CN113625760B - Unmanned aerial vehicle atmosphere pollution inspection system and method - Google Patents
Unmanned aerial vehicle atmosphere 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 an unmanned aerial vehicle, a wind speed and wind direction monitoring unit and a monitoring and early warning unit, wherein the unmanned aerial vehicle and the wind speed and wind direction monitoring unit are respectively connected with the monitoring and early warning unit. The method of the invention comprises the following steps: the monitoring and early warning unit presets a patrol route and patrol nodes; the unmanned aerial vehicle collects pollution concentration data in a corresponding monitoring area according to the current inspection 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 data to the monitoring and early warning unit; and the monitoring and early warning unit processes the data to obtain a corrected pollution concentration value, and then controls the unmanned aerial vehicle to fly according to the corrected pollution concentration value and wind speed and wind direction data. Aiming at the problems of low environment inspection precision and inspection efficiency in the prior art, the invention 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 unmanned aerial vehicle environment monitoring technology, and particularly relates to an unmanned aerial vehicle atmosphere pollution inspection system and method.
Background
Along with the continuous development of economy, industrial manufacture generates a large amount of air pollution, has great influence on the environment, brings great inconvenience to the life of surrounding residents, takes malodor as an example, waste gas is not fully collected in the factory production process, formed unorganized emission is easily diffused to surrounding sensitive areas, and the action has obvious and direct influence and strong reaction of the surrounding residents.
In order to strengthen the exhaust emission supervision to industrial enterprises, many ground fixed monitoring stations have been installed to the management unit, and fixed point can only monitor fixed range's atmospheric pollution degree, and the cover face is too little, also can not pinpoint the pollution source, and to such current situation, use unmanned aerial vehicle to patrol, with the fixed monitoring station of ground mutually complement, targeted to the heavy spot region is patrolled to find the pollution source in this region, convenient and fast, the degree of accuracy is high, effectively promotes management unit's supervision ability.
For environmental inspection, some solutions are also proposed in the prior art, for example, the invention is named: the utility model provides a unmanned aerial vehicle equipment and monitoring method that detects gaseous pollution source (application day: 201710 month 16 day; application number: 201710962575.5), this scheme discloses a unmanned aerial vehicle equipment that detects gaseous pollution source, includes: the ground monitoring module is used for acquiring the gas pollution concentration, the position, the wind direction and the wind speed of the monitoring point and early warning in real time; the ground control module is used for determining initial flight parameters of the unmanned aerial vehicle module and receiving 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, and 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. According to the scheme, the diffusion of the polluted gas can be found in time, the direction of the polluted source is primarily judged according to the Gaussian plume model theory of the gas diffusion, and then the polluted source is accurately locked through accurate positioning; the specific condition 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 relevant staff can find the pollution source in time conveniently. However, the scheme has the defects that the patrol range is narrow, so that the patrol efficiency is low and the patrol accuracy is not high.
In summary, how to improve the environmental pollution inspection efficiency and inspection accuracy is a problem in the prior art that needs to be solved.
Disclosure of Invention
1. Problems to be solved
Aiming at the problem of lower environment pollution inspection precision and inspection efficiency in the prior art, the invention provides the unmanned aerial vehicle atmosphere pollution inspection system and method, which can accurately inspect the pollution concentration distribution in the monitoring area range, quickly determine the position of a pollution source, greatly improve the supervision capability of enterprise exhaust emission and greatly improve the inspection efficiency.
2. Technical proposal
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 wind direction monitoring unit and a monitoring and early warning unit, wherein the unmanned aerial vehicle and the wind speed and wind direction monitoring unit are respectively connected with the monitoring and early warning unit; the unmanned aerial vehicle is used for collecting pollution concentration data in the monitoring area; the wind speed and direction monitoring unit is used for collecting wind speed and direction data in the 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 the processing result.
Further, the monitoring and early warning unit comprises a data processing module, a patrol control module and a first data transmission module, wherein the data processing module and the first data transmission module are respectively connected with the patrol control module; the system comprises a data processing module, a patrol control module, a first data transmission module, a patrol control module and a control module, wherein the data processing module is used for processing pollution concentration data acquired by the unmanned aerial vehicle, the patrol control module is used for generating an instruction for controlling the unmanned aerial vehicle to fly according to the processed pollution concentration data and wind speed and wind direction data, and the first data transmission module is used for receiving the pollution concentration data and the wind speed and wind direction data and transmitting the control instruction of the patrol control module.
Still further, unmanned aerial vehicle includes pollution sensor, positioning module, control module and second data transmission module, and pollution sensor, positioning 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.
Further, the wind speed and 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.
Still further, unmanned aerial vehicle still includes first communication module, and second data transmission module is connected with first data transmission module through first communication module.
Further, the third data transmission module is connected with the first data transmission module through the second communication module.
Still further, 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 the following steps of
(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 inspection route and acquires pollution concentration data in a corresponding monitoring area according to the current inspection node, and the unmanned aerial vehicle transmits the pollution concentration data in the monitoring area corresponding to the current inspection node to the monitoring and early warning unit;
(3) The wind speed and direction monitoring unit acquires wind speed and direction data in a monitoring area corresponding to the current inspection 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 (3) when the concentration difference value of each direction in the monitoring area corresponding to the current inspection node is smaller than a set value, the monitoring and early warning unit controls the unmanned aerial vehicle to fly to the next inspection node, and the steps (2) - (4) are repeated until all the inspection nodes are inspected.
Further, 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.
Further, the data processing module of the monitoring and early warning unit transmits the corrected pollution concentration value to the alarm module, and the alarm module gives an alarm when the alarm module judges that the corrected pollution concentration value exceeds a set threshold value.
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, by arranging the monitoring and early warning unit, the unmanned aerial vehicle and the wind speed and direction monitoring unit, automatic pollution inspection can be realized, and the pollution position can be accurately positioned, so that inspection of a pollution area can be accurately and rapidly realized, and inspection efficiency is improved; further, the pollution concentration data are processed, so that the pollution inspection accuracy is greatly improved. The system provided by the invention has the advantages of simple structure, low cost, high intelligent degree, and stronger practicability and use universality.
(2) According to the unmanned aerial vehicle atmospheric pollution inspection method, the pollution concentration data and the wind speed and direction data are obtained in real time, so that the position of a pollution source can be rapidly positioned, and the inspection precision is improved by correcting the obtained data; further carry out pollution monitoring through control unmanned aerial vehicle, can cover bigger inspection scope 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 atmospheric pollution supervision ability.
Drawings
FIG. 1 is a schematic diagram of a system architecture of the present invention;
Fig. 2 is a schematic structural diagram of a 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. Unmanned plane; 210. a pollution 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
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention; moreover, the embodiments are not independent, and can be combined with each other as required, so that a better effect is achieved. Thus, the following detailed description of the embodiments of the invention, as 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 made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
For a further understanding of the present invention, the present invention will be described in detail with reference to the drawings and examples.
Example 1
Referring to fig. 1, the unmanned aerial vehicle atmospheric pollution inspection system of the invention comprises a monitoring and early warning unit 100, an unmanned aerial vehicle 200 and a wind speed and wind direction monitoring unit 300, wherein the unmanned aerial vehicle 200 and the wind speed and wind direction monitoring unit 300 are respectively connected with the monitoring and early warning unit 100; the connection of the monitoring and early warning unit 100, the unmanned aerial vehicle 200 and the wind speed and wind direction monitoring unit 300 is realized by adopting a wireless network mode in the embodiment. Further, the monitoring and early warning unit 100, the unmanned aerial vehicle 200 and the wind speed and wind direction monitoring unit 300 according to the present invention will be described in detail below.
The unmanned aerial vehicle 200 is used for collecting pollution concentration data in a monitoring area, specifically, the unmanned aerial vehicle 200 comprises a pollution sensor 210, a positioning module 220, a control module 230 and a second data transmission module 240, wherein the pollution sensor 210, the positioning module 220 and the control module 230 are respectively connected with the second data transmission module 240, the pollution sensor 210 collects the pollution concentration data in the monitoring area, it is noted that the number of the pollution sensors 210 in the example is 4, and the pollution sensors 210 are respectively installed in four different directions of the unmanned aerial vehicle 200, preferably, the 4 pollution sensors 210 are correspondingly arranged on the outer sides of four rotors of the unmanned aerial vehicle 200 (as shown in fig. 2), so that the flight of the unmanned aerial vehicle 200 is not affected, and the accuracy of collecting the 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 drawing of a pollution concentration map later, 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 configured to control the flight of the unmanned aerial vehicle 200, and the second data transmission module 240 is configured to perform data transmission, where the second data transmission module 240 of the present invention is connected to the monitoring and early warning unit 100 through the first communication module 250, so as to implement data transmission and reception. 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 power to enable the unmanned aerial vehicle 200 to operate.
Furthermore, the wind speed and direction monitoring unit 300 of the present invention is used for collecting wind speed and direction data in the monitoring areas, and it should be noted that the wind speed and direction monitoring unit 300 is disposed in each monitoring area, so that real-time collection of wind speed and direction data in each monitoring area can be realized. 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, where 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 the monitored area, the wind direction sensor 320 is configured to collect wind direction data in the monitored 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. In addition, the pollution sensor 210, the wind speed sensor 310 and the wind direction sensor 320 of the present invention are related art devices.
The monitoring and early warning unit 100 receives data transmitted by the unmanned aerial vehicle 200 and the wind speed and wind direction monitoring unit 300, and specifically, the monitoring and early warning unit 100 includes a data processing module 110, a patrol control module 120 and a first data transmission module 130, where the data processing module 110 and the first data transmission module 130 are respectively connected with the patrol 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 instructions for controlling the unmanned aerial vehicle 200 to fly according to the processed pollution concentration data, i.e. the corrected pollution concentration value and the wind speed and wind direction data. The inspection 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, where the alarm module 140 is connected to the data processing module 110, the data processing module 110 transmits 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, the alarm module 140 gives an alarm, so as to implement control over 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 wind direction monitoring unit 300, automatic pollution inspection can be realized, and the pollution position can be accurately positioned, so that inspection of a pollution area can be accurately and rapidly realized, and inspection efficiency is improved; further, the pollution concentration data are processed, so that the pollution inspection accuracy is greatly improved. The system provided by the invention has the advantages of simple structure, low cost, high intelligent degree, and stronger practicability and use universality.
Referring to fig. 3, the method for inspecting the air pollution of the unmanned aerial vehicle adopts the system for inspecting the air pollution of the unmanned aerial vehicle, and specifically comprises the following 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 initialization setting is performed by the inspection control module 120 of the monitoring and early warning unit 100, and the initialization setting information is transmitted to the unmanned aerial vehicle 200 by the first data transmission module 130. In this example, the inspection node is used as the center to set a monitoring area, the area of the monitoring area is 0.01 square kilometer, and the upper limit of the number of random flight times of the unmanned aerial vehicle 200 in one monitoring area is 400, so that the collection of the pollution concentration data of the whole monitoring area can be covered.
(2) The unmanned aerial vehicle 200 flies according to the inspection route and collects the pollution concentration data in the corresponding monitoring area according to the current inspection node, and it should be noted that, when the unmanned aerial vehicle 200 flies in the monitoring area according to the random direction in the initial state, the flight step length of the unmanned aerial vehicle 200 in this example is 5 meters. Further, the unmanned aerial vehicle 200 transmits the pollution concentration data in the monitoring area corresponding to the current inspection node to the monitoring and early warning unit 100, specifically, the unmanned aerial vehicle 200 collects the pollution concentration data in the monitoring area through the pollution sensor 210 and transmits the pollution concentration data to the monitoring and early warning unit 100 once each time the unmanned aerial vehicle 200 flies.
(3) The wind speed and direction monitoring unit 300 collects wind speed and direction data in a monitoring area corresponding to the current inspection node and transmits the wind speed and direction data to the monitoring and early warning unit 100; specifically, wind speed data is collected by the wind speed sensor 310, wind direction data is collected by the wind direction sensor 320, and then the collected wind speed and 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.
The execution sequence of the step (2) and the step (3) is arbitrary, and the step (2) and the step (3) may be executed simultaneously, or the step (2) may be executed first and then the step (3) may be executed, or the step (3) may be executed first and then the step (2) may be executed similarly.
(4) The monitoring and early warning unit 100 processes the pollution concentration data and the wind speed and wind 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 wind 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 wind 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.
The pollution concentration data is corrected according to the pollution concentration data and the wind speed and direction data of the current monitoring area, so that the accuracy of the pollution concentration data is improved, and the inspection accuracy is further improved.
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 wind 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 the set threshold, and determines whether the concentration difference value in each direction in the current monitoring area exceeds the set value, the threshold is 4 in this example, 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 the measured concentration difference between different directions, for example, the measured concentration value in the north-south direction is 2.01, the measured concentration value in the north-south direction is 1.99, the measured concentration value in the west-west direction is 1.99, the measured concentration value in the east-west direction is 2.00, the concentration values in each direction are subtracted from each other, for example, the concentration difference in the south-south direction and the east-west direction is 0.01, the concentration difference in the south-south direction and the north-north direction is 0.02, and so on; the resulting difference is then compared to a set point. Further, the monitoring and early warning unit 100 controls the unmanned aerial vehicle 200 to fly according to the judgment 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 of each direction in the monitoring area corresponding to the current inspection node is smaller than a set value. 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 -1.12 x+5, where X is the corrected pollution concentration value and Y is the flight step of the unmanned aerial vehicle 200; the inspection control module 120 then generates instructions for controlling the flight of the drone 200, the control instructions including a flight step size and a flight direction. The inspection 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 230 controls the unmanned aerial vehicle 200 to fly according to the control instruction, and steps (2) to (4) are executed.
It is worth to say that, if the concentration difference value of each direction in the current monitoring area is smaller than the set value, the unmanned aerial vehicle is controlled to fly to the next inspection node and the steps (2) - (4) are repeated until all the inspection nodes are inspected.
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 gives an alarm, thereby realizing the control of the pollution area. And then judging whether the concentration difference value of each direction in the monitoring area corresponding to the current inspection node is smaller than a set value. If the concentration difference value in each direction in the current monitoring area is greater than or equal to the set value, the inspection control module 120 sets the flight step length of the unmanned aerial vehicle 200 to 0.5m, generates a flight command in the direction toward the high concentration, and the unmanned aerial vehicle 200 executes the command and repeats steps (2) to (4). If the concentration difference value in each direction in the current monitoring area is smaller than the set value, the current position is confirmed to be the position of the pollution source, and a corresponding pollution source distribution diagram is drawn 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 inspection node and repeats the steps (2) - (4) until all the inspection nodes are inspected.
According to the unmanned aerial vehicle atmospheric pollution inspection method, the pollution concentration data and the wind speed and direction data are obtained in real time, so that the position of a pollution source can be rapidly positioned, and the inspection precision is improved by correcting the obtained data; further carry out pollution monitoring through control unmanned aerial vehicle 200, can cover bigger inspection scope 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 atmospheric pollution supervision ability.
The application has been described in detail hereinabove with reference to specific exemplary embodiments thereof. It will be understood that various modifications and changes may be made without departing from the scope of the application as defined by the following claims. The detailed description and drawings are to be regarded in an illustrative rather than a restrictive sense, and if any such modifications and variations are desired to be included within the scope of the application described herein. Furthermore, the background art is intended to illustrate the state of the art and the meaning of the development and is not intended to limit the application or the field of application of the application.
Claims (10)
1. The unmanned aerial vehicle atmospheric pollution inspection system is characterized by comprising an unmanned aerial vehicle, a wind speed and wind direction monitoring unit and a monitoring and early warning unit, wherein the unmanned aerial vehicle and the wind speed and wind direction monitoring unit are respectively connected with the monitoring and early warning unit; the unmanned aerial vehicle is used for collecting pollution concentration data in the monitoring area; the wind speed and direction monitoring unit is used for collecting wind speed and direction data in the monitoring area; the monitoring and early warning unit is used for receiving the 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 the processing result;
The monitoring and early warning unit processes the pollution concentration data and the wind speed and wind direction data of the current monitoring area to obtain a corrected pollution concentration value, 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 wind direction data of the current monitoring area, when an alarm module of the monitoring and early warning unit judges whether the corrected pollution concentration value is higher than a set threshold value and judges whether concentration difference values of all directions in the current monitoring area exceed a set value, when the corrected pollution concentration value does not exceed the threshold value, the monitoring area corresponding to the current inspection node judges whether the concentration difference values of all directions in the monitoring area are smaller than the set value, if the concentration difference values of all directions in the current monitoring area are larger than or equal to the set value, the inspection control module calculates the flight step length of the unmanned aerial vehicle according to the wind speed data and the corrected pollution concentration value, and the specific calculation formula is as follows: y=f -1.12 x+5, where X is the corrected pollution concentration value and Y is the flight step of the unmanned aerial vehicle; f is the wind speed of the current monitoring area; and then the inspection control module generates an instruction for controlling the unmanned aerial vehicle to fly, wherein the instruction for controlling the unmanned aerial vehicle to fly comprises a flight step length and a flight direction.
2. The unmanned aerial vehicle atmospheric pollution inspection system according to 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; the system comprises a data processing module, a patrol control module, a first data transmission module, a patrol control module and a control module, wherein the data processing module is used for processing pollution concentration data acquired by the unmanned aerial vehicle, the patrol control module is used for generating an instruction for controlling the unmanned aerial vehicle to fly according to the processed pollution concentration data and wind speed and wind direction data, and the first data transmission module is used for receiving the pollution concentration data and the wind speed and wind direction data and transmitting the control instruction of the patrol control module.
3. The unmanned aerial vehicle atmospheric pollution inspection system of claim 2, wherein the unmanned aerial vehicle comprises a pollution sensor, a positioning module, a control module and a second data transmission module, wherein the pollution sensor, the positioning module and the control module are respectively connected with the second data transmission module, and wherein the pollution sensor is used for collecting pollution concentration data in a monitoring area.
4. The unmanned aerial vehicle atmospheric pollution inspection system according to 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. A drone atmospheric pollution inspection system according to claim 3, wherein the drone further comprises a first communication module, and the second data transmission module is connected to the first data transmission module by the first communication module.
6. The unmanned aerial vehicle atmospheric pollution inspection system of claim 4, wherein the third data transmission module is connected to the first data transmission module via the second communication module.
7. The unmanned aerial vehicle atmospheric pollution inspection system of any of claims 2 to 6, wherein the monitoring and early warning unit further comprises an alarm module, the alarm module being connected to the data processing module.
8. An unmanned aerial vehicle atmospheric pollution inspection method, characterized in that an unmanned aerial vehicle atmospheric pollution inspection system according to any one of claims 1 to 7 is adopted, comprising:
(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 inspection route and acquires pollution concentration data in a corresponding monitoring area according to the current inspection node, and the unmanned aerial vehicle transmits the pollution concentration data in the monitoring area corresponding to the current inspection node to the monitoring and early warning unit;
(3) The wind speed and direction monitoring unit acquires wind speed and direction data in a monitoring area corresponding to the current inspection 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 (3) when the concentration difference value of each direction in the monitoring area corresponding to the current inspection node is smaller than a set value, the monitoring and early warning unit controls the unmanned aerial vehicle to fly to the next inspection node, and the steps (2) - (4) are repeated until all the inspection nodes are inspected.
9. The unmanned aerial vehicle atmospheric pollution inspection method of 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 unmanned aerial vehicle atmospheric pollution inspection method according to 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 the alarm module gives an alarm when the alarm module judges that the corrected pollution concentration value exceeds the set threshold.
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