CN112526065A - Unmanned aerial vehicle-based system and method for automatically positioning pollution source - Google Patents
Unmanned aerial vehicle-based system and method for automatically positioning pollution source Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000012544 monitoring process Methods 0.000 claims abstract description 23
- 238000012806 monitoring device Methods 0.000 claims abstract description 12
- 239000003344 environmental pollutant Substances 0.000 claims abstract description 7
- 231100000719 pollutant Toxicity 0.000 claims abstract description 7
- 239000007789 gas Substances 0.000 claims description 39
- 238000001514 detection method Methods 0.000 claims description 22
- 239000002245 particle Substances 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims description 2
- 238000003915 air pollution Methods 0.000 description 5
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- G01N33/0004—Gaseous mixtures, e.g. polluted air
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Abstract
The invention discloses an unmanned aerial vehicle-based system for automatically positioning a pollution source, which comprises: unmanned aerial vehicle, host system, air monitoring equipment, ground workstation. The main control module controls the direction of the unmanned aerial vehicle flying towards the interior of the pollutant discharge area to be a first course, and reads the first target point with the highest concentration of the target gas found by the air monitoring device on the first course; the main control module controls the unmanned aerial vehicle to ascend and descend in the vertical direction at a first target point, and the unmanned aerial vehicle hovers at a second target point with the highest concentration of target gas; the main control module controls the unmanned aerial vehicle to fly in a surrounding manner in the horizontal direction by taking the second target point as a circle center, a point with the highest concentration on a surrounding flight track is found to be a third target point, a connection line between the third target point and the second target point is a second air route, the highest concentration point of target gas on the second air route is a fourth target point, and finally quick tracing of an atmospheric pollution source is achieved, and after the whole process is started, manual intervention is not needed.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle environment monitoring, in particular to an unmanned aerial vehicle-based system and method for automatically positioning a pollution source.
Background
With the rapid development of industrial parks, the environmental quality 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. 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.
The traditional air detection device is limited by the fact that the position cannot be flexibly changed, an air monitoring tower needs to be built at multiple points and multiple places, the cost is high, measured data are limited by the geographical position of the monitoring tower, and comprehensive air data of a monitored area cannot be obtained; in addition, the hot air balloon is used for monitoring air data, but the hot air balloon has strict requirements on weather during working, and cannot realize instant lifting in a sky layer.
Air detection using unmanned aerial vehicle technology has become the first choice of relevant departments. Unmanned aerial vehicle can break through traditional empty gas detection's restriction to cheaper flight cost, more nimble free detection mode, more swift rapid detection air data.
Disclosure of Invention
The invention aims to overcome the technical defects, provides an automatic pollution source positioning system and method based on an unmanned aerial vehicle, and realizes the rapid tracing of the atmospheric pollution source.
In order to achieve the technical purpose, the invention provides an automatic pollution source positioning system based on an unmanned aerial vehicle, which comprises:
an unmanned aerial vehicle;
an air monitoring device, the air monitoring device being loaded on the drone;
the main control module is loaded on the unmanned aerial vehicle, communicates with the unmanned aerial vehicle and the air detection equipment, reads the numerical value of the air detection equipment, and issues a flight instruction to the unmanned aerial vehicle;
and the ground workstation is used for receiving the state information of the unmanned aerial vehicle and the air monitoring information of the air detection equipment.
The invention also provides a method for automatically positioning the pollution source based on the unmanned aerial vehicle, which comprises the following steps:
s1: one or more gases in a pollution discharge area are selected in advance to serve as target gases for automatic tracking;
s2: placing the takeoff position of the unmanned aerial vehicle at a downwind position of the edge of the pollution emission area;
s3: the main control module controls the unmanned aerial vehicle to vertically take off from the ground, and the main control module controls the unmanned aerial vehicle to hover when the unmanned aerial vehicle reaches the highest concentration position;
s4: the main control module controls the unmanned aerial vehicle to fly towards the interior of the pollutant discharge area along the direction opposite to the wind direction, the direction in which the unmanned aerial vehicle flies towards the interior of the pollutant discharge area along the direction opposite to the wind direction is a first course, the main control module controls the air monitoring device to find out the highest concentration point of the target gas on the first course, and the highest concentration point of the target gas on the first course is a first target point;
s5: the main control module controls the unmanned aerial vehicle to lift in the vertical direction at a first target point, the unmanned aerial vehicle hovers when reaching the highest concentration position of the target gas, and a second target point is arranged at the highest concentration position of the target gas in the vertical direction at the first target point;
s6: the main control module controls the unmanned aerial vehicle to fly in a surrounding manner in the horizontal direction by taking the second target point as a circle center, and finds out a point with the highest concentration of the target gas on a surrounding flying track, wherein the point with the highest concentration of the target gas on the surrounding flying track is a third target point, and a straight line where a connecting line of the third target point and the second target point is located is a second route;
s7: the main control module controls the unmanned aerial vehicle to fly along the second air route, the main control module controls the unmanned aerial vehicle to hover at the highest concentration point of the target gas of the second air route, and the highest concentration point of the target gas on the second air route is a fourth target point;
s8: the main control module controls the unmanned aerial vehicle to ascend and descend in the vertical direction at the fourth target point, the main control module controls the unmanned aerial vehicle to hover at the highest concentration position, the highest concentration point of the target gas in the vertical direction at the fourth target point is a fifth target point, and the fifth target point is a central point of a pollution source.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, by combining the unmanned aerial vehicle and the air monitoring equipment, the technical problem that the traditional air detection device is limited by inflexible detection positions is solved, the air quality can be detected more quickly, and the quick tracing of the air pollution source is realized.
Drawings
Fig. 1 is a schematic flow chart of a method for automatically locating a pollution source for a drone according to some embodiments of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1, the present embodiment provides a system for automatically locating a pollution source based on an unmanned aerial vehicle, including: unmanned aerial vehicle, air monitering equipment, host system and ground workstation.
The unmanned aerial vehicle is a sports equipment, the air monitoring equipment is loaded on the unmanned aerial vehicle, the ground workstation is used for receiving state information of the unmanned aerial vehicle and air monitoring information of the air detection equipment, the main control module is loaded on the unmanned aerial vehicle, communicates with the unmanned aerial vehicle and the air detection equipment, reads numerical values of the air detection equipment and gives flight instructions to the unmanned aerial vehicle.
In this embodiment, the air monitoring device includes a gas detection sensor, and the air monitoring information of the air detection device includes one or more of a plurality of air parameter indicators, including but not limited to: SO (SO)2、CO、NO2、O3、VOC、NH3、H2S or a concentration indicator of solid particles.
Preferably, the air monitoring equipment further comprises an infrared camera for rapidly identifying forest fires and other high-temperature smoke.
The state information of the unmanned aerial vehicle comprises the longitude and latitude, the height, the battery electric quantity and the flight state information of the unmanned aerial vehicle, an electronic screen of a ground workstation can display the longitude and latitude, the height, the battery electric quantity and the flight state information of the unmanned aerial vehicle in real time, and a user can also manually control the flight of the unmanned aerial vehicle through the ground workstation.
The embodiment also provides an unmanned aerial vehicle-based method for automatically positioning a pollution source, which comprises the following steps:
s1: one or more gases in a pollution discharge area are selected in advance to serve as target gases for automatic tracking;
s2: placing the takeoff position of the unmanned aerial vehicle at a downwind position of the edge of the pollution emission area;
s3: the main control module controls the unmanned aerial vehicle to vertically take off from the ground, and the main control module controls the unmanned aerial vehicle to hover when the unmanned aerial vehicle reaches the highest concentration position;
s4: the main control module controls the unmanned aerial vehicle to fly towards the interior of the pollutant discharge area along the direction opposite to the wind direction, the direction in which the unmanned aerial vehicle flies towards the interior of the pollutant discharge area along the direction opposite to the wind direction is a first course, the main control module controls the air monitoring device to find out the highest concentration point of the target gas on the first course, and the highest concentration point of the target gas on the first course is a first target point;
s5: the main control module controls the unmanned aerial vehicle to lift in the vertical direction at a first target point, the main control module controls the unmanned aerial vehicle to hover at the highest concentration position of the target gas, and the highest concentration position of the target gas in the vertical direction at the first target point is a second target point;
s6: the main control module controls the unmanned aerial vehicle to fly in a surrounding manner in the horizontal direction by taking the second target point as a circle center, and finds out a point with the highest concentration of the target gas on a surrounding flying track, wherein the point with the highest concentration of the target gas on the surrounding flying track is a third target point, and a straight line where a connecting line of the third target point and the second target point is located is a second route;
s7: the main control module controls the unmanned aerial vehicle to fly along the second air route, the main control module controls the unmanned aerial vehicle to hover at the highest concentration point of the target gas of the second air route, and the highest concentration point of the target gas on the second air route is a fourth target point;
s8: the main control module controls the unmanned aerial vehicle to ascend and descend in the vertical direction at the fourth target point, the main control module controls the unmanned aerial vehicle to hover at the highest concentration position, the highest concentration point of the target gas in the vertical direction at the fourth target point is a fifth target point, and the fifth target point is a central point of a pollution source.
Preferably, the circling flight in the horizontal direction includes at least one clockwise flight and at least one counterclockwise flight, and the highest point of the average value of the concentrations of the target gases at each point on the circular flight trajectory is taken as the third target point, so that the accuracy of the value of the concentration of the target gas on the circular flight trajectory is improved.
In this embodiment, the unmanned aerial vehicle includes a plurality of monitoring unmanned aerial vehicles and at least one transit unmanned aerial vehicle, each monitoring unmanned aerial vehicle is provided with an air monitoring device, a plurality of monitoring unmanned aerial vehicles can be placed at a plurality of point positions at the downwind position of the edge of the pollution discharge area, the distance between every two monitoring unmanned aerial vehicles is more than 350 meters, thereby discretely distributing a plurality of monitoring unmanned aerial vehicles, realizing multipoint synchronous tracing, improving the accuracy of tracing the pollution source, and can also realize the synchronous tracing of a plurality of pollution sources, the transfer unmanned aerial vehicle hovers in an open area, the flying height of the transfer unmanned aerial vehicle is higher than that of each monitoring unmanned aerial vehicle, the disconnection of communication signals caused by the obstruction after the height of the monitoring unmanned aerial vehicle is too low is avoided, through the transfer of the transfer unmanned aerial vehicle to the signal, the real-time communication of the monitoring unmanned aerial vehicle and the ground workstation is guaranteed.
According to the invention, by combining the unmanned aerial vehicle and the air monitoring equipment, the technical problem that the traditional air detection device is limited by inflexible detection positions is solved, the air quality can be detected more quickly, and the quick tracing of the air pollution source is realized.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (8)
1. An automatic pollution source positioning system based on unmanned aerial vehicle, comprising:
an unmanned aerial vehicle;
an air monitoring device, the air monitoring device being loaded on the drone;
the main control module is loaded on the unmanned aerial vehicle, communicates with the unmanned aerial vehicle and the air detection equipment, reads the numerical value of the air detection equipment, and issues a flight instruction to the unmanned aerial vehicle;
and the ground workstation is used for receiving the state information of the unmanned aerial vehicle and the air monitoring information of the air detection equipment.
2. The drone-based system for automatically locating a source of pollution of claim 1, wherein the air monitoring device includes a gas detection sensor.
3. The drone-based system for automatically locating a pollution source of claim 1, wherein the air monitoring device further comprises an infrared camera.
4. The drone-based system for automatically locating a pollution source of claim 1, wherein the drone includes a plurality of monitoring drones.
5. The drone-based system for automatically locating a pollution source according to claim 1, wherein the state information of the drone includes latitude and longitude, altitude, battery level, flight status information of the drone.
6. The drone-based system for automatically locating pollution sources of claim 1, wherein the air monitoring information of the air detection device includes one or more of a variety of air parameter indicators including but not limited to: SO (SO)2、CO、NO2、O3、VOC、NH3、H2S or solid particle concentration.
7. An automatic pollution source positioning method based on an unmanned aerial vehicle is characterized by comprising the following steps:
s1: one or more gases in a pollution discharge area are selected in advance to serve as target gases for automatic tracking;
s2: placing the takeoff position of the unmanned aerial vehicle at a downwind position of the edge of the pollution emission area;
s3: the main control module controls the unmanned aerial vehicle to vertically take off from the ground, and the main control module controls the unmanned aerial vehicle to hover when the unmanned aerial vehicle reaches the highest concentration position;
s4: the main control module controls the unmanned aerial vehicle to fly towards the interior of the pollutant discharge area along the direction opposite to the wind direction, the direction in which the unmanned aerial vehicle flies towards the interior of the pollutant discharge area along the direction opposite to the wind direction is a first course, the main control module controls the air monitoring device to find out the highest concentration point of the target gas on the first course, and the highest concentration point of the target gas on the first course is a first target point;
s5: the main control module controls the unmanned aerial vehicle to lift in the vertical direction at a first target point, the unmanned aerial vehicle hovers when reaching the highest concentration position of the target gas, and a second target point is arranged at the highest concentration position of the target gas in the vertical direction at the first target point;
s6: the main control module controls the unmanned aerial vehicle to fly in a surrounding manner in the horizontal direction by taking the second target point as a circle center, and finds out a point with the highest concentration of the target gas on a surrounding flying track, wherein the point with the highest concentration of the target gas on the surrounding flying track is a third target point, and a straight line where a connecting line of the third target point and the second target point is located is a second route;
s7: the main control module controls the unmanned aerial vehicle to fly along the second air route, the main control module controls the unmanned aerial vehicle to hover at the highest concentration point of the target gas of the second air route, and the highest concentration point of the target gas on the second air route is a fourth target point;
s8: the main control module controls the unmanned aerial vehicle to ascend and descend in the vertical direction at the fourth target point, the main control module controls the unmanned aerial vehicle to hover at the highest concentration position, the highest concentration point of the target gas in the vertical direction at the fourth target point is a fifth target point, and the fifth target point is a central point of a pollution source.
8. The drone-based method of automatically locating pollution sources of claim 7, wherein the circling flight in the horizontal direction includes at least one clockwise flight and at least one counterclockwise flight, and the highest point of the mean of the concentrations of the target gases of the plurality of times at each point on the circular flight trajectory is taken as the third target point.
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| CN114755367A (en) * | 2022-04-19 | 2022-07-15 | 薛四社 | Environment-friendly pollution monitoring method, system, equipment and medium |
| 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 |
| CN115562358A (en) * | 2022-12-05 | 2023-01-03 | 杭州湘亭科技有限公司 | Unmanned aerial vehicle radioactive plume tracking monitoring method and system |
| CN115876970A (en) * | 2022-12-29 | 2023-03-31 | 苏州中科先进技术研究院有限公司 | Automatic river pollution source sniffer |
| CN116360487A (en) * | 2023-03-14 | 2023-06-30 | 珠海鼎正国信科技有限公司 | Real-time dynamic planning method for route of walking based on gas monitoring data |
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| CN116360487A (en) * | 2023-03-14 | 2023-06-30 | 珠海鼎正国信科技有限公司 | Real-time dynamic planning method for route of walking based on gas monitoring data |
| CN116360487B (en) * | 2023-03-14 | 2024-05-28 | 珠海鼎正国信科技有限公司 | Real-time dynamic planning method for route of walking based on gas monitoring data |
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Application publication date: 20210319 |
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