CN113359797A - Unmanned aerial vehicle system for monitoring gas quality - Google Patents
Unmanned aerial vehicle system for monitoring gas quality Download PDFInfo
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- CN113359797A CN113359797A CN202110697925.6A CN202110697925A CN113359797A CN 113359797 A CN113359797 A CN 113359797A CN 202110697925 A CN202110697925 A CN 202110697925A CN 113359797 A CN113359797 A CN 113359797A
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- unmanned aerial
- aerial vehicle
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- gas quality
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
Abstract
The invention discloses an unmanned aerial vehicle system for monitoring gas quality, which comprises an unmanned aerial vehicle, a gas detection device, a posture-fixing height-fixing device and an obstacle avoidance device, wherein the posture-fixing height-fixing device and the obstacle avoidance device are both arranged on the unmanned aerial vehicle; the attitude and height fixing device is used for enabling the unmanned aerial vehicle to realize fixed height and self-stable flight, and the obstacle avoidance device is used for avoiding collision of the unmanned aerial vehicle. According to the invention, the gas detection device, the attitude and height determining device and the obstacle avoidance device are carried on the unmanned aerial vehicle, so that the unmanned aerial vehicle can fly in a tunnel in a coal mine quickly, stably and safely, the gas detection is completed, and the detection efficiency is improved; meanwhile, the gas is pre-warned, and the personal safety of workers is guaranteed.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle system for monitoring gas quality.
Background
As society develops, the importance of gas quality to the environment is recognized, and therefore, gas detection is required at irregular times. The traditional air quality monitoring method adopts fixed-point monitoring, manual inspection and vehicle-mounted flow inspection, and greatly limits the sampling position, the sampling range, the sampling monitoring speed and other aspects of the air quality.
In particular, in the coal mine industry, due to the requirement of the working environment, the internal road is very complicated, and some areas are dangerous, so that the detection is not suitable for workers to carry out. And general unmanned aerial vehicle system only is fit for flight detection in spacious place, and under the more environment of tortuous path, unmanned aerial vehicle can't carry out flight detection sooner.
Disclosure of Invention
Aiming at the problem of low detection efficiency of gas in a coal mine in the prior art, the invention provides an unmanned aerial vehicle system for monitoring the quality of the gas.
In order to achieve the purpose, the invention provides the following technical scheme:
an unmanned aerial vehicle system for monitoring gas quality comprises an unmanned aerial vehicle, a gas detection device, a posture-fixing height-fixing device and an obstacle avoidance device, wherein the posture-fixing height-fixing device and the obstacle avoidance device are both arranged on the unmanned aerial vehicle; the attitude and height fixing device is used for enabling the unmanned aerial vehicle to realize fixed height and self-stable flight, and the obstacle avoidance device is used for avoiding collision of the unmanned aerial vehicle.
Preferably, the attitude and height determining device adopts a micro-inertia/barometer module.
Preferably, the obstacle avoidance device adopts a vision/ultrasonic obstacle avoidance system to realize the obstacle location of the unmanned aerial vehicle in the environment without GPS signals.
Preferably, still include lighting device, camera device and communication device, lighting device, camera device and communication device all carry on unmanned aerial vehicle.
Preferably, the gas detection device adopts an all-in-one gas detector for detecting gas concentration data and transmitting the data to the gas detection platform through the communication device.
Preferably, the gas comprises SO2、NO2、H2S、CO、O2、CH4。
Preferably, the lighting device adopts a searchlight, is installed at the top of the unmanned aerial vehicle, and is used for providing illumination for the camera device.
Preferably, an air cooling system and an overheating protection circuit are arranged inside the searchlight.
Preferably, the camera device adopts a Zenmose X5S pan-tilt camera, and supports n shooting modes, wherein the shooting modes comprise single shooting, multiple continuous shooting and timing shooting.
Preferably, the gas detection platform displays gas concentration data in real time and gives an alarm for gas exceeding a threshold value.
In summary, due to the adoption of the technical scheme, compared with the prior art, the invention at least has the following beneficial effects:
according to the invention, the gas detection device, the attitude and height determining device and the obstacle avoidance device are carried on the unmanned aerial vehicle, so that the unmanned aerial vehicle can fly in a tunnel in a coal mine quickly, stably and safely, the gas detection is completed, and the detection efficiency is improved; meanwhile, the gas is pre-warned, and the personal safety of workers is guaranteed.
Description of the drawings:
fig. 1 is a schematic diagram of a drone system for monitoring gas quality according to an exemplary embodiment of the invention.
Detailed Description
The present invention will be described in further detail with reference to examples and embodiments. It should be understood that the scope of the above-described subject matter is not limited to the following examples, and any techniques implemented based on the disclosure of the present invention are within the scope of the present invention.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
As shown in fig. 1, the present invention provides an unmanned aerial vehicle system for monitoring gas quality, which includes an unmanned aerial vehicle, an illumination device, a camera device, a gas detection device, a height-fixing device, an obstacle-avoiding device and a communication device, wherein the illumination device, the camera device, the gas detection device, the height-fixing device, the obstacle-avoiding device and the communication device are all installed on the unmanned aerial vehicle.
The invention adopts the Xinjiang matrix 210V 2 series unmanned aerial vehicle as a flight platform, and the flight mode is as follows: RC remote control flight (in coal mine tunnel), semi/full autonomous flight;
fuselage weight: about 4.8Kg (1.77 Kg containing two TB55 intelligent flying batteries, and only 3.03Kg of empty airplane);
maximum takeoff weight: 6.14 Kg; maximum load: 1.34 Kg; (after GPS is removed in the mine, 1.5Kg over the specification)
Duration: 34 minutes (in the roadway: no-load remote control flight); 32 minutes (outdoor: no-load flight); 28 minutes (outdoor: ultra clear camera (253g), gas detection & wireless transmission system (<450 g));
24 minutes (in a roadway: a gas detection and wireless transmission system (<450g), a searchlight (470g), an ultra-clear camera (253g) and a blade cradle (250 g));
the size of the machine body is as follows: 883 × 886 × 398mm (deployed, containing blades and landing gear);
maximum cruising speed: 12m/s (outdoors); the method is determined according to the visual degree and the evidence obtaining requirement of toxic and harmful gas in the coal mine tunnel;
maximum control/map transmission/data transmission radius: 8km (outdoor, non-interference and non-shielding), and more than 200m (a straight roadway or a curved roadway, and the pitch angle and the turning angle are not more than 25 degrees).
In this embodiment, the lighting device may be a searchlight, which is installed on the top of the unmanned aerial vehicle and used for providing lighting for the camera device; the searchlight model can be Alatin Z15, is an unmanned aerial vehicle pan-tilt searchlight developed based on Payload SDK in Da Jiang, integrates a three-axis stability-increasing pan-tilt and a high-power lamp bead, has a searchlight distance of 150 meters, and can provide various searchlight modes (such as constant brightness, flickering, help seeking and the like). Through DJI SkyPort, the Latin Z15 pan-tilt searchlight can be directly mounted to longitude and latitude M200 series and longitude M200V 2 series unmanned aerial vehicle pan-tilt interfaces, and night illumination is provided for the fields of fire fighting, emergency rescue, law enforcement and the like. The air cooling system is arranged inside the searchlight, so that forced heat dissipation is facilitated, heat is conducted to the outside of the device during operation, and the temperature inside the searchlight is kept normal all the time. The automatic switching-off device is also provided with an overheating protection circuit, when the temperature inside the lamp body exceeds 90 ℃, the searchlight equipment is automatically switched off, and the service life is prolonged.
In this embodiment, the image capturing apparatus may employ a Zenmuse X5S pan-tilt camera for capturing external images, the camera employs a 4/3 inch CMOS image sensor, supports cinema dng format lossless video recording with maximum 30 frames per second and maximum 60 frames per second and maximum 4K, and supports multiple capturing modes, such as single capturing, multiple continuous capturing and timing capturing, multiple continuous capturing supports two modes, namely, an ultra-fast continuous capturing mode and an automatic exposure mode, and supports maximum 14 continuous capturing. Matched DJI CINESSDTMWhen the high-speed memory card is used, Zenmose X5S can shoot 4.2Gbps lossless format video with the highest code stream bit and realize 20 imagesDNG photographs of 2080 million pixels per second were taken indefinitely in succession. Zenmuse X5S with and without two versions of the lens package, where the Zenmuse X5S lens package is equipped with a DJI MFT15mm f/1.7APSH fixed focus lens (35mm format equivalent 30mm, FOV72 °); if the version does not contain the lens, the related configuration can be configured by self.
Zenmose X5S is equipped with high accuracy triaxial and increases steady cloud platform, and the control accuracy is 0.01, can shoot stable picture in the flight process. The holder camera is supported to rotate in the horizontal direction +/-320 degrees and in the vertical direction minus 130 degrees to 40 degrees so as to obtain the optimal shooting angle. Mounted to DJI INSPIRETM2 aircraft, using DJI GOTM4APP can preview high-definition images in real time and carry out shooting setting.
In this embodiment, the attitude and height determining device may adopt a micro-inertia/barometer module, the model is MPU6050/MS5611, and the autonomous height and attitude determining mode can be realized, without depending on any external information and without being interfered by the outside, and particularly under the condition that a GPS signal in a coal mine tunnel is completely interrupted, agile, stable and safe flight performance is provided. The micro-inertia/barometer module is matched with a visual positioning and infrared sensing system, so that the obstacle can be timely detected and automatically avoided in a larger range, and the safety is further improved.
In the embodiment, the unmanned aerial vehicle is easily influenced by uncertain strong airflow and interruption of positioning signals, and generates vortex crash; in addition, because narrow and small space in the colliery, carry out the contact collision with coal mine wall etc. very easily in normal flight, serious can damage unmanned aerial vehicle and explode the explosive gas in the colliery even, consequently need adopt and keep away the barrier device. The obstacle avoidance device can adopt a visual/ultrasonic obstacle avoidance system (such as guiding), and the high-precision positioning obstacle of the unmanned aerial vehicle in a coal mine roadway with low illuminance and no GPS signal is realized. The guiding is a novel guiding visual/ultrasonic obstacle avoidance system, can sense nearby obstacles, and enables the aircraft to actively avoid the nearby obstacles. The device is internally provided with a powerful processing core, is provided with five groups of vision/ultrasonic wave combined sensors, adopts a high-precision stereoscopic vision algorithm, and has a near-ground positioning precision reaching centimeter level. The visual obstacle avoidance system can provide accurate positioning information under the conditions of complex terrain and high-speed flight, and the effective height is up to 20 meters. In narrow spaces such as coal mine tunnels, the functions of the guiding vision/ultrasonic obstacle avoidance system are better shown.
In this embodiment, the gas detection device may be an all-in-one gas detector, such as an all-in-one gas detector (MS600) with a small size, a light weight, and a low power consumption, and the overall size is 180 × 78 × 33mm (L × W × H) for collecting gas data. The detection gas comprises sulfur dioxide SO2, nitrogen dioxide NO2, hydrogen sulfide H2S, carbon monoxide CO, oxygen O2 and methane CH 4. Detection range: SO2 (0-200 ppm), NO2 (0-20 ppm), H2S (0-500 ppm), CO (0-500 ppm), O2 (0-30% Vol), CH4 (0-100% LEL). Resolution ratio: SO2(0.01ppm), NO2(0.01ppm), H2S (0.1ppm), CO (0.1ppm) O2 (0.1% Vol), CH4 (0.1% LEL). Usage environment of gas detection device: the temperature is-40 ℃ to +70 ℃; relative humidity is less than or equal to 0-99% RH (the built-in filter can be used in high humidity or high dust environment).
In this embodiment, the communication module is used for sending the gas data detected by the gas detection device to the gas detection platform. The model of communication module is USR-LG207-L, is a low frequency half-duplex loRa serial ports loRa data transmission terminal that supports point-to-point communication agreement, and the frequency channel of work is: 410-441 Mhz. The serial port is used for data receiving and transmitting, the threshold of wireless application is reduced, and one-to-one or one-to-many communication can be realized. LoRa has power density and concentrates, and the advantage that the interference killing feature is strong, and LoRa data transmission terminal communication distance can reach 8000m (open stadia, clear weather, antenna gain 5dBi, the height of placing the antenna is greater than 2m, the aerial speed of 0.268K). In a coal mine tunnel, the USR-LG207-L can communicate in a linear distance in a wet complex tunnel for 5km, and can completely meet the requirement of wireless transmission of 200m linear gas required by design indexes. Meanwhile, the actual measurement minimum communication distance is larger than 40m under the condition of indoor room crossing and shielding, and the requirement of short-distance effective transmission in a roadway with not large turning amplitude (smaller than 25 degrees) is met.
In this embodiment, gaseous detection device and communication module with back-to-back mode with fix with screw on unmanned aerial vehicle's installing support, and with the magic subsides the reinforcement, gaseous detection device and communication module pass through 232 little cable junction.
In this embodiment, the gas detection platform can display the gas content around the positioning point of the unmanned aerial vehicle in real time, and the threshold value of various gases is set inside, so that early warning can be provided for the gas with the content close to the critical value, and warning (sound and light warning, vibration warning, visual warning, sound and light + vibration + visual warning) can be performed for the gas with the content exceeding the threshold value; meanwhile, the gas detection platform stores gas data, and an operator can check, eliminate alarm and derive data in a touch screen mode.
In this embodiment, unmanned aerial vehicle body is the integrated design, adopts high strength carbon fiber material, and its axial strength and modulus are high, and no creep, fatigue resistance are good, and thermal expansion coefficient is little, and corrosion resistance is good, and fibrous density is low, and X ray permeability is good. The wind resistance reaches the five-level wind standard, the hovering precision reaches within 0.1 meter, the full-automatic landing is realized, and the task can be fully automatically executed. The unmanned aerial vehicle can be applied to various fields such as power inspection, surveying and mapping, exploration, plant protection and rescue, and is small in cross section (4x4 m)2) And safe flight in the coal mine roadway is of great importance under the condition of strong airflow.
In this embodiment, the unmanned aerial vehicle system can foresee the gaseous dangerous degree of poison in the operation place in the pit in advance through the detection to gas, avoids personnel in the pit to take place the poisoning casualty accident, plays effective guarantee for the prevention of colliery occupational hazard accident. The mine disaster dangerous area toxic and harmful gas unmanned detection is realized, on one hand, the concentration change of volatile organic compounds or other toxic and harmful gases caused by the intervention, leakage, temperature and other changes of rescue workers is avoided, on the other hand, the mine disaster area toxic and harmful gas condition is provided for the rescue workers outside the dangerous area before rescue is implemented, and safe and effective rescue is guaranteed. Can also carry out multizone monitoring to haze, dust granule etc. in the atmosphere, through the settlement of the parameter of collecting evidence on the spot, give the harm degree evaluation appraisal result, the accident appraisal of being convenient for, the accident is emergent and daily management. The system greatly improves the inspection efficiency and effect, reduces the potential safety hazard of personnel and the like on the inspection of atmospheric pollution sources and illegal evidence collection at chemical plants, glass fiber plants, construction sites and the like.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.
Claims (10)
1. An unmanned aerial vehicle system for monitoring gas quality comprises an unmanned aerial vehicle and a gas detection device, and is characterized by further comprising a posture-fixing height-fixing device and an obstacle-avoiding device, wherein the posture-fixing height-fixing device and the obstacle-avoiding device are both arranged on the unmanned aerial vehicle; the attitude and height fixing device is used for enabling the unmanned aerial vehicle to realize fixed height and self-stable flight, and the obstacle avoidance device is used for avoiding collision of the unmanned aerial vehicle.
2. An unmanned aerial vehicle system for monitoring gas quality as claimed in claim 1, wherein the attitude determination and height determination means employs a micro-inertial/barometer module.
3. The unmanned aerial vehicle system for monitoring gas quality as claimed in claim 1, wherein the obstacle avoidance device adopts a visual/ultrasonic obstacle avoidance system to realize the obstacle location of the unmanned aerial vehicle in the environment without GPS signals.
4. The drone system for monitoring gas quality of claim 1, further comprising a lighting device, a camera device, and a communication device, all carried on the drone.
5. An unmanned aerial vehicle system for monitoring gas quality as claimed in claim 1, wherein the gas detection apparatus employs an all in one gas detector for detecting gas concentration data and transmitting to a gas detection platform.
6. The drone system for monitoring gas quality of claim 5, wherein the gas comprises SO2、NO2、H2S、CO、O2、CH4。
7. A drone system for monitoring gas quality as claimed in claim 4, characterised in that the lighting means employs searchlights mounted on top of the drone.
8. An unmanned aerial vehicle system for monitoring gas quality as claimed in claim 7, wherein an air cooling system and an over-temperature protection circuit are provided inside the searchlight.
9. A drone system for monitoring gas quality as claimed in claim 4, characterised in that the camera means employs a Zenmose X5S pan-tilt camera, supporting n shooting modes, including single shot, multiple continuous shots and timed shots.
10. The drone system for monitoring gas quality of claim 5, wherein the gas detection platform displays gas concentration data in real time and alerts of gas exceeding a threshold.
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Cited By (1)
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