CN109342667B - Large-range gas dynamic detection device based on unmanned aerial vehicle and detection method thereof - Google Patents
Large-range gas dynamic detection device based on unmanned aerial vehicle and detection method thereof Download PDFInfo
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- 238000001514 detection method Methods 0.000 title claims abstract description 93
- 239000002689 soil Substances 0.000 claims abstract description 14
- QGZKDVFQNNGYKY-UHFFFAOYSA-N Ammonia Chemical compound N QGZKDVFQNNGYKY-UHFFFAOYSA-N 0.000 claims description 16
- 238000005192 partition Methods 0.000 claims description 10
- 238000012544 monitoring process Methods 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 4
- 239000011521 glass Substances 0.000 claims description 3
- 229920003023 plastic Polymers 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 claims 1
- 238000011895 specific detection Methods 0.000 claims 1
- 229910021529 ammonia Inorganic materials 0.000 description 7
- 238000012876 topography Methods 0.000 description 6
- 239000010871 livestock manure Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000011065 in-situ storage Methods 0.000 description 3
- 241000272165 Charadriidae Species 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 244000144972 livestock Species 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
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- 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
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- G01C7/04—Tracing profiles of land surfaces involving a vehicle which moves along the profile to be traced
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- G—PHYSICS
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
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- G01N33/24—Earth materials
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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Abstract
The invention discloses a large-range gas dynamic detection device based on an unmanned aerial vehicle and a detection method thereof, wherein the device comprises a plurality of fixed-point dynamic detectors, the unmanned aerial vehicle and a management terminal, wherein the unmanned aerial vehicle is at least provided with a collector, a plurality of distance sensors, an unmanned aerial vehicle wireless signal transceiver and a power supply, the management terminal comprises a central control device, an information input end and a display end, the unmanned aerial vehicle scans a target area, scanned information is summarized by the collector and then sent to the central control device, and the central control device draws a terrain model of the target area according to the information; the fixed-point dynamic detector comprises an annular base and a gas collecting hood, wherein the annular base is a horizontal base, an openable gripper is arranged at the lower end of the unmanned aerial vehicle, the gripper can be gripped on the gas collecting hood, the fixed-point dynamic detector is fixed below the unmanned aerial vehicle, the fixed-point dynamic detector can be covered on a detection point, the annular base is tightly pressed on the soil around the detection point, a base through hole is positioned on the detection point, and the volatile gas of the soil of the detection point completely enters the gas collecting hood.
Description
Technical Field
The invention belongs to the technical field of gas detection equipment, and particularly relates to a large-range gas dynamic detection device based on an unmanned aerial vehicle and a detection method thereof.
Background
For the measurement of the target gas volatilization amount of a certain volatile matter, the traditional method needs to collect a sample into a detection container, the process easily causes the change of the natural environment near the sample, the target gas volatilization amount of the sample is not consistent with the actual situation, a gas detection box is used when the gas volatilization amount is detected in situ, the working principle is that the gas detection box is covered on a target object, the gas volatilized by the target object can fill the gas detection box, a gas detector is arranged in the gas detection box, the change situation of the target gas content in the gas detection box is recorded in real time, and the method is accurate, however, in situ detection is difficult to achieve under certain topography conditions, and the ammonia volatilization amount at the upper part of a livestock manure mountain is taken as an example, the livestock manure mountain of a farm is often occupied in a acre, the middle position is difficult to be accessed, and in situ detection is not talked about.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a monitoring system and a detection method thereof for dynamically detecting multi-point gas, wherein the monitoring system can be used for detecting the multi-point gas in a large area by taking no consideration of topography, reaching a detection place in a flying mode.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
Large-scale gas dynamic detection device based on unmanned aerial vehicle, wherein: the unmanned aerial vehicle comprises a plurality of fixed-point dynamic detectors, an unmanned aerial vehicle and a management terminal, wherein the unmanned aerial vehicle is at least provided with a collector, a plurality of distance sensors, an unmanned aerial vehicle wireless signal transceiver and a power supply, the distance sensors and the unmanned aerial vehicle wireless signal transceiver are both connected with the collector, a detection lens of each distance sensor faces the ground, the management terminal comprises a central control device, an information input end and a display end, the unmanned aerial vehicle wireless signal transceiver is connected with the central control device through wireless signals, the central control device can send instructions to the distance sensors through the unmanned aerial vehicle wireless signal transceiver, so that the distance sensors scan a target area, scanning information is summarized by the collector and then sent to the central control device, and the central control device draws a terrain model of the target area according to the information; the fixed point dynamic detector comprises an annular base and a gas collecting cover, wherein the annular base is a horizontal base, a base through hole is formed in the middle of the annular base, the cross section area of the base through hole is a preset value, an inner cavity of the gas collecting cover is integrally communicated with the base through hole of the annular base, a gas inlet channel and a gas outlet channel are formed in the gas collecting cover, the gas inlet channel and the gas outlet channel are respectively positioned on two opposite sides of the gas collecting cover, one end of each of the gas inlet channel and the gas outlet channel is communicated with the outside, one end of each of the gas inlet channel and the gas outlet channel is communicated with the inner cavity of the gas collecting cover, the gas inlet channel is provided with a gas inlet gas detector, the gas outlet channel is provided with a gas outlet gas detector, a detector power supply and a detector controller with a built-in wireless signal transceiver module are further fixed in the side wall of the gas collecting cover, the detector power supply is connected with the gas inlet gas detector, the gas outlet gas detector and the detector controller and supplies power for the three, the detector controller and the gas inlet gas detector and the gas outlet gas detector can receive signals of the gas inlet gas detector and the gas outlet gas detector and send the signals to a management terminal, the lower end of the unmanned aerial vehicle is provided with a gripper capable of opening and closing the detection point, the gripper can be fixed point dynamic detector is fixed on the gas collecting cover, the fixed point detector is fixed under the unmanned aerial vehicle, the detection point is sealed on the fixed point and the soil is sealed around the soil and can volatilized around the soil in the soil.
In order to optimize the technical scheme, the specific measures adopted further comprise:
The unmanned aerial vehicle is a lifting unmanned aerial vehicle, the unmanned aerial vehicle is provided with a flight controller and a camera, the management terminal is connected with the flight controller through wireless signals, the flight controller is connected with a propeller motor and a tail wing of the unmanned aerial vehicle, and the management terminal can send control information to the flight controller, so that the flight controller can adjust the rotating speed of the propeller motor and the direction of the tail wing, and the flight direction and the flight height of the unmanned aerial vehicle are controlled.
The number of the distance sensors is three, and the three distance sensors are fixed at the lower part of the horizontal frame of the unmanned aerial vehicle.
The distance sensor is a laser scanner or an ultrasonic scanner.
The flight controller, the collector and the detector controller are all single-chip computers, and the model is STM32L series.
The management terminal is a computer.
The gas-collecting hood is a transparent plastic plate or a transparent glass plate.
The inlet gas detector and the outlet gas detector are ammonia detectors.
The detection method of the large-range gas dynamic detection device based on the unmanned aerial vehicle comprises the following steps of:
step one, a detection area is defined;
step two, a standard point is fixed near the detection area, and the standard point is used as a height origin;
Controlling the unmanned aerial vehicle to take off, flying above a detection area, requiring two distance sensors to scan a standard point, enabling at least one distance sensor to face downwards to face the ground and scan the detection area, enabling data scanned by the distance sensors to be transmitted back to a management terminal through a collector, and simultaneously obtaining the distance from the two distance sensors to the standard point due to the fact that the distance between the two distance sensors capable of scanning the standard point is known, so that the height of the distance sensors relative to the standard point can be converted, and enabling the management terminal to draw a three-dimensional model of the ground surface of the detection area according to information of the distance sensors scanned to the detection area;
dividing the earth surface three-dimensional model into a plurality of areas according to actual needs in the earth surface three-dimensional model, and cutting the detection area into a plurality of areas; one or more detection points are selected from each subarea, and the flatness of the ground of the monitoring points is required to be convenient for placing a fixed-point dynamic detector;
Fifthly, carrying a fixed-point dynamic detector on the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to fly to a coordinate point by a management terminal according to the coordinate of a detection point in the ground surface three-dimensional model, and putting down the fixed-point dynamic detector; the unmanned aerial vehicle is returned to be carried with another fixed-point dynamic detector, the management terminal controls the unmanned aerial vehicle to fly to another coordinate point, and the fixed-point dynamic detector is put down; until all coordinate points put down the fixed-point dynamic detector;
Covering the coordinate point by the fixed-point dynamic detector, enabling gas to enter the gas collecting hood through the gas inlet channel, enabling the gas to flow out of the gas collecting hood through the gas outlet channel, detecting the content of target gas in the flowing gas in real time by the gas inlet gas detector and the gas outlet gas detector, and sending information to the management terminal;
Step seven, the management terminal subtracts the content of the target gas detected by the gas inlet detector from the content of the target gas detected by the gas outlet detector, and the target gas volatilization amount in the fixed-point dynamic detector at the time point is obtained; then according to the soil area size of the area surrounded by the gas collecting hood, converting the target gas volatilization amount and volatilization speed of the soil at the detection point of unit area, and in addition, the management terminal can convert the target gas volatilization amount and volatilization speed of the partition into the partition by taking the partition as a unit; the management terminal integrates the detected target gas content and volatilization speed into a three-dimensional model of the earth surface by taking the subareas as units, and each subarea can be clicked independently to view target gas volatilization volume curves and volatilization speed curves of the subareas in different time periods; the management terminal can also calculate the target gas volatilization amount and volatilization speed of any partition combination in different time periods according to the requirement;
And step eight, after the detection of the preset time, the fixed-point dynamic detectors are recovered in sequence through the unmanned aerial vehicle.
The unmanned aerial vehicle-based large-range gas dynamic detection device and the detection method thereof have the following advantages:
1. Be equipped with unmanned aerial vehicle, can reach the topography that the people is difficult for reaching, therefore application scope is wider, especially adapted topography is complicated detects the scene.
2. Through unmanned aerial vehicle and computer's cooperation, draw the topography to set up the subregion, every subregion has all set up the check point, detects with the subregion as the unit, effectively stilt detection efficiency, prevent that the check point from laying unevenly, improve detection accuracy.
3. The detection area is subjected to multi-point simultaneous detection, the target gas volatilization amounts of the same time point and different detection points can be obtained, and then the detection value with higher precision can be obtained by converting the data.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of the structure of a fixed-point dynamic detector;
FIG. 3 is a top view of the drone;
fig. 4 is a schematic diagram of the detection of the unmanned aerial vehicle in the detection area.
Wherein the reference numerals are as follows: the fixed-point dynamic detector 1, the annular base 11, the base through hole 11a, the gas collecting channel 12, the gas inlet channel 12a, the gas outlet channel 12b, the gas inlet detector 13, the gas outlet detector 14, the detector power supply 15, the detector controller 16, the unmanned aerial vehicle 2, the collector 21, the distance sensor 22, the camera 23, the unmanned aerial vehicle wireless signal transceiver 24, the gripper 25, the flight controller 26, the management terminal 3, the central control device 31, the information input end 32 and the display end 33.
Detailed Description
Embodiments of the present invention are described in further detail below with reference to the accompanying drawings.
The invention relates to a large-range gas dynamic detection device based on an unmanned aerial vehicle, wherein: the unmanned aerial vehicle comprises a plurality of fixed-point dynamic detectors 1, an unmanned aerial vehicle 2 and a management terminal 3, wherein the unmanned aerial vehicle 2 is at least provided with a collector 21, a plurality of distance sensors 22, an unmanned aerial vehicle wireless signal transceiver 24 and a power supply, the distance sensors 22 and the unmanned aerial vehicle wireless signal transceiver 24 are connected with the collector 21, a detection lens of the distance sensors 22 faces the ground, the management terminal 3 comprises a central control device 31, an information input end 32 and a display end 33, the unmanned aerial vehicle wireless signal transceiver 24 is connected with the central control device 31 through wireless signals, the central control device 31 can send instructions to the distance sensors 22 through the unmanned aerial vehicle wireless signal transceiver 24, so that the distance sensors 22 scan a target area, the scanned information is summarized by the collector 21 and then is sent to the central control device 31, and the central control device 31 draws a terrain model of the target area according to the information; the fixed-point dynamic detector 1 comprises an annular base 11 and a gas collecting cover 12, wherein the annular base 11 is a horizontal base, a base through hole 11a is arranged in the middle of the annular base, the cross section area of the base through hole 11a is a preset value, the inner cavity of the gas collecting cover 12 is integrally communicated with the base through hole 11a of the annular base 11, a gas inlet channel 12a and a gas outlet channel 12b are formed in the gas collecting cover 12, the gas inlet channel 12a and the gas outlet channel 12b are respectively positioned on two opposite sides of the gas collecting cover 12, one end of each of the gas inlet channel 12a and the gas outlet channel 12b is communicated with the outer part, one end of each of the gas inlet channel 12a and the gas outlet channel 12b is communicated with the inner cavity of the gas collecting cover 12, a gas inlet gas detector 13 is arranged on the gas inlet channel 12a, a gas outlet channel 12b is provided with a gas outlet gas detector 14, a detector power supply 15 and a detector controller 16 with a built-in wireless signal transceiver module are further fixed in the side wall of the gas collecting cover 12, the detector power supply 15 is connected with the gas inlet gas detector 13, the gas outlet gas detector 14 and the detector controller 16 and supply power for three, the detector controller 16 and the gas inlet detector 13 and the gas outlet gas detector 14 are respectively positioned on two opposite sides of the gas collecting cover 12, one end of each gas inlet channel 12 is communicated with the outer side of the gas outlet gas detector 14 and can receive the gas detector 13, one end of the gas outlet detector 14 is communicated with the outer gas detector 14, one end is communicated with the inner side of the gas detector 12b, one end of the other is respectively, one end of the gas detector 11 is communicated with the inner gas detector 12b, one side of the other is completely through hole 2, the other is completely communicated with the inner gas detector 11 through the gas detector 12, the gas detector 11 and the other is completely through the gas detector 12 through hole, the gas detector 12 and the gas detector 12 through hole is completely and the other end is completely and the fixed on the fixed side.
In the embodiment, unmanned aerial vehicle 2 is over-and-under type unmanned aerial vehicle, installs flight controller 26 and camera 23 on the unmanned aerial vehicle 2, and management terminal 3 is connected with flight controller 26 radio signal, and flight controller 26 is connected with unmanned aerial vehicle's screw motor and fin, and management terminal 3 can send control information to flight controller 26, makes flight controller 26 adjust screw motor rotational speed and fin direction to control unmanned aerial vehicle 2's flight direction and fly height.
In the embodiment, the number of the distance sensors 22 is three, and the three distance sensors 22 are all fixed at the lower part of the horizontal rack of the unmanned aerial vehicle 2.
In an embodiment, the distance sensor 22 is a laser scanner or an ultrasonic scanner.
In the embodiment, the flight controller 26, the collector 21 and the detector controller 16 are all single-chip computers, and the model is STM32L series.
In the embodiment, the management terminal 3 is a computer.
In an embodiment, the gas-collecting hood 12 is a transparent plastic plate or a transparent glass plate.
In the embodiment, the inlet gas detector 13 and the outlet gas detector 14 are ammonia gas detectors.
The detection method of the large-range gas dynamic detection device based on the unmanned aerial vehicle comprises the following steps of:
step one, a detection area is defined;
step two, a standard point is fixed near the detection area, and the standard point is used as a height origin;
Step three, controlling the unmanned aerial vehicle 2 to take off, flying above a detection area, requiring two distance sensors 22 to scan a standard point, enabling at least one distance sensor 22 to face downwards to the ground and scan the detection area, enabling data scanned by the distance sensors 22 to be transmitted back to the management terminal 3 through the collector 21, and obtaining the distance between the two distance sensors 22 and the standard point due to the fact that the distance between the two distance sensors 22 capable of scanning the standard point is known, so that the height of the distance sensors 22 relative to the standard point can be converted, and the management terminal 3 can draw a three-dimensional model of the earth surface of the detection area according to the information of the distance sensors 22 scanned to the detection area;
Dividing the earth surface three-dimensional model into a plurality of areas according to actual needs in the earth surface three-dimensional model, and cutting the detection area into a plurality of areas; one or more detection points are selected from each subarea, and the flatness of the ground of the monitoring points is required to be convenient for placing the fixed-point dynamic detector 1;
Fifthly, carrying a fixed-point dynamic detector 1 on the unmanned aerial vehicle 2, and controlling the unmanned aerial vehicle 2 to fly to a coordinate point by the management terminal 3 according to the coordinate of a detection point in the ground surface three-dimensional model, and putting down the fixed-point dynamic detector 1; the unmanned aerial vehicle 2 is carried back with another fixed-point dynamic detector 1, and the management terminal 3 controls the unmanned aerial vehicle 2 to fly to another coordinate point and puts down the fixed-point dynamic detector 1; until all coordinate points put down the fixed-point dynamic detector 1;
Step six, the fixed-point dynamic detector 1 is covered on a coordinate point, gas enters the gas collecting hood 12 through the gas inlet channel 12a, flows out of the gas collecting hood 12 through the gas outlet channel 12b, and the gas inlet detector 13 and the gas outlet detector 14 detect the content of target gas in the flowing gas in real time and send information to the management terminal 3;
Step seven, the management terminal 3 subtracts the target gas content detected by the gas inlet detector 13 from the target gas content detected by the gas outlet detector 14, so as to obtain the target gas volatilization amount in the time point fixed point dynamic detector 1; then, according to the size of the soil area surrounded by the gas collecting hood 12, converting the target gas volatilization amount and volatilization speed of the soil at the detection point of unit area, and in addition, the management terminal 3 can convert the target gas volatilization amount and volatilization speed of the partition by taking the partition as a unit; the management terminal 3 integrates the detected target gas content and volatilization speed into a three-dimensional model of the earth surface by taking the subareas as units, and each subarea can be clicked to view target gas volatilization volume curves and volatilization speed curves of the subareas in different time periods; the management terminal 3 can also calculate the target gas volatilization amount and volatilization speed of any partition combination in different time periods according to the requirement;
and step eight, after the detection for a preset time, the fixed-point dynamic detectors 1 are sequentially recovered by the unmanned aerial vehicle 2.
The invention is very suitable for detecting the volatilization amount of ammonia in the livestock manure mountain of a farm, the topography is not easy to reach, ammonia is an important factor for generating haze, and most of the ammonia is volatilized from the excrement of the livestock of the farm, so the detection of the volatilization amount of ammonia in the livestock manure mountain of the farm is an important ring for treating haze, and therefore, the detection of the volatilization amount of ammonia in the livestock manure mountain of the farm is very necessary.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the invention without departing from the principles thereof are intended to be within the scope of the invention as set forth in the following claims.
Claims (8)
1. The detection method of the large-range gas dynamic detection device based on the unmanned aerial vehicle is characterized by comprising the following steps of: the large-range gas dynamic detection device comprises a plurality of fixed-point dynamic detectors (1), an unmanned aerial vehicle (2) and a management terminal (3), wherein at least an acquisition device (21), a plurality of distance sensors (22), an unmanned aerial vehicle wireless signal transceiver (24) and a power supply are arranged on the unmanned aerial vehicle (2), the distance sensors (22) and the unmanned aerial vehicle wireless signal transceiver (24) are connected with the acquisition device (21), a detection lens of each distance sensor (22) faces the ground, the management terminal (3) comprises a central control device (31), an information input end (32) and a display end (33), the unmanned aerial vehicle wireless signal transceiver (24) is connected with the central control device (31) in a wireless signal mode, the central control device (31) can send instructions to the distance sensors (22) through the unmanned aerial vehicle wireless signal transceiver (24), so that the distance sensors (22) scan a target area, scan information is summarized by the acquisition device (21) and then sent to the central control device (31), and the central control device (31) draws a model of the target area according to the information; the fixed-point dynamic detector (1) comprises an annular base (11) and an air collecting cover (12), wherein the annular base (11) is a horizontal base, a base through hole (11 a) is arranged in the middle of the annular base, the cross section area of the base through hole (11 a) is a preset value, the inner cavity of the air collecting cover (12) is integrally communicated with the base through hole (11 a) of the annular base (11), an air inlet channel (12 a) and an air outlet channel (12 b) are arranged on the air collecting cover (12), the air inlet channel (12 a) and the air outlet channel (12 b) are respectively positioned on two opposite sides of the air collecting cover (12), one end of each of the air inlet channel (12 a) and one end of the air outlet channel (12 b) is communicated with the inner cavity of the air collecting cover (12), an air inlet gas detector (13) is arranged on the air outlet channel (12 a), a detector power supply (15) and a detector transceiver (16) which is internally provided with a wireless signal detector (16) are also fixed in the side wall of the air collecting cover (12), the detector (15) and the air outlet detector (14) are connected with the air inlet detector (14) and the air detector (16) respectively, the detector controller (16), the gas inlet detector (13) and the gas outlet detector (14) can receive signals of the gas inlet detector (13) and the gas outlet detector (14) and send the signals to the management terminal (3), the lower end of the unmanned aerial vehicle (2) is provided with a gripper (25) which can be opened and closed, the gripper (25) can be gripped on the gas collecting hood (12), the fixed-point dynamic detector (1) is fixed below the unmanned aerial vehicle (2), the fixed-point dynamic detector (1) can be covered on a detection point, the annular base (11) is tightly pressed on soil around the detection point, the base through hole (11 a) is positioned on the detection point, and the gas volatilized by the soil of the detection point completely enters the gas collecting hood (12); the specific detection method comprises the following steps:
step one, a detection area is defined;
step two, a standard point is fixed near the detection area, and the standard point is used as a height origin;
Step three, controlling the unmanned aerial vehicle (2) to take off and fly above a detection area, requiring two distance sensors (22) to scan a standard point, enabling at least one distance sensor (22) to face downwards and face the ground, and scanning the detection area, enabling data scanned by the distance sensors (22) to be transmitted back to a management terminal (3) through a collector (21), and obtaining the distance between the two distance sensors (22) capable of scanning the standard point and the standard point simultaneously, so that the height of the distance sensors (22) relative to the standard point can be converted, and enabling the management terminal (3) to manufacture a three-dimensional model of the surface of the detection area according to information of the distance sensors (22) scanned to the detection area;
Dividing the earth surface three-dimensional model into a plurality of areas according to actual needs in the earth surface three-dimensional model, and cutting the detection area into a plurality of areas; one or more detection points are selected from each subarea, and the flatness of the ground of the monitoring points is required to be convenient for placing a fixed-point dynamic detector (1);
Fifthly, a fixed-point dynamic detector (1) is mounted on the unmanned aerial vehicle (2), and the management terminal (3) controls the unmanned aerial vehicle (2) to fly to a coordinate point according to the coordinate of a detection point in the ground surface three-dimensional model, and puts down the fixed-point dynamic detector (1); the unmanned aerial vehicle (2) is returned to be carried with another fixed-point dynamic detector (1), and the management terminal (3) controls the unmanned aerial vehicle (2) to fly to another coordinate point and puts down the fixed-point dynamic detector (1); until all coordinate points put down the fixed-point dynamic detector (1);
Step six, covering the coordinate point by the fixed-point dynamic detector (1), enabling gas to enter the gas collecting hood (12) through the gas inlet channel (12 a), enabling the gas to flow out of the gas collecting hood (12) through the gas outlet channel (12 b), detecting the content of target gas in the flowing gas in real time by the gas inlet gas detector (13) and the gas outlet gas detector (14), and sending information to the management terminal (3);
Step seven, the management terminal (3) subtracts the target gas content detected by the inlet gas detector (13) from the target gas content detected by the outlet gas detector (14), so as to obtain the target gas volatilization amount in the time point fixed point dynamic detector (1); then according to the size of the soil area surrounded by the gas collecting hood (12), converting the target gas volatilization amount and volatilization speed of the soil at the detection point of unit area, and in addition, the management terminal (3) can convert the target gas volatilization amount and volatilization speed of the partition by taking the partition as a unit; the management terminal (3) integrates the detected target gas content and volatilization speed into a three-dimensional model of the earth surface by taking the subareas as units, and each subarea can be clicked to view target gas volatilization volume curves and volatilization speed curves of the subareas in different time periods; the management terminal (3) can calculate the target gas volatilization amount and volatilization speed of any partition combination in different time periods according to the requirement;
and step eight, after the detection of the preset time, the fixed-point dynamic detectors (1) are sequentially recovered through the unmanned aerial vehicle (2).
2. The wide-range gas dynamic detection device based on the unmanned aerial vehicle as claimed in claim 1, wherein: unmanned aerial vehicle (2) be over-and-under type unmanned aerial vehicle, install flight controller (26) and camera (23) on unmanned aerial vehicle (2), management terminal (3) and flight controller (26) wireless signal connection, flight controller (26) be connected with unmanned aerial vehicle's screw motor and fin, management terminal (3) can send control information to flight controller (26), make flight controller (26) adjust screw motor rotational speed and fin direction to control unmanned aerial vehicle (2)'s flight direction and fly height.
3. The wide-range gas dynamic detection device based on the unmanned aerial vehicle as claimed in claim 2, wherein: the number of the distance sensors (22) is three, and the three distance sensors (22) are all fixed at the lower part of the horizontal rack of the unmanned aerial vehicle (2).
4. The wide-range gas dynamic detection device based on unmanned aerial vehicle of claim 3, wherein: the distance sensor (22) is a laser scanner or an ultrasonic scanner.
5. The unmanned aerial vehicle-based large-scale gas dynamic detection device according to claim 4, wherein: the flight controller (26), the collector (21) and the detector controller (16) are all single-chip computers, and the model is STM32L series.
6. The unmanned aerial vehicle-based large-scale gas dynamic detection device according to claim 5, wherein: the management terminal (3) is a computer.
7. The unmanned aerial vehicle-based large-scale gas dynamic detection device according to claim 6, wherein: the gas-collecting hood (12) is a transparent plastic plate or a transparent glass plate.
8. The unmanned aerial vehicle-based wide-range gas dynamic detection device according to claim 7, wherein: the inlet gas detector (13) and the outlet gas detector (14) are ammonia gas detectors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811508812.1A CN109342667B (en) | 2018-12-11 | 2018-12-11 | Large-range gas dynamic detection device based on unmanned aerial vehicle and detection method thereof |
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