CN109612895A - A kind of air quality monitoring method in urban forests environment - Google Patents
A kind of air quality monitoring method in urban forests environment Download PDFInfo
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- CN109612895A CN109612895A CN201910118261.6A CN201910118261A CN109612895A CN 109612895 A CN109612895 A CN 109612895A CN 201910118261 A CN201910118261 A CN 201910118261A CN 109612895 A CN109612895 A CN 109612895A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N15/00—Investigating characteristics of particles; Investigating permeability, pore-volume, or surface-area of porous materials
- G01N15/06—Investigating concentration of particle suspensions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- 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
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- 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
- G01N33/0062—General constructional details of gas analysers, e.g. portable test equipment concerning the measuring method, e.g. intermittent, or the display, e.g. digital
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- 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
- G01N33/0062—General constructional details of gas analysers, e.g. portable test equipment concerning the measuring method, e.g. intermittent, or the display, e.g. digital
- G01N2033/0068—General constructional details of gas analysers, e.g. portable test equipment concerning the measuring method, e.g. intermittent, or the display, e.g. digital using a computer specifically programmed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/20—Air quality improvement or preservation, e.g. vehicle emission control or emission reduction by using catalytic converters
Abstract
The invention discloses the air quality monitoring method in a kind of urban forests environment, the arrangement that includes the following steps: S1, carry out in the forest environment of target cities sensor group by robot capable of climbing trees；S2, the acquisition that air particle concentration parameter and gas pollutant concentration parameter in the target cities forest environment are carried out based on the sensor group, and monitor terminal is sent by the parameter through Beidou module；S3, the monitor terminal carry out the assessment of current air mass based on preset BP neural network model；S4, the recycling that sensor group is realized by robot capable of climbing trees.The present invention carries out the arrangement and recycling of sensor by climbing robot, and while easy to use, flexibility is high, and substantially increases the accuracy of monitoring result.
Description
Technical field
The present invention relates to field of monitoring of air quality, and in particular to the air quality monitoring side in a kind of urban forests environment
Method.
Background technique
Environmental protection problem is the relationship for coordinating the mankind and environment, protects the living environment of the mankind, ensures economic society
Sustainable development and the various action taken；And urban forests are even more the measurement of human and environment in city, and therefore, city
Forest environment protection is particularly important, wherein the air quality in urban forests environment is then in urban forests environmental protection
The most important thing.
It is more to the air quality study in urban forests environment at present, but previous research method is both needed to be detected
Building for base station, it is time-consuming and laborious, while the data monitored also do not consider weather while not considering sensor position
It influences, reduces the accuracy of monitoring result to a certain extent.
Summary of the invention
To solve the above problems, the present invention provides the air quality monitoring methods in a kind of urban forests environment, significantly
The accuracy of monitoring result is improved, and easy to operate, flexibility is high.
To achieve the above object, the technical scheme adopted by the invention is as follows:
A kind of air quality monitoring method in urban forests environment, includes the following steps:
S1, the arrangement for carrying out sensor group by robot capable of climbing trees in the forest environment of target cities；
S2, air particle concentration parameter and gas in the target cities forest environment are carried out based on the sensor group
The acquisition of pollutant concentration parameter, and monitor terminal is sent by the parameter through Beidou module；
S3, the monitor terminal carry out the assessment of current air mass based on preset BP neural network model；
S4, the recycling that sensor group is realized by robot capable of climbing trees.
Further, the step S1 specifically comprises the following steps:
S11, the clamping machine arm with servomechanism installation is installed on robot capable of climbing trees, and realizing by wireless communication module should
The communication of the driver and remote controler of servomechanism installation；
S12, the detector that sensor is loaded in the head end installation one of Snakelike mechanical arm；
S13, the clipping operation that Snakelike mechanical arm is completed by remote control clamping machine arm；
S14, operation is crawled by remote control robot capable of climbing trees carrying Snakelike mechanical arm, until it reaches specific bit
It postpones, clamping machine armband is moved Snakelike mechanical arm and reached by specified branch, and twining for target branch is realized in Snakelike mechanical arm starting
Around after being completely wound, remote manual control clamping machine arm unclamps Snakelike mechanical arm, and resets, then remote manual control Snakelike mechanical arm
Detector is driven to reach target detection point；
S15, step S13, S14 is repeated, until completing the arrangement of all the sensors.
Further, Beidou module and solar charging panel are loaded in the detector.
Further, the clamping machine arm by Snakelike mechanical arm and is mounted on the clamping machine of Snakelike mechanical arm head end
Hand is constituted, and the Snakelike mechanical arm is by several machine assemblies in head and the tail connection and the steering engine component structure between machine assembly
At.
Further, the step S4 specifically comprises the following steps:
Snakelike mechanical arm is carried by remote control robot capable of climbing trees and crawls operation, until it reaches designated position
Afterwards, the clamping manipulator for controlling clamping machine arm is moved at target Snakelike mechanical arm, completes the clipping operation of Snakelike mechanical arm,
Snakelike mechanical arm starting is controlled, the winding operation to branch is unclamped, clamping machine arm resets, and then controls climbing robot and resets
?.
Further, the step S3 specifically comprises the following steps:
The data that S31, the monitor terminal receiving sensor group are sent, and its corresponding Beidou positions by these data
It is stored in after data markers in corresponding database；
S32, the excavation for carrying out real-time weather data on each weather forecast base station by webcrawler module；
S33, the data after marking and its preset BP neural network model of corresponding real-time weather data input will be completed
The middle assessment for carrying out current air mass.
Further, the monitoring terminal uses the form of cell phone application, inside sets:
Data check module, for carrying out each sensor group history/collected data of current institute, and previous air matter
Measure assessment result；
Air quality evaluation module inside sets BP neural network model, for realizing current control according to the monitoring data of input
The assessment of quality processed；
Graphic plotting module, the various curve graphs for drawing and being obtained according to the monitoring data；
Computing module is returned, for carrying out recurrence calculating to measured data curve by different functions；
Simulation analysis module, for building relevant air qualitative data simulation analysis model to being monitored by Simulink
The data arrived carry out simulation analysis.
Further, the graphic plotting module is according to the monitoring data of input, generate at any time, the space-time of spatial variations
Effect curve, that is, tense curve and three-dimensional effect curve, the tense curve show the initial data or transfer number of each monitoring point
According to the situation that changes with time, the three-dimensional effect curve highlights the monitoring result of same time different measuring points with detector sky
Between geographical location changing rule.
The invention has the following advantages:
1) arrangement and recycling that sensor is carried out by climbing robot, while easy to use, flexibility is high；Using north
The short message mechanics of communication that struggles against carries out the transmission of data, without setting up communication line；
2) using the monitoring data that position with Beidou and weather data as assessment benchmark, testing result is substantially increased
Accuracy；
3) understanding to air quality situation in the forest environment of target cities can be more comprehensively realized.
Detailed description of the invention
Fig. 1 is the flow chart of the air quality monitoring method in a kind of urban forests environment of the embodiment of the present invention.
Fig. 2 be a kind of urban forests environment of the embodiment of the present invention in air quality monitoring method in step S1 process
Figure.
Fig. 3 be a kind of urban forests environment of the embodiment of the present invention in air quality monitoring method in step S3 process
Figure.
Specific embodiment
In order to which objects and advantages of the present invention are more clearly understood, the present invention is carried out with reference to embodiments further
It is described in detail.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to limit this hair
It is bright.
As shown in Figure 1-Figure 3, the embodiment of the invention provides the air quality monitoring method in a kind of urban forests environment,
Include the following steps:
S1, the arrangement for carrying out sensor group by robot capable of climbing trees in the forest environment of target cities；
S11, the clamping machine arm with servomechanism installation is installed on robot capable of climbing trees, and realizing by wireless communication module should
The communication of the driver and remote controler of servomechanism installation；
S12, the detector that sensor is loaded in the head end installation one of Snakelike mechanical arm；Beidou is loaded in the detector
Module and solar charging panel；
S13, the clipping operation that Snakelike mechanical arm is completed by remote control clamping machine arm；
S14, operation is crawled by remote control robot capable of climbing trees carrying Snakelike mechanical arm, until it reaches specific bit
It postpones, clamping machine armband is moved Snakelike mechanical arm and reached by specified branch, and twining for target branch is realized in Snakelike mechanical arm starting
Around after being completely wound, remote manual control clamping machine arm unclamps Snakelike mechanical arm, and resets, then remote manual control Snakelike mechanical arm
Detector is driven to reach target detection point；
S15, step S13, S14 is repeated, until completing the arrangement of all the sensors；
S2, air particle concentration parameter and gas in the target cities forest environment are carried out based on the sensor group
The acquisition of pollutant concentration parameter, and monitor terminal is sent by the parameter through Beidou module；
S3, the monitor terminal carry out the assessment of current air mass based on preset BP neural network model；
The data that S31, the monitor terminal receiving sensor group are sent, and its corresponding Beidou positions by these data
It is stored in after data markers in corresponding database；
S32, the excavation for carrying out real-time weather data on each weather forecast base station by webcrawler module；
S33, the data after marking and its preset BP neural network model of corresponding real-time weather data input will be completed
The middle assessment for carrying out current air mass；
S4, the recycling that sensor group is realized by robot capable of climbing trees；
Snakelike mechanical arm is carried by remote control robot capable of climbing trees and crawls operation, until it reaches designated position
Afterwards, the clamping manipulator for controlling clamping machine arm is moved at target Snakelike mechanical arm, completes the clipping operation of Snakelike mechanical arm,
Snakelike mechanical arm starting is controlled, the winding operation to branch is unclamped, clamping machine arm resets, and then controls climbing robot and resets
?.
In the present embodiment, the clamping machine arm is by Snakelike mechanical arm and is mounted on the clamping machine of Snakelike mechanical arm head end
Tool hand is constituted, and the Snakelike mechanical arm is by several machine assemblies in head and the tail connection and the steering engine component between machine assembly
It constitutes.
In the present embodiment, the monitoring terminal uses the form of cell phone application, inside sets:
Data check module, for carrying out each sensor group history/collected data of current institute, and previous air matter
Measure assessment result；
Air quality evaluation module inside sets BP neural network model, for realizing current control according to the monitoring data of input
The assessment of quality processed；
Graphic plotting module, the various curve graphs for drawing and being obtained according to the monitoring data；
Computing module is returned, for carrying out recurrence calculating to measured data curve by different functions；
Simulation analysis module, for building relevant air qualitative data simulation analysis model to being monitored by Simulink
The data arrived carry out simulation analysis.
The graphic plotting module according to the monitoring data of input, generate at any time, the tau-effect curve of spatial variations
That is tense curve and three-dimensional effect curve, the initial data or transfer data that the tense curve shows each monitoring point are at any time
Situation of change, the three-dimensional effect curve highlights the monitoring result of same time different measuring points with detector space and geographical position
The changing rule set.
The above is only the preferred embodiment of the present invention, it is noted that those skilled in the art are come
It says, without departing from the principle of the present invention, can also make several improvements and retouch, these improvements and modifications also should be regarded as
Protection scope of the present invention.
Claims (8)
1. the air quality monitoring method in a kind of urban forests environment, which comprises the steps of:
S1, the arrangement for carrying out sensor group by robot capable of climbing trees in the forest environment of target cities；
S2, air particle concentration parameter and gaseous contamination in the target cities forest environment are carried out based on the sensor group
The acquisition of object concentration parameter, and monitor terminal is sent by the parameter through Beidou module；
S3, the monitor terminal carry out the assessment of current air mass based on preset BP neural network model；
S4, the recycling that sensor group is realized by robot capable of climbing trees.
2. the air quality monitoring method in a kind of urban forests environment as described in claim 1, which is characterized in that the step
Rapid S1 specifically comprises the following steps:
S11, the clamping machine arm with servomechanism installation is installed on robot capable of climbing trees, and the servo is realized by wireless communication module
The communication of the driver and remote controler of device；
S12, the detector that sensor is loaded in the head end installation one of Snakelike mechanical arm；
S13, the clipping operation that Snakelike mechanical arm is completed by remote control clamping machine arm；
S14, operation is crawled by remote control robot capable of climbing trees carrying Snakelike mechanical arm, until it reaches designated position
Afterwards, clamping machine armband is moved Snakelike mechanical arm and is reached by specified branch, and the winding of target branch is realized in Snakelike mechanical arm starting,
After being completely wound, remote manual control clamping machine arm unclamps Snakelike mechanical arm, and resets, and then remote manual control Snakelike mechanical arm drives
Detector reaches target detection point；
S15, step S13, S14 is repeated, until completing the arrangement of all the sensors.
3. the air quality monitoring method in a kind of urban forests environment as claimed in claim 2, which is characterized in that the inspection
Beidou module and solar charging panel are loaded in gauge head.
4. the air quality monitoring method in a kind of urban forests environment as claimed in claim 2, which is characterized in that the folder
Mechanical arm is held by Snakelike mechanical arm and is mounted on the clamping manipulator of Snakelike mechanical arm head end and constitutes, the Snakelike mechanical arm by
It is several to be constituted in the machine assembly of head and the tail connection and the steering engine component between machine assembly.
5. the air quality monitoring method in a kind of urban forests environment as described in claim 1, which is characterized in that the step
Rapid S4 specifically comprises the following steps:
Snakelike mechanical arm, which is carried, by remote control robot capable of climbing trees crawls operation, until after it reaches designated position, control
The clamping manipulator of clamping machine arm processed is moved at target Snakelike mechanical arm, completes the clipping operation of Snakelike mechanical arm, control
The winding operation to branch is unclamped in Snakelike mechanical arm starting, and clamping machine arm resets, and then controls climbing robot reset and is
It can.
6. the air quality monitoring method in a kind of urban forests environment as described in claim 1, which is characterized in that the step
Rapid S3 specifically comprises the following steps:
The data that S31, the monitor terminal receiving sensor group are sent, and by its corresponding Beidou location data of these data
It is stored in after label in corresponding database；
S32, the excavation for carrying out real-time weather data on each weather forecast base station by webcrawler module；
S33, will complete the data after label and its corresponding real-time weather data input in preset BP neural network model into
The assessment of row current air mass.
7. the air quality monitoring method in a kind of urban forests environment as described in claim 1, which is characterized in that the prison
The form that terminal uses cell phone application is surveyed, is inside set:
Data check module, and for carrying out each sensor group history/collected data of current institute, and previous air quality was commented
Estimate result；
Air quality evaluation module inside sets BP neural network model, for realizing current control matter according to the monitoring data of input
The assessment of amount；
Graphic plotting module, the various curve graphs for drawing and being obtained according to the monitoring data；
Computing module is returned, for carrying out recurrence calculating to measured data curve by different functions；
Simulation analysis module, for building relevant air qualitative data simulation analysis model to being monitored by Simulink
Data carry out simulation analysis.
8. the air quality monitoring method in a kind of urban forests environment according to claim 7, which is characterized in that described
Graphic plotting module according to the monitoring data of input, generate at any time, the tau-effect of spatial variations curve, that is, tense curve and
Three-dimensional effect curve, the tense curve show that the initial data of each monitoring point or transfer data change with time situation,
The monitoring result that the three-dimensional effect curve highlights same time different measuring points is advised with the variation of detector spatial geographical locations
Rule.
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| CN201910118261.6A CN109612895B (en) | 2019-02-16 | 2019-02-16 | Air quality monitoring method in urban forest environment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113970511A (en) * | 2021-10-21 | 2022-01-25 | 天津大学 | Air particulate matter data monitoring system and method based on BP neural network |
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