CN113109509A - Gas detection device for unmanned aerial vehicle - Google Patents
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- G—PHYSICS
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- 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
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- 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
- G01N33/0062—General constructional details of gas analysers, e.g. portable test equipment concerning the measuring method or the display, e.g. intermittent measurement or digital display
- G01N33/0063—General constructional details of gas analysers, e.g. portable test equipment concerning the measuring method or the display, e.g. intermittent measurement or digital display using a threshold to release an alarm or displaying means
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- G01N33/0004—Gaseous mixtures, e.g. polluted air
- G01N33/0009—General constructional details of gas analysers, e.g. portable test equipment
- G01N33/0073—Control unit therefor
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Abstract
A gas detection device for a drone, comprising: last base with battery, set up gas concentration acquisition control panel, the lower shell that has the buckle, signal communication interface on last base, wherein: lower shell and last base fixed connection, signal communication interface link to each other with unmanned aerial vehicle and gas concentration acquisition control panel respectively in order to carry out the data transmission communication for hang the buckle of connecting unmanned aerial vehicle and pass through the screw fastening on the shell down. According to the invention, the unmanned aerial vehicle is used for automatically executing the atmosphere setting path and the environmental gas concentration acquisition of a specific monitoring point, so that the real-time performance of atmospheric pollution real-time monitoring can be greatly improved, the automation of data processing in the atmospheric concentration acquisition operation process is realized, and the efficiency and quality of the atmospheric monitoring on accident early warning and evaluation are improved.
Description
Technical Field
The invention relates to the technology in the field of environmental monitoring, in particular to a gas detection device for traversal gas concentration acquisition and matrix point set gas concentration acquisition in an environmental monitoring area of an unmanned aerial vehicle.
Background
The sudden air pollution accidents are various and comprise fire pollution, explosion pollution, leakage pollution and the like. For sudden atmospheric pollution accidents, the atmospheric monitoring technology plays a crucial role in the whole chain process of accident early warning, situation assessment and accident pollution recovery. The gas concentration acquisition is the most important task type in an atmosphere monitoring scene, and is also a core data source for concentration distribution and disaster situation evaluation.
Disclosure of Invention
The invention provides a gas detection device for an unmanned aerial vehicle, which aims at the technical field of gas detection in environmental monitoring, utilizes the unmanned aerial vehicle to automatically execute an atmosphere setting path and environmental gas concentration acquisition of a specific monitoring point, can greatly improve the real-time performance of atmospheric pollution real-time monitoring, realizes the automation of data processing in the atmospheric concentration acquisition operation process, and improves the efficiency and quality of the atmospheric monitoring on accident early warning and evaluation.
The invention is realized by the following technical scheme:
the invention relates to a gas detection device for an unmanned aerial vehicle, comprising: last base with battery, set up gas concentration acquisition control panel, the lower shell that has the buckle, signal communication interface on last base, wherein: lower shell and last base fixed connection, signal communication interface link to each other with unmanned aerial vehicle and gas concentration acquisition control panel respectively in order to carry out the data transmission communication for hang the buckle of connecting unmanned aerial vehicle and pass through the screw fastening on the shell down.
The gas concentration acquisition control board comprises: singlechip and input/output interface, the direct current conversion module and two gas concentration acquisition sensors that are used for changing 5V level to 3.3V that link to each other with it respectively, wherein: the single chip microcomputer is respectively connected with the two gas concentration acquisition sensors, performs data processing according to gas concentration data information acquired by the gas concentration sensors and outputs gas concentration data value information, is simultaneously connected with the unmanned aerial vehicle, and receives and analyzes data acquisition requests in a mavrink protocol format from the ground station by the unmanned aerial vehicleSolving and sending the obtained data measurement instruction and the target gas type to a single chip microcomputer, so that the ground console can realize the data request and receiving function of the gas concentration sensor through an unmanned aerial vehicle flight control module; the input and output interface is respectively connected with the unmanned aerial vehicle, the battery, the direct current conversion module and the singlechip in a serial port transceiving mode; the direct current conversion module is respectively connected with the input/output interface and the singlechip, the first gas concentration acquisition sensor acquires CO gas concentration data according to the gas concentration acquisition instruction information of the singlechip and outputs corresponding CO concentration data information to the singlechip, and the second gas concentration acquisition sensor acquires NO according to the gas concentration acquisition instruction information of the singlechip2Gas concentration data acquisition and output of corresponding NO2And the concentration data information is sent to the singlechip.
The analysis means that: the content of the first 5 frames in the data acquisition request in the mavlink protocol format is used for determining whether the ground station is in communication with the local machine, the 6 th frame determines that the received message is a data measurement instruction, the acquired target gas type is acquired through the 7 th to 10 th frames, and finally, whether the instruction is in error is checked through CRC 16.
The collection is as follows: the single chip microcomputer monitors the currently acquired data quantity, when the currently acquired data quantity is insufficient, the single chip microcomputer requests data from the gas concentration acquisition sensor, the request format is the same as the measurement instruction transmitted by flight control, the gas concentration acquisition sensor transmits the measurement data of the self-defined gas type and concentration data format to the single chip microcomputer according to the request, the single chip microcomputer carries out data carding, and the measurement data are fed back to the ground station through the unmanned aerial vehicle in a mavrink protocol format.
The data combing means that: when the single chip microcomputer obtains sufficient data, the single chip microcomputer firstly rejects the first 50% of the measured data in the obtained data so as to reduce the error influence brought by the measured data of the electrochemical sensor in the response time; then calculating the variance value of the residual data, and judging:
wherein: d (X) is the variance of the collected gas concentration data, xiFor the individual value, P, of the gas concentration sample collectediFor data cullingNumber, R is the concentration value of the collected gas,
the mean value of the collected gas concentration data is obtained; when the data variance is more than 5% of the measured concentration data, returning data, wherein an error position 1 represents that the concentration value of the target area is unstable; and when the data variance is less than 5% of the measured concentration data, removing the measured data with the deviation greater than the variance value from the measured data, taking the average value of the residual data as the final gas measured concentration, wherein R is the gas concentration data after primary treatment.
The input and output interface comprises: the four gas concentration sensor interfaces are respectively a power supply interface, a grounding interface, a receiving interface and a sending interface, and the passive communication of serial port receiving and sending is selected.
The upper base comprises: set up in the spike and the contact of unmanned aerial vehicle lower part of top surface, all the other parts are left the space and are had the radiating effect, wherein: the through hole is used for being tightly connected with the lower shell.
The battery is preferably a direct current 12V rechargeable battery, and is connected to a gas concentration acquisition sensor after direct current voltage reduction.
Technical effects
The invention relates to a two-component gas concentration acquisition device, which solves the defect that the existing multi-component gas concentration acquisition device generates mutual interference when processing data, and ensures that the gas concentration acquisition data is accurate and reliable; the rapid buckling mechanism is arranged, so that the two-component gas concentration acquisition device can be quickly buckled on the unmanned aerial vehicle, and the multi-task accurate operation efficiency of the single unmanned aerial vehicle is improved.
Compared with the prior art, the method can automatically execute the atmosphere setting path and the environmental gas concentration acquisition of a specific monitoring point, can greatly improve the real-time performance of atmospheric pollution real-time monitoring, can realize the data processing automation of the atmospheric concentration acquisition operation process, and improves the efficiency and quality of the atmospheric monitoring on accident early warning and evaluation.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a flow chart of data transmission according to the present invention;
FIG. 3 is a schematic diagram of a gas concentration acquisition control panel circuit of the present invention;
FIG. 4 is a flow chart of a gas concentration acquisition algorithm of the present invention;
in the figure: go up base 1, battery 2, gas concentration acquisition control panel 3, lower shell 4, signal communication interface 5, buckle 6, battery 301, unmanned aerial vehicle flight control module 302, input/output interface 303, direct current conversion module 304, singlechip 305, CO sensor 306, NO2And a sensor 307.
Detailed Description
As shown in fig. 1, a gas detection device for an unmanned aerial vehicle according to the present embodiment includes: go up base 1, battery 2, gas concentration acquisition control panel 3, lower shell 4, signal communication interface 5 and buckle 6, wherein: the battery 2 is arranged on the upper base 1 to ensure that the gas concentration acquisition sensor is always in a ready state capable of working; the gas concentration acquisition control board 3 is fastened on the upper base 1 through a stud and is positioned above the battery 2; the lower shell 4 is fastened with the upper base through bolts; the signal communication interface 5 is used for being connected with the unmanned aerial vehicle flight control module to carry out data transmission communication; the retaining ring 6 is fastened on the lower shell through a screw, and the whole gas concentration acquisition device is hung on the lower part of the unmanned aerial vehicle through the retaining ring.
The upper base 1 comprises: set up in the spike and the contact of unmanned aerial vehicle lower part of top surface, all the other parts are left the space and are had the radiating effect, wherein: the through hole is provided for fastening connection with the lower housing 4.
The battery 2 is a direct current 12V rechargeable battery, and is connected to a gas concentration acquisition sensor after direct current voltage reduction.
The gas concentration acquisition control plate 3 comprises: the system comprises an input/output interface, a direct current conversion module, a single chip microcomputer, a gas concentration acquisition sensor 1 and a gas concentration acquisition sensor 2; four interfaces in the input/output interfaces are gas concentration sensor interfaces, namely VCC, GND, RX and TX, and the passive communication of serial port transceiving is selected in the embodiment.
Because the working voltage of the gas concentration acquisition sensor is 3.3V, and the interface voltage of the flight control module is 5V, the direct current conversion module is used for being connected into the direct current conversion module so as to enable the serial port transceiving level to be compatible.
TX/RX that unmanned aerial vehicle draws is connected to A9/A10 pin of singlechip, and RX/TX of two gas concentration acquisition sensors is connected to A2/A3 and B2/B3 pin of singlechip respectively. Therefore, the ground console can realize the data request and receiving function of the gas concentration sensor through the unmanned aerial vehicle flight control module.
The embodiment relates to a gas detection method of the device, which comprises the following steps:
step 1) the ground station sends a data acquisition request to an unmanned aerial vehicle flight control module through a 3dr wireless data transmission module in a mavrink protocol format;
the data request format of the mavlink protocol is as follows:
step 2) the flight control module of the unmanned aerial vehicle is in pair: firstly, determining whether the communication between the ground station and the local machine is performed according to the content of the first 5 frames, secondly, determining the received message as a data measurement instruction according to the 6 th frame, thirdly, acquiring the type of the collected target gas according to the 7 th to 10 th frames, and finally, checking whether the instruction is wrong through CRC 16;
the 7 th to 10 th frames are in a gas data format:
| type of gas | O2 | CO | H2S | NO2 | NH3 |
| TYP | 0x00 | 0x01 | 0x02 | 0x03 | 0x04 |
| O3 | SO2 | VOC | NO |
| 0x05 | 0x06 | 0x07 | 0x08 |
Step 3) the flight control module of the unmanned aerial vehicle sends a data request of corresponding gas to the bottom layer single chip microcomputer controller through a custom data transmission format according to the instruction content through a TTL (transistor-transistor logic) interface;
the self-defined data transmission format is as follows:
step 4) as shown in fig. 4, the single chip microcomputer controller enters a gas concentration acquisition process after receiving the instruction, specifically: firstly, whether sufficient data are collected at present or not is monitored, if the data quantity is insufficient, data are continuously requested from the gas sensor, the request format is the same as the measurement instruction transmitted by flight control, and the gas sensor does not continuously send the measurement data in the custom format to the single chip microcomputer controller after receiving the corresponding data processing requirement.
The measurement data with the custom format is as follows:
| 0xFF | 0x01 | 0x86 | 0x00 | 0x00 |
| initial zone bit | Target address | Reading density instructions | Eight high bits | Eight low bits |
| 0x02 | 0x01 | 0x00 | DD |
| Type of gas | Unit of | Error bit | CRC8 |
Unit data format:
| code | 0x00 | 0x01 | 0x02 |
| unit of | ％ | PPM | PPB |
The unit is (High byte 256+ Low byte)/10 in% or ppm;
the unit ppb is (High byte 256+ Low byte).
When the data of this measurement is wrong, an error bit is returned.
Step 5) after the single chip microcomputer obtains sufficient data (100, 50/s), the single chip microcomputer firstly carries out preliminary carding on the measured data at the bottom layer, and the method specifically comprises the following steps:
5.1) when the concentration data acquired at the ith time is xi，X＝{xi1 and 2 … … 100, eliminating the first 50 measurement data, reducing the error influence brought by the measurement data of the electrochemical sensor in the response time, and obtaining X { X ═i}i＝51，52……100。
5.2) calculating the variance value of the residual data, and returning the data when the data variance is more than 5% of the measured concentration data, wherein an error position 1 represents that the concentration value of the target area is unstable.
And 5.3) when the data variance is less than 5% of the measured concentration data, removing the measured data with the deviation greater than the variance value from the measured data, and taking the average value of the residual data as the final gas measured concentration, wherein R is the gas concentration data after primary treatment.
And 5.4) finally feeding back the data to the unmanned aerial vehicle flight control module through a self-defined data transmission format, wherein the feedback format is the same as the gas sensor feedback format.
And 6) after the unmanned aerial vehicle flight control module acquires the measurement data, feeding back the data acquisition result to the ground station in a mavrink protocol format.
The format of the mavlink protocol obtained by the ground station is as follows:
through concrete actual experiment, the gas concentration acquisition device finishes corresponding gas concentration acquisition data at each target point along with the unmanned aerial vehicle. The average 18s of the available unmanned aerial vehicles acquires target point data comprising flight time 13s and hovering time 5s, and the time of about 6min is used for completing the calibration to 6000m2Gas concentration data was collected for 20 target points in the plane.
Compared with the prior art, the method improves the accuracy and reliability of gas concentration acquisition data and the efficiency of operation tasks.
The foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (7)
1. A gaseous detection device for unmanned aerial vehicle, its characterized in that includes: last base with battery, set up gas concentration acquisition control panel, the lower shell that has the buckle, signal communication interface on last base, wherein: the lower shell is fixedly connected with the upper base, the signal communication interface is respectively connected with the unmanned aerial vehicle and the gas concentration acquisition control panel to carry out data transmission communication, and a retaining ring for hanging and connecting the unmanned aerial vehicle is fastened on the lower shell through a screw;
the gas concentration acquisition control board comprises: singlechip and input/output interface, the direct current conversion module and two gas concentration acquisition sensors that are used for changing 5V level to 3.3V that link to each other with it respectively, wherein: the single chip microcomputer is respectively connected with the two gas concentration acquisition sensors, performs data processing according to the gas concentration data information acquired by the gas concentration acquisition sensors and outputs gas concentration data value information, and simultaneously is connected with an unmanned aerial vehicleThe system comprises a machine, an unmanned aerial vehicle, a data acquisition module, a single chip microcomputer and a gas concentration sensor, wherein the unmanned aerial vehicle receives and analyzes a data acquisition request in a mavrink protocol format from a ground station and sends an obtained data measurement instruction and a target gas type to the single chip microcomputer, so that a ground console can realize the data request and receiving functions of the gas concentration sensor through a flight control module of the unmanned aerial vehicle; the input and output interface is respectively connected with the unmanned aerial vehicle, the battery, the direct current conversion module and the singlechip in a serial port transceiving mode; the direct current conversion module is respectively connected with the input/output interface and the singlechip, the first gas concentration acquisition sensor acquires CO gas concentration data according to the gas concentration acquisition instruction information of the singlechip and outputs corresponding CO concentration data information to the singlechip, and the second gas concentration acquisition sensor acquires NO according to the gas concentration acquisition instruction information of the singlechip2Gas concentration data acquisition and output of corresponding NO2And the concentration data information is sent to the singlechip.
2. The gas detection device for the unmanned aerial vehicle as claimed in claim 1, wherein the analyzing means: the content of the first 5 frames in the data acquisition request in the mavlink protocol format is used for determining whether the ground station is in communication with the local machine, the 6 th frame determines that the received message is a data measurement instruction, the acquired target gas type is acquired through the 7 th to 10 th frames, and finally, whether the instruction is in error is checked through CRC 16.
3. The gas detection device for the unmanned aerial vehicle of claim 1, wherein the collecting means is: the single chip microcomputer monitors the currently acquired data quantity, when the currently acquired data quantity is insufficient, the single chip microcomputer requests data from the gas concentration acquisition sensor, the request format is the same as the measurement instruction transmitted by flight control, the gas concentration acquisition sensor transmits the measurement data of the self-defined gas type and concentration data format to the single chip microcomputer according to the request, the single chip microcomputer carries out data carding, and the measurement data are fed back to the ground station through the unmanned aerial vehicle in a mavrink protocol format.
4. The gas detection device for the unmanned aerial vehicle of claim 1, wherein the data combing is: when the single chip microcomputer obtains sufficient quantityAfter data is acquired, the single chip microcomputer firstly rejects the first 50% of measured data in the acquired data so as to reduce the error influence brought by the measured data of the electrochemical sensor in response time; then calculating the variance value of the residual data, and judging:
wherein: d (X) is the variance of the collected gas concentration data, xiFor the individual value, P, of the gas concentration sample collectediR is the concentration value of the collected gas as a data elimination function,
the mean value of the collected gas concentration data is obtained; when the data variance is more than 5% of the measured concentration data, returning data, wherein an error position 1 represents that the concentration value of the target area is unstable; and when the data variance is less than 5% of the measured concentration data, removing the measured data with the deviation greater than the variance value from the measured data, taking the average value of the residual data as the final gas measured concentration, wherein R is the gas concentration data after primary treatment.
5. The gas detection device for the unmanned aerial vehicle of claim 1, wherein the input/output interface comprises: the four gas concentration sensor interfaces are respectively a power supply interface, a grounding interface, a receiving interface and a sending interface, and the passive communication of serial port receiving and sending is selected.
6. The gas detection device for unmanned aerial vehicle of claim 1, wherein the upper base comprises: set up in the spike and the contact of unmanned aerial vehicle lower part of top surface, all the other parts are left the space and are had the radiating effect, wherein: the through hole is used for being tightly connected with the lower shell.
7. The gas detection device for the unmanned aerial vehicle of claim 1, wherein the battery is a direct current 12V rechargeable battery, and is connected to the gas concentration acquisition sensor after direct current voltage reduction.
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| US20160200415A1 (en) * | 2015-01-08 | 2016-07-14 | Robert Stanley Cooper | Multi-rotor safety shield |
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2021
- 2021-03-15 CN CN202110278312.9A patent/CN113109509A/en active Pending
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| US20160200415A1 (en) * | 2015-01-08 | 2016-07-14 | Robert Stanley Cooper | Multi-rotor safety shield |
| US20190054630A1 (en) * | 2017-08-18 | 2019-02-21 | GearWurx, a DBA of Invenscience LC | Drone payload system |
| CN107917988A (en) * | 2017-11-23 | 2018-04-17 | 深圳市智璟科技有限公司 | A kind of toxic and harmful gas detecting system and method based on multi-rotor unmanned aerial vehicle |
| CN109341766A (en) * | 2018-10-16 | 2019-02-15 | 北京厚力德仪器设备有限公司 | A kind of comprehensive vertical measurement system of atmosphere |
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| Title |
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| WARRIOR1988: "mavlink详解", 《HTTPS://WWW.CNBLOGS.COM/WARRIOR1988/P/7729997.HTML》 * |
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Application publication date: 20210713 |