CN114486393A - Memory, atmospheric cruise monitoring and sampling control method, device and equipment - Google Patents
Memory, atmospheric cruise monitoring and sampling control method, device and equipment Download PDFInfo
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Abstract
The invention discloses an atmospheric cruise monitoring and sampling control method and a control device, wherein the method is used for atmospheric cruise monitoring and sampling of an unmanned aerial vehicle, and comprises the following steps: acquiring a cruise monitoring task, determining one or more monitoring point positions and monitoring point position information, and establishing an association relation between the cruise monitoring task and monitoring equipment; after the unmanned aerial vehicle flies to reach a preset monitoring point location, measuring emission concentration data of the monitoring point location; after the monitoring point position of the excessive emission is obtained, the monitoring point position of the excessive emission is marked as a sampling point position; if the wind speed of the sampling point location is detected to be lower than the wind speed threshold value, sampling is carried out on the sampling point location by the sampling equipment according to preset sampling information; and if the wind speed of the sampling point location is higher than the wind speed threshold value, the sampling equipment performs secondary sampling at a first preset distance in the downstream direction of the airflow after sampling the sampling point location. The invention can save resources and sample in time, and can still make the sampling result more accurate and more in line with the actual demand under the situation that the gas phase conditions such as wind speed and the like change greatly.
Description
Technical Field
The invention relates to the field of atmospheric pollutant monitoring, in particular to an atmospheric cruise monitoring and sampling control method and device based on an unmanned aerial vehicle.
Background
At present, the problem of atmospheric pollution is serious, the analysis and monitoring requirements of various atmospheric pollutant emission sources in industrial enterprises are urgent, and most of the methods adopt a method of sampling on site and then transporting the sampled atmospheric pollutant emission sources back to a laboratory for off-line analysis. However, the field conditions of enterprises are complex, the emission sources are many and dispersed, the atmospheric pollutants are unevenly distributed in a wide space, the positions of partial discharge ports are high, the manual work is difficult to reach or potential safety hazards exist, and a representative sample cannot be obtained for offline analysis. Meanwhile, due to the fact that pollution conditions are changed instantly and constantly, excessive emission is found in time, excessive early warning and emergency response speed are improved, and the fact that the atmospheric pollutant emission of enterprises is integrally controllable and traceable in source can be effectively guaranteed. The flexibility of the drone can provide great assistance for cruise monitoring and collection of atmospheric samples, as it can reach any position within a certain height above the ground without being restricted to rapid. However, the cruise monitoring device and the sampling device carried by the unmanned aerial vehicle are influenced by meteorological conditions such as wind speed, and the processes of routing inspection and sampling are difficult to control.
Chinese patent CN205280439U discloses an atmosphere sampling device, relates to the technical field of atmosphere detection, and the main purpose of this prior art is to improve the convenience of collecting the concentration of atmospheric pollutants. The main technical scheme adopted is as follows: atmosphere sampling device, the mountable is sampled on removing the carrying equipment to treating the air that detects, and atmosphere sampling device includes: the air flow cover, the pollutant filtering core and the mounting part. The first end of the airflow cover is provided with an air inlet, the second end of the airflow cover is provided with an air outlet, and the inside of the airflow cover is provided with a sampling space respectively communicated with the air inlet and the air outlet. The contaminant filter core is disposed within the sampling volume. The erection part is arranged on the airflow cover and used for erecting the atmosphere sampling device on the mobile carrying equipment for motion sampling. This atmospheric sampling device that prior art provided, simple structure, weight is lighter, can be carried to predetermined region by unmanned aerial vehicle and detect atmospheric pollutants, and it is comparatively nimble to the empty gas detection survey in specific danger area. The scheme relates to a scheme of an inspection and sampling device, and is an improvement on hardware, but the control process of the scheme is still simple and rough, the sampling position and the sampling process can not be adjusted according to the real-time change condition of the gas phase of a sampling point, and the accuracy of a sampling result can not be ensured.
Therefore, an atmosphere cruise monitoring and sampling control method and a control device are urgently needed, conventional inspection and sampling can be carried out according to an inspection plan and a sampling plan, an inspection function and a sampling function module are carried on the same unmanned aerial vehicle, resources are saved, the sampling position can be adjusted in real time and the sampling process can be controlled under the condition that gas phase conditions such as wind speed and the like are suddenly changed, the sampling result is enabled to be more in line with actual requirements, and more accurate data are provided for follow-up sampling analysis.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The invention aims to provide an atmospheric cruise monitoring and sampling control method and device, which can carry a routing inspection function module and a sampling function module on the same unmanned aerial vehicle, save resources, sample in time, and adjust a sampling position and control a sampling process in real time under the condition of large variation of gas phase conditions such as wind speed and the like, so that a sampling result is more accurate and meets actual requirements.
In order to achieve the above object, according to a first aspect of the present invention, the present invention provides an atmospheric cruise monitoring and sampling control method for an unmanned aerial vehicle, including the following steps: acquiring a cruise monitoring task, determining one or more monitoring point positions and monitoring point position information, and establishing an association relation between the cruise monitoring task and monitoring equipment; after the unmanned aerial vehicle flies to reach a preset monitoring point location, measuring emission concentration data of the monitoring point location; after the monitoring point position of the excessive emission is obtained, the monitoring point position of the excessive emission is marked as a sampling point position; if the wind speed of the sampling point location is detected to be lower than the wind speed threshold value, sampling is carried out on the sampling point location by the sampling equipment according to preset sampling information; and if the wind speed of the sampling point location is higher than the wind speed threshold value, the sampling equipment performs secondary sampling at a first preset distance in the downstream direction of the airflow after sampling the sampling point location.
Further, in the above technical solution, the monitoring point location includes, but is not limited to, a preset horizontal longitude and latitude and a preset vertical height.
Further, in the above technical solution, the monitoring point location information includes but is not limited to: monitoring the concentration and whether the concentration exceeds the standard; the sampling information includes: sampling start time, sampling end time and sampling task state.
Further, among the above-mentioned technical scheme, when detecting that the wind speed of sampling point position is higher than the wind speed threshold value, still include wind direction detection step, wind direction detection step is used for hovering after judging in real time that the wind direction back drive unmanned aerial vehicle flies first preset distance towards wind direction low reaches.
Further, in the foregoing technical solution, the sampling control of the sampling point location may include: and taking the sampling point position as the center of a circle and the second preset distance as the radius to perform sampling for multiple times in at least three directions.
Further, in the above technical solution, the sampling control of the sampling point location may further include: recording opening and closing time information of an electric valve of the sampling container; the recorded information is transmitted back to the ground control system, the opening time of the electric valve is identified as the sampling starting time, and the closing time of the electric valve is identified as the sampling ending time; and displaying the sampling state according to the information integrity of the sampling start time and the sampling end time.
Further, in the above technical solution, the sampling control mode of the secondary sampling may be the same as the sampling control mode of the sampling point location.
In order to achieve the above object, according to a second aspect of the present invention, the present invention provides an atmospheric cruise monitoring and sampling control device for an unmanned aerial vehicle, including: the task acquisition module is used for acquiring the cruise monitoring task, determining one or more monitoring point positions and monitoring point position information, and establishing an incidence relation between the cruise monitoring task and the monitoring equipment; the concentration acquisition module is used for acquiring emission concentration data of a monitoring point location after the unmanned aerial vehicle flies to reach the preset monitoring point location; the sampling identification module is used for identifying the monitoring point position exceeding the standard discharge as a sampling point position after acquiring the monitoring point position exceeding the standard discharge; the wind speed judging module is used for comparing the detected real-time wind speed of the sampling point with a wind speed threshold value: when the wind speed of the sampling point location is detected to be lower than a wind speed threshold value, sampling is carried out on the sampling point location by the sampling equipment according to preset sampling information; when the wind speed of the sampling point location is detected to be higher than the wind speed threshold value, the sampling equipment performs secondary sampling at a first preset distance in the downstream direction of the airflow after sampling at the sampling point location.
Further, in the above technical solution, the apparatus may further include: and the wind direction detection module is used for detecting the wind direction when the wind speed of the sampling point is higher than a wind speed threshold value, and sending the wind direction information to the unmanned aerial vehicle flight controller to control the unmanned aerial vehicle to fly towards the wind direction downstream for a first preset distance and then hover.
Further, in the above technical solution, the apparatus further includes a sampling control module, and the sampling control module specifically includes: the multi-point execution sub-module is used for controlling the sampling point position as the circle center and the second preset distance as the radius to perform multiple times of sampling in at least three directions; the information recording submodule is used for recording the opening and closing time information of the electric valve of the sampling container; the information identification submodule is used for transmitting the recorded information back to the ground control system, identifying the opening time of the electric valve as sampling starting time and identifying the closing time of the electric valve as sampling finishing time; and the state display submodule displays the sampling state according to the information integrity of the sampling start time and the sampling end time.
To achieve the above object, according to a third aspect of the present invention, there is provided a memory including an instruction set adapted to a processor for executing the steps of the above atmospheric cruise monitoring and sampling control method.
In order to achieve the above object, according to a fourth aspect of the present invention, there is provided an atmospheric cruise monitoring and sampling control apparatus, comprising a bus, an input device, an output device, a processor and the aforementioned memory; the bus is used for connecting the memory, the input device, the output device and the processor; the input device and the output device are used for realizing interaction with a user; the processor is configured to execute a set of instructions in the memory.
Compared with the prior art, the invention has the following beneficial effects:
1) according to the invention, the cruise monitoring equipment and the sampling equipment are carried on the same unmanned aerial vehicle, and after the cruise monitoring equipment monitors concentration data and sends the concentration data to the ground control system for exceeding judgment, if the concentration data exceeds the standard, sampling can be carried out in situ at the first time, so that the timeliness of sampling is ensured;
2) after the concentration of the monitoring point location is determined to exceed the standard, secondary sampling can be carried out at a certain distance in the downstream direction of the airflow except for sampling at the sampling point location after the wind power reaches a certain level, and the follow-up sampling analysis result can be effectively ensured to be more accurate;
3) the invention adopts the sampling point location and the point location adjacent to the sampling point location to carry out multi-frequency sampling, and then obtains the sampling data of the sampling point location through subsequent calculation, thereby further improving the accuracy of sampling and subsequent analysis in a complex airflow environment.
Other features and aspects of the present invention will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
FIG. 1 is a schematic flow chart of an atmospheric cruise monitoring and sampling control method according to embodiment 1 of the present invention;
FIG. 2 is a schematic flow chart of an atmospheric cruise monitoring and sampling control method according to embodiment 2 of the present invention;
fig. 3 is a schematic block diagram of an atmospheric cruise monitoring and sampling control device according to embodiment 3 of the present invention;
fig. 4 is a schematic structural diagram of an atmospheric cruise monitoring and sampling control device according to embodiment 5 of the present invention.
Detailed Description
Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the specific embodiments.
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, but not all, embodiments of the present 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. Throughout the specification and claims, unless explicitly stated otherwise, the word "comprise", or variations such as "comprises" or "comprising", will be understood to imply the inclusion of a stated element or component but not the exclusion of any other element or component.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.
Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present invention. It will be understood by those skilled in the art that the present invention may be practiced without some of these specific details. In some instances, methods, means, elements well known to those skilled in the art have not been described in detail so as not to obscure the present invention.
The atmospheric cruise monitoring and sampling device provided by the invention is used for monitoring data such as concentration and the like through the cruise monitoring equipment on the unmanned aerial vehicle, and is especially suitable for a sampling environment in which the position of a discharge port is high, the manual work is difficult to reach or potential safety hazards exist, and a representative sample cannot be obtained for offline analysis by utilizing the sampling equipment carried on the same unmanned aerial vehicle under the condition that the data exceeds the standard.
The unmanned aerial vehicle has the positioning functions of horizontal longitude and latitude and vertical height, can automatically plan a reasonable flight path according to a given target position, has certain load capacity, and can be loaded with cruise monitoring equipment, a cruise control module, a sampling container, a sampling control module and a power supply module to fly to the given position and hover for atmospheric sampling.
The cruise monitoring equipment is a small quick response analyzer, can quickly measure the concentration of the atmospheric pollutant index, transmits the concentration data to the cruise control module and finally judges whether the standard exceeds the standard through a ground control system.
The cruise control module communicates with a ground control system through a wireless signal, acquires a cruise monitoring task from the ground control system, and transmits data with the unmanned aerial vehicle and the cruise monitoring equipment through signal cables.
The sampling container is connected with the unmanned aerial vehicle, can be assembled and disassembled at any time, and can ensure that the relative positions of the sampling container and the unmanned aerial vehicle are fixed in the flying process after assembly. The sampling container can be a metal sampling tank, a plastic sampling bag or a metal sampling tube containing an adsorption material with different volumes. The inlet of the container is provided with an electric valve, and the opening and the closing of the valve respectively represent the beginning and the end of sample collection. The front end of the valve is connected with a filter which is mainly used for removing particles in the atmospheric sample. The valve is electric control in the sampling process, and after the sampling is finished and the valve is taken down from the unmanned aerial vehicle, the valve can be manually opened and closed so as to take the sample.
The sampling control module can communicate with a ground control system in a wireless mode and communicate with a sampling container and an unmanned aerial vehicle through a signal transmission cable. The sampling control module acquires information such as a sampling instruction and sampling duration from the ground control system, the ground control system judges whether the data exceeds the standard after receiving the cruise monitoring concentration data, if the data exceeds the standard, the sampling control module sends an instruction to the sampling control module to carry out in-situ sampling, the sampling control module sends the sampling duration information to the sampling container, the specific time of opening and closing a valve of the sampling container is recorded in the sampling as the time of starting and ending the sampling, the actual spatial position information of the unmanned aerial vehicle is recorded, and the information is transmitted back to the ground control system after the sampling is finished.
The power supply module is connected with the unmanned aerial vehicle, the cruise monitoring equipment, the cruise control module, the sampling control module and the sampling container through cables, and is responsible for providing electric power required by the operation of each module and equipment, and a charging interface is arranged to be connected with commercial power for charging. The power supply module has an electric quantity monitoring function, and if the residual electric quantity is difficult to support one-time sampling action, the power supply module can give an alarm to prompt that charging is needed.
The ground control system has the functions of data transmission, data processing and display. The data processing function is mainly to edit and generate cruise monitoring plans according to the cruise monitoring requirements, record and store all information of each cruise monitoring plan, directly sample in-situ at monitoring point positions which exceed standard emission, record and store information and data of sampling point positions, and conveniently select and check the execution condition of historical sampling at the later stage.
Example 1
As shown in fig. 1, the atmospheric sampling control method of the present invention includes the steps of:
step S101, the ground control system establishes a cruise monitoring task, determines one or more monitoring point positions and monitoring point position information, establishes an association relation between the cruise monitoring task and monitoring equipment, and the cruise control module acquires the cruise monitoring task. The method comprises the steps of collecting position information of all point locations needing to be monitored in advance, wherein the position information comprises horizontal longitude and latitude, vertical height and the like, storing point location names and the position information in a ground control system in a one-to-one correspondence mode, and automatically calling detailed position information when selecting the point location names when editing a cruise monitoring plan. The information details of each monitoring point location are provided with monitoring concentration, whether the monitoring point location exceeds the standard, a sampling device number, sampling start time, sampling end time, task state and the like. A sampling device sequence carried on the same unmanned aerial vehicle is required to be added in each cruise monitoring task, and the sampling device is selected in time to initiate sampling aiming at the overproof point when the overproof monitoring point is found. The cruise monitoring equipment is distributed with a unique identification code, the identification code is scanned to obtain the serial number and related information of the cruise monitoring equipment, the task association of the cruise monitoring equipment and the monitoring point location is realized by scanning the identification code and transmitting the identification code to the ground control system, and the cruise monitoring equipment and the ground control system complete time synchronization at the moment.
And S102, measuring emission concentration data of the monitoring point after the unmanned aerial vehicle flies to reach the preset monitoring point. Specifically, after the unmanned aerial vehicle reaches the monitoring point, the unmanned aerial vehicle hovers, the cruise monitoring equipment starts to test, and the measured stable value is transmitted back to the ground control system.
And step S103, after the monitoring point position exceeding the standard discharge is obtained, the monitoring point position exceeding the standard discharge is marked as a sampling point position. Specifically, the ground control system judges whether the point exceeds the standard according to the emission concentration standard applicable to the point, if not, the point state is displayed as completed, if so, the point exceeds the standard, one column of the point exceeds the standard, meanwhile, the ground control system marks the monitoring point position which exceeds the standard emission as a sampling point position, and initiates an in-situ sampling task of the point position.
And step S104, after receiving the in-situ sampling instruction of the ground control system, the sampling control module detects the actual wind speed and compares the actual wind speed with a wind speed threshold value. For example, the wind speed threshold may be a strong wind level of 10.8 meters/second, as desired. If the wind speed of the sampling point position is detected to be lower than the wind speed threshold value, executing the step S105; if the wind speed of the sampling point position is detected to be higher than the wind speed threshold value, executing a step S106;
step S105, sampling at the sampling point position by the sampling equipment according to preset sampling information (namely sampling start time, sampling end time and the like);
step S106, after the sampling device finishes a set sampling task, namely sampling at the sampling point, performing secondary sampling at a first preset distance in the downstream direction of the air flow. The first predetermined distance may be set in advance as needed, and may be set to 3 to 5 meters if the wind speed threshold is set to a strong wind level of 10.8 meters/second.
Because the high-altitude airflow environment is complex, the wind speed and the wind direction may change in real time in the sampling process, and therefore, under the condition of high wind speed, a large error is caused by sampling only at a planned sampling point. Therefore, in the embodiment 1 of the invention, after the wind power reaches a certain level, secondary sampling can be carried out at a certain distance in the downstream direction of the airflow except for in-situ sampling at the monitored overproof point, so that the sampling timeliness can be ensured, and the subsequent sampling analysis result can be effectively ensured to be more accurate.
In general, sampling is performed at multiple times at each sampling point. The sampling of the sampling point positions which are monitored to exceed the standard and the secondary sampling at a certain distance of the downstream direction of the air flow can be carried out by adopting the following modes: namely, sampling is carried out for multiple times in at least three directions by taking the sampling point position as the center of a circle and taking the second preset distance as the radius. For example: when the actual wind speed of the monitoring standard exceeding point position (namely the sampling point position) is lower than the wind speed threshold value, the sampling can be carried out only at the sampling point position without secondary sampling. And the sampling only at the sampling point position comprises in-situ sampling, then cruising by an unmanned aerial vehicle, respectively moving to a preset distance (for example, a distance of 1 to 3 meters) in four directions of east, west, south and north by taking the sampling point position as a circle center, then hovering, respectively sampling at the four adjacent point positions, and calculating the sampling data of the sampling point position by carrying out weighted average on the sampling data of the five point positions in subsequent sampling analysis. The subsampling performed in case the actual wind speed is above the wind speed threshold may be performed in the same way as described above. The invention adopts the monitoring over-standard point position (namely the sampling point position) and the point position adjacent to the sampling point position to carry out multi-frequency sampling, and can further improve the accuracy of sampling and subsequent analysis in a complex airflow environment.
The control process for performing sampling at each specific point is as follows: and the ground control system executes a sampling instruction after judging that the monitoring data of the hovering position of the unmanned aerial vehicle exceeds the standard, and the corresponding sampling state is displayed as sampling. The sampling control module controls the sampling container to perform in-situ sampling, the electric valve of the sampling container is opened at the moment, the sampling control module records the accurate opening time of the valve, the electric valve is closed after the set sampling time is reached, and the sampling control module records the accurate closing time of the valve. The sampling control module can transmit the recorded information back to the control system in real time, including identifying the accurate time of valve opening as the sampling start time, identifying the accurate time of valve closing as the sampling end time, and then displaying the corresponding sampling state as the completion of sampling. If the sampling task is not completed according to the plan due to various factors, the state displayed by the sampling task is sampling interruption.
Example 2
As shown in fig. 2, in embodiment 2 of the atmospheric cruise monitoring and sampling control method according to the present invention, a wind direction detection step is added on the basis of embodiment 1. The method comprises the steps of judging the actual wind speed of a sampling point position, detecting the wind direction when the actual wind speed is higher than a wind speed threshold value, driving the unmanned aerial vehicle to hover after flying towards the downstream of the wind direction by the first preset distance under the assistance of the unmanned aerial vehicle cruise system after judging the wind direction in real time, and performing secondary sampling after hovering.
Example 3
As shown in fig. 3, the atmospheric cruise monitoring and sampling control device of the present invention is used for atmospheric cruise monitoring and sampling of an unmanned aerial vehicle, and includes a task obtaining module 10, a concentration obtaining module 20, a sampling identification module 30, and a wind speed determining module 40. The task obtaining module 10 is configured to obtain a cruise monitoring task, determine one or more monitoring point locations and monitoring point location information, and establish an association relationship between the cruise monitoring task and a monitoring device; the concentration acquisition module 20 is used for acquiring emission concentration data of a monitoring point location after the unmanned aerial vehicle flies to reach the preset monitoring point location; the sampling identification module 30 is configured to identify the monitoring point locations that exceed the standard discharge as sampling point locations after acquiring the monitoring point locations that exceed the standard discharge; the wind speed judgment module 40 is configured to compare the detected real-time wind speed of the sampling point with a wind speed threshold: when the wind speed of the sampling point location is detected to be lower than a wind speed threshold value, sampling is carried out on the sampling point location by the sampling equipment according to preset sampling information; when the fact that the wind speed of the sampling point is higher than the wind speed threshold value is detected, sampling equipment conducts secondary sampling at a first preset distance in the downstream direction of the airflow after sampling of the sampling point.
As further shown in fig. 3, the atmospheric cruise monitoring and sampling control apparatus of the present invention may further include a wind direction detection module 50. This wind direction detection module 50 is used for when the wind speed of sampling point position is higher than the wind speed threshold value, carries out the wind direction and detects to fly controller control unmanned aerial vehicle toward the first preset distance of wind direction downstream flight with wind direction information transmission and hover, carries out the secondary sampling after hovering.
As further shown in fig. 3, the atmospheric cruise monitoring and sampling control apparatus of the present invention further includes a sampling control module 60, where the sampling control module 60 specifically includes: a multi-point execution sub-module 61, an information recording sub-module 62, an information identification sub-module 63, and a status display sub-module 64. The multi-point execution submodule 61 is configured to control sampling for multiple times in at least three directions with a sampling point position as a circle center and a second preset distance as a radius; the information recording submodule 62 is used for recording the opening and closing time information of the electric valve of the sampling container; the information identification submodule 63 is configured to transmit recorded information back to the ground control system, and identify the opening time of the electric valve as a sampling start time and identify the closing time of the electric valve as a sampling end time; the status display sub-module 64 may display the sampling status based on the information integrity of the sampling start time and end time, etc.
Example 4
The present embodiments provide a memory, which may be a non-transitory (non-volatile) computer storage medium storing computer-executable instructions that may perform the steps of the atmospheric cruise monitoring and sampling control method of any of the above method embodiments, and achieve the same technical effects.
Example 5
The present embodiment provides an atmospheric cruise monitoring and sampling control apparatus, which includes a memory, and a corresponding computer program product, where program instructions included in the computer program product, when executed by a computer, enable the computer to execute the atmospheric cruise monitoring and sampling control method described in the above aspects, and achieve the same technical effects.
Fig. 4 is a schematic diagram of a hardware structure of the electronic device according to the embodiment, and as shown in fig. 4, the device includes one or more processors 610 and a memory 620. Take a processor 610 as an example. The apparatus may further include: an input device 630 and an output device 640.
The processor 610, the memory 620, the input device 630, and the output device 640 may be connected by a bus or other means, such as the bus connection in fig. 4.
The memory 620, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules. The processor 610 executes various functional applications and data processing of the electronic device, i.e., the processing method of the above-described method embodiment, by executing the non-transitory software programs, instructions and modules stored in the memory 620.
The memory 620 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data and the like. Further, the memory 620 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 620 optionally includes memory located remotely from the processor 610, which may be connected to the processing device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 630 may receive input numeric or character information and generate a signal input. The output device 640 may include a display device such as a display screen.
The one or more modules are stored in the memory 620 and, when executed by the one or more processors 610, perform: the invention discloses an atmospheric cruise monitoring and sampling control method. The product can execute the method provided by the embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the method provided by the embodiment of the present invention.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (12)
1. The atmospheric cruise monitoring and sampling control method is characterized by being used for atmospheric cruise monitoring and sampling of an unmanned aerial vehicle, and comprising the following steps of:
the method comprises the steps of obtaining a cruise monitoring task, determining one or more monitoring point positions and monitoring point position information, and establishing an association relation between the cruise monitoring task and monitoring equipment;
measuring emission concentration data of the monitoring point location after the unmanned aerial vehicle flies to reach the preset monitoring point location;
after the monitoring point position of the excessive emission is obtained, the monitoring point position of the excessive emission is marked as a sampling point position;
if the wind speed of the sampling point location is detected to be lower than a wind speed threshold value, sampling is carried out on the sampling point location by sampling equipment according to preset sampling information; and if the wind speed of the sampling point location is higher than the wind speed threshold value, the sampling equipment performs secondary sampling at a first preset distance of the downstream direction of the airflow after sampling the sampling point location.
2. The atmospheric cruise monitoring and sampling control method according to claim 1, wherein said monitoring points comprise predetermined horizontal longitude and latitude and vertical height positioning positions.
3. The atmospheric cruise monitoring and sampling control method according to claim 1, wherein said monitoring point location information comprises: monitoring the concentration and whether the concentration exceeds the standard; the sampling information includes: sampling start time, sampling end time and sampling task state.
4. The atmospheric cruise monitoring and sampling control method according to claim 1, further comprising a wind direction detection step when it is detected that the wind speed at the sampling point is higher than a wind speed threshold value, wherein the wind direction detection step is used for driving the unmanned aerial vehicle to fly towards the downstream of the wind direction for the first preset distance after the wind direction is judged in real time and then hovering.
5. The atmospheric cruise monitoring and sampling control method according to claim 1, wherein said sampling control of said sampling points comprises:
and taking the sampling point position as the center of a circle and taking a second preset distance as the radius to perform sampling for multiple times in at least three directions.
6. The atmospheric cruise monitoring and sampling control method according to claim 5, wherein said sampling control of sampling points further comprises:
recording opening and closing time information of an electric valve of the sampling container;
transmitting the recorded information back to a ground control system, and identifying the opening time of the electric valve as sampling starting time and the closing time of the electric valve as sampling finishing time;
and displaying the sampling state according to the information integrity of the sampling start time and the sampling end time.
7. The atmospheric cruise monitoring and sampling control method according to claim 5 or 6, characterized in that the sampling control mode of the secondary sampling is the same as the sampling control mode of the sampling point.
8. The utility model provides an atmosphere monitoring and sampling control device that cruises which characterized in that for unmanned aerial vehicle's atmosphere cruises monitoring and sampling, includes:
the system comprises a task obtaining module, a task processing module and a monitoring device, wherein the task obtaining module is used for obtaining a cruise monitoring task, determining one or more monitoring point positions and monitoring point position information, and establishing an incidence relation between the cruise monitoring task and the monitoring device;
the concentration acquisition module is used for acquiring emission concentration data of the monitoring point location after the unmanned aerial vehicle flies to the preset monitoring point location;
the sampling identification module is used for identifying the monitoring point position exceeding the standard discharge as a sampling point position after acquiring the monitoring point position exceeding the standard discharge;
the wind speed judgment module is used for comparing the detected real-time wind speed of the sampling point position with a wind speed threshold value: when the wind speed of the sampling point location is detected to be lower than a wind speed threshold value, sampling is carried out on the sampling point location by sampling equipment according to preset sampling information; when the fact that the wind speed of the sampling point location is higher than a wind speed threshold value is detected, the sampling equipment carries out secondary sampling at a first preset distance in the downstream direction of the airflow after sampling of the sampling point location.
9. The atmospheric cruise monitoring and sampling control device according to claim 8, further comprising:
and the wind direction detection module is used for detecting the wind direction when the wind speed of the sampling point is higher than a wind speed threshold value, and sending the wind direction information to the unmanned aerial vehicle flight controller to control the unmanned aerial vehicle to fly towards the downstream of the wind direction by hovering after a first preset distance.
10. The atmospheric cruise monitoring and sampling control device according to claim 8 or 9, further comprising a sampling control module, the sampling control module specifically comprising:
the multi-point execution sub-module is used for controlling the sampling point position as a circle center and the second preset distance as a radius to perform multi-time sampling in at least three directions;
the information recording submodule is used for recording the opening and closing time information of the electric valve of the sampling container;
the information identification submodule is used for transmitting the recorded information back to a ground control system, identifying the opening time of the electric valve as sampling starting time and identifying the closing time of the electric valve as sampling finishing time;
and the state display submodule displays the sampling state according to the information integrity of the sampling start time and the sampling end time.
11. A memory comprising a set of instructions adapted to cause a processor to perform the steps of the atmospheric cruise monitoring and sampling control method according to any one of claims 1 to 7.
12. An atmospheric cruise monitoring and sampling control apparatus, comprising a bus, an input device, an output device, a processor and a memory as claimed in claim 11;
the bus is used for connecting the memory, the input device, the output device and the processor;
the input device and the output device are used for realizing interaction with a user;
the processor is configured to execute a set of instructions in the memory.
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