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
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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.
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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.
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Cited By (7)
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| 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 |
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