CN112327387A - Atmospheric pollutant wind-following monitoring system and monitoring method based on multi-rotor unmanned aerial vehicle - Google Patents
Atmospheric pollutant wind-following monitoring system and monitoring method based on multi-rotor unmanned aerial vehicle Download PDFInfo
- Publication number
- CN112327387A CN112327387A CN202011133538.1A CN202011133538A CN112327387A CN 112327387 A CN112327387 A CN 112327387A CN 202011133538 A CN202011133538 A CN 202011133538A CN 112327387 A CN112327387 A CN 112327387A
- Authority
- CN
- China
- Prior art keywords
- data
- detection module
- unmanned aerial
- aerial vehicle
- atmospheric
- 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
- 239000003344 environmental pollutant Substances 0.000 title claims abstract description 66
- 231100000719 pollutant Toxicity 0.000 title claims abstract description 66
- 238000012544 monitoring process Methods 0.000 title claims abstract description 31
- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000001514 detection method Methods 0.000 claims abstract description 105
- 230000005540 biological transmission Effects 0.000 claims abstract description 36
- 238000009434 installation Methods 0.000 claims abstract description 12
- MWUXSHHQAYIFBG-UHFFFAOYSA-N nitrogen oxide Inorganic materials O=[N] MWUXSHHQAYIFBG-UHFFFAOYSA-N 0.000 claims description 21
- RAHZWNYVWXNFOC-UHFFFAOYSA-N Sulphur dioxide Chemical compound O=S=O RAHZWNYVWXNFOC-UHFFFAOYSA-N 0.000 claims description 14
- 238000005259 measurement Methods 0.000 claims description 14
- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 claims description 7
- CBENFWSGALASAD-UHFFFAOYSA-N Ozone Chemical compound [O-][O+]=O CBENFWSGALASAD-UHFFFAOYSA-N 0.000 claims description 7
- 229910002091 carbon monoxide Inorganic materials 0.000 claims description 7
- 238000003915 air pollution Methods 0.000 claims description 5
- 239000007789 gas Substances 0.000 claims description 4
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 2
- 238000009826 distribution Methods 0.000 abstract description 3
- 229910000838 Al alloy Inorganic materials 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000009792 diffusion process Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000002485 combustion reaction Methods 0.000 description 1
- 239000000356 contaminant Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 208000024335 physical disease Diseases 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01W—METEOROLOGY
- G01W1/00—Meteorology
- G01W1/02—Instruments for indicating weather conditions by measuring two or more variables, e.g. humidity, pressure, temperature, cloud cover or wind speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N15/00—Investigating characteristics of particles; Investigating permeability, pore-volume or surface-area of porous materials
- G01N15/06—Investigating concentration of particle suspensions
-
- 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
- G01N33/0009—General constructional details of gas analysers, e.g. portable test equipment
- G01N33/0027—General constructional details of gas analysers, e.g. portable test equipment concerning the detector
- G01N33/0036—General constructional details of gas analysers, e.g. portable test equipment concerning the detector specially adapted to detect a particular component
- G01N33/0037—NOx
-
- 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
- G01N33/0009—General constructional details of gas analysers, e.g. portable test equipment
- G01N33/0027—General constructional details of gas analysers, e.g. portable test equipment concerning the detector
- G01N33/0036—General constructional details of gas analysers, e.g. portable test equipment concerning the detector specially adapted to detect a particular component
- G01N33/004—CO or CO2
-
- 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
- G01N33/0009—General constructional details of gas analysers, e.g. portable test equipment
- G01N33/0027—General constructional details of gas analysers, e.g. portable test equipment concerning the detector
- G01N33/0036—General constructional details of gas analysers, e.g. portable test equipment concerning the detector specially adapted to detect a particular component
- G01N33/0042—SO2 or SO3
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01W—METEOROLOGY
- G01W1/00—Meteorology
- G01W1/08—Adaptations of balloons, missiles, or aircraft for meteorological purposes; Radiosondes
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Pathology (AREA)
- Environmental & Geological Engineering (AREA)
- Immunology (AREA)
- General Health & Medical Sciences (AREA)
- Biochemistry (AREA)
- Analytical Chemistry (AREA)
- Medicinal Chemistry (AREA)
- Food Science & Technology (AREA)
- Combustion & Propulsion (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Atmospheric Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Computer Networks & Wireless Communication (AREA)
- Ecology (AREA)
- Environmental Sciences (AREA)
- Signal Processing (AREA)
- Dispersion Chemistry (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
An atmospheric pollutant wind-following monitoring system and a monitoring method based on a multi-rotor unmanned aerial vehicle are disclosed, wherein an installation supporting rod for installing a weather detection module is fixed at the center of the upper surface of a case of the multi-rotor unmanned aerial vehicle, and the weather detection module is fixed at the top end of the installation supporting rod; this meteorological detection module pass through the wire with many rotor unmanned aerial vehicle's autopilot's serial port connection. The lower surface of the machine box is provided with a hanging platform; the 4G data transmission link sending end is fixed on the upper surface of the hanging platform, and the output end of the automatic pilot is connected with the input end of the 4G data transmission link sending end; atmospheric pollutants detection module fixes the lower surface at this hanging platform to make this atmospheric pollutants detection module's output with many rotor unmanned aerial vehicle's autopilot's serial ports connection. The invention can quickly and rapidly detect the pollution distribution in the pollution detection area which is not suitable for manual detection, thereby ensuring the safety of operators and saving the labor cost.
Description
Technical Field
The invention relates to an atmospheric pollutant wind-following monitoring system based on a multi-rotor unmanned aerial vehicle, and belongs to the field of unmanned aerial vehicles and atmospheric pollution monitoring.
Background
In recent years, the industrial development of China is rapid, and the air pollution monitoring generated along with the industrial development also becomes a problem to be solved urgently. Meanwhile, various complex atmospheric pollutants generated by fuel combustion, industrial production, transportation and the like not only affect the air environment of cities, but also bring great damage to the health of urban residents and even induce serious physical diseases.
The atmospheric pollutant monitoring needs to perform sampling collection, pollutant detection, pollutant positioning and pollutant tracing. Common methods for measuring atmospheric pollutants include: meteorological observation iron tower, balloon observation, laser radar, manned fixed wing aircraft. A large number of methods realize atmospheric observation by arranging an observation station on the ground, and are greatly limited by the observation station; fixed wing aircraft have greater flexibility than ground observation methods, but still cannot monitor some low-altitude areas with greater population density. In addition, the diffusion evolution of pollutants depends on factors such as environmental characteristics, wind parameters, temperature and humidity, and the like, so that the monitoring of pollutants is difficult.
On the air pollution detection equipment, Dingtao et al (publication number: CN108375490A) propose an air pollution gas collecting device based on a multi-rotor unmanned aerial vehicle; in the field of anemometry, a sea level, et al (publication No.: CN204009453U) proposes a method for unmanned aerial vehicles to carry an ultrasonic anemometer. Meanwhile, the prior art also discloses a plurality of atmospheric pollutant monitoring patents, and an atmospheric monitoring system based on the internet of things, which is proposed by Zhao Yutao et al (publication number: CN110971710A), wherein meteorological detection and pollution detection are respectively carried out by arranging fixed detection nodes and movable detection nodes. In the researches, a method considered by people in Dingtao and the like uses a local storage mode, the data transmission convenience is limited, and the measurement process does not contain meteorological parameters such as wind and the like, so that a basis cannot be provided for further pollution monitoring and source tracing planning; the method considered by the schnahei et al uses a communication link between the drone and a ground station, with an increase in transmission distance, but still limited, and without taking into account the mechanical structure to reduce the interference of the air flow generated by the rotor on the measurement of the wind speed by the ultrasonic anemometer; the method considered by Zhao Yutao et al uses fixed and mobile detection nodes for two types of weather and pollution parameters respectively, and different nodes have position difference, so that the relevance between data is reduced.
Disclosure of Invention
In order to overcome the defects that the air flow generated by the rotor wings interferes with the ultrasonic anemoscope and the influence of wind is not considered in the prior art, the invention provides an atmospheric pollutant wind-following monitoring system and a monitoring method based on a multi-rotor unmanned aerial vehicle.
Atmospheric pollutants is along with wind monitoring system includes many rotor unmanned aerial vehicle, meteorological detection module, atmospheric pollutants detection module and 4G data transmission link transmitting terminal based on many rotor unmanned aerial vehicle. The center of the upper surface of the multi-rotor unmanned aerial vehicle box is fixedly provided with an installation supporting rod for installing a weather detection module, and the top end of the installation supporting rod is fixedly provided with the weather detection module; this meteorological detection module pass through the wire with many rotor unmanned aerial vehicle's autopilot's serial port connection. The lower surface of the machine box is provided with a hanging platform; the 4G data transmission link sending end is fixed on the upper surface of the hanging platform, and the output end of the automatic pilot is connected with the input end of the 4G data transmission link sending end; atmospheric pollutants detection module fixes the lower surface at this hanging platform to make this atmospheric pollutants detection module's output with many rotor unmanned aerial vehicle's autopilot's serial ports connection.
The weather detection module comprises a sensor for detecting wind speed, a sensor for detecting wind direction, a sensor for detecting temperature and a sensor for detecting humidity. The mounted position of this meteorological detection module coincides with this many rotor unmanned aerial vehicle's central line.
The vertical distance between meteorological detection module lower surface with many rotor unmanned aerial vehicle's rotor place level is 450 mm.
The invention provides a method for monitoring atmospheric pollutants with wind by using an atmospheric pollutants wind monitoring system, which comprises the following specific processes:
step 1: self-checking the system; the unmanned aerial vehicle and each airborne module are subjected to self-checking, and the unmanned aerial vehicle and each airborne module are determined to have no abnormal alarm;
step 2: calibrating a meteorological detection module; the module is calibrated through the ground standard parameters, so that the influence of the initial error of the module on the measurement precision is avoided;
and step 3: calibrating an atmospheric pollutant detection module; adding standard measurement gas into an atmospheric pollution detection module for calibration, and avoiding the influence of initial error on measurement precision of the module;
and 4, step 4: flight detection and real-time data return; many rotor unmanned aerial vehicle rises to predetermined airspace, and the meteorological data and the atmospheric pollution data in the airspace of place are gathered respectively in real time to the meteorological detection module that carries and atmospheric pollutants detection module.
The real-time meteorological data of gathering of meteorological detection module includes wind speed, wind direction, temperature and humidity to wind speed, wind direction, temperature and humidity real-time transmission to the autopilot of gathering, and send temperature, humidity wherein, actual wind speed and actual wind direction after resolving to the high in the clouds server in real time through 4G data transmission link sending end by this autopilot.
The actual wind speed and the actual wind direction are obtained by resolving the wind speed and the wind direction acquired by the weather detection module and the ground flying speed and direction in the flight data of the autopilot through the autopilot. The specific calculation method comprises the following steps:
the autopilot is solved through formulas (1), (2) and (3) to obtain the actual wind speed and the actual wind direction:
wherein: r iswIs the actual wind speed value; thetawIs the actual wind direction value; r isaAcquiring a wind speed value for a meteorological detection module; thetaaAcquiring a wind direction value for a meteorological detection module; r isgIs a value of ground flight velocity in the autopilot's flight data; thetagIs a ground flight speed direction value in flight data of the autopilot; alpha is an included angle between the wind direction acquired by the weather detection module and the ground flying speed direction in the flight data of the automatic pilot, and beta is an included angle between the ground flying speed direction in the flight data of the automatic pilot and the actual wind speed direction.
The atmospheric pollution data collected by the atmospheric pollutant detection module comprise concentration data of sulfur dioxide, nitrogen oxides, carbon monoxide, PM10, PM2.5 and ozone; and transmitting the collected air pollution data to an automatic pilot.
Through many rotor unmanned aerial vehicle's GPS orientation module acquires the geographical position data of the atmospheric pollution data that detect, meteorological data.
Receiving data of each module through a serial port of the automatic pilot; and packaging the obtained meteorological data, the atmospheric pollution data, the detected atmospheric pollution data and the detected geographic position data of the meteorological data into data under a mavrink protocol, and sending the data to the 4G data transmission link sending end through the serial port of the automatic pilot.
The 4G data transmission link comprises a sending end and a cloud server; the sending end is connected with the automatic pilot through a serial port flat cable, receives the atmospheric pollutant data, the meteorological data, the obtained meteorological data and the geographic position data of the atmospheric pollution data and sends the data to the cloud server.
And 5: data is checked and displayed in real time; and the display terminal accesses and reads and displays the data stored in the cloud server through the 4G network.
And the display terminal receives and displays the pollutant data, the meteorological data, the detected atmospheric pollution data and the geographical position data of the meteorological data through the 4G data network.
Step 6: returning; the multi-rotor unmanned aerial vehicle completes a flight measurement task and returns to a preset navigation point;
in the invention, the meteorological detection module comprises an ultrasonic wind speed sensor, a magnetic sensor, a temperature sensor and a humidity sensor, and is respectively used for acquiring wind speed, wind direction, temperature and humidity data of the position of the multi-rotor unmanned aerial vehicle, the measured data is transmitted to an autopilot through a wire arrangement and a serial port, and finally transmitted to a 4G data transmission link sending end through the autopilot serial port by using a serial port wire arrangement.
In the invention, the meteorological detection module is arranged at the upper part of the center of gravity of the aircraft body by using an aluminum alloy hollow circular tube installation supporting rod, and the distance between the aluminum alloy hollow circular tube installation supporting rod and the plane of the rotor wing is 450 mm.
The atmospheric pollutant detection module comprises a sulfur dioxide sensor, a nitrogen oxide sensor, a carbon monoxide sensor, a PM10 sensor, a PM2.5 sensor, an ozone sensor and a temperature sensor, and is respectively used for collecting concentration data of sulfur dioxide, nitrogen oxide, carbon monoxide, PM10, PM2.5 and ozone at the position of an unmanned aerial vehicle, the measured data is transmitted to an automatic pilot through a flat cable and a serial port, and finally the measured data is transmitted to a 4G data transmission link sending end through the serial port of the automatic pilot.
In the invention, the multi-rotor unmanned aerial vehicle comprises a GPS positioning module, the geographic position data of meteorological data and atmospheric pollution data are detected, the measured data are input into an autopilot through a flat cable via an input serial port, and are transmitted to a 4G data transmission link transmitting terminal through an autopilot output serial port flat cable.
In the invention, the 4G data transmission link comprises a sending end and a cloud server, wherein the sending end is connected with the automatic pilot through a serial port flat cable, and receives and sends pollutant data, meteorological data and geographic position data to the cloud server.
And the display terminal receives and displays the pollutant data, the meteorological data and the geographical position data through the 4G data network.
According to the invention, the multi-rotor unmanned aerial vehicle carrying the atmospheric pollutant detection module can rapidly and rapidly detect the pollution distribution in the pollution detection area which is not suitable for manual detection, so that the safety of operators is ensured, and the labor cost is saved; the portable meteorological detection module can simultaneously detect meteorological data such as wind speed and wind direction, the correlation between pollutant data and the meteorological data is strong, and a powerful basis is provided for further pollution diffusion monitoring and source tracing planning; pollutant data, meteorological data, geographic position data and actual wind speed and direction data are sent to a cloud server through a 4G data transmission link, and operators check the data through a display terminal with 4G communication capacity, so that the data transmission efficiency and convenience are improved; the mounting position of the weather detection module is 450mm away from the horizontal plane where the rotor wing is located, and the weather detection module is far away from the airflow generated by the rotor wing, so that the authenticity of data is improved; the mounted position of meteorological detection module is in many rotor unmanned aerial vehicle focus top, makes many rotor unmanned aerial vehicle not produce too big moment that produces because of meteorological detection module's gravity when flight to the influence to autopilot has been reduced.
Drawings
FIG. 1 is a system composition diagram of the present invention.
FIG. 2 is a diagram of a weather detection module.
Fig. 3 is a schematic diagram of an atmospheric contaminant detection module.
Fig. 4 is a schematic view of the installation of the modules of the multi-rotor drone of the present invention.
Fig. 5 is a flow chart of the system.
In the figure: 1. a multi-rotor unmanned aerial vehicle; 2. a weather detection module; 3. an atmospheric pollutant detection module; 4.4G data transmission link sending end; 5. and (5) mounting the supporting rod.
Detailed Description
The embodiment is an atmospheric pollutants monitoring system with wind based on many rotor unmanned aerial vehicle, including many rotor unmanned aerial vehicle 1, meteorological detection module 2, atmospheric pollutants detection module 3 and 4G data transmission link sending end 4. The center of the upper surface of the multi-rotor unmanned aerial vehicle box is fixedly provided with an installation support rod 5 for installing a meteorological detection module 2, the top end of the installation support rod is fixedly provided with the meteorological detection module, and the vertical distance between the lower surface of the meteorological detection module and the level of the rotor of the multi-rotor unmanned aerial vehicle is 450 mm; this meteorological detection module pass through the wire with many rotor unmanned aerial vehicle's autopilot's serial port connection. The lower surface of the machine box is provided with a hanging platform; the 4G data transmission link sending end 4 is fixed on the upper surface of the hanging platform, and the output end of the automatic pilot is connected with the input end of the 4G data transmission link sending end; the atmospheric pollutant detection module 3 is fixed on the lower surface of the hanging platform, and the output end of the atmospheric pollutant detection module is connected with the serial port of the autopilot of the multi-rotor unmanned aerial vehicle;
the weather detection module 2 adopts the prior art. Gather the data of the wind speed, wind direction, temperature and the humidity of many rotor unmanned aerial vehicle positions through this meteorological detection module to pass through the winding displacement with data and transmit to autopilot through the input serial ports. The installation during meteorological detection module, for avoiding many rotors self vortex to disturb to and the symmetry of many rotor unmanned aerial vehicle structure, make this meteorological detection module's mounted position and this many rotor unmanned aerial vehicle's central line coincidence. The weather detection module comprises a sensor for detecting wind speed, a sensor for detecting wind direction, a sensor for detecting temperature and a sensor for detecting humidity.
The atmospheric pollutant detection module 3 adopts the prior art. Gather the atmospheric pollutant concentration data of many rotor unmanned aerial vehicle position through this atmospheric pollutant detection module, including the concentration data of sulfur dioxide, nitrogen oxide, carbon monoxide, PM10, PM2.5, ozone. The detected data is transmitted to the autopilot through the flat cable. The atmospheric pollutant detection module comprises a sensor for detecting sulfur dioxide, a sensor for detecting nitrogen oxides, a sensor for detecting carbon monoxide, a sensor for detecting PM10, a sensor for detecting PM2.5 and a sensor for detecting ozone.
4G data transmission link sending terminal 4 adopts prior art for the geographic position data of meteorological data, pollutant concentration data, the meteorological data and the atmospheric pollution data that obtain that receive and send in real time, and with this meteorological data, pollutant concentration data, many rotor unmanned aerial vehicle position data transmission to high in the clouds server.
The mounting support rod 5 is made of an aluminum alloy circular tube with the diameter of 22mm and the length of 450 mm. The lower end of the mounting support rod is connected with the machine box through a bottom mounting disc.
The hanging platform consists of four connecting rods and a flat plate. The upper ends of the four connecting rods are fixed on the lower surface of the case, and the flat plate is fixed at the lower ends of the four connecting rods.
The atmospheric pollutants along with wind monitoring system based on many rotor unmanned aerial vehicle that this embodiment provided carries out atmospheric pollutants along with wind monitoring system's specific process is:
step 1: self-checking the system; the unmanned aerial vehicle and each airborne module are subjected to self-checking, and the unmanned aerial vehicle and each airborne module are determined to have no abnormal alarm;
step 2: calibrating a meteorological detection module; the module is calibrated through the ground standard parameters, so that the influence of the initial error of the module on the measurement precision is avoided;
and step 3: calibrating an atmospheric pollutant detection module; adding standard measurement gas into an atmospheric pollution detection module for calibration, and avoiding the influence of initial error on measurement precision of the module;
and 4, step 4: flight detection and real-time data return; many rotor unmanned aerial vehicle rises to predetermined airspace, and the meteorological data and the atmospheric pollution data in the airspace of place are gathered respectively in real time to the meteorological detection module that carries and atmospheric pollutants detection module.
The real-time meteorological data of gathering of meteorological detection module includes wind speed, wind direction, temperature and humidity to wind speed, wind direction, temperature and humidity real-time transmission to the autopilot of gathering, and send temperature, humidity wherein, actual wind speed and actual wind direction after resolving to the high in the clouds server in real time through 4G data transmission link sending end by this autopilot.
The actual wind speed and the actual wind direction are obtained by resolving the wind speed and the wind direction acquired by the weather detection module and the ground flying speed and direction in the flight data of the autopilot through the autopilot.
The autopilot is solved through formulas (1), (2) and (3) to obtain the actual wind speed and the actual wind direction:
wherein: r iswIs the actual wind speed value; thetawIs the actual wind direction value; r isaAcquiring a wind speed value for a meteorological detection module; thetaaAcquiring a wind direction value for a meteorological detection module; r isgIs a value of ground flight velocity in the autopilot's flight data; thetagIs a ground flight speed direction value in flight data of the autopilot; alpha is an included angle between the wind direction acquired by the weather detection module and the ground flying speed direction in the flight data of the automatic pilot, and beta is an included angle between the ground flying speed direction in the flight data of the automatic pilot and the actual wind speed direction.
The atmospheric pollution data that atmospheric pollution detection module gathered include the concentration data of sulfur dioxide, nitrogen oxide, carbon monoxide, PM10, PM2.5, ozone to transmit the atmospheric pollution data who gathers to automatic pilot.
Many rotor unmanned aerial vehicle contains GPS orientation module, this GPS orientation module acquires the geographical position data of the atmospheric pollution data, meteorological data that detect.
The automatic pilot is Pixhawk2.6.8, the data of each module is received through a serial port of the automatic pilot, the obtained meteorological data, the obtained atmospheric pollution data, the detected atmospheric pollution data and the detected geographic position data of the meteorological data are packaged into data under a mavlik protocol, and the data are sent to the 4G data transmission link sending end through the serial port of the automatic pilot.
The 4G data transmission link comprises a sending end and a cloud server, wherein the sending end is connected with the automatic pilot through a serial port flat cable, and receives atmospheric pollutant data, meteorological data, obtained meteorological data and geographic position data of the atmospheric pollution data and sends the meteorological data and the geographic position data of the atmospheric pollution data to the cloud server.
And 5: data is checked and displayed in real time; and the display terminal accesses and reads and displays the data stored in the cloud server through the 4G network.
And the display terminal receives and displays the pollutant data, the meteorological data, the detected atmospheric pollution data and the geographical position data of the meteorological data through the 4G data network.
Step 6: returning; the multi-rotor unmanned aerial vehicle completes a flight measurement task and returns to a preset navigation point;
in the embodiment, the multi-rotor unmanned aerial vehicle carries the atmospheric pollutant detection module to carry out pollution distribution detection on a pollution detection area, so that the movement consumption of related personnel is saved; the multi-rotor unmanned aerial vehicle with the weather detection module can detect weather data of areas with larger flight restrictions, such as buildings, and provides powerful planning basis for further pollution diffusion monitoring and tracing; the data transmission mode of the system uses the 4G data transmission link, operators can quickly and conveniently access the cloud server through the display terminal to check data, and the efficiency and convenience of data transmission and checking are improved.
Claims (5)
1. An atmospheric pollutant wind-following monitoring system based on a multi-rotor unmanned aerial vehicle is characterized by comprising the multi-rotor unmanned aerial vehicle, a weather detection module, an atmospheric pollutant detection module and a 4G data transmission link sending end; the center of the upper surface of the multi-rotor unmanned aerial vehicle box is fixedly provided with an installation supporting rod for installing a weather detection module, and the top end of the installation supporting rod is fixedly provided with the weather detection module; the meteorological detection module is connected with a serial port of an autopilot of the multi-rotor unmanned aerial vehicle through a wire; the lower surface of the machine box is provided with a hanging platform; the 4G data transmission link sending end is fixed on the upper surface of the hanging platform, and the output end of the automatic pilot is connected with the input end of the 4G data transmission link sending end; atmospheric pollutants detection module fixes the lower surface at this hanging platform to make this atmospheric pollutants detection module's output with many rotor unmanned aerial vehicle's autopilot's serial ports connection.
2. The multi-rotor drone-based airborne pollutant wind monitoring system of claim 1, wherein the weather detection module comprises a sensor to detect wind speed, a sensor to detect wind direction, a sensor to detect temperature, a sensor to detect humidity; the mounted position of this meteorological detection module coincides with this many rotor unmanned aerial vehicle's central line.
3. The multi-rotor drone-based airborne pollutant wind monitoring system of claim 1, wherein the vertical distance between the lower surface of the weather detection module and the level at which the rotors of the multi-rotor drone are located is 450 mm.
4. A method for monitoring atmospheric pollutants with wind by using the atmospheric pollutants wind monitoring system of claim 1, which is characterized by comprising the following specific processes:
step 1: self-checking the system; the unmanned aerial vehicle and each airborne module are subjected to self-checking, and the unmanned aerial vehicle and each airborne module are determined to have no abnormal alarm;
step 2: calibrating a meteorological detection module; the module is calibrated through the ground standard parameters, so that the influence of the initial error of the module on the measurement precision is avoided;
and step 3: calibrating an atmospheric pollutant detection module; adding standard measurement gas into an atmospheric pollution detection module for calibration, and avoiding the influence of initial error on measurement precision of the module;
and 4, step 4: flight detection and real-time data return; the multi-rotor unmanned aerial vehicle is lifted to a preset airspace, and the carried meteorological detection module and the atmospheric pollutant detection module respectively acquire meteorological data and atmospheric pollution data of the airspace in real time;
the weather data collected by the weather detection module in real time comprise wind speed, wind direction, temperature and humidity, the collected wind speed, wind direction, temperature and humidity are transmitted to the automatic pilot in real time, and the automatic pilot sends the temperature, the humidity, the calculated actual wind speed and the actual wind direction to the cloud server in real time through the 4G data transmission link sending end;
the atmospheric pollution data collected by the atmospheric pollutant detection module comprise concentration data of sulfur dioxide, nitrogen oxides, carbon monoxide, PM10, PM2.5 and ozone; transmitting the collected air pollution data to an autopilot;
acquiring geographic position data of detected atmospheric pollution data and meteorological data through a GPS positioning module of the multi-rotor unmanned aerial vehicle;
receiving data of each module through a serial port of the automatic pilot; the obtained meteorological data, the atmospheric pollution data, the detected atmospheric pollution data and the detected geographic position data of the meteorological data are packaged into data under a mavrink protocol, and the data are sent to a 4G data transmission link sending end through an automatic pilot serial port;
the 4G data transmission link comprises a sending end and a cloud server; the sending terminal is connected with the automatic pilot through a serial port flat cable, receives the atmospheric pollutant data, the meteorological data, the obtained meteorological data and the geographic position data of the atmospheric pollution data and sends the data to the cloud server;
and 5: data is checked and displayed in real time; the display terminal accesses and reads and displays the data stored in the cloud server through the 4G network;
the display terminal receives and displays the pollutant data, the meteorological data, the detected atmospheric pollution data and the geographical position data of the meteorological data through a 4G data network;
step 6: returning; the multi-rotor unmanned aerial vehicle completes the flight measurement task and returns to a preset navigation point.
5. The method for monitoring the atmospheric pollutants with the wind by the atmospheric pollutants wind monitoring system according to claim 4, wherein the actual wind speed and the actual wind direction in the step 4 are obtained by resolving the wind speed and the wind direction acquired by the weather detection module and the ground flying speed and direction in the flight data of the autopilot by the autopilot; the specific calculation method comprises the following steps:
the autopilot is solved through formulas (1), (2) and (3) to obtain the actual wind speed and the actual wind direction:
wherein: r iswIs the actual wind speed value; thetawIs the actual wind direction value; r isaAcquiring a wind speed value for a meteorological detection module; thetaaAcquiring a wind direction value for a meteorological detection module; r isgIs a value of ground flight velocity in the autopilot's flight data; thetagIs a ground flight speed direction value in flight data of the autopilot; alpha is an included angle between the wind direction acquired by the weather detection module and the ground flying speed direction in the flight data of the automatic pilot, and beta is an included angle between the ground flying speed direction in the flight data of the automatic pilot and the actual wind speed direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011133538.1A CN112327387A (en) | 2020-10-21 | 2020-10-21 | Atmospheric pollutant wind-following monitoring system and monitoring method based on multi-rotor unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011133538.1A CN112327387A (en) | 2020-10-21 | 2020-10-21 | Atmospheric pollutant wind-following monitoring system and monitoring method based on multi-rotor unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112327387A true CN112327387A (en) | 2021-02-05 |
Family
ID=74310580
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011133538.1A Pending CN112327387A (en) | 2020-10-21 | 2020-10-21 | Atmospheric pollutant wind-following monitoring system and monitoring method based on multi-rotor unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112327387A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113064219A (en) * | 2021-03-18 | 2021-07-02 | 神华神东煤炭集团有限责任公司 | Microclimate element synchronous acquisition device and method and electronic equipment |
| CN113371183A (en) * | 2021-06-08 | 2021-09-10 | 陕西省环境科学研究院 | Overhead point source pollutant emission monitoring system and method based on multi-rotor unmanned aerial vehicle |
| CN113895610A (en) * | 2021-10-30 | 2022-01-07 | 海南省生态环境监测中心 | Multi-rotor unmanned aerial vehicle atmospheric pollutant mobile monitoring system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104307277A (en) * | 2014-10-21 | 2015-01-28 | 天津港焦炭码头有限公司 | Intelligent atomization dust suppression system for bulk cargo wharf |
| CN105487137A (en) * | 2016-01-19 | 2016-04-13 | 清华大学合肥公共安全研究院 | Meteorological monitoring system based on multi-rotor unmanned aerial vehicle |
| CN109144093A (en) * | 2017-06-28 | 2019-01-04 | 广州极飞科技有限公司 | The method of adjustment and unmanned plane of unmanned plane flusher |
| US20190011355A1 (en) * | 2015-12-28 | 2019-01-10 | Nanjing Agricultural University | Multi-rotor wing unmanned aerial vehicle platform based crop growth monitoring method and device |
| CN208736471U (en) * | 2018-08-28 | 2019-04-12 | 郑州信大先进技术研究院 | A kind of atmosphere pollution detection system based on multi-rotor unmanned aerial vehicle platform |
| CN110095826A (en) * | 2018-01-30 | 2019-08-06 | 上海泽铭环境科技有限公司 | Mobile weather station |
-
2020
- 2020-10-21 CN CN202011133538.1A patent/CN112327387A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104307277A (en) * | 2014-10-21 | 2015-01-28 | 天津港焦炭码头有限公司 | Intelligent atomization dust suppression system for bulk cargo wharf |
| US20190011355A1 (en) * | 2015-12-28 | 2019-01-10 | Nanjing Agricultural University | Multi-rotor wing unmanned aerial vehicle platform based crop growth monitoring method and device |
| CN105487137A (en) * | 2016-01-19 | 2016-04-13 | 清华大学合肥公共安全研究院 | Meteorological monitoring system based on multi-rotor unmanned aerial vehicle |
| CN109144093A (en) * | 2017-06-28 | 2019-01-04 | 广州极飞科技有限公司 | The method of adjustment and unmanned plane of unmanned plane flusher |
| CN110095826A (en) * | 2018-01-30 | 2019-08-06 | 上海泽铭环境科技有限公司 | Mobile weather station |
| CN208736471U (en) * | 2018-08-28 | 2019-04-12 | 郑州信大先进技术研究院 | A kind of atmosphere pollution detection system based on multi-rotor unmanned aerial vehicle platform |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113064219A (en) * | 2021-03-18 | 2021-07-02 | 神华神东煤炭集团有限责任公司 | Microclimate element synchronous acquisition device and method and electronic equipment |
| CN113371183A (en) * | 2021-06-08 | 2021-09-10 | 陕西省环境科学研究院 | Overhead point source pollutant emission monitoring system and method based on multi-rotor unmanned aerial vehicle |
| CN113371183B (en) * | 2021-06-08 | 2023-10-10 | 陕西省环境科学研究院 | Overhead point source pollutant emission monitoring system and method based on multi-rotor unmanned aerial vehicle |
| CN113895610A (en) * | 2021-10-30 | 2022-01-07 | 海南省生态环境监测中心 | Multi-rotor unmanned aerial vehicle atmospheric pollutant mobile monitoring system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112327387A (en) | Atmospheric pollutant wind-following monitoring system and monitoring method based on multi-rotor unmanned aerial vehicle | |
| CN113189615B (en) | Method for inspecting power transmission line by using vertical take-off and landing fixed wing unmanned aerial vehicle | |
| CN109780452B (en) | Gas leakage unmanned aerial vehicle inspection concentration inversion method based on laser remote measurement technology | |
| CN201707324U (en) | Poisonous and harmful gas emergency monitoring UAV (unmanned aerial vehicle) system | |
| CN108981825B (en) | NB-loT-based transmission tower monitoring device, system and method | |
| CN102879692A (en) | Method and device for detecting insulator through multi-rotor unmanned aerial vehicle | |
| CN205139117U (en) | Perpendicular monitoring system of atmosphere pollution based on on -vehicle captive balloon | |
| CN109975492B (en) | Coastal atmosphere combined pollution sky-space-ground integrated monitoring and early warning system | |
| CN109579909A (en) | Steel tower on-line monitoring system based on multi-source information | |
| CN107421591A (en) | Steel tower condition monitoring system | |
| CN111580531B (en) | Unmanned aerial vehicle electricity inspection method and device for power transmission line | |
| CN208027170U (en) | A kind of power-line patrolling unmanned plane and system | |
| CN110673643A (en) | Intelligent environment-friendly monitoring system and method for unmanned aerial vehicle | |
| CN112802004B (en) | Portable intelligent video detection device for health of power transmission line and pole tower | |
| CN109596487A (en) | A kind of high-lager building engineering fugitive dust source tracing method | |
| CN116989681A (en) | Wire sag on-line monitoring method for power transmission line | |
| CN113375723A (en) | Atmospheric pollution three-dimensional monitoring and data processing method based on fixed-wing unmanned aerial vehicle | |
| CN112526065A (en) | Unmanned aerial vehicle-based system and method for automatically positioning pollution source | |
| CN206656942U (en) | The monitoring system of plant contaminated gas discharge based on unmanned plane | |
| CN116679011A (en) | Unmanned aerial vehicle equipment for monitoring carbon emission source and monitoring method | |
| CN106526703A (en) | Aerial meteorological monitoring system | |
| CN212276008U (en) | Measuring device and system for wind field | |
| CN116930112A (en) | Sky-ground integrated real-time monitoring system and method for carbon dioxide in park | |
| CN117727162A (en) | Atmospheric pollution risk early warning method and system | |
| CN210465699U (en) | Multifunctional hazardous gas monitoring device and monitoring and early warning system |
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 | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20210205 |
|
| WD01 | Invention patent application deemed withdrawn after publication |