CN109901615B - Ship emission detection method and system based on flight platform - Google Patents
Ship emission detection method and system based on flight platform Download PDFInfo
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- CN109901615B CN109901615B CN201910212661.3A CN201910212661A CN109901615B CN 109901615 B CN109901615 B CN 109901615B CN 201910212661 A CN201910212661 A CN 201910212661A CN 109901615 B CN109901615 B CN 109901615B
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Abstract
The invention provides a ship emission detection method and system based on a flight platform, wherein the detection method comprises the steps of providing a multi-rotor unmanned aerial vehicle, wherein an infrared camera, a laser range finder and a gas sensor module are installed on the unmanned aerial vehicle; controlling the infrared camera to scan the ship, and confirming the position of a chimney of the target ship and the trend of the emission smoke plume of the target ship according to the scanned image; controlling the laser range finder to measure the flight interval distance between the unmanned aerial vehicle and the ship chimney, and controlling the flight of the unmanned aerial vehicle according to the flight interval distance; and controlling the gas sensor module to measure the concentration of the gas pollutants in the emission plume in real time, and judging whether the emission of the ship is qualified or not according to the concentration of the gas pollutants. The detection system comprises a multi-rotor unmanned aerial vehicle and a ground control center. The ship emission detection method and the system provided by the invention realize non-contact quick online detection of ship emission, are efficient and reliable and have good technical effects.
Description
Technical Field
The invention relates to the technical field of ship emission detection, in particular to a ship emission detection method and system based on a flight platform.
Background
Exhaust gas emitted by marine vessels is an important source of air pollution, and the use of inferior and high-sulfur-content fuels further aggravates the problem of air pollution caused by the vessels. The traditional ship emission detection device mainly comprises a laser radar, a fixed sniffer, a portable gas determinator and the like. However, due to its technical characteristics, the conventional detection device has non-negligible limitations, for example, the laser radar cannot realize synchronous detection of carbon and sulfur, the detection structure of the fixed sniffer is susceptible to the detection distance, and the portable gas meter requires short-distance measurement while boarding, which greatly reduces the detection efficiency. For a port with high throughput, the traditional detection device cannot meet the requirement of carrying out real-time and efficient emission inspection on ships, and becomes a difficult problem to be solved urgently at the present stage.
Disclosure of Invention
The invention provides a ship emission detection method and system based on a flight platform, aiming at the problem that the existing ship emission detection device cannot meet the requirement of carrying out real-time and efficient emission inspection on ships, and the ship emission detection method and system can carry out efficient and reliable emission detection on ships entering and leaving a port.
The technical scheme of the invention for solving the technical problems is as follows: in one aspect, a ship emission detection method based on a flight platform is provided, and includes:
providing a multi-rotor unmanned aerial vehicle, wherein an infrared camera, a laser range finder and a gas sensor module are arranged on the unmanned aerial vehicle;
controlling the infrared camera to scan the ship, and confirming the position of a chimney of the target ship and the trend of the emission smoke plume of the target ship according to the scanned image;
controlling the laser range finder to measure the flight interval distance between the unmanned aerial vehicle and the ship chimney, and controlling the flight of the unmanned aerial vehicle according to the flight interval distance;
and controlling the gas sensor module to measure the concentration of the gas pollutants in the emission plume in real time, and judging whether the emission of the ship is qualified or not according to the concentration of the gas pollutants.
Preferably, control laser range finder measures the flight interval distance between unmanned aerial vehicle and the boats and ships chimney, and according to flight interval distance control unmanned aerial vehicle's flight specifically includes:
controlling the laser range finder to measure the flight spacing distance between the unmanned aerial vehicle and the chimney, and controlling the unmanned aerial vehicle to adjust the flight spacing distance to the shortest safe distance and keep the flight spacing distance;
after the set time, controlling the laser range finder to measure the flight interval distance between the unmanned aerial vehicle and the chimney again, and judging whether the target ship is in the navigation process; if so, calculating the navigation speed of the target ship, and controlling the unmanned aerial vehicle to fly to the shortest safe distance again;
and predicting the flight track of the unmanned aerial vehicle according to the navigation direction, the trend of the discharged smoke plume and the navigation speed of the target ship, and controlling the unmanned aerial vehicle to fly towards the tail part of the smoke plume by taking the shortest safe distance as a starting point according to the flight track.
Preferably, the controlling the gas sensor module to measure the concentration of the gas pollutants in the emission plume in real time, and determining whether the emission of the ship is qualified according to the concentration of the gas pollutants, specifically includes:
controlling a gas sensor module to measure the concentration of the gas pollutants discharged from the smoke plume in real time, and determining the concentration of the gas pollutants far away from the smoke plume to be background concentration;
at least three high-value concentration points are selected as smoke plume center points on the flight trajectory for stay detection according to the change trend of the gas pollutant concentration measured in real time;
and calculating the emission factor of each smoke plume center point according to the concentration of the gas pollutants at the smoke plume center point and the background concentration and an emission factor formula, and judging whether the ship emission is qualified.
Preferably, the gas sensor module includes:
the reaction chamber is detachably arranged in the shell;
the gas inlet pipe is arranged on the shell and connected with the reaction cavity, and a suction pump is arranged in the reaction cavity and used for sucking gas to be detected into the reaction cavity;
the sensor assembly is arranged in the reaction cavity and comprises a plurality of gas sensors and a signal transmitting plate connected with the gas sensors, and the gas sensors comprise a carbon dioxide sensor and a sulfur dioxide sensor and are used for detecting gas to acquire the concentration of gas pollutants;
and the communication module is arranged on the shell and is electrically connected with the signal transmitting board and used for establishing wireless communication connection and transmitting the data of the concentration of the gas pollutants.
Preferably, the controlling the infrared camera to scan the ship and determining the position of the chimney of the target ship and the trend of the emission plume of the target ship according to the scanned image specifically includes:
controlling the unmanned aerial vehicle to approach the direction of the target ship, and confirming the target ship and the course of the target ship according to the thermal imaging of the infrared camera;
controlling the unmanned aerial vehicle to fly around a target ship, and confirming the position of a chimney of the target ship according to real-time shooting and thermal imaging of the infrared camera;
and controlling the unmanned aerial vehicle to fly above a chimney of the target ship, and confirming the discharge trend and the size of the smoke plume of the target ship according to the real-time shooting and thermal imaging of the infrared camera.
Preferably, the calculation formula of the emission factor is as follows:
wherein EF is the emission factor of the target gas, representing the mass of the target gas produced by combustion of each kilogram of fuel; delta [ polutant]The target gas concentration difference measured in the smoke plume center point and the background environment; delta [ CO2]The carbon dioxide concentration difference measured in the central point of the smoke plume and in the background environment; MWCIs the molecular weight of carbon; MWCO2Is the molecular weight of carbon dioxide; wCIs the carbon content of the fuel oil.
In the above detection method of the present invention, the flight path is located on a flight section horizontal or vertical to the sea level, and the flight path passes through the central points of the at least three plumes in an S-shape.
In another aspect, the present invention further provides a ship emission detection system based on a flying platform, including:
the system comprises a multi-rotor unmanned aerial vehicle, wherein an infrared camera, a laser range finder and a gas sensor module are mounted on the unmanned aerial vehicle;
the ground control center is used for controlling the infrared camera to scan the ship and confirming the position of a chimney of the target ship and the trend of the emission smoke plume of the target ship according to the scanned image;
the ground control center is also used for controlling the laser range finder to measure the flight interval distance between the unmanned aerial vehicle and the ship chimney and controlling the flight of the unmanned aerial vehicle according to the flight interval distance;
the ground control center is also used for controlling the gas sensor module to measure the concentration of the gas pollutants discharging the smoke plume in real time and judging whether the ship is qualified in discharge according to the concentration of the gas pollutants.
Preferably, the ground control center is further configured to:
controlling the laser range finder to measure the flight spacing distance between the unmanned aerial vehicle and the chimney, and controlling the unmanned aerial vehicle to adjust the flight spacing distance to the shortest safe distance and keep the flight spacing distance;
after the set time, controlling the laser range finder to measure the flight distance between the unmanned aerial vehicle and the chimney again, and calculating the navigation speed of the target ship;
and predicting the flight track of the unmanned aerial vehicle according to the navigation direction, the trend of the discharged smoke plume and the navigation speed of the target ship, and controlling the unmanned aerial vehicle to fly towards the tail part of the smoke plume by taking the shortest safe distance as a starting point according to the flight track.
Preferably, the ground control center is further configured to:
controlling a gas sensor module to measure the concentration of the gas pollutants discharged from the smoke plume in real time, and determining the concentration of the gas pollutants far away from the smoke plume to be background concentration;
at least three high-value concentration points are selected as smoke plume center points on the flight trajectory for stay detection according to the change trend of the gas pollutant concentration measured in real time;
and respectively calculating the emission factor of each smoke plume central point according to the concentration of the gas pollutants at the smoke plume central point and the background concentration, and judging whether the ship emission is qualified.
The technical scheme provided by the embodiment of the invention has the following beneficial effects:
according to the invention, the position of the chimney of the target ship and the trend of the emission smoke plume of the target ship are confirmed by using the infrared camera carried by the unmanned aerial vehicle, so that the online rapid adjustment of the flight path of the unmanned aerial vehicle is realized, and the detection efficiency is improved; meanwhile, the distance between the unmanned aerial vehicle and the ship chimney is measured by using a laser range finder carried by the unmanned aerial vehicle, so that the shortest safe distance between the unmanned aerial vehicle and the chimney is ensured, the precise control of the flight of the unmanned aerial vehicle is realized, and the detection precision is improved; on the other hand, the gas sensor module carried by the unmanned aerial vehicle is used for measuring the concentration of the gas pollutants discharging the smoke plume in real time, an operator is not required to board the ship, the non-contact type rapid online detection of the ship discharge is really realized, and the method is efficient and reliable.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a flow chart of a marine emissions detection method according to an exemplary embodiment of the present invention;
fig. 2 is a schematic structural view of a multi-rotor drone according to an exemplary embodiment of the present invention;
FIG. 3 is an exploded view of a gas sensor module according to an exemplary embodiment of the present invention;
FIG. 4 is a schematic diagram of a gas sensor module according to an exemplary embodiment of the present invention;
FIG. 5 is a bottom view of a gas sensor module according to an exemplary embodiment of the present invention;
FIG. 6 is a side view of a gas sensor module according to an exemplary embodiment of the present invention;
FIG. 7 is another flow chart illustrating a detection method in accordance with an exemplary embodiment of the present invention;
FIG. 8 is a schematic illustration of a flight trajectory of a drone through a target vessel to emit a plume, in accordance with an exemplary embodiment of the present invention;
FIG. 9 is a graph illustrating the on-line effects exhibited by the carbon dioxide concentration, the sulfur dioxide concentration, and the calculated emission factor measured by the gas sensor module during the dwell detection of three plume center points, in accordance with an exemplary embodiment of the present invention;
FIG. 10 is a schematic block diagram of a marine emissions detection system according to an exemplary embodiment of the present invention.
Detailed Description
In order that those skilled in the art will more clearly understand the present invention, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
In order to solve the problem that the traditional ship emission detection device cannot meet the requirement of carrying out real-time and efficient emission inspection on ships, the invention provides a ship emission detection method and a system based on a flight platform, and the core idea is as follows: confirming the position of a chimney of a target ship and the trend of the emission smoke plume of the target ship by using an infrared camera carried by an unmanned aerial vehicle; measuring the distance between the unmanned aerial vehicle and a ship chimney by using a laser range finder carried by the unmanned aerial vehicle, controlling the flight of the unmanned aerial vehicle and ensuring the shortest safe distance between the unmanned aerial vehicle and the chimney; and the gas sensor module carried by the unmanned aerial vehicle is used for measuring the concentration of the gas pollutants discharging the smoke plume in real time, whether the ship discharge is qualified is judged, an operator is not required to board the ship, and the non-contact type quick online detection of the ship discharge is realized.
FIG. 1 is a diagram illustrating a flying platform based vessel emissions detection method, as shown in FIG. 1, according to an exemplary embodiment, the detection method comprising the steps of:
s1, providing a multi-rotor unmanned aerial vehicle, wherein an infrared camera, a laser range finder and a gas sensor module are installed on the unmanned aerial vehicle;
s2, controlling the infrared camera to carry out cruise scanning on the ship, and confirming the position of a chimney of the target ship and the trend of the emission smoke plume of the target ship according to the scanned image;
s3, controlling the laser range finder to measure the flight interval distance between the unmanned aerial vehicle and the ship chimney, and controlling the flight of the unmanned aerial vehicle according to the flight interval distance;
and S4, controlling the gas sensor module to measure the concentration of the gas pollutants in the emission plume in real time, and judging whether the emission of the ship is qualified according to the concentration of the gas pollutants.
Further, referring to fig. 2, fig. 2 is a schematic structural view of a multi-rotor drone according to an exemplary embodiment, wherein the gas sensor module 10 is installed below the drone 90.
Further, as shown in fig. 3 and 4, the gas sensor module 10 includes a housing, a gas inlet pipe 11, a sensor assembly 20 and a communication module 30, wherein a reaction chamber 40 is detachably mounted in the housing; the gas inlet pipe 11 is arranged on the shell, the gas inlet pipe 11 is connected with the reaction cavity 40, and the suction pump 12 is arranged in the reaction cavity 40 and used for sucking gas into the reaction cavity 40; the sensor assembly 20 is installed in the reaction chamber 40 and comprises a plurality of gas sensors and a signal transmitting board connected with the plurality of gas sensors, wherein the signal transmitting board is used for converting detection signals of the sensors into standard electric signals, and the plurality of gas sensors comprise a carbon dioxide sensor and a sulfur dioxide sensor and are used for detecting gas to obtain gas pollutant concentration; the communication module 30 is installed on the housing, and the communication module 30 is electrically connected to the signal transmitting board, and is used for establishing wireless communication connection and performing data transmission of the concentration of the gaseous pollutants.
In the disclosed embodiment, the carbon dioxide sensor is preferably an NDIR (Non-Dispersive Infrared) sensor, and the sulfur dioxide sensor is preferably an electrochemical sensor. The plurality of gas sensors can also comprise one or more of a carbon oxide sensor, a nitric oxide sensor and a nitrogen dioxide sensor which are additionally added according to the requirement, and particularly, an electrochemical sensor or other sensors with working principles can be selected.
In the embodiment of the present disclosure, the reaction surfaces of the plurality of gas sensors are strictly sealed in the reaction chamber 40, and gas is automatically pumped by the air pump 12 and enters the reaction chamber 40 through the air inlet pipe 11 for gas detection, so that the time for the gas to be detected to reach the reaction surfaces of the sensors is shortened, and the measurement accuracy is improved.
In the embodiment of the present disclosure, the communication module 30 may adopt any one of data transmission manners such as GSM, WiFi, or bluetooth, and is configured to send the detection data of the gas sensor back to the ground control center or the server in real time, so as to complete real-time online processing of the data.
Further, the casing includes shell 13 and demountable installation at shell 13 length direction both ends face-piece 14 and back lid 15, and shell 13 is the stereoplasm shell of cuboid type, and reaction chamber 40 demountable installation is in shell 13, and the inlet end of intake pipe 11 extends to face-piece 14 outside and installs filter 18, and filter 18 is arranged in filtering the particulate matter that waits to detect in the gas for other gas except particulate matter in waiting to detect in the gas, for example CO, NO2、SO2、O3And the like can enter the reaction cavity 40 for detection, so that the interference of the particles on the gas sensor is avoided. In practical applications, such as when performing marine emissions testing, the filter 18 may be used to filter the fumes from the test gas.
Further, the gas detection device further comprises a PM sensor 50, an air pressure sensor 61 and an outer temperature and humidity sensor 62 which are installed between the reaction chamber 40 and the face shell 14, a particulate matter air inlet 51 communicated with the PM sensor 50 is formed in the face shell 14, an air pressure detection port communicated with the air pressure sensor 61 and a temperature and humidity detection port communicated with the outer temperature and humidity sensor 62 are formed in the face shell 14, the PM sensor 50, the air pressure sensor 61 and the outer temperature and humidity sensor 62 are electrically connected with the communication module 30 through signal transmission plates and can be used for detecting the concentration of particulate matters in gas, the pressure intensity of the gas and the temperature and humidity of the gas and transmitting data through the communication module 30, and real-time online processing of the data is completed.
Further, a plurality of expansion interfaces 70 are disposed on the side wall of the face shell 14, and can be added according to the requirements of customers; preferably, the expansion interface 70 includes a GPS antenna interface, an external particulate monitor interface, an external communication interface, and a radar interface, which are sequentially disposed at intervals.
The gas detection device further comprises a GPS antenna 60 installed outside the housing 13, which is electrically connected to the communication module 30 through the GPS antenna interface, and is configured to acquire the location information of the gas detection device and send data through the communication module 30.
Further, the gas detection device further comprises an internal temperature and humidity sensor 63 installed in the reaction chamber 40, electrically connected to the communication module 30 through a signal transmission plate, and configured to detect temperature and humidity data in the reaction chamber 40 and transmit data through the communication module 30, so as to determine the internal state of the gas detection device, thereby optimizing the use of the gas detection device.
Fig. 5 is a bottom view of the gas detecting device according to the embodiment of the present disclosure, and in combination with fig. 5, a main support 80 is installed in the reaction chamber 40, the sensor assembly 20 is installed above the main support 80, a main board 81 and a battery 82 are also installed below the main support 80 side by side, the main board 81 is electrically connected to the sensor assembly 20, the communication module 30 and the battery 82 respectively, and is used for forming an electrical connection between the sensor assembly 20 and the communication module 30; a battery 82 is removably mounted to the main support 80 for providing electrical power to the gas sensing device.
Fig. 6 is a side view of the gas detection apparatus shown in the embodiment of the present disclosure, and referring to fig. 6, a window 16 is formed on the rear cover 15, and a waterproof cover 17 movably connected to the window 16 is covered on the window 16; a control panel 41 electrically connected with the main board 81 is arranged at one end of the reaction chamber 40 facing the rear cover 15, and a power switch 42, a data interface 43, an SD card slot 44, an external power interface 45, a battery charging port 46, a flow adjusting nut 47, a battery electric quantity display key 48 and a plurality of indicator lamps 49 arranged side by side are arranged on the control panel 41 and positioned within the range of the window 16;
the flow rate adjusting nut 47 is used for adjusting the intake flow rate of the intake pipe 11 through the air pump 12; the indicator light 49 includes a red power indicator light, a yellow communication indicator light and a green data on-line indicator light, and the data on-line indicator light is used for indicating that the detection data of the gas detection device is uploaded to the server through the communication module 30.
Fig. 7 is another flowchart of the detection method according to an exemplary embodiment, and in conjunction with fig. 7, the step S2 specifically includes the following steps S21 to S23:
s21, controlling the unmanned aerial vehicle to fly in a cruising mode to approach the direction of a target ship, keeping the infrared function of an infrared camera on, finding a ship entering a port or leaving the port according to thermal imaging of the infrared camera, confirming the course of the target ship and the target ship, enabling the unmanned aerial vehicle to approach the target ship, finding a ship hull number, shooting, and recording the flight coordinate at the moment;
s22, controlling the unmanned aerial vehicle to fly around the target ship, shooting pictures in real time to clearly show the ship condition, keeping the infrared function on, and confirming the chimney position of the target ship according to the real-time shooting and thermal imaging of the infrared camera;
s23, controlling the unmanned aerial vehicle to fly above a chimney of a target ship, adjusting an infrared camera to look down the target ship, keeping an infrared function on, confirming the trend of emission of smoke plume of the target ship according to real-time shooting and thermal imaging of the infrared camera, and estimating the size of the emission smoke plume.
Further, step S3 specifically includes the following steps S31 to S33:
s31, controlling the unmanned aerial vehicle to land to a position horizontal to the chimney opening, controlling the laser range finder to measure the flying distance between the unmanned aerial vehicle and the chimney, and controlling the unmanned aerial vehicle to adjust the flying distance to the shortest safe distance and keep the same; in this embodiment, the shortest safe distance is 2m, which can be changed according to the field plume condition and the size of the multi-rotor unmanned aerial vehicle;
s32, measuring the flight interval distance between the unmanned aerial vehicle and the chimney again after the set time, and judging whether the target ship is in the navigation process; if yes, calculating the navigation speed of the target ship according to the flight spacing distance and the set time, and controlling the unmanned aerial vehicle to fly again and adjust to the shortest safe distance after the navigation speed is determined; otherwise, controlling the unmanned aerial vehicle to stay at the shortest safe distance;
s33, predicting the flight track of the unmanned aerial vehicle according to the navigation direction, the trend of the discharged smoke plume and the navigation speed of the target ship, and controlling the unmanned aerial vehicle to fly towards the tail of the smoke plume according to the flight track by taking the shortest safe distance as a starting point;
the flight path is positioned on a flight section which is horizontal or vertical to the sea level, and the flight path penetrates through the central points of the at least three smoke plumes in an S shape.
Further, step S4 specifically includes the following steps S41 to S43:
s41, controlling the gas sensor module to measure the concentration of the gas pollutants discharged from the smoke plume in real time, and determining the concentration of the gas pollutants far away from the smoke plume to be background concentration;
in the embodiment of the disclosure, the takeoff point of the unmanned aerial vehicle can be a shore base or a ship base, and an operator starts the gas sensor module to measure the concentration of the gas pollutants at the takeoff point of the unmanned aerial vehicle as the background concentration of the measurement under the condition of confirming that no obvious pollution source exists near the unmanned aerial vehicle; the gas sensor module is started to measure the concentration of ambient gas in real time, and the data transmission module is used for transmitting the sensor detection data to the ground control center according to the resolution of 5 seconds/time, wherein the sensor detection data comprise carbon dioxide sensor measurement data, sulfur dioxide sensor measurement data and corresponding time information and GPS information.
S42, at least three concentration high-value points are selected as smoke plume center points on the flight path according to the change trend of the gas pollutant concentration measured in real time to carry out stay detection;
fig. 8 is a schematic view of a flight trajectory of a drone through a target vessel for discharging a plume according to an exemplary embodiment, and in conjunction with fig. 8, an embodiment of the present disclosure selects a section perpendicular to the sea level as a flight section, an operator manipulates the drone to fly in an S-shape on the selected flight section, selects three high-value concentration points of 1, 2, and 3 as a central point of the plume for stay detection according to online changes in the concentration of the gaseous pollutants, and keeps each stay for at least 30 seconds or other defined time window.
It should be noted that, because the target ship is in the process of sailing, the stop detection in this embodiment refers to controlling the unmanned aerial vehicle to perform flight adjustment according to the course and the sailing speed of the target ship, so that the unmanned aerial vehicle can keep the flight distance from the chimney and stop at the smoke plume center point, rather than stop.
S43, respectively calculating an emission factor of each smoke plume central point according to the concentration of the gas pollutants at the smoke plume central point and the background concentration and an emission factor formula, and judging whether the ship emission is qualified;
in the embodiment of the present disclosure, the emission factor formula is calculated based on a principle of fuel carbon balance, by using a conversion relationship between carbon elements and carbon dioxide in fuel, and by using a concentration of a gas pollutant at a central point of the smoke plume, a concentration difference of carbon dioxide in the background concentration, and a target gas concentration difference, and the emission factor formula is:
wherein EF is the emission factor of the target gas, representing the mass of the target gas produced by combustion of each kilogram of fuel; delta [ polutant]The target gas concentration difference measured in the smoke plume center point and the background environment; delta [ CO2]The carbon dioxide concentration difference measured in the central point of the smoke plume and in the background environment; MWCIs the molecular weight of carbon; MWCO2Is the molecular weight of carbon dioxide; wCIs the carbon content of the fuel oil.
In the embodiment of the disclosure, the emission factor is calculated by combining the principle of carbon balance with the difference between the peak value of the gas pollutant concentration in the smoke plume and the reference value outside the smoke plume, wherein the peak value and the reference value can be determined according to the highest and lowest concentration values, and can also be determined by the average value of the pollutant concentrations in the time windows before and after the occurrence time point of the peak value and the reference value.
With reference to fig. 9, the present embodiment determines that the target gas is sulfur dioxide concentration data measured by a sulfur dioxide sensor, and fig. 9 shows a real-time online effect diagram of an emission factor calculated by carbon dioxide concentration, sulfur dioxide concentration and each smoke plume central point, which are obtained when the unmanned aerial vehicle passes through the smoke plume according to the flight trajectory and stops detecting at the three smoke plume central points.
It should be noted that the sulfur-containing pollutant in the ship exhaust gas can be determined by the concentration of sulfur dioxide, and other sulfur-containing pollutants can also be added, for example, hydrogen sulfide is added in a sensor group to improve the detection accuracy of the sulfur-containing pollutant; the carbon-containing pollutant can be determined by carbon dioxide, and other carbon-containing pollutants can be added, such as carbon monoxide added in a sensor group to improve the detection accuracy of the carbon-containing pollutant.
After the emission factor calculation is finished, an operator judges whether to execute the next detection task according to the field requirement and the residual battery capacity of the unmanned aerial vehicle; otherwise, the unmanned aerial vehicle is controlled to directly return to the flying point, and detection is completed.
Fig. 10 is a schematic structural diagram illustrating a ship emissions detection system according to an exemplary embodiment, which, in conjunction with fig. 10, includes:
a multi-rotor unmanned aerial vehicle 90 on which an infrared camera 91, a laser range finder 92 and a gas sensor module 10 are mounted;
the ground control center 93 is in wireless communication connection with the unmanned aerial vehicle 90, the infrared camera 91, the laser range finder 92 and the gas sensor module 10, and is used for controlling the infrared camera 91 to scan the ship and confirming the position of a chimney of the target ship and the trend of emission smoke plume of the target ship according to the scanned image;
the ground control center 93 is further configured to control the laser range finder to measure a flight interval distance between the unmanned aerial vehicle and the ship chimney, and control the flight of the unmanned aerial vehicle according to the flight interval distance;
the ground control center 93 is further configured to control the gas sensor module to measure the concentration of the gas pollutants in the exhaust plume in real time, and determine whether the ship exhaust is qualified according to the concentration of the gas pollutants.
Further, the ground control center 93 is further configured to:
controlling the laser range finder to measure the flight spacing distance between the unmanned aerial vehicle and the chimney, and controlling the unmanned aerial vehicle to adjust the flight spacing distance to the shortest safe distance and keep the flight spacing distance;
measuring the flight interval distance between the unmanned aerial vehicle and the chimney again after the set time, and calculating the navigation speed of the target ship;
and predicting the flight track of the unmanned aerial vehicle according to the navigation direction, the trend of the discharged smoke plume and the navigation speed of the target ship, and controlling the unmanned aerial vehicle to fly towards the tail part of the smoke plume by taking the shortest safe distance as a starting point according to the flight track.
Further, the ground control center 93 is further configured to:
controlling a gas sensor module to measure the concentration of the gas pollutants discharged from the smoke plume in real time, and determining the concentration of the gas pollutants far away from the smoke plume to be background concentration;
at least three high-value concentration points are selected as smoke plume center points on the flight trajectory for stay detection according to the change trend of the gas pollutant concentration measured in real time;
and respectively calculating the emission factor of each smoke plume central point according to the concentration of the gas pollutants at the smoke plume central point and the background concentration, and judging whether the ship emission is qualified.
In summary, the ship emission detection method and system based on the flight platform provided by the invention have the following beneficial effects:
(1) the unmanned aerial vehicle carries an infrared camera to scan the ship, so that the position of a chimney of a target ship and the trend of emission smoke plume of the target ship are identified in real time, the online rapid adjustment of the flight track of the unmanned aerial vehicle is realized, and the detection efficiency is improved;
(2) the laser range finder carried by the unmanned aerial vehicle is used for measuring the flying distance between the unmanned aerial vehicle and the ship, so that the shortest safe distance between the unmanned aerial vehicle and the chimney is ensured, the distance between the unmanned aerial vehicle and the chimney is kept unchanged when the unmanned aerial vehicle stays in smoke plume, the flying of the unmanned aerial vehicle is accurately controlled, and the detection accuracy is improved;
(3) the multi-rotor unmanned aerial vehicle can stay in the smoke plume and fully contact with the smoke plume, so that more accurate gas pollutant concentration data can be obtained, and the detection precision is improved;
(4) the gas sensor module automatically pumps the gas to be detected into the reaction cavity through the air pump for detection, so that the time for the gas to be detected to reach the reaction surface of the sensor is shortened, and the measurement precision is improved; and the gas sensor module has rich functions, ingenious design and good practicability and economy.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (6)
1. A ship emission detection method based on a flight platform is characterized by comprising the following steps:
providing a multi-rotor unmanned aerial vehicle, wherein an infrared camera, a laser range finder and a gas sensor module are arranged on the unmanned aerial vehicle;
controlling the infrared camera to scan the ship, and confirming the position of a chimney of the target ship and the trend of the emission smoke plume according to the scanned image, wherein the method specifically comprises the following steps: controlling the unmanned aerial vehicle to approach the direction of the target ship, and confirming the target ship and the course of the target ship according to the thermal imaging of the infrared camera; controlling the unmanned aerial vehicle to fly around a target ship, and confirming the position of a chimney of the target ship according to real-time shooting and thermal imaging of the infrared camera; controlling the unmanned aerial vehicle to fly above a chimney of a target ship, and confirming the discharge trend and the size of smoke plume of the target ship according to real-time shooting and thermal imaging of the infrared camera;
control the laser range finder measures the flight interval distance between unmanned aerial vehicle and the boats and ships chimney, and according to flight interval distance control unmanned aerial vehicle's flight specifically includes: controlling the laser range finder to measure the flying distance between the unmanned aerial vehicle and the chimney, and controlling the unmanned aerial vehicle to adjust the flying distance to the shortest safe distance and keep the same; after the set time, controlling the laser range finder to measure the flight interval distance between the unmanned aerial vehicle and the chimney again, and judging whether the target ship is in the navigation process; if so, calculating the navigation speed of the target ship, and controlling the unmanned aerial vehicle to fly to the shortest safe distance again; predicting the flight track of the unmanned aerial vehicle according to the sailing direction of the target ship, the trend of the discharged smoke plume and the sailing speed, and controlling the unmanned aerial vehicle to fly towards the tail of the smoke plume according to the flight track by taking the shortest safe distance as a starting point;
controlling the gas sensor module to measure the concentration of the gas pollutants discharged from the smoke plume in real time, and judging whether the ship is qualified in emission according to the concentration of the gas pollutants, wherein the method specifically comprises the following steps: controlling a gas sensor module to measure the concentration of the gas pollutants in the emission plume in real time, and determining the concentration of the gas pollutants far away from the emission plume as background concentration; at least three high-value concentration points are selected as smoke plume center points on the flight trajectory for stay detection according to the change trend of the gas pollutant concentration measured in real time; and calculating the emission factor of each smoke plume central point according to the concentration of the gas pollutants at the smoke plume central point and the background concentration and an emission factor formula, and judging whether the ship is qualified in emission.
2. The detection method according to claim 1, wherein the gas sensor module comprises:
the reaction chamber is detachably arranged in the shell;
the gas inlet pipe is arranged on the shell and connected with the reaction cavity, and a suction pump is arranged in the reaction cavity and used for sucking gas to be detected into the reaction cavity;
the sensor assembly is arranged in the reaction cavity and comprises a plurality of gas sensors and a signal transmitting plate connected with the gas sensors, and the gas sensors comprise a carbon dioxide sensor and a sulfur dioxide sensor and are used for detecting gas to acquire the concentration of gas pollutants;
and the communication module is arranged on the shell and is electrically connected with the signal transmitting board and used for establishing wireless communication connection and transmitting the data of the concentration of the gas pollutants.
3. The detection method according to claim 1, wherein the controlling the infrared camera to scan the ship and confirm the position of the chimney of the target ship and the trend of the emission plume thereof according to the scanned image comprises:
controlling the unmanned aerial vehicle to approach the direction of the target ship, and confirming the target ship and the course of the target ship according to the thermal imaging of the infrared camera;
controlling the unmanned aerial vehicle to fly around a target ship, and confirming the position of a chimney of the target ship according to real-time shooting and thermal imaging of the infrared camera;
and controlling the unmanned aerial vehicle to fly above a chimney of the target ship, and confirming the discharge trend and the size of the smoke plume of the target ship according to the real-time shooting and thermal imaging of the infrared camera.
4. The detection method according to claim 1, wherein the emission factor is calculated by the formula:
wherein EF is the emission factor of the target gas, representing the mass of the target gas produced by combustion of each kilogram of fuel; delta [ polutant]The target gas concentration difference measured in the smoke plume center point and the background environment; delta [ CO2]The carbon dioxide concentration difference measured in the central point of the smoke plume and in the background environment; MWCIs the molecular weight of carbon; MWCO2Is the molecular weight of carbon dioxide; w is acIs the carbon content of the fuel oil.
5. The detection method according to claim 1, wherein the flight trajectory is located on a flight section horizontal or vertical to sea level, and the flight trajectory passes through the at least three plume center points in an S-shape.
6. A flying platform based marine emissions detection system, comprising:
the system comprises a multi-rotor unmanned aerial vehicle, wherein an infrared camera, a laser range finder and a gas sensor module are installed on the unmanned aerial vehicle;
the ground control center is used for controlling the infrared camera to scan the ship and confirming the position of a chimney of the target ship and the trend of the smoke plume emitted by the chimney according to the scanned image;
ground control center still is used for control the laser range finder measures the flight interval distance between unmanned aerial vehicle and the boats and ships chimney, and according to flight interval distance control unmanned aerial vehicle's flight specifically includes: controlling the laser range finder to measure the flight spacing distance between the unmanned aerial vehicle and the chimney, and controlling the unmanned aerial vehicle to adjust the flight spacing distance to the shortest safe distance and keep the flight spacing distance; after the set time, controlling the laser range finder to measure the flight interval distance between the unmanned aerial vehicle and the chimney again, and judging whether the target ship is in the navigation process; if so, calculating the navigation speed of the target ship, and controlling the unmanned aerial vehicle to fly to the shortest safe distance again; predicting the flight track of the unmanned aerial vehicle according to the navigation direction of the target ship, the trend of the discharged smoke plume and the navigation speed, and controlling the unmanned aerial vehicle to fly towards the tail part of the smoke plume according to the flight track by taking the shortest safe distance as a starting point;
the ground control center is also used for controlling the gas sensor module to measure the concentration of the gas pollutants discharging the smoke plume in real time, and judging whether the ship is qualified in emission according to the concentration of the gas pollutants, and the ground control center specifically comprises: controlling a gas sensor module to measure the concentration of the gas pollutants discharged from the smoke plume in real time, and determining the concentration of the gas pollutants far away from the smoke plume to be background concentration; at least three high-value concentration points are selected as smoke plume center points on the flight trajectory for stay detection according to the change trend of the gas pollutant concentration measured in real time; and calculating the emission factor of each smoke plume central point according to the concentration of the gas pollutants at the smoke plume central point and the background concentration and an emission factor formula, and judging whether the ship is qualified in emission.
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