CN113625760A - Unmanned aerial vehicle atmospheric pollution inspection system and method - Google Patents
Unmanned aerial vehicle atmospheric pollution inspection system and method Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle atmospheric pollution inspection system and method, and belongs to the field of unmanned aerial vehicle environment monitoring. The system comprises the unmanned aerial vehicle, a wind speed and direction monitoring unit and a monitoring and early warning unit, wherein the unmanned aerial vehicle and the wind speed and direction monitoring unit are respectively connected with the monitoring and early warning unit. The method comprises the following steps: the monitoring and early warning unit presets a patrol route and patrol nodes; the unmanned aerial vehicle acquires pollution concentration data in a corresponding monitoring area according to the current patrol node and transmits the pollution concentration data to the monitoring and early warning unit; the wind speed and direction monitoring unit collects wind speed and direction data and transmits the wind speed and direction data to the monitoring and early warning unit; the monitoring and early warning unit processes the data to obtain a corrected pollution concentration value, and then the monitoring and early warning unit controls the unmanned aerial vehicle to fly according to the corrected pollution concentration value and the wind speed and direction data. Aiming at the problems of low environment inspection precision and low inspection efficiency in the prior art, the method can accurately inspect the pollution concentration distribution in the monitoring area range, and greatly improves the inspection efficiency.
Description
Technical Field
The invention belongs to the environment monitoring technology of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle atmospheric pollution inspection system and method.
Background
With the continuous development of economy, industrial manufacturing produces a large amount of air pollution, has produced very big influence to the environment, has brought very big inconvenience to the resident's life around simultaneously, takes foul smell as an example, and the waste gas is not comprehensive to the collection in the factory production process, and the inorganization of formation discharges, spreads to surrounding sensitive area very easily, and this action influence is very obvious, and is very direct, and the resident reaction is strong around.
In order to strengthen the exhaust emission supervision of industrial enterprises, a plurality of ground fixed monitoring stations are installed in a management unit, fixed points can only monitor the atmospheric pollution degree in a fixed range, the coverage area is too small, and pollution sources cannot be accurately positioned.
For environmental patrol, the prior art also proposes some solutions, such as the name of the invention creation: the scheme discloses unmanned aerial vehicle equipment for detecting a gas pollution source and a monitoring method (application date: 2017, 10 and 16 days; application number: 201710962575.5). The unmanned aerial vehicle equipment comprises: the ground monitoring module is used for acquiring the gas pollution concentration, the position, the wind direction and the wind speed of a monitoring point and early warning in real time; the ground control module is used for determining the initial flight parameters of the unmanned aerial vehicle module and receiving the real-time monitoring data of the unmanned aerial vehicle module; the unmanned aerial vehicle module is used for adaptively controlling the flight path to detect in a pollution area to be detected, positioning a pollution source and collecting data; and the wireless transmission system is used for realizing data transmission among the ground monitoring module, the ground control module and the unmanned aerial vehicle module. The scheme can find the diffusion of the polluted gas in time, initially judge the direction of the pollution source according to the Gaussian plume model theory of gas diffusion, and then accurately lock the pollution source through accurate positioning; the specific situation of the position where the gas pollution source is discharged can be checked through the aerial photography device, a complete intelligent monitoring process is formed, and related workers can find the pollution source in time. But the scheme has the disadvantages that the inspection range is narrow, so that the inspection efficiency is low and the inspection accuracy is not high.
In conclusion, how to improve the efficiency and accuracy of environmental pollution inspection is an urgent problem to be solved in the prior art.
Disclosure of Invention
1. Problems to be solved
Aiming at the problems of low environmental pollution inspection precision and inspection efficiency in the prior art, the invention provides the atmospheric pollution inspection system and the method for the unmanned aerial vehicle, which can accurately inspect the pollution concentration distribution in the monitoring area range, can quickly determine the position of a pollution source, greatly improve the supervision capability on the exhaust emission of enterprises, and greatly improve the inspection efficiency.
2. Technical scheme
In order to solve the problems, the technical scheme adopted by the invention is as follows:
the invention discloses an unmanned aerial vehicle atmospheric pollution inspection system which comprises an unmanned aerial vehicle, a wind speed and direction monitoring unit and a monitoring and early warning unit, wherein the unmanned aerial vehicle and the wind speed and direction monitoring unit are respectively connected with the monitoring and early warning unit; the unmanned aerial vehicle is used for acquiring pollution concentration data in a monitoring area; the wind speed and direction monitoring unit is used for acquiring wind speed and direction data in a monitoring area; the monitoring and early warning unit is used for receiving data transmitted by the unmanned aerial vehicle and the wind speed and direction monitoring unit, processing the received data and controlling the unmanned aerial vehicle according to a processing result.
Furthermore, the monitoring and early warning unit comprises a data processing module, an inspection control module and a first data transmission module, wherein the data processing module and the first data transmission module are respectively connected with the inspection control module; wherein, data processing module is used for handling the pollution concentration data that unmanned aerial vehicle gathered, patrols and examines control module and is used for generating the instruction of controlling the unmanned aerial vehicle flight according to the pollution concentration data and the wind speed wind direction data of handling, and first data transmission module is used for receiving pollution concentration data and wind speed wind direction data and transmits and patrols and examines control module's control instruction.
Furthermore, unmanned aerial vehicle includes pollution sensor, orientation module, control module and second data transmission module, and pollution sensor, orientation module and control module are connected with second data transmission module respectively, and wherein, pollution sensor is used for gathering the pollution concentration data in the monitoring area.
Furthermore, the wind speed and wind direction monitoring unit comprises a wind speed sensor, a wind direction sensor and a third data transmission module, wherein the wind speed sensor and the wind direction sensor are respectively connected with the third data transmission module, the wind speed sensor is used for collecting wind speed data in a monitoring area, and the wind direction sensor is used for collecting wind direction data in the monitoring area.
Furthermore, the unmanned aerial vehicle further comprises a first communication module, and the second data transmission module is connected with the first data transmission module through the first communication module.
Furthermore, the third data transmission module is connected with the first data transmission module through the second communication module.
Furthermore, the monitoring and early warning unit also comprises an alarm module, and the alarm module is connected with the data processing module.
The invention relates to an unmanned aerial vehicle air pollution inspection method, which adopts the unmanned aerial vehicle pollution inspection system and comprises
(1) The monitoring and early warning unit presets a patrol route and patrol nodes and sets a monitoring area according to the patrol nodes;
(2) the unmanned aerial vehicle flies according to the patrol route and acquires pollution concentration data in the corresponding monitoring area according to the current patrol node, and the unmanned aerial vehicle transmits the pollution concentration data in the monitoring area corresponding to the current patrol node to the monitoring and early warning unit;
(3) the wind speed and direction monitoring unit collects wind speed and direction data in a monitoring area corresponding to the current patrol node and transmits the wind speed and direction data to the monitoring and early warning unit;
(4) the monitoring and early warning unit processes the pollution concentration data and the wind speed and direction data of the current monitoring area to obtain a corrected pollution concentration value, and then the monitoring and early warning unit controls the unmanned aerial vehicle to fly according to the corrected pollution concentration value and the wind speed and direction data of the current monitoring area;
and (4) when the concentration difference value in each direction in the monitoring area corresponding to the current patrol node is smaller than a set value, the monitoring and early warning unit controls the unmanned aerial vehicle to fly to the next patrol node, and the steps (2) to (4) are repeated until all patrol nodes are patrolled.
Further, a corrected pollution concentration value y is calculated according to the following formula:
y＝1.03x+F-1.95
wherein x is the collected pollution concentration value of the current monitoring area, and F is the wind speed of the current monitoring area.
Furthermore, the data processing module of the monitoring and early warning unit transmits the corrected pollution concentration value to the alarm module, and when the alarm module judges that the corrected pollution concentration value exceeds the set threshold value, the alarm module gives an alarm.
3. Advantageous effects
Compared with the prior art, the invention has the beneficial effects that:
(1) according to the unmanned aerial vehicle atmospheric pollution inspection system, the monitoring early warning unit, the unmanned aerial vehicle and the wind speed and direction monitoring unit are arranged, so that automatic pollution inspection can be realized, and the pollution position can be accurately positioned, so that inspection of a polluted area can be accurately and quickly realized, and the inspection efficiency is improved; and further, the accuracy of pollution inspection is greatly improved by processing the pollution concentration data. The system has the advantages of simple structure, low cost, high intelligent degree, strong practicability and wide application.
(2) According to the method for inspecting the atmospheric pollution of the unmanned aerial vehicle, the pollution concentration data and the wind speed and direction data are obtained in real time, the position of a pollution source can be rapidly positioned, and the obtained data are corrected, so that the inspection precision is improved; further carry out pollution monitoring through control unmanned aerial vehicle, can cover bigger inspection range to realized intelligent inspection, greatly reduced the inspection cost, and improved the efficiency of inspection greatly, provide more comprehensive monitoring means for the supervision department, effectively strengthened atmosphere pollution supervisory ability.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
fig. 2 is a schematic structural diagram of the unmanned aerial vehicle of embodiment 1;
FIG. 3 is a schematic flow chart of the method of the present invention.
In the figure: 100. a monitoring and early warning unit; 110. a data processing module; 120. a patrol control module; 130. a first data transmission module; 140. an alarm module;
200. an unmanned aerial vehicle; 210. a contamination sensor; 220. a positioning module; 230. a control module; 240. a second data transmission module; 250. a first communication module; 260. a mobile power supply;
300. a wind speed and direction monitoring unit; 310. a wind speed sensor; 320. a wind direction sensor; 330. a third data transmission module; 340. and a second communication module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments; moreover, the embodiments are not relatively independent, and can be combined with each other according to needs, so that a better effect is achieved. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
For a further understanding of the invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings and examples.
Example 1
Referring to fig. 1, the atmospheric pollution inspection system for the unmanned aerial vehicle of the present invention includes a monitoring and early warning unit 100, an unmanned aerial vehicle 200, and a wind speed and direction monitoring unit 300, wherein the unmanned aerial vehicle 200 and the wind speed and direction monitoring unit 300 are respectively connected to the monitoring and early warning unit 100; in this embodiment, the monitoring and early warning unit 100, the unmanned aerial vehicle 200, and the wind speed and direction monitoring unit 300 are connected in a wireless network manner. Further, the monitoring and early warning unit 100, the drone 200 and the wind speed and direction monitoring unit 300 of the present invention are explained in detail below.
The unmanned aerial vehicle 200 of the present invention is configured to collect pollution concentration data in a monitoring area, and specifically, the unmanned aerial vehicle 200 includes pollution sensors 210, a positioning module 220, a control module 230, and a second data transmission module 240, and the pollution sensors 210, the positioning module 220, and the control module 230 are respectively connected to the second data transmission module 240, where the pollution sensors 210 collect pollution concentration data in the monitoring area, it should be noted that the number of the pollution sensors 210 in this example is 4, and the pollution sensors are respectively installed in four different directions of the unmanned aerial vehicle 200, and preferably, the 4 pollution sensors 210 are correspondingly placed outside four rotors of the unmanned aerial vehicle 200 (as shown in fig. 2), so that flight of the unmanned aerial vehicle 200 is not affected, and accuracy of collecting pollution concentration data is improved. The positioning module 220 is configured to determine a measurement position of the unmanned aerial vehicle 200, so as to facilitate subsequent drawing of a pollution concentration map, and it should be noted that the positioning module 220 of the present invention adopts a Beidou network or a GPS network to realize positioning. Further, the control module 230 is used for controlling the flight of the drone 200, and the second data transmission module 240 is used for data transmission, and the second data transmission module 240 of the present invention is connected to the monitoring and warning unit 100 through the first communication module 250, so as to transmit and receive data. In addition, the unmanned aerial vehicle 200 of the present invention further includes a mobile power supply 260, and the pollution sensor 210, the positioning module 220, the control module 230, the second data transmission module 240 and the first communication module 250 are respectively connected to the mobile power supply 260, and the mobile power supply 260 provides electric energy to enable the unmanned aerial vehicle 200 to operate.
Further, the wind speed and direction monitoring unit 300 of the present invention is used for collecting wind speed and direction data in the monitoring area, and it should be noted that the wind speed and direction monitoring unit 300 is provided in each monitoring area, so that the wind speed and direction data in each monitoring area can be collected in real time. Specifically, the wind speed and direction monitoring unit 300 of the present invention includes a wind speed sensor 310, a wind direction sensor 320, a third data transmission module 330 and a second communication module 340, wherein the wind speed sensor 310 and the wind direction sensor 320 are respectively connected to the third data transmission module 330, and the third data transmission module 330 is connected to the monitoring and early warning unit 100 through the second communication module 340. It should be noted that the wind speed sensor 310 is configured to collect wind speed data in a monitoring area, the wind direction sensor 320 is configured to collect wind direction data in the monitoring area, and the wind speed sensor 310 and the wind direction sensor 320 transmit the wind speed and wind direction data to the monitoring and early warning unit 100 through the third data transmission module 330 and the second communication module 340. It should be further noted that the pollution sensor 210, the wind speed sensor 310 and the wind direction sensor 320 of the present invention are prior art devices.
The monitoring and early warning unit 100 receives data transmitted by the unmanned aerial vehicle 200 and the wind speed and direction monitoring unit 300, specifically, the monitoring and early warning unit 100 includes a data processing module 110, an inspection control module 120 and a first data transmission module 130, and the data processing module 110 and the first data transmission module 130 are respectively connected with the inspection control module 120. It should be noted that the second data transmission module 240 is wirelessly connected to the first data transmission module 130 through the first communication module 250, and the third data transmission module 330 is wirelessly connected to the first data transmission module 130 through the second communication module 340.
Further, the first data transmission module 130 transmits the pollution concentration data and the wind speed and direction data to the data processing module 110 and the inspection control module 120, and the data processing module 110 processes the pollution concentration data to obtain a corrected pollution concentration value, so that the accuracy of the pollution concentration data is improved. The inspection control module 120 generates an instruction for controlling the flight of the unmanned aerial vehicle 200 according to the processed pollution concentration data, i.e., the corrected pollution concentration value and the wind speed and direction data. The patrol control module 120 transmits the control instruction to the first data transmission module 130, the first data transmission module 130 transmits the control instruction to the control module 230 of the unmanned aerial vehicle 200 through the first communication module 250 and the second data transmission module 240, and the control module 230 controls the flight of the unmanned aerial vehicle 200 according to the control instruction. The monitoring and early warning unit 100 further includes an alarm module 140, the alarm module 140 is connected to the data processing module 110, the data processing module 110 transmits the processed pollution concentration data to the alarm module 140, and when the alarm module 140 determines that the corrected pollution concentration value is higher than the set threshold value, the alarm module 140 gives an alarm, thereby implementing management and control on the pollution area.
According to the unmanned aerial vehicle atmospheric pollution inspection system, by arranging the monitoring and early warning unit 100, the unmanned aerial vehicle 200 and the wind speed and direction monitoring unit 300, automatic pollution inspection can be realized, and the pollution position can be accurately positioned, so that inspection of a polluted area can be accurately and quickly realized, and the inspection efficiency is improved; and further, the accuracy of pollution inspection is greatly improved by processing the pollution concentration data. The system has the advantages of simple structure, low cost, high intelligent degree, strong practicability and wide application.
Referring to fig. 3, the method for inspecting the atmospheric pollution of the unmanned aerial vehicle, which is provided by the invention, adopts the system for inspecting the atmospheric pollution of the unmanned aerial vehicle, and comprises the following specific steps:
(1) the monitoring and early warning unit 100 performs initialization setting, specifically, the monitoring and early warning unit 100 presets a patrol route and patrol nodes, and sets a monitoring area according to the patrol nodes; it should be noted that the routing inspection control module 120 of the monitoring and early warning unit 100 performs initialization setting, and transmits initialization setting information to the unmanned aerial vehicle 200 through the first data transmission module 130. In this example, a monitoring area is set with the patrol node as the center, the area of the monitoring area is 0.01 square kilometer, and the upper limit of the number of times of the random flight of the unmanned aerial vehicle 200 in one monitoring area is 400 times, which can cover the collection of pollution concentration data of the whole monitoring area.
(2) The unmanned aerial vehicle 200 flies according to the patrol route and acquires pollution concentration data in the corresponding monitoring area according to the current patrol node, and it should be noted that the unmanned aerial vehicle 200 flies in the monitoring area according to a random direction in the initial state, and the flying step length of the unmanned aerial vehicle 200 is 5 meters in the example. Further, the unmanned aerial vehicle 200 transmits the pollution concentration data corresponding to the current patrol node in the monitoring area to the monitoring and early warning unit 100, and specifically, the unmanned aerial vehicle 200 flies once every time, and the unmanned aerial vehicle 200 acquires the pollution concentration data in the monitoring area through the pollution sensor 210 and transmits the data to the monitoring and early warning unit 100.
(3) The wind speed and direction monitoring unit 300 collects wind speed and direction data in a monitoring area corresponding to the current patrol node and transmits the wind speed and direction data to the monitoring and early warning unit 100; specifically, wind speed data is collected through the wind speed sensor 310, wind direction data is collected through the wind direction sensor 320, and the collected wind speed and wind direction data is transmitted to the monitoring and early warning unit 100 through the third data transmission module 330 and the second communication module 340.
It should be noted here that the execution sequence of step (2) and step (3) is arbitrary, and step (2) and step (3) may be executed simultaneously, or step (2) may be executed first and then step (3) may be executed, and similarly, step (3) may be executed first and then step (2) may be executed.
(4) The monitoring and early warning unit 100 processes the pollution concentration data and the wind speed and direction data of the current monitoring area to obtain a corrected pollution concentration value, specifically, the monitoring and early warning unit 100 receives the pollution concentration data and the wind speed and direction data of the current monitoring area through the first data transmission module 130, and then calculates the corrected pollution concentration value according to the pollution concentration data and the wind speed and direction data through the data processing module 110, specifically, calculates the corrected pollution concentration value y according to the following formula:
y＝1.03x+F-1.95
wherein x is the collected pollution concentration value of the current monitoring area, and F is the wind speed of the current monitoring area.
It should be noted that, the accuracy of the pollution concentration data is improved and the accuracy of the patrol is further improved by correcting the pollution concentration data according to the pollution concentration data and the wind speed and direction data of the current monitoring area.
Then the monitoring and early warning unit 100 controls the unmanned aerial vehicle 200 to fly according to the corrected pollution concentration value and the wind speed and direction data of the current monitoring area; specifically, when the alarm module 140 of the monitoring and early warning unit 100 determines whether the corrected pollution concentration value is higher than a set threshold, it determines whether the concentration difference value in each direction in the current monitoring area exceeds a set value, in this example, the threshold is 4, and the set value is 0.02. It should be noted that the concentration difference in each direction in the current monitoring area refers to a pollution concentration difference between different directions of measurement, for example, a pollution concentration value measured in the south direction is 2.01, a pollution concentration value measured in the north direction is 1.99, a pollution concentration value measured in the west wind direction is 1.99, a pollution concentration value measured in the east direction is 2.00, the pollution concentration values in each direction are subtracted from each other, for example, the pollution concentration difference between the south direction and the east direction is 0.01, the concentration difference between the south direction and the north direction is 0.02, and so on; the resulting difference is then compared to a set value. Further, the monitoring and early warning unit 100 then controls the flight of the drone 200 according to the determination result. The specific judgment is as follows:
and when the corrected pollution concentration value does not exceed the threshold value, judging whether the concentration difference value in each direction in the monitoring area corresponding to the current patrol node is smaller than a set value or not. If the concentration difference value of each direction in the current monitoring area is greater than or equal to the set value, the inspection control module 120 calculates the flight step length of the unmanned aerial vehicle 200 according to the wind speed data and the corrected pollution concentration value, and the specific calculation formula is as follows: y ═ F-1.12X +5, wherein X is the corrected pollution concentration value, and Y is the flight step length of the unmanned aerial vehicle 200; the patrol control module 120 then generates a command for controlling the flight of the drone 200, where the control command includes a flight step size and a flight direction. The patrol control module 120 transmits the control instruction to the first data transmission module 130, the first data transmission module 130 transmits the control instruction to the control module 230 of the unmanned aerial vehicle 200, and the control module 230And (5) controlling the flight of the unmanned aerial vehicle 200 according to the control command, and executing the steps (2) to (4).
It should be noted that, if the concentration difference value in each direction in the current monitoring area is smaller than the set value, the unmanned aerial vehicle is controlled to fly to the next patrol node, and the steps (2) to (4) are repeated until all patrol nodes are patrolled.
Further, when the alarm module 140 of the monitoring and early warning unit 100 determines that the corrected pollution concentration value is greater than the set threshold, the alarm module 140 sends an alarm, so as to implement control over the pollution area. And then judging whether the concentration difference value of each direction in the monitoring area corresponding to the current patrol node is smaller than a set value. If the concentration difference value of each direction in the current monitoring area is larger than or equal to the set value, the patrol control module 120 sets the flight step length of the unmanned aerial vehicle 200 to be 0.5m, generates a flight instruction towards the direction with high concentration, and the unmanned aerial vehicle 200 executes the instruction and repeats the steps (2) to (4). And if the concentration difference value in each direction in the current monitoring area is smaller than the set value, determining that the current position is the position of the pollution source, and drawing a corresponding pollution source distribution map through the data processing module 110. And then the monitoring and early warning unit 100 controls the unmanned aerial vehicle 200 to fly to the next patrol node and repeats the steps (2) to (4) until all patrol nodes are patrolled.
According to the method for inspecting the atmospheric pollution of the unmanned aerial vehicle, the pollution concentration data and the wind speed and direction data are obtained in real time, the position of a pollution source can be rapidly positioned, and the obtained data are corrected, so that the inspection precision is improved; further carry out pollution monitoring through control unmanned aerial vehicle 200, can cover bigger patrol scope to realized intelligent patrol, greatly reduced the patrol cost, and improved the efficiency of patrol greatly, provide more comprehensive monitoring means for the supervisory control department, effectively strengthened atmosphere pollution supervisory ability.
The invention has been described in detail hereinabove with reference to specific exemplary embodiments thereof. It will, however, be understood that various modifications and changes may be made without departing from the scope of the invention as defined in the appended claims. The detailed description and drawings are to be regarded as illustrative rather than restrictive, and any such modifications and variations are intended to be included within the scope of the present invention as described herein. Furthermore, the background is intended to be illustrative of the state of the art as developed and the meaning of the present technology and is not intended to limit the scope of the invention or the application and field of application of the invention.
Claims (10)
1. An unmanned aerial vehicle atmospheric pollution inspection system is characterized by comprising an unmanned aerial vehicle, a wind speed and direction monitoring unit and a monitoring and early warning unit, wherein the unmanned aerial vehicle and the wind speed and direction monitoring unit are respectively connected with the monitoring and early warning unit; the unmanned aerial vehicle is used for acquiring pollution concentration data in a monitoring area; the wind speed and direction monitoring unit is used for acquiring wind speed and direction data in a monitoring area; the monitoring and early warning unit is used for receiving data transmitted by the unmanned aerial vehicle and the wind speed and direction monitoring unit, processing the received data and controlling the unmanned aerial vehicle according to a processing result.
2. The atmospheric pollution inspection system for the unmanned aerial vehicle as claimed in claim 1, wherein the monitoring and early warning unit comprises a data processing module, an inspection control module and a first data transmission module, and the data processing module and the first data transmission module are respectively connected with the inspection control module; wherein, data processing module is used for handling the pollution concentration data that unmanned aerial vehicle gathered, patrols and examines control module and is used for generating the instruction of controlling the unmanned aerial vehicle flight according to the pollution concentration data and the wind speed wind direction data of handling, and first data transmission module is used for receiving pollution concentration data and wind speed wind direction data and transmits and patrols and examines control module's control instruction.
3. The atmospheric pollution inspection system for the unmanned aerial vehicle as claimed in claim 2, wherein the unmanned aerial vehicle comprises a pollution sensor, a positioning module, a control module and a second data transmission module, the pollution sensor, the positioning module and the control module are respectively connected with the second data transmission module, and the pollution sensor is used for collecting pollution concentration data in a monitoring area.
4. The atmospheric pollution inspection system of the unmanned aerial vehicle of claim 2, wherein the wind speed and direction monitoring unit comprises a wind speed sensor, a wind direction sensor and a third data transmission module, the wind speed sensor and the wind direction sensor are respectively connected with the third data transmission module, wherein the wind speed sensor is used for collecting wind speed data in a monitoring area, and the wind direction sensor is used for collecting wind direction data in the monitoring area.
5. An unmanned aerial vehicle atmospheric pollution inspection system of claim 3, wherein the unmanned aerial vehicle further comprises a first communication module, and the second data transmission module is connected with the first data transmission module through the first communication module.
6. The atmospheric pollution inspection system for unmanned aerial vehicles of claim 4, wherein the third data transmission module is connected with the first data transmission module through the second communication module.
7. The atmospheric pollution inspection system for the unmanned aerial vehicle as claimed in any one of claims 2 to 6, wherein the monitoring and early warning unit further comprises an alarm module, and the alarm module is connected with the data processing module.
8. An unmanned aerial vehicle air pollution inspection method is characterized in that the unmanned aerial vehicle pollution inspection system according to any one of claims 1 to 7 is adopted, and the unmanned aerial vehicle pollution inspection system comprises
(1) The monitoring and early warning unit presets a patrol route and patrol nodes and sets a monitoring area according to the patrol nodes;
(2) the unmanned aerial vehicle flies according to the patrol route and acquires pollution concentration data in the corresponding monitoring area according to the current patrol node, and the unmanned aerial vehicle transmits the pollution concentration data in the monitoring area corresponding to the current patrol node to the monitoring and early warning unit;
(3) the wind speed and direction monitoring unit collects wind speed and direction data in a monitoring area corresponding to the current patrol node and transmits the wind speed and direction data to the monitoring and early warning unit;
(4) the monitoring and early warning unit processes the pollution concentration data and the wind speed and direction data of the current monitoring area to obtain a corrected pollution concentration value, and then the monitoring and early warning unit controls the unmanned aerial vehicle to fly according to the corrected pollution concentration value and the wind speed and direction data of the current monitoring area;
and (4) when the concentration difference value in each direction in the monitoring area corresponding to the current patrol node is smaller than a set value, the monitoring and early warning unit controls the unmanned aerial vehicle to fly to the next patrol node, and the steps (2) to (4) are repeated until all patrol nodes are patrolled.
9. The atmospheric pollution inspection method for the unmanned aerial vehicle as claimed in claim 8, wherein the corrected pollution concentration value y is calculated according to the following formula:
y＝1.03x+F-1.95
wherein x is the collected pollution concentration value of the current monitoring area, and F is the wind speed of the current monitoring area.
10. The atmospheric pollution inspection method for the unmanned aerial vehicle as claimed in claim 8, wherein the data processing module of the monitoring and early warning unit transmits the corrected pollution concentration value to the alarm module, and when the alarm module judges that the corrected pollution concentration value exceeds a set threshold value, the alarm module gives an alarm.
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| CN202110986926.2A CN113625760B (en) | 2021-08-26 | 2021-08-26 | Unmanned aerial vehicle atmosphere pollution inspection system and method |
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| CN202110986926.2A CN113625760B (en) | 2021-08-26 | 2021-08-26 | Unmanned aerial vehicle atmosphere pollution inspection system and method |
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| CN113625760A true CN113625760A (en) | 2021-11-09 |
| CN113625760B CN113625760B (en) | 2024-05-07 |
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| CN119375424A (en) * | 2024-10-11 | 2025-01-28 | 南京弘竹泰信息技术有限公司 | Low-altitude UAV environmental monitoring and pollution warning system |
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