CN110308023A - Airborne vertical observation system and sampling method of aerosol particles based on UAV - Google Patents

Abstract

The invention discloses a vertical observation system and a sampling method for aerosol particles carried by a UAV. The system includes a UAV airborne platform system, a UAV ground control platform, a ground data collection and processing center system, and a ground data collection comparison system; Sampling methods include using a four-blade propeller light drone, carrying a portable laser pump aerosol particle parameter measuring instrument, a variety of meteorological sensors and optical image recording devices, and automatically hovering and flying according to a preset altitude and route. It can continuously measure the mass concentration and number concentration of vertical atmospheric aerosol particles in a specific target airspace, as well as atmospheric environmental parameters such as temperature, pressure, humidity, and optical image data, and send the collected data to the ground data collection and processing center through a wireless protocol. After performing quality control with the ground data collection and comparison system, the data display, analysis and processing are completed. The whole system is compact in structure, easy to control and adjust, high in system stability and low in cost.

Description

Airborne vertical observation system and sampling method of aerosol particles based on UAV

technical field

The invention relates to the field of meteorology, in particular to an aerosol particle vertical observation system and sampling method based on an unmanned aerial vehicle.

Background technique

With the acceleration of urbanization, the pressure of urban life, production and transportation is increasing, and urban air quality is also affected in different degrees. The decline of air quality can affect the performance of urban functions and cause serious harm to residents' life, production activities and health. Atmospheric aerosol refers to a stable mixed system composed of solid and liquid particles dispersed in the atmosphere, and the particle diameter is generally between 0.001-100. Aerosols play an important role in the overall atmospheric radiation balance. Aerosols have a greater impact on precipitation, hail and haze by absorbing and scattering solar radiation. Regarding the observation of aerosol particles, conventional observations mainly rely on the ground monitoring system, which is generally limited to below 20-30m near the ground, relying on technical methods such as point-type automatic online analysis instruments or the integration of the entire atmosphere, due to the limitation of the number of stations , these observation instruments have limitations in time and space scales, and the spatial resolution of the reflected aerosol concentration monitoring is far from meeting the requirements.

In recent years, vertical observation technologies for unconventional atmospheric pollutants such as manned aircraft, sounding balloons, airships, meteorological iron towers, lidar, and satellite remote sensing technology have been gradually applied. The relationship between transport mechanism, pollution and boundary layer provides research conditions. However, these methods have problems such as high experimental cost, poor human controllability, limited three-dimensional space measurement range or uncertainty of data inversion results, making it difficult to be widely used. As an emerging environmental monitoring carrier, drones can flexibly adjust flight routes according to needs, and realize continuous operations at different heights in the vertical direction and different distances in the horizontal direction. Foreign countries used UAV technology to carry out three-dimensional observation and exploration of air pollution earlier, such as studying the concentration and light absorption characteristics of atmospheric pollutants such as cloud aerosols and black carbon, and the research initially verified the air pollution data collection platform based on UAV technology reliability. However, vertical aerosol particle observation using UAV airborne monitoring equipment is still in its infancy in China.

Contents of the invention

The purpose of the present invention is to overcome the above-mentioned problems and provide a vertical observation system and sampling method for aerosol particles based on the UAV.

In order to achieve the above object, the method adopted in the present invention is: a vertical observation system for aerosol particles carried by a UAV, including a UAV airborne platform system, a UAV ground control platform, a ground data acquisition and processing center system and Ground data collection and comparison system;

The UAV airborne platform system is used for precise hovering low-altitude vertical observation, and at the same time collects optical images, aerosol particles and meteorological parameter data at different heights, and transmits them to the ground data collection and processing center system in real time through short-distance wireless transmission. Detect data, and transmit real-time monitoring mission flight status data to the UAV ground operation platform;

The unmanned aerial vehicle ground control platform is used for real-time control of unmanned aerial vehicles; it is used for mission planning and input of flight parameters, and the flight parameters include flight area, flight altitude and frequency; it is used for receiving flight status data in real time;

The ground data collection and processing center system is used for collection, analysis and processing of various types of detection data, and obtains data on mass concentration and number concentration of aerosol particles at different vertical heights, distribution data of meteorological parameters such as wind, air pressure, temperature and humidity; Collect and compare the data collected by the system and the data collected by the drone for data quality control; perform image recognition processing on optical images at different vertical heights, and obtain the visibility data based on image recognition in the vertical and horizontal directions at different heights in the monitoring area;

The ground data collection and comparison system collects data from ground observation stations, atmospheric components, radiosondes, etc. in the same area, and transmits them to the ground data collection center for analysis and comparison.

As an improvement of the present invention, the UAV airborne platform system includes an image recording device, a cloud platform, a meteorological element sensor, an aerosol particle sampling device and a data transmission module.

As an improvement of the present invention, the image recording device and the pan/tilt are installed directly below the UAV airborne platform system for obtaining visibility data based on image recognition in the vertical and horizontal directions;

As an improvement of the present invention, the meteorological element sensors include temperature, humidity, and air pressure sensors;

As an improvement of the present invention, the aerosol particle sampling device has a built-in powerful air pump to inhale gas, and uses backscattering to detect aerosol particles, which includes a laser generation module, a photoelectric detection module, a photoelectric conversion module, a flow monitoring module, Flow adjustment module, air pump, filter, control module, interface module, communication module and display module.

As an improvement of the present invention, the data transmission module is used to wirelessly transmit the detected data to the ground data collection and processing center system and the remote server.

As an improvement of the present invention, the UAV ground control platform includes a flight control module, which is used to control the aircraft to carry out precise low-altitude hovering flight; a mission planning module, which is used to input flight parameters before each flight mission, The flight parameters include: flight area, flight altitude and frequency; task monitoring module, used for real-time monitoring of aircraft working status during flight; data collection, storage and transmission module, used for coordinate information such as latitude and longitude, altitude and height of drones. Real-time collection and storage in the storage module.

As an improvement of the present invention, the ground data collection and processing center system includes:

The data receiving and storage module receives real-time data from the UAV airborne platform system and comparative analysis data from the ground data collection and comparison system;

The data preprocessing module is used to classify, export, regularize, and correct the received data, and obtain time series and different height classification data; the data quality control module uses quality control algorithms and algorithms based on image recognition to obtain the time after quality control Sequential and highly disaggregated data and visibility data;

The data analysis module is used to obtain the correlation between the mass concentration and number concentration of aerosol particles and the height, temperature and humidity by using the linear fitting method, and is used to analyze the distribution trend of the mass concentration and number concentration of aerosol particles at different heights and the relationship between them. The relationship between relevant meteorological parameters; use the algorithm based on image recognition to analyze the vertical distribution data of visibility, draw the vertical distribution curve of aerosol particles and atmospheric visibility; compare and analyze the data with the ground automatic station, atmospheric composition station and radiosonde station in the same area ;

The data display module is used to display, store, query and generate reports for the data generated by the data analysis module.

As an improvement of the present invention, the ground data collection and comparison system includes: a ground meteorological automatic station, which collects ground meteorological elements in the same area; an atmospheric composition station, which collects atmospheric composition parameters near the ground; a radiosonde, which is responsible for detecting Meteorological elements of vertical height.

The invention also discloses a method for vertical observation and sampling of airborne aerosol particles, comprising the following steps:

(1) Based on a haze weather process, select the sampling location and time, and make preparations for vertical sampling observation;

(2) Expand the UAV airborne platform system, equipped with an image recording device, a gimbal, a meteorological element sensor, an aerosol particle sampling device and a data transmission module. The control platform confirms that the status of the flight system is normal;

(3) Conduct static power-on debugging, calibrate the position of the image recording device, the meteorological element sensor and the aerosol particle sampling device;

(4) Plan the line marking and flight height through the ground control platform of the UAV, and set the route to rise vertically layer by layer. 500m hovering at ten altitudes for data collection, when the execution of this altitude is completed, climb 50 m to the next altitude, and the sampling time of each hover is 30s;

(5) UAVs take off to conduct low-altitude vertical sampling observations, synchronously collect meteorological element data at different heights, and transmit detected data to the ground data collection and processing center system in real time through remote wireless transmission, and monitor the mission flight status in real time;

(6) The ground data acquisition and processing center system obtains the comparison data of the ground data acquisition and comparison system, compares it with the real-time transmission detection data, performs denoising, correction and fitting processing on various detection data, and obtains aerosol particles at different heights , air pressure, temperature, humidity distribution data;

(7) Use image recognition-based algorithms to analyze the vertical distribution data of visibility, and draw vertical distribution curves of aerosol particles and atmospheric visibility.

Beneficial effect:

1. The present invention is small in size, easy to carry, can realize low aerosol particle sampling, and can control its flying height and spatial position through a handheld wireless remote control, which solves the problem that the existing atmospheric aerosol sampling device cannot be moved, and the collected samples may Problems affected by the environment such as surface buildings and trees.

2. The sampling period of the present invention is short, which can realize high-real-time automatic monitoring, sampling and recording of atmospheric aerosols, and can effectively make up for the lack of vertical monitoring means for atmospheric aerosol particles at present.

3. The whole system has a compact structure, is easy to control and adjust, and has high system stability. It provides a mobile, efficient, and low-cost new way to detect air pollution and the environment for atmospheric environment monitoring.

Description of drawings

Fig. 1 The general block diagram of the UAV airborne atmospheric aerosol sampling device system.

Fig. 2 Structural block diagram of the sampling device for atmospheric aerosol particle concentration.

Fig. 3 Flowchart of sampling method for vertical observation of airborne aerosol particles.

Detailed ways

The present invention will be further illustrated below in conjunction with the accompanying drawings and specific embodiments. This embodiment is implemented on the premise of the technical solution of the present invention. It should be understood that these embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention.

As shown in Figure 1, the UAV airborne atmospheric aerosol particle vertical observation system provided by the present invention consists of a UAV airborne platform system 1, a UAV ground control platform 2, a ground data acquisition and processing center system 5, Composed of ground data collection and comparison system 3 and server-side user 4, it can continuously measure the mass concentration and number concentration of vertical atmospheric aerosol particles in a specific target airspace, as well as atmospheric environmental parameters such as temperature, pressure, humidity, wind direction and wind speed, and optical image data, and The collected data is sent to the ground data collection and processing center through the wireless protocol to complete the display of the data. The system includes:

The multi-rotor UAV airborne platform system performs precise hovering low-altitude vertical observation, simultaneously collects optical images, aerosol particles and meteorological parameter data at different heights, and transmits detection data to the ground data collection and processing center system in real time through short-distance wireless transmission. , and transmit the flight status data of the real-time monitoring mission to the ground operation platform of the UAV, and at the same time have the capability of long-distance data transmission.

Choose INSPIRE 2 multi-rotor unmanned helicopter. The UAV is a professional quadcopter produced by Shenzhen Dajiang Innovation Technology Co., Ltd., with a flight load of 4kg, a maximum speed of 6m/s, a maximum horizontal speed of 108km/h, a wheelbase of 605mm, a battery life of 27min, and precise hovering , the characteristics of constant speed cruising.

In order to obtain meteorological element data, the multi-rotor UAV airborne platform system is equipped with meteorological element sensors. In terms of temperature and humidity, the DHT11 temperature and humidity sensor is used, because of its mature technology, low cost, small error, strong anti-interference ability and other advantages, it is widely used in various fields. In terms of air pressure, the BMP180 air pressure sensor produced by Bosch, Germany is used. BMP180 is chosen because of low power, small size, light weight, good stability and long-term work.

In order to obtain the vertical height aerosol particle distribution data, the rotorcraft is equipped with an aerosol particle sampling device. As shown in Figure 2, the structural block diagram of the aerosol particle concentration sampling device has low power, high precision, small size, and a weight of only 0.5kg. Real-time detection and timing detection can be set freely, which is suitable for carrying on a drone. The aerosol particle sampling device inhales gas through a built-in powerful air pump, the air flow rate can be adjusted, and uses backscattering to detect aerosol particles. When suspended particles in the air pass through the photosensitive area, the scattered luminous flux is related to the particle radius. After photoelectric conversion, amplification and processing, the corresponding particle radius and number are obtained, and then the concentration and number concentration of atmospheric aerosols are obtained. It can detect aerosol particles with diameters from 4 channels including PM0.3, PM1.0, PM2.5 and PM10. The device includes a laser generation module, a photoelectric detection module, a photoelectric detection module, a flow monitoring module, a flow regulation module, an air pump, a filter, a control module, an interface module, a communication module and a display module, etc.;

In terms of data integration and wireless transmission, STC15W4K56S4 single-chip microcomputer and 3DR digital transmission are used for data integration and real-time return. The data measured by each sensor is transmitted to the STC15W4K56S4 microcontroller through serial communication. Then the single-chip microcomputer processes and converts the obtained data to the data transmission through the serial port communication, and then the data transmission transmits the data to the ground data acquisition and processing center system in real time. Long-distance transmission uses GPRS module to transmit to the remote server.

In addition, the UAV airborne platform system also needs to be equipped with an image recording device for optical image collection. The equipped image recording device is light in weight and small in size, and can work stably in various environments. It supports high-definition video recording and real-time return, and can meet the needs of visibility optical picture data for cameras. In order for the camera to shoot under more stable conditions, a three-axis brushless gimbal needs to be installed below to eliminate the shaking interference of the drone in the air through the gimbal.

The UAV ground control platform includes a flight control module, a mission planning module, a mission monitoring module and a data acquisition, storage and transmission module. The flight control module is used to control the aircraft to carry out precise low-altitude hovering flight; the mission planning module is used to input flight parameters before each flight mission, and the flight parameters include: flight area, flight altitude and frequency; the mission monitoring module is used to Monitor the working status of the aircraft in real time during the flight; the data acquisition, storage and transmission module can collect and store coordinate information such as longitude, latitude, altitude, and altitude of the drone in real time and store them in the storage module;

The ground data acquisition and processing center system consists of a data receiving and storage module, a data preprocessing module, a data quality control module, a data analysis module, and a data display module. The data receiving and storage module receives real-time data from the UAV airborne platform system Comparing and analyzing the data uploaded by the ground data collection and comparison system; the data preprocessing module is used to classify, export, regularize, and correct the received data, and obtain time series and different height classification data; the data quality control module adopts quality control algorithms and image recognition-based algorithms to obtain quality-controlled time series and different height classification data and visibility data; the data analysis module is used to obtain the mass concentration and number concentration of aerosol particles and height, temperature, and humidity using linear fitting methods Correlation among other parameters is used to analyze the distribution trend of mass concentration and number concentration of aerosol particles at different heights and the relationship with relevant meteorological parameters; the algorithm based on image recognition is used to analyze the vertical distribution data of visibility, and draw aerosol particles and Vertical distribution curve of atmospheric visibility; comparative analysis with the data and visibility of ground automatic stations, atmospheric composition stations, and radiosonde stations in the same area; data display module, which displays, stores, inquires, and generates reports for the data generated by the data analysis module.

The ground data collection and comparison system includes monitoring stations such as surface meteorological automatic stations, atmospheric composition stations, radiosondes, and visibility meters. The ground meteorological automatic station collects the ground meteorological elements in the same area; the aerosol concentration observation equipment used by the atmospheric composition station is the LGH-01B (PM10) and LGH-01E (PM2.5) equipment produced by Anhui Landun Optoelectronics Co., Ltd. , to collect the atmospheric composition parameters near the ground; the radiosonde, responsible for detecting the meteorological element data of the vertical height; the visibility meter adopts the DNQ1 forward scattering visibility meter, and transmits the visibility data.

As shown in Figure 3, the present invention provides a flow chart of an airborne aerosol particle vertical observation sampling method, which is used for vertical distribution observation of aerosol particle concentration, comprising the following steps:

Step 1) Task planning: Based on a haze weather process, select the sampling location and time, and make preparations for vertical sampling observation;

Step 2) Pre-detection preparation: unfold the UAV airborne platform system, mount the image recording device, gimbal, meteorological element sensor, aerosol particle sampling device and data transmission module, the system enters the power-on self-test mode, through wireless The human-machine ground control platform confirms that the flight system is in normal state;

Step 3) System debugging and instrument calibration: perform static power-on debugging, calibrate the position of the image recording device, meteorological element sensor and aerosol particle sampling device;

Step 4) Mission detection: Plan the marking and flight height through the ground control platform of the UAV, and set the route to rise vertically layer by layer. Hover at ten altitudes of 50 m, 100 m, 150 m, 200 m, 250 m, 300 m, 350 m, 400 m, 450 m, and 500 m for data collection. When this level is executed, climb 50 m to the next level. The sampling time of each hover is 30s;

Step 5) Data transmission and task monitoring: The UAV takes off to conduct low-altitude vertical sampling observation, synchronously collects meteorological element data at different heights, and transmits the detected data to the ground data collection and processing center system in real time through remote wireless transmission. Monitor mission flight status;

Step 6) Data reception and processing: The ground data acquisition and processing center system obtains the comparison data of the ground data acquisition and comparison system, compares it with the real-time transmission detection data, and performs denoising, correction and fitting processing on various detection data to obtain different Altitude aerosol particles, air pressure, temperature, humidity distribution data;

Step 7) Data analysis: use image recognition-based algorithms to analyze the vertical distribution data of visibility, and draw vertical distribution curves of aerosol particles and atmospheric visibility.

The technical means disclosed in the solution of the present invention are not limited to the technical means disclosed in the above technical means, but also include technical solutions composed of any combination of the above technical features. It should be pointed out that for those skilled in the art, some improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications are also regarded as the protection scope of the present invention.

Claims (8)

1. a kind of particulate Vertical Observation system of unmanned aerial vehicle onboard, it is characterised in that: including unmanned aerial vehicle onboard platform system System, unmanned aerial vehicle report control platform, ground data acquisition processing center system and ground data acquisition comparison system；

The unmanned aerial vehicle onboard plateform system acquires different height optics for carrying out the low latitude Vertical Observation that precisely hovers Image, particulate and meteorological supplemental characteristic, by being felt concerned about near radio transmission mode to the ground data acquisition process System real-time Transmission detection data, and operation flight status data transfers will be monitored in real time to unmanned aerial vehicle operating platform；

The unmanned aerial vehicle report control platform, the real-time control for unmanned plane；For carrying out mission planning, input flight ginseng Number, the flight parameter include flight range, flying height and the frequency；For real-time reception Flight Condition Data；

The ground data acquisition processing center system is handled for all kinds of Data Gathering analyses, is obtained different vertical Height particulate mass concentration sum number concentration data, the meteorology parameter distributed data such as wind, air pressure, temperature and humidity；By ground Face data acquires the data of comparison system and the data of unmanned plane acquisition carry out data Quality Control；To different vertical Possessing high optical image Image recognition processing is carried out, the visibility number based on image recognition vertically and horizontally of monitoring region different height is obtained According to；

The ground data acquisition comparison system, acquisition are passed with data such as region surface-based observing station, Atmospheric components, sondes It send to ground data acquisition center and is compared for analysis.

2. the particulate Vertical Observation system of unmanned aerial vehicle onboard according to claim 1, it is characterised in that: described Unmanned aerial vehicle onboard plateform system includes image recording device, holder, meteorological element sensor, particulate sampling apparatus sum number According to transmission module.

3. the particulate Vertical Observation system of unmanned aerial vehicle onboard according to claim 2, it is characterised in that: the figure As camera device and holder are mounted on the underface of unmanned aerial vehicle onboard plateform system, for obtain vertically and horizontally based on The visibility data of image recognition；

The particulate Vertical Observation system of unmanned aerial vehicle onboard according to claim 3, it is characterised in that: the meteorology Essential sensor includes temperature, humidity, baroceptor；

The particulate Vertical Observation system of unmanned aerial vehicle onboard according to claim 2, it is characterised in that: the gas is molten Micelle sub-sampling device is built-in with strength aspiration pump sucking gas, utilizes backscatter sounding particulate comprising laser Module, Photoelectric Detection module, photoelectric conversion module, traffic monitoring module, flow adjustment module, air pump, filter, control occurs Module, interface module, communication module and display module.

4. the particulate Vertical Observation system of unmanned aerial vehicle onboard according to claim 2, it is characterised in that: the number It is used for according to transmission module using the wireless mode number that data acquisition process centring system and remote server transmission detect to the ground According to.

5. the particulate Vertical Observation system of unmanned aerial vehicle onboard according to claim 1, it is characterised in that: described Unmanned aerial vehicle report control platform includes flight control modules, carries out accurate low latitude hovering flight for controlling aircraft；Mission planning Module, for every time carry out aerial mission before, input flight parameter, the flight parameter includes: flight range, flying height and The frequency；Task monitoring module, for in-flight leading to real time monitoring aircraft working condition；Data acquisition storage transmission module, is used for The coordinate informations such as longitude and latitude, height above sea level, the height of unmanned plane are acquired in real time and are stored in memory module.

6. the particulate Vertical Observation system of unmanned aerial vehicle onboard according to claim 3, it is characterised in that: described Ground data acquisition processing center system includes:

Data receiver memory module receives the real time data transmitted from unmanned aerial vehicle onboard plateform system and ground data acquisition pair The comparative analysis data come are caught than system；

Data preprocessing module, be used to analyze the received data carry out classification export, it is regular, correct, obtain time series and difference Height classification data；Data quality Control module, the time sequence using Quality Control algorithm and based on the algorithm of image recognition, after obtaining Quality Control Column and different height classification data and visibility data；

Data analysis module obtains particulate mass concentration and Particle density and height, temperature for utilizing linear fit method Degree, the correlativity between humidity, for analyze different height particulate mass concentration and Particle density distribution trend and with Relationship between relevant weather parameter；Visibility vertical distribution data are analyzed using the algorithm based on image recognition, it is molten to draw gas Micelle and atmospheric visibility vertical distribution curve；It is carried out with same localized ground automatic Weather Station, Atmospheric components station and sounding station data Compare analysis；

Data disaply moudle displays data the data that data analysis module generates, stores, inquires, generates report.

7. the particulate Vertical Observation system of unmanned aerial vehicle onboard according to claim 3, it is characterised in that: described Ground data acquisition comparison system includes: Automatic Weather Station, is acquired with the Surface Meteorological in region；Atmospheric components It stands, acquires subaerial Atmospheric components parameter；Sonde is responsible for the meteorological element of detection vertical height.

8. a kind of airborne particulate Vertical Observation method of sampling, which comprises the following steps:

(1), it is based on a haze weather process, chooses sampling position and time, is prepared before carrying out Vertical Sampling observation；

(2), unmanned aerial vehicle onboard plateform system is unfolded, image recording device, holder, meteorological element sensor, gas are molten in carrying Micelle sub-sampling device and data transmission module, system enter startup self-detection mode, are determined by unmanned aerial vehicle report control platform Flight system state is normal；

(3), static hot- line test is carried out, position, meteorological element sensor and the particulate of calibration image recording device are adopted Sampling device；

(4), by unmanned aerial vehicle report control platform planning scribing line and flying height, if the layer-by-layer vertical ascent in course line, 50 m, Ten 100m, 150 m, 200 m, 250 m, 300 m, 350 m, 400m, 450m, 500m height layer hoverings carry out data acquisition, When the height layer is finished, for 50 m that climb to next height layer, the sampling time of hovering every time is 30s；

(5), unmanned plane liter flies into the observation of row low latitude Vertical Sampling, the meteorological element data of synchronous acquisition different height, by remote Journey wireless transmission method, data acquisition process centring system real-time Transmission detects data, simultaneous real-time monitoring task to the ground State of flight；

(6), ground data acquisition processing center system obtains the correlation data of ground data acquisition comparison system, with real-time Transmission Detection data is compared, and is denoised, is corrected and process of fitting treatment to all kinds of detection datas, and different height aerosol particle is obtained Son, air pressure, temperature, moisture map data；

(7) visibility vertical distribution data are analyzed using the algorithm based on image recognition, drawing particulate and atmosphere can see Spend vertical distribution curve.