CN109459395A - A kind of UAV system height row typical pollutant difference absorption spectrum detection device - Google Patents
A kind of UAV system height row typical pollutant difference absorption spectrum detection device Download PDFInfo
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- 238000001514 detection method Methods 0.000 title claims abstract description 30
- 239000003344 environmental pollutant Substances 0.000 title claims abstract description 27
- 231100000719 pollutant Toxicity 0.000 title claims abstract description 25
- 238000000862 absorption spectrum Methods 0.000 title claims abstract description 16
- 238000001228 spectrum Methods 0.000 claims abstract description 26
- 238000013500 data storage Methods 0.000 claims abstract description 7
- YZCKVEUIGOORGS-OUBTZVSYSA-N Deuterium Chemical compound [2H] YZCKVEUIGOORGS-OUBTZVSYSA-N 0.000 claims description 5
- 229910052805 deuterium Inorganic materials 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 20
- 238000005259 measurement Methods 0.000 abstract description 4
- 238000004847 absorption spectroscopy Methods 0.000 abstract description 3
- 238000011160 research Methods 0.000 abstract description 2
- 239000007789 gas Substances 0.000 description 21
- 238000012544 monitoring process Methods 0.000 description 18
- 238000004611 spectroscopical analysis Methods 0.000 description 12
- RAHZWNYVWXNFOC-UHFFFAOYSA-N Sulphur dioxide Chemical compound O=S=O RAHZWNYVWXNFOC-UHFFFAOYSA-N 0.000 description 10
- 230000008569 process Effects 0.000 description 7
- 238000012545 processing Methods 0.000 description 7
- 230000008859 change Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 238000007689 inspection Methods 0.000 description 5
- 230000003595 spectral effect Effects 0.000 description 5
- 239000000126 substance Substances 0.000 description 5
- 238000004458 analytical method Methods 0.000 description 4
- 238000007405 data analysis Methods 0.000 description 3
- MGWGWNFMUOTEHG-UHFFFAOYSA-N 4-(3,5-dimethylphenyl)-1,3-thiazol-2-amine Chemical compound CC1=CC(C)=CC(C=2N=C(N)SC=2)=C1 MGWGWNFMUOTEHG-UHFFFAOYSA-N 0.000 description 2
- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 description 2
- 229910002091 carbon monoxide Inorganic materials 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000013480 data collection Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- JCXJVPUVTGWSNB-UHFFFAOYSA-N nitrogen dioxide Inorganic materials O=[N]=O JCXJVPUVTGWSNB-UHFFFAOYSA-N 0.000 description 2
- 239000013618 particulate matter Substances 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000003915 air pollution Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 238000007654 immersion Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 239000010742 number 1 fuel oil Substances 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
- G01N21/31—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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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- Engineering & Computer Science (AREA)
- Spectroscopy & Molecular Physics (AREA)
- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
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Abstract
The invention discloses a kind of UAV system height to arrange typical pollutant difference absorption spectrum detection device, when height exhaust body enters gas compartment, control centre opens light source, the light that light source issues enters gas compartment, the light come out from gas compartment enters in spectrometer, spectrometer carries out spectra collection, and data are stored in data storage device by control centre.Precision of the present invention is high, carries out pollutant measurement using differential absorption spectroscopy, compared to having very high precision with either physically or chemically carrying out detection.It is very high to the upper limit of detection requirement of detection device under the specific environments such as Gao Pai enterprise, and spectroscopic methodology just can solve this problem.Secondly, the present invention can monitor the pollution of high row corporate environment high-altitude at any time, using unmanned plane as carrying tool, aerial pollution condition, especially Gao Pai enterprise ambient enviroment can be obtained real-time, quickly, can be used for supervision department and remotely monitored.Finally, the present invention possesses a set of operating system of independent research, electronic curtain real-time control can be passed through.
Description
[technical field]
The present invention relates to a kind of UAV system height to arrange typical pollutant difference absorption spectrum detection device.
[background technique]
Now with social development increased population, energy consumption is increasing, although there is new energy, renewable energy
Appearance, but present coal, petroleum are still the main energy sources consumer goods of human society.And coal oil obtain people using also to
Many countries, many cities bring the deterioration of environment, ecological destruction.National Gao Pai enterprise representative region air pollution day
Become serious, height row's corporate environment detects domain of the existence, the technological difficulties such as complication.
High row's corporate environment monitoring means domestic at present mainly has personal monitoring and stationary monitoring two ways.Tradition
Monitoring method cannot timely and effectively monitoring pollution distribution, the problems such as type, concentration spreads the duration.Personal monitoring
It spends human and material resources, precision is not high, and the stationary monitoring scheme that major part Gao Pai enterprise uses is all close to earth's surface, or patch
Nearly discharge outlet, this means have a certain difference with high-altitude regional environment monitoring result.And it studies and pollutes in relevant departments
Exist on the problems such as being formed, developed, and monitoring, checking Gao Pai enterprise emission behaviour certain insufficient.Since multi-pollutant is deposited
It the characteristics such as influences in the superposition of, more pollution types, the coupling of more pollution courses, multiple dimensioned pollution and more meteorological factors and causes dirt
Contaminate the difficulty of monitoring.And the pollutant monitoring of high empty region at present is relied primarily in remote sensing technology and laser radar technique, it is this kind of
Technology for a wide range of, large scale, pollutant monitoring macroscopically has good effect, for small-scale monitoring exist
Very big deficiency.Existing UAV flight's equipment and technology is mainly used for geographical detection, and biological targets detection is arranged for pollutant
The technology for putting detection aspect is still vacancy.The technology wherein mentioned in Chinese patent CN107340547A is to have used immersion
With the detection mode of contact, the detection of solid and liquid is carried out.But this method be suitable for solid, the detection of liquid substance,
It is not particularly suited for the detection of high exhaust body.Wherein CN206177914U is mainly used for hazardous gas detection, but is passed using physics
Sensor carries out the detection of gas concentration, and the upper limit of concentration of detection is low, is not particularly suited for the detection of the high pollution discharging object of big concentration.
[summary of the invention]
It is an object of the invention to overcome the above-mentioned prior art, a kind of typical pollution of UAV system height row is provided
Object difference absorption spectrum detection device is able to solve high pollution discharging object monitoring problem.
In order to achieve the above objectives, the present invention is achieved by the following scheme:
A kind of UAV system height row typical pollutant difference absorption spectrum detection device, including spectrum obtain equipment and nothing
Man-machine device, it includes light source, gas compartment, spectrometer and control centre that spectrum, which obtains equipment,；Unmanned machine equipment includes for nobody
Machine, data storage device, control centre, obstacle avoidance module, communication module and terrestrial information receiving device；
When height exhaust body enters gas compartment, control centre opens light source, and the light that light source issues enters gas compartment, from gas
The light that room comes out enters in spectrometer, and spectrometer carries out spectra collection, and data are stored in data storage device by control centre.
A further improvement of the present invention lies in that:
Control centre is FPGA controller.
Light source is deuterium lamp.
Compared with prior art, the invention has the following advantages:
UAV system height of the present invention arranges typical pollutant difference absorption spectrum detection device, its precision first is high, in measurement
Lower limit for height.Using differential absorption spectroscopy carry out pollutant measurement, compared to either physically or chemically carry out detection have it is very high
Precision and bound.It is very high to the upper limit of detection requirement of detection device under the specific environments such as Gao Pai enterprise, and spectroscopic methodology
It just can solve this problem.Secondly, the present invention can monitor the pollution of high row corporate environment high-altitude at any time, it is to take with unmanned plane
Load tool can obtain aerial pollution condition, especially Gao Pai enterprise ambient enviroment real-time, quickly, can be used for supervision department
Remotely monitored.Finally, the present invention possesses a set of operating system of independent research, electronic curtain real-time control can be passed through.
[Detailed description of the invention]
Fig. 1 is present device operational flow diagram；
Fig. 2 is that spectrum obtains easy structure figure；
Fig. 3 is the schematic arrangement main view of equipment；
The schematic arrangement side view of Fig. 4 equipment.
Wherein: 1- light source；2- gas compartment；3- spectrometer；4- control centre；5- unmanned plane.
[specific embodiment]
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
It is the embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, the common skill in this field
Art personnel every other embodiment obtained without making creative work, all should belong to protection of the present invention
Range.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that making in this way
Data are interchangeable under appropriate circumstances, so that the embodiment of the present invention described herein can be in addition to scheming herein
Sequence other than those of showing or describe is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that
Be to cover it is non-exclusive include, for example, containing the process, method, system, product or equipment of a series of steps or units
Those of be not necessarily limited to be clearly listed step or unit, but may include be not clearly listed or for these processes,
The intrinsic other step or units of method, product or equipment.
The invention will be described in further detail with reference to the accompanying drawing:
Referring to Fig. 1-4, the present invention is detected primarily directed to height row's typical pollutant concentration, determines pollutant emission
Whether comply with standard.Wherein the type of typical pollutant has sulfur dioxide, carbon monoxide, nitrogen dioxide, particulate matter etc..The hair
The bright method using DOAS (difference absorption spectrum) carries out data analysis, and this method has good knowledge for a variety of high exhaust bodies
Other ability, and can solve multi-pollutant exist, more pollution types superposition, more pollution courses coupling, it is multiple dimensioned pollution with
And the influence of more meteorological factors.And this method principle is simple, easy to accomplish.Using unmanned plane as carrying tool, using just
Victory, it is easy to operate.
Spectrum needed for inventing obtains equipment and unmanned machine equipment two parts.It includes light source 1, gas compartment that spectrum, which obtains equipment,
2, spectrometer 3 etc., unmanned machine equipment mainly include unmanned plane 5, data storage device, control centre 4, obstacle avoidance module, communication mould
Block, terrestrial information receiving device etc.；Light source 1 uses deuterium lamp, and control centre 4 uses FPGA controller.Equipment major function leans on light
Spectrum obtains equipment and realizes that data acquiring mode is, after unmanned plane flies to predetermined position, unmanned aerial vehicle (UAV) control center controls spectrum
It obtains equipment and carries out data acquisition, data acquiring mode are as follows: height exhaust body enters gas compartment, and FPGA control centre opens deuterium lamp
Light source switch, the light that deuterium lamp issues enter gas compartment after collimation lens, and the light line focus lens come out from gas compartment are laggard
Enter in spectrometer, spectrometer carries out spectra collection, and data are stored in the storage facilities on unmanned plane by FPGA control centre.
Equipment operating mode includes two ways, and one kind is full-automatic inspection mode, and one kind is people's work control model.
Under full-automatic inspection mode, 1) it needs pre-planning and sets initial inspection route, passage path planning algorithm is real
It is existing, and set parameters 2) autonomous small range it can change inspection route according to the actual situation when unmanned plane flight in the sky,
Realized by obstacle avoidance module and path adjustment algorithm, 3) enter detecting location after, onboard control module FPGA controls spectrum and obtains
Equipment carries out the reading of pollutant spectroscopic data, and stores the data on airborne storage element, 4) read the big of place height
Air pressure by force and temperature information, is realized, and store the data on airborne storage element, 5 by corresponding module) according to route into
Enter next monitoring position and repeats 1-4 step acquisition spectroscopic data.6) it when selecting analysis in real time, is received by the data of unmanned plane
Hair module sends the data to ground receiver end, and ground receiver end receives data.It, can be in unmanned plane when selection is followed by subsequent processing
After completion task, take out storage element, read wherein data, 7) spectral data analysis and storage are carried out in ground control centre
Deposit, 8) the following pollution condition of current search coverage is predicted according to pervious historical information.
Under manual control mode, 1) it controls unmanned plane by control flow to fly to detecting location, which is controlled by flight
Module realizes, 2) it control the detecting parameter of UAV system spectrographic detection pollutant equipment by ground receiver end, 3) sets each
The acquisition of data is carried out after parameter, the acquisition of data includes the spectral information of pollutant, the atmospheric pressure and temperature of place height
Spend information.The various data obtained are passed in reservoir by FPGA controller, and 4) when selecting analysis in real time, by nobody
The data transmit-receive module of machine sends the data to ground receiver end, and ground receiver end receives data.When selection is followed by subsequent processing,
Storage element can be taken out after unmanned plane completion task, read wherein data, 5) repeating 1-4 step carries out task.6) it uses
DOAS (differential absorption spectroscopy) carries out data analysis, obtains detecting pollutant kind concentration accordingly, 7) according to pervious
Historical information predicts the following pollution condition of current search coverage.
UAV system height proposed by the present invention arranges typical pollutant difference absorption spectrum detection method, comprising the following steps:
Wherein the type of typical pollutant has sulfur dioxide, carbon monoxide, nitrogen dioxide, particulate matter etc..
1) substantially cruise step:
Relevant parameter is set in control centre, relevant parameter is pre-detection polluted gas type and general concentration, to improve
Data-handling efficiency.Control unmanned plane, which flies to monitor position or unmanned plane and fly to according to predetermined inspection route, monitors position.It should
Monitoring region is within 50 meters of disposal of pollutants mouth.Data collection time is within 1 minute, and data collection finishes transmission phase
It closes data and carries out data processing to ground control centre or on unmanned aerial vehicle platform, send final result to control centre, fly to
Next place or the control centre that flies back.
2) spectroscopic data and related data are obtained.
Spectrum obtains process, and after unmanned plane hovers in the sky, airborne control centre opens spectrometer and opens with light source
It closes.Light source luminescent enters gas compartment after collimation lens, and light reaction occurs with gas in gas compartment, then by poly-
Enter spectrometer, the spectroscopic data of spectrometer output gas pollutant after focus lens.Spectrometer is received with airborne control centre
Data output, and store onto airborne reservoir, with airborne image, air pressure, temperature, the modules such as humidity measurement monitoring region
Image, air pressure, temperature, the information such as humidity are stored on airborne reservoir.And information is passed by the communication module of unmanned plane
It is sent to ground control centre.Then data processing is carried out.Single-chip microcontroller, FPGA, ARM etc. all can serve as airborne control centre.Gas
Pressure, temperature, the information such as humidity are to correct spectroscopic data.Image information is to guarantee spectroscopic data and image information
Time and space consistency, facilitates supervisor to collect evidence.
3) spectroscopic data is handled.
Spectroscopic data processing uses DOAS (absorption spectrum method), different by light of the predetermined substance to specific wavelength
Trap distinguish different substances.For example, sulfur dioxide has very strong absorbability to the light that wavelength is 300nm or so,
The difference absorption spectrum of sulfur dioxide is in contrast, to obtain the concentration information of sulfur dioxide.
The treatment process of difference absorption spectrum are as follows: the 1) spectral information obtained includes that slow become partially becomes part with fast, is passed through
Carry out the available slow change part of fitting of a polynomial to spectral information, 2) subtracting the slow part that becomes with spectroscopic data obtains fast change portion
Point, 3) take logarithm after difference spectrum can be obtained.
It is formulated are as follows:
D (λ)=ln (I0(λ)-I(λ))
D (λ) is difference spectrum, I in formula0(λ) is original spectrum, and I (λ) is slow change portion of the spectrum after fitting of a polynomial
Point.
Since collected initial data contains the influence of noise and various factors when practice, need to carry out data
Preprocessing process.This method carries out the pretreatment of data, cancelling noise using wavelet transformation.According to temperature, air pressure, humidity
Etc. relevant informations carry out spectrogram correction.Spectrum after correction obtains difference light after the processing of difference spectrum treatment process
Spectrogram.Then simple Spectral matching is carried out according to preset relevant parameter and determines each discharge gas concentration, simple light
Spectrum matching refers to according to preset relevant parameter information, generates accordingly referring to difference spectrum data, compares, first step
The whole concentration parameter referring to difference spectrum figure makes the two similarity be higher than 80 percent；If can if show that under test gas is pre-
The monitoring gas type first set continues adjusting parameter and is matched, until obtaining optimal result.If cannot if show to obtain
Difference spectrum data absorb and be superimposed there are other elemental gas, the problem of mixing, then using offset minimum binary-principal component point
Analysis algorithm (PLS-PCA) or machine learning related algorithm carry out cluster Dimension Reduction Analysis, decomposite different component informations, further according to
The absorption spectrum information of substance determine the component information why the concentration of substance.Finally result is stored on reservoir.
Image real time transfer:
Image data obtains simultaneously with spectroscopic data, due on same unmanned plane, can guarantee two kinds of data in time sky
Between on consistency.Image data is obtained by the above camera of 10,000,000 pixels, guarantees image definition.Image data is passed through
Mark pair is carried out after compression processing with spectroscopic data, the data of same time are bound mutually.It is then stored on reservoir.
Above data treatment process can carry out on unmanned aerial vehicle platform, can also carry out in ground control centre.
4) the region future pollution condition is predicted.
After the data for carrying out certain time and region acquire, according to acquired image and spectroscopic data with nerve
Network algorithm carries out prediction modeling, which includes spectrum and image two dimensions of information, improves the precision of prediction model.By this
Model speculates the following region high altitude environment pollution situation variation, and relevant departments is reminded to pay attention to.The above content is only to illustrate this hair
Bright technical idea, this does not limit the scope of protection of the present invention, it is all according to the technical idea provided by the invention, in skill
Any change done on the basis of art scheme, each falls within the protection scope of claims of the present invention.
Claims (3)
1. a kind of UAV system height arranges typical pollutant difference absorption spectrum detection device, which is characterized in that obtained including spectrum
Equipment and unmanned machine equipment, it includes light source (1), gas compartment (2), spectrometer (3) and control centre (4) that spectrum, which obtains equipment,；
Unmanned machine equipment includes unmanned plane (5), data storage device, control centre (4), obstacle avoidance module, communication module and ground letter
Cease receiving device；
When height exhaust body enters gas compartment (2), control centre (4) opens light source (1), and the light that light source (1) issues enters gas compartment
(2), enter in spectrometer (3) from the light that gas compartment (2) come out, spectrometer (3) carries out spectra collection, and control centre (4) will count
According in deposit data storage device.
2. UAV system height according to claim 1 arranges typical pollutant difference absorption spectrum detection device, feature exists
In control centre (4) is FPGA controller.
3. UAV system height according to claim 1 arranges typical pollutant difference absorption spectrum detection device, feature exists
In light source (1) is deuterium lamp.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116660183A (en) * | 2023-05-17 | 2023-08-29 | 江苏省环境科学研究院 | Atmospheric pollutant detecting system based on sectional type optic fibre |
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| CN105784621A (en) * | 2016-05-16 | 2016-07-20 | 青岛市光电工程技术研究院 | Device for detecting sulfur dioxide in marine exhaust gas based on unmanned aerial vehicle platform |
| CN205749269U (en) * | 2016-05-16 | 2016-11-30 | 青岛市光电工程技术研究院 | A kind of marine exhaust sulfur dioxide based on unmanned vehicle platform detection device |
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| CN105784621A (en) * | 2016-05-16 | 2016-07-20 | 青岛市光电工程技术研究院 | Device for detecting sulfur dioxide in marine exhaust gas based on unmanned aerial vehicle platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116660183A (en) * | 2023-05-17 | 2023-08-29 | 江苏省环境科学研究院 | Atmospheric pollutant detecting system based on sectional type optic fibre |
| CN116660183B (en) * | 2023-05-17 | 2024-03-26 | 江苏省环境科学研究院 | Atmospheric pollutant detecting system based on sectional type optic fibre |
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