CN110161192B - Intelligent agricultural all-weather pollutant unmanned aerial vehicle three-dimensional measurement method - Google Patents
Intelligent agricultural all-weather pollutant unmanned aerial vehicle three-dimensional measurement method Download PDFInfo
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- 239000003344 environmental pollutant Substances 0.000 title claims abstract description 105
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- 229910052793 cadmium Inorganic materials 0.000 claims description 36
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- 238000003900 soil pollution Methods 0.000 claims description 4
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Abstract
The invention discloses a three-dimensional measurement method for intelligent agricultural all-weather pollutant unmanned aerial vehicle, belonging to the technical field of pollution monitoring, and providing a method for automatically lifting and lowering uniformly distributed unmanned aerial vehicles in a target crop planting area to perform real-time discrete point sampling along with height change on main pollutant concentrations contained in four natural factors of water source, soil, atmosphere and night illumination in the area, so that the timeliness and the accuracy of the measurement process are ensured to a certain extent, the randomness and the contingency of the pollutant concentrations of different subregions along with the height change or the regional change are avoided, and the intelligent management and control of agricultural planting are facilitated; the method can optimize the effective resource allocation of the crop planting area on pollutant concentration control and decision, provides guarantee for the healthy growth of crops in the environment with multi-pollution source safe concentration, and helps to promote the steady development of intelligent agriculture.
Description
Technical Field
The invention belongs to the technical field of pollution monitoring, relates to crop-oriented multi-type pollutant mixed measurement, and particularly relates to an intelligent agricultural all-weather pollutant unmanned aerial vehicle three-dimensional measurement method.
Background
Wisdom agriculture is as the latest development direction of agricultural production, and technologies such as emerging cloud computing, thing networking, big data rely on agricultural production environment to fuse in an organic whole, have realized intelligent perception, intelligent early warning, intelligent decision-making, the intelligent analysis of agricultural production process, provide the guide for agricultural production.
At present, the intelligent agriculture realizes important breakthrough in the field of automatic monitoring of various environmental factors such as soil moisture, environmental temperature and humidity, illumination intensity and the like, the natural factors closely related to crop growth are collected and monitored in real time according to sensing nodes widely distributed in an agricultural production area, multi-factor collected data are analyzed, and decision-making basis is provided for control means such as automatic irrigation, automatic cooling, automatic fertilization and the like in an agricultural park. However, considering that pollutants generated by various natural factors such as soil, moisture, atmospheric environment, light pollution and the like can have a significant influence on the growth of crops, mixed measurement of various pollution sources is not realized at present, and a single fixed measurement mode has greater redundancy and difference.
Disclosure of Invention
The invention aims to provide an intelligent agricultural all-weather pollutant unmanned aerial vehicle three-dimensional measurement method, which realizes three-dimensional layered automatic measurement of the concentration of pollutants of various crop growth influencing factors in a certain crop planting area, provides guarantee based on natural environment factors for healthy growth of crops in a target planting area, and promotes the automatic and intelligent development of agricultural production.
In order to achieve the purpose, the invention provides the following technical scheme:
the invention provides a three-dimensional measurement method for intelligent agricultural all-weather pollutant unmanned aerial vehicle, which comprises the following steps:
(1) according to the sequence of water pollution, soil pollution, atmospheric pollution and light pollution, an intelligent agricultural regional space three-dimensional pollutant layered measurement network is constructed from low level and high level, and the pollutant types of each level are respectively selected as follows: oil concentration C in Water contaminantsoilConcentration C of heavy metal cadmium in soil pollutantsCdSO in atmospheric pollutants2Concentration CSO2Night illumination intensity Eav in the photopollutants;
(2) divide target crop planting area into a plurality of subregions, every subregion configuration two unmanned aerial vehicle pollutant measuring device, unmanned aerial vehicle pollutant measuring device I below is carried and is had oily concentration sensor, cadmium concentration sensor, and the top is carried and is had SO2Concentration sensor, unmanned aerial vehicle pollutant measuring device II top carries with SO2A concentration sensor, an illumination intensity sensor;
(3) in each crop planting subregion, daytime period, at first unmanned aerial vehicle pollutant measuring device I is in the state of hovering, controls off-ground height and is h0Using an oil concentration sensor and a cadmium concentrationThe degree sensor collects the oil concentration in the water source and the Cd concentration in the soil, then the unmanned aerial vehicle is controlled to independently lift, and SO is utilized2Concentration sensor for measuring near-surface SO2Concentration;
in the night period, collecting the oil concentration in a water source and the Cd concentration in soil by using an oil concentration sensor and a cadmium concentration sensor on a pollutant measuring device I of the unmanned aerial vehicle;
(4) in each crop planting subregion, in daytime, the unmanned aerial vehicle pollutant measuring device II is in a hovering state firstly, and the height from the ground is controlled to be h0+ delta h, then control unmanned aerial vehicle independently to go up and down, utilize SO2Concentration sensor for measuring far ground SO2Concentration;
in the night period, the unmanned aerial vehicle pollutant measuring device II is lifted automatically, and the illumination intensity Eav of the roots, stems and leaves of the crops is measured by using an illumination intensity sensor;
(5) the oil content concentration, cadmium concentration and SO collected in the steps (3) to (4)2Labeling the concentration and the night illumination intensity to obtain an oil concentration sequence in a water source of a target crop planting area, a heavy metal cadmium concentration sequence in soil and an atmospheric pollutant SO2Concentration sequence, night illumination intensity sequence.
In one embodiment, in the step (2), an oil concentration sensor and a cadmium concentration sensor are arranged below the unmanned aerial vehicle pollutant measuring device I, and an SO is arranged above the unmanned aerial vehicle pollutant measuring device I2Concentration sensor, unmanned aerial vehicle pollutant measuring device II top carries on SO2A concentration sensor and an illumination intensity sensor.
In a specific embodiment, in the steps (3) and (4), the time period of the day is 6: 00-18: 00, and the time period of the night is 18: 00-6: 00 on the next day.
In one embodiment, in step (3), h0Is less than or equal to the smaller value of the measurement lengths of the oil concentration sensor and the cadmium concentration sensor.
In one embodiment, in step (3), the daytime period is specifically:
in each crop planting subregion, 3 sensors that unmanned aerial vehicle pollutant measuring device I carried on are all opened, and unmanned aerial vehicle is in and is h apart from ground height0The suspension state, the oil concentration in the water source and the Cd concentration in the soil are collected by the oil concentration sensor and the cadmium concentration sensor at the moment, the sampling period is delta t, and SO above the unmanned aerial vehicle2The concentration sensor synchronously collects SO in the atmosphere at the height2The concentration and sampling period are delta t/4, after the collection at the moment t is finished, the unmanned aerial vehicle pollutant measuring device I starts to rise at a constant speed, and SO is collected once every delta t/42Concentration, collecting SO at t + Deltat/22After the concentration, the unmanned aerial vehicle pollutant measuring device I starts to descend at a constant speed until the unmanned aerial vehicle pollutant measuring device I descends to an initial position h at the moment of t + delta t0Hovering, recording the height difference between two acquisition points as delta h, keeping the oil concentration sensor and the cadmium concentration sensor in a closed state all the time in the lifting process of the unmanned aerial vehicle, and keeping SO in the descending process2The concentration sensor is in the off state and 3 sensors are all turned on again at the same time at time t + Δ t.
In one embodiment, in the step (3), in the night period, the oil concentration sensor and the cadmium concentration sensor of the unmanned aerial vehicle pollutant measuring device I are still in an open state to normally work, and the SO2The concentration sensor is closed, the unmanned aerial vehicle pollutant measuring device I is in a hovering state, and the height from the ground is controlled to be h0The sampling period is Δ t.
In one embodiment, in step (4), during the daytime, the off-ground SO is measured2Concentration, achieved by:
the initial height of the unmanned aerial vehicle pollutant measuring device II is h0+ Δ h (Δ h is the height difference between the two initial sampling points of the drone), SO2The concentration sensor is in an open state and starts to measure and collect SO in the current altitude atmosphere2Concentration, the light intensity sensor is in the closed state;
after sampling is finished at time t, the pollutant measuring device II of the unmanned aerial vehicle starts to rise at a constant speed, and SO2The sampling period of the sensor is delta t/4, and the height between two acquisition pointsThe degree difference is delta h, the sampling height is 12 delta h, namely the unmanned aerial vehicle pollutant measuring device II reaches the highest point after the time period of 3 delta t, the unmanned aerial vehicle pollutant measuring device II starts to descend at a constant speed after the collection at the moment of t +3 delta t is finished, and SO is carried out at the same collection point in the descending process2The concentration is the same, the height is collected for the second time, the sampling period is delta t/4, and the unmanned aerial vehicle pollutant measuring device II returns to the initial position h until t +6 delta t0+ Δ h, SO collected at this location2The above process is repeated cyclically after concentration.
In one embodiment, in the step (4), the illumination intensity Eav of the roots, stems and leaves of the crops is measured during the night period by:
the initial height of the unmanned aerial vehicle pollutant measuring device II is h0+ delta h, SO of unmanned aerial vehicle pollutant measuring device II2The concentration sensor is closed, and the illumination intensity sensor is opened;
acquiring the average heights of the root, the middle section of the stem and the leaf of the main crop in the target crop planting area according to the priori knowledge, and respectively recording the average heights as Hroot、Hstem、Hleaf(ii) a Unmanned aerial vehicle pollutant measuring device II rapidly rises to H at initial night time TrootPosition, the illumination intensity sensor starts to collect the night illumination intensity Eav of the height positionHrootAt a velocity v after the acquisition is completed1Start to rise to HstemThe night illumination intensity Eav of the height position is collected when the position is reachedHstemAt a velocity v after the acquisition is completed2Continuously rises to HleafPosition and start to collect the night illumination intensity Eav of the height positionHleafAfter the collection is finished, the unmanned aerial vehicle pollutant measuring device II begins to descend, the descending process is divided into two stages, and the first stage is at a speed v2Down to HstemPosition, second stage at speed v1Down to HrootAnd then the above process is repeated circularly.
In one embodiment, in step (4), the velocity v1And velocity v2The relationship of (1) is:
in one embodiment, in the step (5), the labeling process specifically includes:
the oil concentration sample in the water source of the target crop planting area obtained by the oil concentration sensor under the condition that the sampling period is delta t is as follows:
the heavy metal cadmium concentration sample in the soil of the target crop planting area, which is obtained by the cadmium concentration sensor under the condition that the sampling period is delta t, is as follows:
SO2the concentration sensor has a sampling height hiAnd the sampling period is delta t/4 to obtain SO in the atmosphere of the target crop planting area2The concentration samples were:
the illumination intensity sensor has a sampling height of HkAnd the night illumination intensity sample of the target crop planting area obtained under the condition that the sampling period is delta T is as follows:
the invention has the following beneficial technical effects:
the invention provides a method for automatically lifting and lowering uniformly distributed unmanned aerial vehicles in a target crop planting area to sample the main pollutant concentrations contained in four natural factors including water source, soil, atmosphere and illumination in the area in real time discrete points along with the height change, thereby ensuring the timeliness and the accuracy of the measurement process to a certain extent, avoiding the randomness and the contingency of the pollutant concentrations of different subregions along with the height change or the regional change and being beneficial to the intelligent management and control of agricultural planting.
Aiming at four pollution sources of water pollution, soil pollution, atmospheric pollution and light pollution related to the crop production process, the invention utilizes the autonomous lifting of the unmanned aerial vehicle to stably measure and collect the concentrations of various pollution sources at different height levels, and constructs the three-dimensional measurement method of the intelligent agricultural all-weather pollutant unmanned aerial vehicle. The method can optimize the effective resource allocation of the crop planting area on pollutant concentration control and decision, provides guarantee for the healthy growth of crops in the environment with multiple pollution sources and safe concentration, and helps to promote the steady development of intelligent agriculture.
Drawings
FIG. 1 is a schematic flow chart of a three-dimensional measurement method of all-weather pollutants in intelligent agriculture by an unmanned aerial vehicle.
Fig. 2 is a diagram of the result of partitioning the sub-areas distributed by the unmanned aerial vehicle.
Fig. 3 is a schematic structural diagram of a sensor mounted on the measurement device of the unmanned aerial vehicle.
Fig. 4 is a diagram of the unmanned aerial vehicle autonomous lifting measurement process.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by those skilled in the art without any creative work based on the embodiments of the present invention belong to the protection scope of the present invention.
The invention is described in detail below with reference to specific embodiments and the attached drawing figures:
the embodiment of the invention provides a three-dimensional measurement method for intelligent agricultural all-weather pollutant unmanned aerial vehicle, as shown in fig. 1, comprising the following steps:
step one, constructing an intelligent agricultural regional space three-dimensional pollutant layered measurement network from low to high according to the sequence of water pollution, soil pollution, atmospheric pollution and light pollution, wherein the pollutant types of each layer are respectively selected as follows: water (W)Oil concentration in contaminants CoilConcentration C of heavy metal cadmium in soil pollutantsCdSO in atmospheric pollutants2Concentration CSO2Night illumination intensity Eav in the photopollutants;
step two, dividing the target crop planting area into a plurality of sub-areas, configuring two unmanned aerial vehicle pollutant measuring devices in each sub-area, carrying an oil content concentration sensor and a cadmium concentration sensor below the unmanned aerial vehicle pollutant measuring device I, and carrying an SO above the unmanned aerial vehicle pollutant measuring device I2Concentration sensor, unmanned aerial vehicle pollutant measuring device II carries on SO2A concentration sensor and an illumination intensity sensor; the result of the division of the sub-areas distributed by the unmanned aerial vehicle is shown in fig. 2, and the structure of the sensor carried by the unmanned aerial vehicle measuring device is shown in fig. 3;
step three, in each crop planting sub-area, all 3 sensors carried by the unmanned aerial vehicle pollutant measuring device I are started at the daytime (the daytime is 6: 00-18: 00, and the nighttime is 18: 00-6: 00 in the next day), and the unmanned aerial vehicle is positioned at the height h away from the ground0Hovering state (h)0Less than or equal to the smaller value of the measurement length of the oil concentration sensor and the cadmium concentration sensor), at the moment, the oil concentration sensor and the cadmium concentration sensor collect the oil concentration in the water source and the Cd concentration in the soil, the sampling period is delta t, and the SO above the unmanned aerial vehicle is2The concentration sensor synchronously collects SO in the atmosphere at the height2The concentration and sampling period are delta t/4, after the collection at the moment t is finished, the unmanned aerial vehicle pollutant measuring device I starts to rise at a constant speed, and SO is collected once every delta t/42Concentration, collecting SO at t + Deltat/22After the concentration, the unmanned aerial vehicle pollutant measuring device I starts to descend at a constant speed until the unmanned aerial vehicle pollutant measuring device I descends to an initial position h at the moment of t + delta t0Hovering, recording the height difference between two acquisition points as delta h, keeping the oil concentration sensor and the cadmium concentration sensor in a closed state all the time in the lifting process of the unmanned aerial vehicle, and keeping SO in the descending process2The concentration sensor is in a closed state, and 3 sensors are all turned on again at the same time at the moment of t + delta t;
night time period, unmanned aerial vehicle pollutant surveyThe oil concentration sensor and the cadmium concentration sensor of the measuring device I still work normally in an opening state, and the SO2The concentration sensor is closed, the unmanned aerial vehicle pollutant measuring device I is always in a hovering state, and the height from the ground is controlled to be h0The sampling period is delta t;
step four, in each crop planting subregion, the time period of daytime, II initial height of unmanned aerial vehicle pollutant measuring device are h0+ Δ h (Δ h is the height difference between the two initial sampling points of the drone), SO2The concentration sensor is in an open state and starts to measure and collect SO in the current altitude atmosphere2Concentration, the light intensity sensor is in the closed state;
after sampling is finished at time t, the pollutant measuring device II of the unmanned aerial vehicle starts to rise at a constant speed, and SO2The sampling period of the sensor is delta t/4, the height difference between two acquisition points is delta h, the sampling height is 12 delta h, namely the unmanned aerial vehicle pollutant measuring device II reaches the highest point after the time period of 3 delta t, the unmanned aerial vehicle pollutant measuring device II starts to descend at a constant speed after the acquisition is finished at the moment of t +3 delta t, and SO is carried out at the same acquisition point in the descending process2The concentration is the same, the height is collected for the second time, the sampling period is delta t/4, and the unmanned aerial vehicle pollutant measuring device II returns to the initial position h until t +6 delta t0+ Δ h, SO collected at this location2Circularly repeating the process after concentration;
at night, the initial height of the unmanned aerial vehicle pollutant measuring device II is h0+ delta h, SO of unmanned aerial vehicle pollutant measuring device II2The concentration sensor is closed, and the illumination intensity sensor is opened;
acquiring the average heights of the root, the middle section of the stem and the leaf of the main crop in the target crop planting area according to the priori knowledge, and respectively recording the average heights as Hroot、Hstem、Hleaf(ii) a Unmanned aerial vehicle pollutant measuring device II rapidly rises to H at initial night time TrootPosition, the illumination intensity sensor starts to collect the night illumination intensity Eav of the height positionHrootAt a velocity v after the acquisition is completed1Start to rise to HstemStarting to acquire the height position at the time of positionIllumination intensity Eav at nightHstemAt a velocity v after the acquisition is completed2Continuously rises to HleafPosition and start to collect the night illumination intensity Eav of the height positionHleafAfter the collection is finished, the unmanned aerial vehicle pollutant measuring device II begins to descend, the descending process is divided into two stages, and the first stage is at a speed v2Down to HstemPosition, second stage at speed v1Down to HrootThe position is determined, the process is repeated in a circulating mode, and the unmanned aerial vehicle autonomous lifting measurement process in the third step and the fourth step is shown in the figure 4;
wherein the velocity v1And velocity v2The relationship of (1) is:
step five, comparing the oil content concentration, cadmium concentration and SO collected in the step three and the step four2Labeling the concentration and the night illumination intensity to obtain an oil concentration sequence in a water source of a target crop planting area, a heavy metal cadmium concentration sequence in soil and an atmospheric pollutant SO2Concentration sequence, night light intensity sequence:
the oil concentration sample in the water source of the target crop planting area obtained by the oil concentration sensor under the condition that the sampling period is delta t is as follows:
the heavy metal cadmium concentration sample in the soil of the target crop planting area, which is obtained by the cadmium concentration sensor under the condition that the sampling period is delta t, is as follows:
SO2the concentration sensor has a sampling height hiAnd the sampling period is delta t/4 to obtain SO in the atmosphere of the target crop planting area2The concentration samples were:
the illumination intensity sensor has a sampling height of HkAnd the night illumination intensity sample of the target crop planting area obtained under the condition that the sampling period is delta T is as follows:
the above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. An intelligent agricultural all-weather pollutant unmanned aerial vehicle three-dimensional measurement method is characterized by comprising the following steps:
(1) according to the sequence of water pollution, soil pollution, atmospheric pollution and light pollution, an intelligent agricultural regional space three-dimensional pollutant layered measurement network is constructed from low level and high level, and the pollutant types of each level are respectively selected as follows: oil concentration C in Water contaminantsoilConcentration C of heavy metal cadmium in soil pollutantsCdSO in atmospheric pollutants2Concentration CSO2Night illumination intensity Eav in the photopollutants;
(2) divide target crop planting area into a plurality of subregions, every subregion configuration two unmanned aerial vehicle pollutant measuring device, unmanned aerial vehicle pollutant measuring device I below is carried and is had oily concentration sensor, cadmium concentration sensor, and the top is carried and is had SO2Concentration sensor, unmanned aerial vehicle pollutant measuring device II top carries with SO2A concentration sensor, an illumination intensity sensor;
(3) in each crop planting subregion, daytime period, at first unmanned aerial vehicle pollutant measuring device I is in the state of hovering, controls off-ground height and is h0Oil concentration sensor and cadmium concentration sensor are used for oil concentration in water sourceThe concentration and the concentration of Cd in the soil are collected, then the unmanned aerial vehicle is controlled to independently lift, and SO is utilized2Concentration sensor for measuring near-surface SO2Concentration;
in the night period, collecting the oil concentration in a water source and the Cd concentration in soil by using an oil concentration sensor and a cadmium concentration sensor on a pollutant measuring device I of the unmanned aerial vehicle;
(4) in each crop planting subregion, in daytime, the unmanned aerial vehicle pollutant measuring device II is in a hovering state firstly, and the height from the ground is controlled to be h0+ delta h, then control unmanned aerial vehicle independently to go up and down, utilize SO2Concentration sensor for measuring far ground SO2Concentration;
in the night period, the unmanned aerial vehicle pollutant measuring device II is lifted automatically, and the illumination intensity Eav of the roots, stems and leaves of the crops is measured by using an illumination intensity sensor;
(5) the oil content concentration, cadmium concentration and SO collected in the steps (3) to (4)2Labeling the concentration and the night illumination intensity to obtain an oil concentration sequence in a water source of a target crop planting area, a heavy metal cadmium concentration sequence in soil and an atmospheric pollutant SO2Concentration sequence and night illumination intensity sequence;
in the step (4), measuring the remote ground SO in the daytime2Concentration, achieved by:
the initial height of the unmanned aerial vehicle pollutant measuring device II is h0+Δh，SO2The concentration sensor is in an open state and starts to measure and collect SO in the current altitude atmosphere2Concentration, the light intensity sensor is in the closed state;
after sampling is finished at time t, the pollutant measuring device II of the unmanned aerial vehicle starts to rise at a constant speed, and SO2The sampling period of the sensor is delta t/4, the height difference between two acquisition points is delta h, the sampling height is 12 delta h, namely the unmanned aerial vehicle pollutant measuring device II reaches the highest point after the time period of 3 delta t, the unmanned aerial vehicle pollutant measuring device II starts to descend at a constant speed after the acquisition is finished at the moment of t +3 delta t, and SO is carried out at the same acquisition point in the descending process2The concentration is the same, the height is collected for two times, and the sampling period is the sameThe sample is delta t/4, and the unmanned aerial vehicle pollutant measuring device II returns to the initial position h until t +6 delta t0+ Δ h, SO collected at this location2Circularly repeating the process after concentration;
in the step (4), at night, the illumination intensity Eav of the roots, stems and leaves of the crops is measured, and the method is realized in the following mode:
the initial height of the unmanned aerial vehicle pollutant measuring device II is h0+ delta h, SO of unmanned aerial vehicle pollutant measuring device II2The concentration sensor is closed, and the illumination intensity sensor is opened;
acquiring the average heights of the root, the middle section of the stem and the leaf of the main crop in the target crop planting area according to the priori knowledge, and respectively recording the average heights as Hroot、Hstem、Hleaf(ii) a Unmanned aerial vehicle pollutant measuring device II rapidly rises to H at initial night time TrootPosition, the illumination intensity sensor starts to collect the night illumination intensity Eav of the height positionHrootAt a velocity v after the acquisition is completed1Start to rise to HstemThe night illumination intensity Eav of the height position is collected when the position is reachedHstemAt a velocity v after the acquisition is completed2Continuously rises to HleafPosition and start to collect the night illumination intensity Eav of the height positionHleafAfter the collection is finished, the unmanned aerial vehicle pollutant measuring device II begins to descend, the descending process is divided into two stages, and the first stage is at a speed v2Down to HstemPosition, second stage at speed v1Down to HrootPositioning, and then circularly repeating the process;
in step (4), velocity v1And velocity v2The relationship of (1) is:
2. the method according to claim 1, wherein in step (2), a pollutant measuring device of the unmanned aerial vehicle is mounted below the pollutant measuring device IAn oil concentration sensor and a cadmium concentration sensor, an SO is mounted above the sensor2Concentration sensor, unmanned aerial vehicle pollutant measuring device II top carries on SO2A concentration sensor and an illumination intensity sensor.
3. The intelligent agricultural all-weather pollutant unmanned aerial vehicle three-dimensional measurement method according to claim 1, characterized in that in the steps (3) and (4), the time period in the daytime is 6: 00-18: 00, and the time period in the nighttime is 18: 00-6: 00 on the next day.
4. The intelligent agricultural all-weather pollutant unmanned aerial vehicle three-dimensional measurement method according to claim 1, wherein in the step (3), h is0Is less than or equal to the smaller value of the measurement lengths of the oil concentration sensor and the cadmium concentration sensor.
5. The intelligent agricultural all-weather pollutant unmanned aerial vehicle three-dimensional measurement method according to claim 2, wherein in the step (3), during the daytime period, the method specifically comprises the following steps:
in each crop planting subregion, 3 sensors that unmanned aerial vehicle pollutant measuring device I carried on are all opened, and unmanned aerial vehicle is in and is h apart from ground height0The suspension state, the oil concentration in the water source and the Cd concentration in the soil are collected by the oil concentration sensor and the cadmium concentration sensor at the moment, the sampling period is delta t, and SO above the unmanned aerial vehicle2The concentration sensor synchronously collects SO in the atmosphere at the height2The concentration and sampling period are delta t/4, after the collection at the moment t is finished, the unmanned aerial vehicle pollutant measuring device I starts to rise at a constant speed, and SO is collected once every delta t/42Concentration, collecting SO at t + Deltat/22After the concentration, the unmanned aerial vehicle pollutant measuring device I starts to descend at a constant speed until the unmanned aerial vehicle pollutant measuring device I descends to an initial position h at the moment of t + delta t0Hovering, recording the height difference between two acquisition points as delta h, keeping the oil concentration sensor and the cadmium concentration sensor in a closed state all the time in the lifting process of the unmanned aerial vehicle, and keeping SO in the descending process2Concentration sensor is in off state, 3 sensorsAre all turned on again at the same time at time t + at.
6. The intelligent agricultural all-weather pollutant unmanned aerial vehicle three-dimensional measurement method according to claim 1, wherein in the step (3), during the night period, the oil concentration sensor and the cadmium concentration sensor of the pollutant measurement device I of the unmanned aerial vehicle are still in an open state and normally work, and the SO is performed2The concentration sensor is closed, the unmanned aerial vehicle pollutant measuring device I is in a hovering state, and the height from the ground is controlled to be h0The sampling period is Δ t.
7. The intelligent agricultural all-weather pollutant unmanned aerial vehicle three-dimensional measurement method according to claim 1, wherein in the step (5), the labeling processing is specifically as follows:
the oil concentration sample in the water source of the target crop planting area obtained by the oil concentration sensor under the condition that the sampling period is delta t is as follows:
the heavy metal cadmium concentration sample in the soil of the target crop planting area, which is obtained by the cadmium concentration sensor under the condition that the sampling period is delta t, is as follows:
SO2the concentration sensor has a sampling height hiAnd the sampling period is delta t/4 to obtain SO in the atmosphere of the target crop planting area2The concentration samples were:
the illumination intensity sensor has a sampling height of HkAnd the night illumination intensity sample of the target crop planting area obtained under the condition that the sampling period is delta T is as follows:
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