to mark
On schedule, at least one downward face landing ground of range sensor 22, and can scan to detection zone, the scanning of range sensor 22
The acquired device 21 of data be back to management terminal 3, due to it is known can scanning to standard point two range sensors 22 between
Distance, while also obtain the two range sensors 22 arrive standard point distance, so as to converse range sensor
22 height relative to standard point, management terminal 3 are drawn out further according to the information of the range sensor 22 of scanning to detection zone
The earth's surface threedimensional model of detection zone；
Step 4:, according to actual needs by earth's surface threedimensional model subregion, will test region in earth's surface threedimensional model and be cut into number
A subregion；One or several test points are selected in each subregion, it is desirable that monitoring point ground flat degree is examined convenient for placing fixed point dynamic
Survey device 1；
Step 5: carrying fixed point dynamic detector 1 on unmanned plane 2, management terminal 3 is according to the test point in earth's surface threedimensional model
Coordinate, control unmanned plane 2 are flown at coordinate points, and fixed point dynamic detector 1 is put down；Unmanned plane 2, which returns, carries another fixed point
Dynamic detector 1, management terminal 3 control unmanned plane 2 and fly at another coordinate points, and fixed point dynamic detector 1 is put down；Until
All coordinate points have all put down fixed point dynamic detector 1；
Step 6: fixed point dynamic detector 1 covers in coordinate points, gas enters gas gathering mask 12 by inlet channel 12a, through outlet
Channel 12b flows out gas gathering mask 12, target in 14 real-time detection gas coming through of air inlet detector 13 and outlet detector
Gas content, and send information to management terminal 3；
Step 7: the target gas content that outlet detector 14 detects is subtracted air inlet detector by management terminal 3
13 target gas contents detected obtain the object gas volatile quantity in time point fixed point dynamic detector 1；Then root
The area soil erosion size surrounded according to gas gathering mask 12, converse the object gas volatile quantity of soil at unit area test point with
And evaporation rate, in addition, management terminal 3 can also be converted into object gas volatile quantity and the volatilization of the subregion as unit of subregion
Speed；The target gas content and evaporation rate that management terminal 3 will test are integrated to earth's surface three-dimensional mould as unit of subregion
In type, each subregion, which can be clicked individually, checks subregion object gas volatile quantity curve in different time periods and evaporation rate
Curve；Management terminal 3 can also be as needed, calculates any partition conbination object gas volatile quantity in different time periods and waves
Send out speed；
Step 8: successively being recycled by unmanned plane 2 by dynamic detector 1 is pinpointed after having detected the predetermined time.
The present invention is highly suitable for the Ammonia valatilization amount detection on farm's manure of livestock and poultry mountain, and this landform human footmarks are not easy
It reaches, and ammonia is an important factor for haze generates, having for ammonia is greatly the volatilization of farm's poultry excreta
It out, therefore, is the important ring for handling haze to the Ammonia valatilization amount detection on farm's manure of livestock and poultry mountain, therefore, to cultivation
The Ammonia valatilization amount detection on field manure of livestock and poultry mountain is necessary.
The above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment,
All technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
For those of ordinary skill, several improvements and modifications without departing from the principles of the present invention should be regarded as protection of the invention
Range.
Claims (9)
1. a wide range of gas-dynamic detection device based on unmanned plane, it is characterized in that: including several fixed point dynamic detectors
(1), unmanned plane (2) and management terminal (3) are at least equipped with collector (21) on the unmanned plane (2), several distances pass
Sensor (22), unmanned plane wireless signal transceiver (24) and power supply, the range sensor (22) and unmanned plane wireless signal
Transceiver (24) is connect with collector (21), and the detector lens of the range sensor (22) are towards ground, the pipe
Reason terminal (3) includes control device (31), information input terminal (32) and display end (33), and the unmanned plane wireless signal is received
Hair device (24) is connect with control device (31) wireless signal, and the control device (31) can be received and dispatched by unmanned plane wireless signal
Device (24) is issued to range sensor (22) and is instructed, and is scanned range sensor (22) to target area, scanning information warp
Collector (21) is sent to control device (31) after summarizing, and the control device (31) draws the ground of target area according to information
Shape model；The fixed point dynamic detector (1) includes annular base (11) and gas gathering mask (12), the annular base (11)
For horizontal base, centre has base plate through holes (11a), and the cross-sectional area of the base plate through holes (11a) is predetermined value, described
The inner cavity of gas gathering mask (12) is integrally connected to the base plate through holes (11a) of annular base (11), and the gas gathering mask opens up on (12)
There are inlet channel (12a) and outlet passageway (12b), the inlet channel (12a) and outlet passageway (12b) are located at gas collection
(12) opposite two sides are covered, inlet channel (12a) and outlet passageway (12b) one end are connected to outside, one end and gas gathering mask
(12) inner cavity is connected to, and is equipped with air inlet detector (13) on the inlet channel (12a), is pacified on outlet passageway (12b)
Equipped with outlet detector (14), detector power supply (15) and built-in nothing are further fixed in the side wall of the gas gathering mask (12)
The detector controller (16) of line signal transmitting and receiving module, the detector power supply (15) and air inlet detector (13) go out
Gas detector (14) and detector controller (16), which connect, simultaneously powers for three, the detector controller (16) with
Air inlet detector (13) and outlet detector (14) simultaneously can receive air inlet detector (13), the inspection of outlet gas
The signal of device (14) is surveyed, and transmits the signal to management terminal (3), the unmanned plane (2) lower end is equipped with openable and closable grab
Pawl (25), the gripper (25) can grip on gas gathering mask (12), and fixed point dynamic detector (1) is fixed under unmanned plane (2)
Side, the fixed point dynamic detector (2) can cover conjunction on test point, and annular base (11), which is sealingly pressed at, will test a surrounding
Soil on, base plate through holes (11a) are located on test point, test point soil volatilization gas completely into gas gathering mask (12).
2. a wide range of gas-dynamic detection device according to claim 1 based on unmanned plane, it is characterized in that: the nothing
Man-machine (2) are lift unmanned plane, are equipped with flight controller (26) and camera (23), the management on unmanned plane (2)
Terminal (3) is connect with flight controller (26) wireless signal, the propeller motor of the flight controller (26) and unmanned plane
It is connected with empennage, management terminal (3) can issue control information to flight controller (26), and flight controller (26) is made to adjust spiral
Paddle motor speed and empennage direction, to control the heading and flying height of unmanned plane (2).
3. a wide range of gas-dynamic detection device according to claim 2 based on unmanned plane, it is characterized in that: it is described away from
Quantity from sensor (22) is three, these three range sensors (22) are each attached to the lower part of unmanned plane (2) horizontal frames.
4. a wide range of gas-dynamic detection device according to claim 3 based on unmanned plane, it is characterized in that: it is described away from
It is laser scanner or ultrasonic scanner from sensor (22).
5. a wide range of gas-dynamic detection device according to claim 4 based on unmanned plane, it is characterized in that: described flies
Line control unit (26), collector (21) and detector controller (16) are for single-chip microcontroller, model STM32L series.
6. a wide range of gas-dynamic detection device according to claim 5 based on unmanned plane, it is characterized in that: the pipe
Managing terminal (3) is computer.
7. a wide range of gas-dynamic detection device according to claim 6 based on unmanned plane, it is characterized in that: the collection
Gas hood (12) is transparent plastic sheet or transparency glass plate.
8. a wide range of gas-dynamic detection device according to claim 7 based on unmanned plane, it is characterized in that: it is described into
Gas detector (13) and outlet detector (14) are ammonia detector.
9. the detection method of a wide range of gas-dynamic detection device based on unmanned plane as claimed in claim 3, it is characterized in that:
The following steps are included:
Step 1: delimiting detection zone；
Step 2: a standard point is determined near detection zone, using the standard point as height origin；
Step 3: control unmanned plane (2) is taken off, in detection zone flying overhead, it is desirable that two range sensors (22) can be scanned
To standard point, the downward face landing ground of at least one range sensor (22), and can scan to detection zone, the distance
The acquired device of data (21) of sensor (22) scanning is back to management terminal (3), since known can scan arrives the two of standard point
The distance between a range sensor (22), while the distance that the two range sensors (22) arrive standard point is also obtained, from
And height of the range sensor (22) relative to standard point can be conversed, management terminal (3) arrives detection zone further according to scanning
The information of range sensor (22) draw out the earth's surface threedimensional model of detection zone；
Step 4:, according to actual needs by earth's surface threedimensional model subregion, will test region in earth's surface threedimensional model and be cut into number
A subregion；One or several test points are selected in each subregion, it is desirable that monitoring point ground flat degree is examined convenient for placing fixed point dynamic
It surveys device (1)；
Step 5: carrying fixed point dynamic detector (1) on unmanned plane (2), management terminal (3) is according in earth's surface threedimensional model
Test point coordinate, control unmanned plane (2) are flown at coordinate points, and fixed point dynamic detector (1) is put down；Unmanned plane (2) return is taken
Another fixed point dynamic detector (1) is carried, management terminal (3) control unmanned plane (2) is flown at another coordinate points, and fixed point is dynamic
State detector (1) is put down；Until all coordinate points have all put down fixed point dynamic detector (1)；
Step 6: fixed point dynamic detector (1) is covered in coordinate points, gas enters gas gathering mask (12) by inlet channel (12a),
Gas gathering mask (12) are flowed out through outlet passageway (12b), air inlet detector (13) and outlet detector (14) real-time detection
Target gas content in gas coming through, and send information to management terminal (3)；
It is examined Step 7: the target gas content that outlet detector (14) detects is subtracted air inlet gas by management terminal (3)
The target gas content that device (13) detect is surveyed, that is, obtains the object gas volatilization in time point fixed point dynamic detector (1)
Amount；Then the area soil erosion size surrounded according to gas gathering mask (12), converses the target of soil at unit area test point
Gaseous volatilization amount and evaporation rate, in addition, management terminal (3) can also be converted into the object gas of the subregion as unit of subregion
Volatile quantity and evaporation rate；The target gas content and evaporation rate that management terminal (3) will test are as unit of subregion
It is integrated in earth's surface threedimensional model, each subregion, which can be clicked individually, checks subregion object gas volatile quantity in different time periods
Curve and evaporation rate curve；Management terminal (3) can also be as needed, calculates any partition conbination mesh in different time periods
Standard gas body volatile quantity and evaporation rate；
Step 8: dynamic detector (1) will be pinpointed by unmanned plane (2) and successively recycled after having detected the predetermined time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811508812.1A CN109342667B (en) | 2018-12-11 | Large-range gas dynamic detection device based on unmanned aerial vehicle and detection method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811508812.1A CN109342667B (en) | 2018-12-11 | Large-range gas dynamic detection device based on unmanned aerial vehicle and detection method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109342667A true CN109342667A (en) | 2019-02-15 |
| CN109342667B CN109342667B (en) | 2024-04-23 |
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