CN110763804A - Atmospheric pollution source tracing system and method based on unmanned aerial vehicle - Google Patents
Atmospheric pollution source tracing system and method based on unmanned aerial vehicle Download PDFInfo
- Publication number
- CN110763804A CN110763804A CN201810842389.2A CN201810842389A CN110763804A CN 110763804 A CN110763804 A CN 110763804A CN 201810842389 A CN201810842389 A CN 201810842389A CN 110763804 A CN110763804 A CN 110763804A
- Authority
- CN
- China
- Prior art keywords
- aerial vehicle
- unmanned aerial
- pollution source
- flight
- height
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims description 45
- 238000012544 monitoring process Methods 0.000 claims abstract description 20
- 238000012545 processing Methods 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims abstract description 4
- 239000007789 gas Substances 0.000 claims description 37
- 230000008569 process Effects 0.000 claims description 30
- 230000008859 change Effects 0.000 claims description 21
- 230000001174 ascending effect Effects 0.000 claims description 18
- 238000001514 detection method Methods 0.000 claims description 7
- 230000002159 abnormal effect Effects 0.000 claims description 6
- 239000003344 environmental pollutant Substances 0.000 claims description 4
- 231100000719 pollutant Toxicity 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 3
- 238000003915 air pollution Methods 0.000 description 6
- 238000011161 development Methods 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0004—Gaseous mixtures, e.g. polluted air
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/0003—Radiation pyrometry, e.g. infrared or optical thermometry for sensing the radiant heat transfer of samples, e.g. emittance meter
Landscapes
- Chemical & Material Sciences (AREA)
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Analytical Chemistry (AREA)
- Medicinal Chemistry (AREA)
- Food Science & Technology (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Combustion & Propulsion (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Spectroscopy & Molecular Physics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides an atmospheric pollution source traceability system based on an unmanned aerial vehicle, which comprises an unmanned aerial vehicle flight platform, a ground station system, a traceability module and an airborne air monitoring sensor device, wherein the airborne air monitoring sensor device is loaded on the unmanned aerial vehicle, the unmanned aerial vehicle controls the flight through the unmanned aerial vehicle flight platform, the ground station system is connected with the unmanned aerial vehicle flight platform and the traceability module, and the traceability module is connected with the airborne air monitoring sensor device through a data transmission module; the airborne air monitoring sensor equipment is used for collecting the components of the polluted gas; the source tracing module receives the polluted gas components collected by the airborne air monitoring sensor and carries out processing and analysis; the ground station system searches for a pollution source through the flight of the unmanned aerial vehicle flight platform control unmanned aerial vehicle according to the processing result of the source tracing module, and accurately searches for a gas pollution source in a limited pollution range through the unmanned aerial vehicle quickly and efficiently.
Description
Technical Field
The invention belongs to the technical field of air quality detection, and particularly relates to an air pollution source tracing system and method based on an unmanned aerial vehicle.
Background
The urban industrial park is the initiative for local economic development and makes a very significant contribution to regional economic development. However, with the rapid development of industrial parks, the environmental quality of the industrial parks is increasingly poor and the pollution is increasingly serious. Especially, the air pollution causes great threat and harm to the local environmental quality and the life safety of people. Therefore, the emission of the pollutants in the industrial park is reasonably monitored, and effective protective measures are made to be important measures for solving the pollution of the industrial park. However, the accurate positioning of the air pollution source is always a technical problem in the field, and a practical and feasible technical method for realizing the accurate positioning of the air pollution source is not provided.
Disclosure of Invention
The invention provides an air pollution source tracing system and method based on an unmanned aerial vehicle, which solve the defects existing in the positioning of the air pollution source.
The technical scheme of the invention is realized as follows:
the atmospheric pollution source traceability system based on the unmanned aerial vehicle comprises an unmanned aerial vehicle flight platform, a ground station system, a traceability module and an airborne air monitoring sensor device, wherein the airborne air monitoring sensor device is loaded on the unmanned aerial vehicle, the unmanned aerial vehicle controls flight through the unmanned aerial vehicle flight platform, the ground station system is connected with the unmanned aerial vehicle flight platform and the traceability module, and the traceability module is connected with the airborne air monitoring sensor device through a data transmission module;
the airborne air monitoring sensor equipment is used for collecting the components of the polluted gas;
the source tracing module receives the polluted gas components collected by the airborne air monitoring sensor and carries out processing and analysis; and the ground station system controls the flight of the unmanned aerial vehicle to search for a pollution source through the unmanned aerial vehicle flight platform according to the processing result of the source tracing module.
Preferably, still include infrared camera equipment, infrared camera equipment connect in on the unmanned aerial vehicle for shoot the surrounding environment, as appurtenance, infrared camera equipment passes through data transfer module and connects the ground station system.
An atmospheric pollution source tracing method based on an unmanned aerial vehicle comprises the following steps:
s1: carrying out industrial structure analysis on a pollution emission area, selecting N gases with large emission in the area as target gases for automatic tracing, and setting the limit contents of the N gases;
s2: arranging the takeoff position of the unmanned aerial vehicle at a leeward position outside the region by combining real-time meteorological data of the target region;
s3: the unmanned aerial vehicle vertically takes off from the ground, and the unmanned aerial vehicle does not stay and hover in the ascending process, if the system finds that the polluted gas component with abnormal concentration exists in the ascending process, the unmanned aerial vehicle descends to the highest concentration position in the whole ascending process and hovers after ascending to a first preset height; if no pollutant gas component with abnormal concentration is found, the unmanned aerial vehicle descends to a second preset height position and hovers;
s4: if a single pollution source exists in the ascending process of the unmanned aerial vehicle in the step S3, after the unmanned aerial vehicle hovers in place, the unmanned aerial vehicle hovers at the highest concentration position and then vertically flies in a zigzag manner to two transverse boundaries of a target area on the horizontal plane so as to scan and fly the area, the concentration change of the polluted gas is synchronously monitored in the flying process, the transverse flying amplitude is gradually reduced according to the change of the gas concentration, and the scene is synchronously screened according to the temperature-sensitive image returned by the infrared camera equipment; if the concentration of the polluted gas is reduced in the process of flying on the same horizontal plane, the unmanned aerial vehicle returns to the position with the maximum concentration to hover, the vertical height is lifted up and down after hovering, the relevance of the height change to the concentration change is determined in the lifting process, the zigzag flying is continued at the height with the maximum concentration after the detection of the vertical height change is completed, and the action is continuously and alternately carried out until a pollution source is found before the tracing process is completed;
s5: if there are multiple pollution sources during the ascent of the drone in step S3, the drone first finds out a first pollution source according to step S4; after the first pollution source is detected, the unmanned aerial vehicle is located at the upwind position of the pollution source, and the detection of a second pollution source is continued according to the step S4; circulating in such a way, and finding out other pollution sources;
s6: if no pollution source exists in the ascending process of the unmanned aerial vehicle in the step S3, the unmanned aerial vehicle hovers at a second preset height, the unmanned aerial vehicle performs zigzag longitudinal flight towards two transverse boundaries of the designated area at the horizontal height so as to scan and fly the area, and if the concentration change of the pollution gas at a certain position is found, the unmanned aerial vehicle executes the flight process of the step S4 to screen out the pollution source;
s7: if no pollution gas concentration change occurs in the step S6, the unmanned aerial vehicle performs different-height surrounding flight to the point locations with different temperature differences one by one according to the infrared camera images of the previous scanning flight, and finally discriminates the emission points.
Preferably, N has a value of 6 to 10.
Preferably, the takeoff speed of the drone is 1 meter per second.
Preferably, the first predetermined height is 140-160m, and the second predetermined height is 60-90 m.
Preferably, the drone flies longitudinally in a zigzag pattern toward two lateral boundaries of the target area at oblique angles of 20 to 30 degrees laterally in steps S4 and S6.
Preferably, the range of the height of the unmanned aerial vehicle flying vertically up and down in step S4 is 10-30 m.
To ensure the flight safety of the drone, the minimum height of flight is defined as a height of 30 meters.
In summary, the invention has the advantages that:
according to the atmosphere pollution source tracing system and method based on the unmanned aerial vehicle, the gas pollution source can be quickly and efficiently accurately searched within a limited pollution range through the unmanned aerial vehicle.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic framework diagram of an atmospheric pollution source tracing method based on an unmanned aerial vehicle.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the atmospheric pollution source tracing system based on the unmanned aerial vehicle comprises an unmanned aerial vehicle flight platform, a ground station system, a tracing module and an airborne air monitoring sensor device, wherein the airborne air monitoring sensor device is loaded on the unmanned aerial vehicle, the unmanned aerial vehicle controls the flight through the unmanned aerial vehicle flight platform, the ground station system is connected with the unmanned aerial vehicle flight platform and the tracing module, and the tracing module is connected with the airborne air monitoring sensor device through a data transmission module; the airborne air monitoring sensor equipment is used for collecting the components of the polluted gas; the source tracing module receives the polluted gas components collected by the airborne air monitoring sensor and carries out processing and analysis; and the ground station system controls the flight of the unmanned aerial vehicle to search for a pollution source through the unmanned aerial vehicle flight platform according to the processing result of the source tracing module. Still include infrared camera equipment, infrared camera equipment connect in on the unmanned aerial vehicle for shoot the surrounding environment, as appurtenance, infrared camera equipment passes through data transfer module and connects the ground station system.
An atmospheric pollution source tracing method based on an unmanned aerial vehicle comprises the following steps:
s1: carrying out industrial structure analysis on a pollution emission area, selecting 9 gases with large emission in the area as target gases for automatic tracing, and setting the limit contents of the 9 gases;
s2: arranging the takeoff position of the unmanned aerial vehicle at a leeward position outside the region by combining real-time meteorological data of the target region;
s3: the unmanned aerial vehicle vertically takes off from the ground, and the unmanned aerial vehicle does not stay and hover in the ascending process, if the system finds that the polluted gas component with abnormal concentration exists in the ascending process, the unmanned aerial vehicle descends to the highest concentration position in the whole ascending process and hovers after ascending to the height of 150 meters; if no pollutant gas component with abnormal concentration is found, the unmanned aerial vehicle descends to a position with the height of 80 meters and hovers;
s4: if a single pollution source exists in the ascending process of the unmanned aerial vehicle in the step S3, after the unmanned aerial vehicle hovers in place, the unmanned aerial vehicle hovers at the highest concentration position and then vertically flies in a zigzag manner to two transverse boundaries of a target area on the horizontal plane so as to scan and fly the area, the concentration change of the polluted gas is synchronously monitored in the flying process, the transverse flying amplitude is gradually reduced according to the change of the gas concentration, and the scene is synchronously screened according to the temperature-sensitive image returned by the infrared camera equipment; if the concentration of the polluted gas is reduced in the process of flying on the same horizontal plane, the unmanned aerial vehicle returns to the position with the maximum concentration to hover, the vertical height is lifted up and down after hovering, the relevance of the height change to the concentration change is determined in the lifting process, the zigzag flying is continued at the height with the maximum concentration after the detection of the vertical height change is completed, and the action is continuously and alternately carried out until a pollution source is found before the tracing process is completed;
s5: if there are multiple pollution sources during the ascent of the drone in step S3, the drone first finds out a first pollution source according to step S4; after the first pollution source is detected, the unmanned aerial vehicle is located at the upwind position of the pollution source, and the detection of a second pollution source is continued according to the step S4; circulating in such a way, and finding out other pollution sources;
s6: if no pollution source exists in the ascending process of the unmanned aerial vehicle in the step S3, the unmanned aerial vehicle hovers at a second preset height, the unmanned aerial vehicle performs zigzag longitudinal flight towards two transverse boundaries of the designated area at the horizontal height so as to scan and fly the area, and if the concentration change of the pollution gas at a certain position is found, the unmanned aerial vehicle executes the flight process of the step S4 to screen out the pollution source;
s7: if no pollution gas concentration change occurs in the step S6, the unmanned aerial vehicle performs different-height surrounding flight to the point locations with different temperature differences one by one according to the infrared camera images of the previous scanning flight, and finally discriminates the emission points.
The takeoff speed of the unmanned aerial vehicle is 1 meter per second. In steps S4 and S6, the drone flies in a zigzag manner in the transverse direction at an oblique angle of 20-30 degrees toward the two transverse boundaries of the target area. The range of the height over which the unmanned aerial vehicle vertically flies up and down in step S4 is 20 m. To ensure the flight safety of the drone, the minimum height of flight is defined as a height of 30 meters.
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, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (7)
1. Atmospheric pollution source traceability system based on unmanned aerial vehicle, its characterized in that: the system comprises an unmanned aerial vehicle flight platform, a ground station system, a traceability module and airborne air monitoring sensor equipment, wherein the airborne air monitoring sensor equipment is loaded on the unmanned aerial vehicle, the unmanned aerial vehicle controls the flight through the unmanned aerial vehicle flight platform, the ground station system is connected with the unmanned aerial vehicle flight platform and the traceability module, and the traceability module is connected with the airborne air monitoring sensor equipment through a data transmission module;
the airborne air monitoring sensor equipment is used for collecting the components of the polluted gas;
the source tracing module receives the polluted gas components collected by the airborne air monitoring sensor and carries out processing and analysis; and the ground station system controls the flight of the unmanned aerial vehicle to search for a pollution source through the unmanned aerial vehicle flight platform according to the processing result of the source tracing module.
2. The unmanned aerial vehicle-based atmospheric pollution source traceability system of claim 1, wherein: still include infrared camera equipment, infrared camera equipment connect in on the unmanned aerial vehicle for shoot the surrounding environment, as appurtenance, infrared camera equipment passes through data transfer module and connects the ground station system.
3. Atmospheric pollution source tracing method based on unmanned aerial vehicle, its characterized in that: the method comprises the following steps:
s1: carrying out industrial structure analysis on a pollution emission area, selecting N gases with large emission in the area as target gases for automatic tracing, and setting the limit contents of the N gases;
s2: arranging the takeoff position of the unmanned aerial vehicle at a leeward position outside the region by combining real-time meteorological data of the target region;
s3: the unmanned aerial vehicle vertically takes off from the ground, and the unmanned aerial vehicle does not stay and hover in the ascending process, if the system finds that the polluted gas component with abnormal concentration exists in the ascending process, the unmanned aerial vehicle descends to the highest concentration position in the whole ascending process and hovers after ascending to a first preset height; if no pollutant gas component with abnormal concentration is found, the unmanned aerial vehicle descends to a second preset height position and hovers;
s4: if a single pollution source exists in the ascending process of the unmanned aerial vehicle in the step S3, after the unmanned aerial vehicle hovers in place, the unmanned aerial vehicle hovers at the highest concentration position and then vertically flies in a zigzag manner to two transverse boundaries of a target area on the horizontal plane so as to scan and fly the area, the concentration change of the polluted gas is synchronously monitored in the flying process, the transverse flying amplitude is gradually reduced according to the change of the gas concentration, and the scene is synchronously screened according to the temperature-sensitive image returned by the infrared camera equipment; if the concentration of the polluted gas is reduced in the process of flying on the same horizontal plane, the unmanned aerial vehicle returns to the position with the maximum concentration to hover, the vertical height is lifted up and down after hovering, the relevance of the height change to the concentration change is determined in the lifting process, the zigzag flying is continued at the height with the maximum concentration after the detection of the vertical height change is completed, and the action is continuously and alternately carried out until a pollution source is found before the tracing process is completed;
s5: if there are multiple pollution sources during the ascent of the drone in step S3, the drone first finds out a first pollution source according to step S4; after the first pollution source is detected, the unmanned aerial vehicle is located at the upwind position of the pollution source, and the detection of a second pollution source is continued according to the step S4; circulating in such a way, and finding out other pollution sources;
s6: if no pollution source exists in the ascending process of the unmanned aerial vehicle in the step S3, the unmanned aerial vehicle hovers at a second preset height, the unmanned aerial vehicle performs zigzag longitudinal flight towards two transverse boundaries of the designated area at the horizontal height so as to scan and fly the area, and if the concentration change of the pollution gas at a certain position is found, the unmanned aerial vehicle executes the flight process of the step S4 to screen out the pollution source;
s7: if no pollution gas concentration change occurs in the step S6, the unmanned aerial vehicle performs different-height surrounding flight to the point locations with different temperature differences one by one according to the infrared camera images of the previous scanning flight, and finally discriminates the emission points.
4. The atmospheric pollution source tracing method based on the unmanned aerial vehicle as claimed in claim 3, wherein: the value of N is 6-10.
5. The atmospheric pollution source tracing method based on the unmanned aerial vehicle as claimed in claim 3, wherein: the first predetermined height is 140-160m, and the second predetermined height is 60-90 m.
6. The atmospheric pollution source tracing method based on the unmanned aerial vehicle as claimed in claim 3, wherein: in steps S4 and S6, the drone flies in a zigzag manner in the transverse direction at an oblique angle of 20-30 degrees toward the two transverse boundaries of the target area.
7. The atmospheric pollution source tracing method based on the unmanned aerial vehicle as claimed in claim 3, wherein: the range of the height of the unmanned aerial vehicle flying vertically up and down in step S4 is 10-30 m.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810842389.2A CN110763804A (en) | 2018-07-27 | 2018-07-27 | Atmospheric pollution source tracing system and method based on unmanned aerial vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810842389.2A CN110763804A (en) | 2018-07-27 | 2018-07-27 | Atmospheric pollution source tracing system and method based on unmanned aerial vehicle |
Publications (1)
Publication Number | Publication Date |
---|---|
CN110763804A true CN110763804A (en) | 2020-02-07 |
Family
ID=69327626
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201810842389.2A Pending CN110763804A (en) | 2018-07-27 | 2018-07-27 | Atmospheric pollution source tracing system and method based on unmanned aerial vehicle |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN110763804A (en) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111258334A (en) * | 2020-03-23 | 2020-06-09 | 安徽工业大学 | Automatic environmental pollution source searching method |
CN112327904A (en) * | 2020-10-14 | 2021-02-05 | 北京鑫康尔兴科技发展有限公司 | Unmanned aerial vehicle-based harmful gas distribution and traceability detection method in airspace range |
CN112526065A (en) * | 2020-11-19 | 2021-03-19 | 武汉云衡智能科技有限公司 | Unmanned aerial vehicle-based system and method for automatically positioning pollution source |
CN114113467A (en) * | 2021-09-07 | 2022-03-01 | 深圳市自由度环保科技有限公司 | Airborne atmospheric monitoring module and GPS-based atmospheric pollution traceability analysis system |
CN114878750A (en) * | 2022-05-13 | 2022-08-09 | 苏州清泉环保科技有限公司 | Intelligent control system and method integrating atmospheric pollution monitoring and tracing |
CN115493657A (en) * | 2022-11-15 | 2022-12-20 | 航天宏图信息技术股份有限公司 | Atmospheric pollution tracing method and device based on unmanned aerial vehicle |
CN116359218A (en) * | 2023-06-02 | 2023-06-30 | 北京建工环境修复股份有限公司 | Industrial aggregation area atmospheric pollution mobile monitoring system |
Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20130097832A (en) * | 2012-02-27 | 2013-09-04 | 국방과학연구소 | Method for setting a path of unmanned robot to detect contamination contour and method for predicting time-varying contamination contour using contamination data obtained from chemical sensors on unmanned robot |
CN103823028A (en) * | 2014-03-13 | 2014-05-28 | 山东省计算中心 | Stationary pollution source flue gas emission mobile monitoring system and method based on unmanned aerial vehicle |
CN104181276A (en) * | 2013-05-28 | 2014-12-03 | 东北大学 | Unmanned plane-based enterprise carbon emission detection method |
CN104677793A (en) * | 2015-01-19 | 2015-06-03 | 环境保护部卫星环境应用中心 | Method and system for monitoring particulate matters in air based on UAV |
CN105158431A (en) * | 2015-09-22 | 2015-12-16 | 浙江大学 | Unmanned pollutant tracing system and method |
JP2017110984A (en) * | 2015-12-16 | 2017-06-22 | コニカミノルタ株式会社 | Gas detection system |
CN107192645A (en) * | 2016-03-14 | 2017-09-22 | 曹芃 | A kind of multi-rotor unmanned aerial vehicle air pollution detecting system and method |
CN107422747A (en) * | 2017-08-14 | 2017-12-01 | 上海交通大学 | For atmospheric environment on-line monitoring and the UAS of the controlled sampling of air |
CN207182103U (en) * | 2017-08-14 | 2018-04-03 | 上海交通大学 | For atmospheric environment on-line monitoring and the UAS of the controlled sampling of air |
CN107941988A (en) * | 2017-10-16 | 2018-04-20 | 华南理工大学 | The unmanned machine equipment and monitoring method of a kind of detection gas pollution sources |
CN108168506A (en) * | 2017-12-13 | 2018-06-15 | 天津环科瞻云科技发展有限公司 | A kind of air pollution emission monitoring samples Cross Location Method with unmanned plane |
-
2018
- 2018-07-27 CN CN201810842389.2A patent/CN110763804A/en active Pending
Patent Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20130097832A (en) * | 2012-02-27 | 2013-09-04 | 국방과학연구소 | Method for setting a path of unmanned robot to detect contamination contour and method for predicting time-varying contamination contour using contamination data obtained from chemical sensors on unmanned robot |
CN104181276A (en) * | 2013-05-28 | 2014-12-03 | 东北大学 | Unmanned plane-based enterprise carbon emission detection method |
CN103823028A (en) * | 2014-03-13 | 2014-05-28 | 山东省计算中心 | Stationary pollution source flue gas emission mobile monitoring system and method based on unmanned aerial vehicle |
CN104677793A (en) * | 2015-01-19 | 2015-06-03 | 环境保护部卫星环境应用中心 | Method and system for monitoring particulate matters in air based on UAV |
CN105158431A (en) * | 2015-09-22 | 2015-12-16 | 浙江大学 | Unmanned pollutant tracing system and method |
JP2017110984A (en) * | 2015-12-16 | 2017-06-22 | コニカミノルタ株式会社 | Gas detection system |
CN107192645A (en) * | 2016-03-14 | 2017-09-22 | 曹芃 | A kind of multi-rotor unmanned aerial vehicle air pollution detecting system and method |
CN107422747A (en) * | 2017-08-14 | 2017-12-01 | 上海交通大学 | For atmospheric environment on-line monitoring and the UAS of the controlled sampling of air |
CN207182103U (en) * | 2017-08-14 | 2018-04-03 | 上海交通大学 | For atmospheric environment on-line monitoring and the UAS of the controlled sampling of air |
CN107941988A (en) * | 2017-10-16 | 2018-04-20 | 华南理工大学 | The unmanned machine equipment and monitoring method of a kind of detection gas pollution sources |
CN108168506A (en) * | 2017-12-13 | 2018-06-15 | 天津环科瞻云科技发展有限公司 | A kind of air pollution emission monitoring samples Cross Location Method with unmanned plane |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111258334A (en) * | 2020-03-23 | 2020-06-09 | 安徽工业大学 | Automatic environmental pollution source searching method |
CN111258334B (en) * | 2020-03-23 | 2022-03-08 | 安徽工业大学 | Automatic environmental pollution source searching method |
CN112327904A (en) * | 2020-10-14 | 2021-02-05 | 北京鑫康尔兴科技发展有限公司 | Unmanned aerial vehicle-based harmful gas distribution and traceability detection method in airspace range |
CN112327904B (en) * | 2020-10-14 | 2024-04-26 | 北京鑫康尔兴科技发展有限公司 | Harmful gas distribution and traceability detection method in airspace range based on unmanned aerial vehicle |
CN112526065A (en) * | 2020-11-19 | 2021-03-19 | 武汉云衡智能科技有限公司 | Unmanned aerial vehicle-based system and method for automatically positioning pollution source |
CN114113467A (en) * | 2021-09-07 | 2022-03-01 | 深圳市自由度环保科技有限公司 | Airborne atmospheric monitoring module and GPS-based atmospheric pollution traceability analysis system |
CN114878750A (en) * | 2022-05-13 | 2022-08-09 | 苏州清泉环保科技有限公司 | Intelligent control system and method integrating atmospheric pollution monitoring and tracing |
CN115493657A (en) * | 2022-11-15 | 2022-12-20 | 航天宏图信息技术股份有限公司 | Atmospheric pollution tracing method and device based on unmanned aerial vehicle |
CN115493657B (en) * | 2022-11-15 | 2023-03-10 | 航天宏图信息技术股份有限公司 | Atmospheric pollution tracing method and device based on unmanned aerial vehicle |
CN116359218A (en) * | 2023-06-02 | 2023-06-30 | 北京建工环境修复股份有限公司 | Industrial aggregation area atmospheric pollution mobile monitoring system |
CN116359218B (en) * | 2023-06-02 | 2023-08-04 | 北京建工环境修复股份有限公司 | Industrial aggregation area atmospheric pollution mobile monitoring system |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN110763804A (en) | Atmospheric pollution source tracing system and method based on unmanned aerial vehicle | |
CN107941988B (en) | Unmanned aerial vehicle equipment for detecting gas pollution source and monitoring method | |
Entrop et al. | Infrared drones in the construction industry: designing a protocol for building thermography procedures | |
CN112230680B (en) | Unmanned aerial vehicle power line inspection control method | |
US10768100B2 (en) | Air pollution monitoring system and air pollution monitoring method | |
JP7045030B2 (en) | Inspection system, inspection method, server equipment, and program | |
CN110703800A (en) | Unmanned aerial vehicle-based intelligent identification method and system for electric power facilities | |
CN109780452A (en) | Gas based on laser telemetry technology leaks unmanned plane inspection retrieving concentration method | |
US20140002639A1 (en) | Autonomous Detection of Chemical Plumes | |
CN112799422B (en) | Unmanned aerial vehicle flight control method and device for power inspection | |
CN106774419A (en) | For the unmanned plane cruising inspection system and method for inspecting of heat power plant boiler | |
CN111998832A (en) | Laser point cloud-based inspection method for accurately positioning target object by using unmanned aerial vehicle | |
CN111929329A (en) | Intelligent detection method and system for glass curtain wall and storage medium | |
CN114020002B (en) | Method, device and equipment for unmanned aerial vehicle to inspect fan blade, unmanned aerial vehicle and medium | |
CN101968913A (en) | Flame tracing method for forest fire area | |
CN109818574A (en) | System and method based on the detection of unmanned plane aerial photography technology photovoltaic solar panel hot spot | |
CN109668853B (en) | Atmospheric pollutant monitoring system | |
CN108765620A (en) | A kind of networking electric power network circuit automatic detecting method | |
CN111830045A (en) | Unmanned aerial vehicle wind power detection system and method based on BIM technology | |
CN112526065A (en) | Unmanned aerial vehicle-based system and method for automatically positioning pollution source | |
CN106932235A (en) | A kind of air pollution collecting and detecting device and its detection method based on unmanned plane | |
KR20210001342A (en) | A system and appratus for managing a solar panel using an unmaned aerial vehicle | |
CN113393459A (en) | Infrared image photovoltaic module visual identification method based on example segmentation | |
CN114755367A (en) | Environment-friendly pollution monitoring method, system, equipment and medium | |
CN209560085U (en) | The four step closed loop atmosphere pollution traceability systems based on laser radar |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
AD01 | Patent right deemed abandoned |
Effective date of abandoning: 20240628 |