CN114137569A - Pollution traceability system based on laser radar and unmanned aerial vehicle combination - Google Patents
Pollution traceability system based on laser radar and unmanned aerial vehicle combination Download PDFInfo
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- CN114137569A CN114137569A CN202111128431.2A CN202111128431A CN114137569A CN 114137569 A CN114137569 A CN 114137569A CN 202111128431 A CN202111128431 A CN 202111128431A CN 114137569 A CN114137569 A CN 114137569A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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Abstract
The invention provides a pollution traceability system based on combination of a laser radar and an unmanned aerial vehicle. The laser radar equipment acquires the positioning of the radar hot spot through a GPS and sends the positioning to a cloud server; after receiving the positioning, the cloud server sends a given-point unmanned aerial vehicle, controls the unmanned aerial vehicle to take off to the sky above a radar hot spot area for taking a picture, returns the shot picture to the cloud server, and then controls the unmanned aerial vehicle to land to a take-off position; law enforcement personnel can access and check the radar hotspot graph and the on-site photos through the ground client, and pollution tracing is comprehensively realized. The pollution traceability system combining the laser radar and the unmanned aerial vehicle has the characteristics of high timeliness, strong maneuverability and the like, can quickly track the air pollution phenomenon in real time, provides accurate high-resolution real-time image data for law enforcement, improves the pollution traceability effect, and effectively solves the problems of low efficiency, hysteresis and the like of radar hotspot traceability.
Description
Technical Field
The invention relates to the field of atmospheric pollution prevention and control, in particular to a pollution traceability system.
Background
With the rapid development of industrialization and urbanization in China and the continuous increase of energy consumption, the problem of environmental air pollution is increasingly prominent, the sustainable development of social economy is seriously restricted, and the health of people is threatened. Therefore, development of environmental air pollution control is essential. Environmental air pollution control is carried out from the source. The inspection, monitoring, tracing and the like are the basis of the pollution source prevention and control and treatment work.
At present, pollution monitoring and troubleshooting equipment such as laser radars, unmanned aerial vehicles and the like are configured in partial areas, and only the functions of pollution source troubleshooting, monitoring and tracing can be preliminarily realized. In the actual application process, the devices are usually used independently or simply associated by a human way, and are not effectively combined; for pollution tracing of radar scanning hotspots, a ground checker usually takes off and takes pictures near a heat removal point area of an unmanned aerial vehicle, and tracing of pollutants is realized by combining radar hotspots and area images.
Disclosure of Invention
The invention aims to provide a pollution traceability system combining a laser radar and an unmanned aerial vehicle, which solves the problems of low efficiency, hysteresis and the like of radar hot spot traceability and improves the pollution traceability effect, and the specific technical scheme is as follows:
a pollution traceability system combining a laser radar and an unmanned aerial vehicle comprises a laser radar device, a cloud server, the unmanned aerial vehicle and a ground client. The method comprises the steps of obtaining the location of a scanning hotspot of the laser radar through a GPS, and sending the location to a cloud server; after receiving the positioning, the cloud server sends a given-point unmanned aerial vehicle, controls the unmanned aerial vehicle to take off to the sky above a radar hot spot area for taking a picture, returns the shot picture to the cloud server, and then controls the unmanned aerial vehicle to land to a take-off position; law enforcement personnel can access and check the radar hotspot graph and the on-site photos through the ground client, and pollution tracing is comprehensively realized.
Preferably, the laser radar device is provided with a GPS module which can locate a hot spot scanned by the radar and feed the location back to the cloud server through the control system;
preferably, the cloud server can receive the positioning of the hot spot fed back by the radar equipment, send the positioning to the unmanned aerial vehicle, and control the unmanned aerial vehicle to take off, take a picture and land;
preferably, the unmanned aerial vehicle can receive control of the cloud server, take off to the high altitude at the position of the hot spot for taking a picture, return the picture to the cloud server and land to the take-off position;
preferably, the ground client can view and access the related map and data information in the cloud server, and can control the cloud server at the same time.
The invention provides a pollution traceability system combining a laser radar and an unmanned aerial vehicle, which has the following effects: the method has the characteristics of high timeliness, strong maneuverability and the like, can quickly track the air pollution phenomenon in real time, provides accurate high-resolution real-time image data for law enforcement, improves the pollution tracing effect, and effectively solves the problems of low efficiency, hysteresis and the like of radar hotspot tracing.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a flow chart of the pollution traceability system combining the laser radar and the unmanned aerial vehicle.
Which comprises the following steps: laser radar equipment, cloud ware, unmanned aerial vehicle, ground customer end.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
With reference to fig. 1, the invention comprises a laser radar device, a cloud server, an unmanned aerial vehicle and a ground client.
Referring to fig. 1, the lidar apparatus includes a lidar data acquisition device, a GPS module, and a control system, wherein,
the laser radar data acquisition device is used for acquiring laser point cloud data of an area to be monitored and generating a heat point map; the GPS module acquires coordinate information corresponding to hot spot cloud data in a hot spot diagram of an area to be monitored; and the control system sends the coordinate information for capturing the hotspot cloud data to the cloud server through a network signal.
With reference to fig. 1, the cloud server sends coordinate information corresponding to the acquired hotspot cloud data to the unmanned aerial vehicle through a network signal; and controlling the unmanned aerial vehicle to take off according to the coordinates corresponding to the hotspot cloud data, taking a picture of the area to be monitored after taking off to a set height, and controlling the unmanned aerial vehicle to land to a take-off position after the picture is taken.
With reference to fig. 1, after receiving the instruction of the cloud server, the unmanned aerial vehicle acquires and feeds back the high-definition image information of the area to be monitored to the cloud server.
With reference to fig. 1, the ground client obtains the relevant map and data information of the cloud server by checking and accessing the cloud server.
Law enforcement personnel can check the radar hotspot graph and the field photos on the ground client in real time, trace the source of the pollution in time, avoid the low efficiency and the hysteresis of radar hotspot patrol and improve the pollution tracing effect.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the inventive concept of the present invention, and these changes and modifications are all within the scope of the present invention.
Claims (5)
1. The utility model provides a pollution traceability system based on laser radar and unmanned aerial vehicle ally oneself with, its characterized in that: including laser radar equipment, cloud ware, unmanned aerial vehicle, ground customer end, laser radar equipment with the cloud ware carries out network connection, unmanned aerial vehicle with the cloud ware carries out network connection.
2. The pollution traceability system based on the combination of the laser radar and the unmanned aerial vehicle as claimed in claim 1, wherein the laser radar device comprises a laser radar data acquisition device, a GPS module and a control system, wherein the data acquisition device is used for acquiring laser point cloud data of an area to be monitored and generating a heat point map;
the GPS module is used for acquiring coordinate information corresponding to hot spot cloud data in a hot spot diagram of an area to be monitored;
and the control system is used for controlling the laser radar device to operate, capturing the hotspot cloud data coordinate information and sending the hotspot cloud data coordinate information to the cloud server through a network signal.
3. The pollution traceability system based on the combination of the laser radar and the unmanned aerial vehicle as claimed in claim 1, wherein the cloud server further comprises a display module for displaying the position information and the flight state information of the unmanned aerial vehicle;
the alarm module alarms when the unmanned aerial vehicle deviates from a preset coordinate threshold range and starts automatic position correction;
the manual correction module is used for correcting the position of the unmanned aerial vehicle when the unmanned aerial vehicle loses the automatic position correction capability;
the signal receiving module is used for receiving coordinate information corresponding to the hotspot cloud data sent by the laser radar control system;
the signal sending module is used for sending the coordinate information corresponding to the acquired hotspot cloud data to the unmanned aerial vehicle through a network signal;
and the control system is used for controlling the unmanned aerial vehicle to take off according to the coordinates corresponding to the hotspot cloud data, taking a picture of the area to be monitored after taking off to a set height, and controlling the unmanned aerial vehicle to land to a take-off position after the picture taking is finished.
4. The pollution traceability system based on the combination of the laser radar and the unmanned aerial vehicle as claimed in claim 1, wherein the unmanned aerial vehicle receives an instruction from the cloud server, collects high-definition image information of an area to be monitored and feeds the high-definition image information back to the cloud server.
5. The pollution traceability system based on the combination of the laser radar and the unmanned aerial vehicle as claimed in claim 1, wherein the ground client checks and accesses the relevant map and data information in the cloud server, and can control the cloud server.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111128431.2A CN114137569A (en) | 2021-09-26 | 2021-09-26 | Pollution traceability system based on laser radar and unmanned aerial vehicle combination |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111128431.2A CN114137569A (en) | 2021-09-26 | 2021-09-26 | Pollution traceability system based on laser radar and unmanned aerial vehicle combination |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107861519A (en) * | 2017-11-06 | 2018-03-30 | 四川联众防务科技有限责任公司 | A kind of unmanned plane landing control system |
| CN109633680A (en) * | 2019-01-30 | 2019-04-16 | 安徽科创中光科技有限公司 | Four step closed loop atmosphere pollution traceability systems and method based on laser radar |
| KR102015388B1 (en) * | 2019-01-21 | 2019-08-28 | 주식회사 지공간솔루션 | 3D point cloud DB construction and virtual reality space map providing system and method of providing orthophotosimposing point cloud DB using UAV, ground-based LiDAR scanner |
| CN112426848A (en) * | 2019-08-26 | 2021-03-02 | 杭州碧空环境科技有限公司 | Rubber waste gas treatment device and operation method thereof |
-
2021
- 2021-09-26 CN CN202111128431.2A patent/CN114137569A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107861519A (en) * | 2017-11-06 | 2018-03-30 | 四川联众防务科技有限责任公司 | A kind of unmanned plane landing control system |
| KR102015388B1 (en) * | 2019-01-21 | 2019-08-28 | 주식회사 지공간솔루션 | 3D point cloud DB construction and virtual reality space map providing system and method of providing orthophotosimposing point cloud DB using UAV, ground-based LiDAR scanner |
| CN109633680A (en) * | 2019-01-30 | 2019-04-16 | 安徽科创中光科技有限公司 | Four step closed loop atmosphere pollution traceability systems and method based on laser radar |
| CN112426848A (en) * | 2019-08-26 | 2021-03-02 | 杭州碧空环境科技有限公司 | Rubber waste gas treatment device and operation method thereof |
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