CN114486393A - Memory, atmospheric cruise monitoring and sampling control method, device and equipment - Google Patents

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

Memory, atmospheric cruise monitoring and sampling control method, device and equipment

technical field

The invention relates to the field of atmospheric pollutant monitoring, in particular to an atmospheric cruise monitoring and sampling control method and control device based on an unmanned aerial vehicle.

Background technique

At present, the problem of air pollution is serious, and there is an urgent need for analysis and monitoring of various air pollutant emission sources in industrial enterprises. At present, most of them still adopt the method of on-site sampling and then transporting them back to the laboratory for offline analysis. However, the situation of the enterprise site is complex, the emission sources are numerous and scattered, the air pollutants are unevenly distributed in a wide space, and some of the discharge outlets are located at high positions, which are difficult to reach manually or have potential safety hazards, so it is impossible to obtain representative samples for offline analysis. At the same time, due to the rapidly changing pollution situation, the timely detection of excessive emissions, and the improvement of the early warning and emergency response rate of excessive emissions can effectively ensure that the overall controllable and traceable source of air pollutant emissions of enterprises. The flexibility of the UAV can be of great help for the cruise monitoring and collection of atmospheric samples, because it can quickly reach any position within a certain height above the ground without limitation. However, the cruise monitoring device and sampling device carried by the UAV are affected by meteorological conditions such as wind speed, and the inspection and sampling process is difficult to control.

Chinese patent CN205280439U discloses an atmospheric sampling device, which relates to the technical field of atmospheric detection. The main purpose of the prior art is to improve the convenience of collecting the concentration of atmospheric pollutants. The main technical scheme adopted is: an atmospheric sampling device, which can be installed on a mobile carrier device to sample the air to be detected. The atmospheric sampling device includes an air hood, a pollutant filtering core and an erection part. The first end of the airflow hood has an air inlet, the second end of the airflow hood has an air outlet, and the interior of the airflow hood is provided with sampling spaces respectively connected with the air inlet and the air outlet. The contaminant filtering core is arranged in the sampling space. The erection part is arranged on the airflow hood, and is used for erecting the atmospheric sampling device on the mobile carrying device for moving sampling. The atmospheric sampling device provided by the prior art has a simple structure and light weight, can be carried by a drone to a predetermined area to detect atmospheric pollutants, and is more flexible in air detection in a specific dangerous area. This scheme is a scheme involving inspection and sampling devices, and is an improvement to the hardware, but the control process of the scheme is still relatively simple and rough, and the sampling position and sampling process cannot be adjusted according to the real-time changes of the gas phase at the sampling point, and the sampling results cannot be guaranteed. precision.

Therefore, there is an urgent need for an atmospheric cruise monitoring and sampling control method and control device, which can not only carry out routine inspection and sampling according to the inspection plan and sampling plan, but also carry the inspection function and sampling function module on the same UAV to save resources. It can adjust the sampling position and control the sampling process in real time in the case of sudden changes in gas phase conditions such as wind speed, so that the sampling results are more in line with the actual needs and provide more accurate data for subsequent 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 of ordinary skill in the art.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide an atmospheric cruise monitoring and sampling control method and device, which can not only carry the patrol inspection and sampling function modules on the same UAV, save resources and timely sampling, but also can be more sensitive to changes in gas phase conditions such as wind speed. In large occasions, the sampling position is adjusted in real time and the sampling process is controlled, so that the sampling results are more accurate and more in line with actual needs.

In order to achieve the above object, according to the first aspect of the present invention, the present invention provides an atmospheric cruise monitoring and sampling control method for the atmospheric cruise monitoring and sampling of unmanned aerial vehicles, including the following steps: acquiring a cruise monitoring task, determining one or more Multiple monitoring points and monitoring point information, establish the relationship between cruise monitoring tasks and monitoring equipment; after the drone flies to the preset monitoring point, measure the emission concentration data of the monitoring point; obtain monitoring of excessive emissions After the sampling is completed, the monitoring points that exceed the standard emissions are marked as sampling points; if the wind speed at the sampling point is detected to be lower than the wind speed threshold, the sampling equipment will sample at the sampling point according to the preset sampling information; if the sampling point is detected When the wind speed at the point is higher than the wind speed threshold, the sampling device performs secondary sampling at the first preset distance in the downstream direction of the airflow after sampling at the sampling point.

Further, in the above technical solution, the monitoring points include but are not limited to the preset horizontal latitude and longitude and vertical height positioning positions.

Further, in the above technical solution, the monitoring point information includes but is not limited to: monitoring concentration and whether the concentration exceeds the standard; sampling information includes: sampling start time, sampling end time and sampling task status.

Further, in the above technical solution, when it is detected that the wind speed at the sampling point is higher than the wind speed threshold, a wind direction detection step is also included, and the wind direction detection step is used to drive the drone to fly downstream in the wind direction for a first preset distance after judging the wind direction in real time. after hovering.

Further, in the above technical solution, the sampling control of the sampling point may include: taking the sampling point as the center of the circle and taking the second preset distance as the radius to perform multiple sampling in at least three directions.

Further, in the above technical solution, the sampling control of the sampling point may further include: recording the opening and closing time information of the electric valve of the sampling container; transmitting the recorded information to the ground control system, and identifying the opening time of the electric valve as the sampling time Start time, identify the closing time of the electric valve as the sampling end time; display the sampling status according to the information integrity of the sampling start time and end time.

Further, in the above technical solution, the sampling control method of the sub-sampling may be the same as the sampling control method of the sampling point position.

In order to achieve the above object, according to the second aspect of the present invention, the present invention provides an atmospheric cruise monitoring and sampling control device for atmospheric cruise monitoring and sampling of UAVs, including: a task acquisition module for acquiring cruise monitoring Task, determine one or more monitoring points and monitoring point information, and establish the relationship between cruise monitoring tasks and monitoring equipment; the concentration acquisition module is used to obtain monitoring points after the drone flies to the preset monitoring point. The sampling identification module is used to identify the monitoring points that exceed the emission standards as sampling points after obtaining the monitoring points of excessive emission; the wind speed judgment module is used to compare the real-time wind speed of the detected sampling points with Comparing the wind speed threshold: when it is detected that the wind speed at the sampling point is lower than the wind speed threshold, the sampling device performs sampling at the sampling point according to the preset sampling information; when it is detected that the wind speed at the sampling point is higher than the wind speed threshold, After sampling at the sampling point, the sampling device performs secondary sampling at a first preset distance in the downstream direction of the airflow.

Further, in the above technical solution, the device may further include: a wind direction detection module, which is used to detect the wind direction when the wind speed at the sampling point is higher than the wind speed threshold, and send the wind direction information to the drone flight controller to control the unmanned aerial vehicle. The aircraft hovers after flying the first preset distance downstream in the wind direction.

Further, in the above technical solution, the device further includes a sampling control module, and the sampling control module specifically includes: a multi-point execution sub-module for controlling the sampling point as the center and the second preset distance as the radius at least three Multiple sampling in the direction; information recording sub-module, used to record the opening and closing time information of the electric valve of the sampling container; information identification sub-module, used to return the recorded information to the ground control system, and open the electric valve The time is identified as the sampling start time, and the closing time of the electric valve is identified as the sampling end time; the status display sub-module displays the sampling status according to the information integrity of the sampling start time and end time.

To achieve the above object, according to a third aspect of the present invention, the present invention provides a memory including an instruction set suitable for a processor to execute the steps in the foregoing atmospheric cruise monitoring and sampling control method.

In order to achieve the above object, according to the fourth aspect of the present invention, the present invention provides an atmospheric cruise monitoring and sampling control device, comprising a bus, an input device, an output device, a processor and the aforementioned memory; the bus is used to connect the memory, input A device, an output device, and a processor; the input device and the output device are used to implement interaction with the user; the processor is used to execute the set of instructions in the memory.

Compared with the prior art, the present invention has the following beneficial effects:

1) In the present invention, the cruise monitoring equipment and the sampling equipment are mounted on the same drone. After the cruise monitoring equipment monitors the concentration data and sends it to the ground control system for over-standard judgment, if it exceeds the standard, it can be carried out on the spot at the first time. Sampling to ensure the timeliness of sampling;

2) When it is determined that the concentration at the monitoring point exceeds the standard, after the wind reaches a certain level, in addition to sampling at the sampling point, secondary sampling can be performed at a certain distance in the downstream direction of the airflow, which can effectively ensure subsequent sampling. The analysis results are more accurate;

3) The present invention uses sampling points and points adjacent to the sampling points to perform multi-frequency sampling, and then obtains the sampling data of the sampling points through subsequent calculations, which can further improve 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 with reference to the accompanying drawings.

Description of drawings

One or more embodiments are exemplified by the pictures in the corresponding drawings, and these exemplifications do not constitute limitations of the embodiments, and elements with the same reference numerals in the drawings are denoted as similar elements, Unless otherwise stated, the figures in the accompanying drawings do not constitute a scale limitation.

1 is a schematic flowchart of Embodiment 1 of the atmospheric cruise monitoring and sampling control method of the present invention;

2 is a schematic flowchart of Embodiment 2 of the atmospheric cruise monitoring and sampling control method of the present invention;

3 is a schematic structural diagram of a module 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 ways

The 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 protection scope of the present invention is not limited by the specific embodiments.

In order to make the purposes, 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 accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention. Unless expressly stated otherwise, throughout the specification and claims, the term "comprising" or its conjugations such as "comprising" or "comprising" and the like will be understood to include the stated elements or components, and Other elements or other components are not excluded.

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.

In addition, in order to better illustrate the present invention, numerous specific details are given in the following detailed description. It will be understood by those skilled in the art that the present invention may be practiced without certain specific details. In some instances, methods, means and elements well known to those skilled in the art have not been described in detail so as to highlight the subject matter of the present invention.

The atmospheric cruise monitoring and sampling of the present invention is to monitor the concentration and other data through the cruise monitoring equipment carried by the drone, and use the sampling device mounted on the same drone to conduct atmospheric sampling when the data exceeds the standard, which is especially suitable for emissions. The location of the mouth is high, it is difficult to reach manually or there are potential safety hazards, and it is impossible to obtain a sampling environment for representative samples for offline analysis.

The UAV involved in the invention has the positioning function of horizontal longitude, latitude and vertical height, can automatically plan a reasonable flight path according to a given target position, has a certain load capacity, and can be equipped with cruise monitoring equipment, cruise control modules, sampling containers, The sampling control module and the power supply module fly to a given position and hover for atmospheric sampling.

The cruise monitoring equipment involved in the invention is a small rapid response analysis instrument, which can quickly measure the concentration of air pollutant indicators, transmit the concentration data to the cruise control module, and finally determine whether it exceeds the standard through the ground control system.

The cruise control module involved in the invention communicates with the ground control system through wireless signals, the cruise control module acquires the cruise monitoring task from the ground control system, and transmits data with the drone and the cruise monitoring equipment through the signal cable.

The sampling container involved in the invention is connected with the drone, and can be assembled and disassembled at any time, and the relative positions of the two can be guaranteed to be fixed during the flight after being assembled. The sampling container may specifically be a metal sampling tank with different volumes, a plastic sampling bag, or a metal sampling tube containing an adsorbent material, or the like. The inlet of the container is provided with an electric valve, and the opening and closing of the valve respectively represent the beginning and end of sample collection. The front end of the valve is connected with a filter, which mainly removes the particulate matter in the atmospheric sample. The valve is electrically controlled during the sampling process. After the sampling is completed and removed from the drone, the valve can be manually opened and closed to take the sample.

The sampling control module involved in the present invention can communicate with the ground control system in a wireless manner, and communicate with the sampling container and the unmanned aerial vehicle through a signal transmission cable. The sampling control module obtains sampling instructions, sampling duration and other information from the ground control system. The ground control system judges whether it exceeds the standard after receiving the cruise monitoring concentration data. The module sends the sampling duration information to the sampling container, and records the specific time when the valve of the sampling container is opened and closed as the sampling start and end time, records the actual spatial position information of the UAV, and sends the information back to the ground control after the sampling is completed. system.

The power supply module involved in the present invention is connected with the drone, the cruise monitoring equipment, the cruise control module, the sampling control module and the sampling container through cables, and is responsible for providing the power required for the operation of each module and the equipment, and has a charging interface that can be connected to the mains for charging . The power supply module has a power monitoring function. If the remaining power is difficult to support a sampling action, it will alarm to indicate that it needs to be charged.

The ground control system involved in the present invention has the functions of data transmission, data processing and display. The data processing function is mainly to edit and generate a cruise monitoring plan according to the needs of cruise monitoring, and can record and store all the information of each cruise monitoring plan. It can also directly sample in situ at the monitoring points of excessive emissions, and the information of the sampling points Recording and storing data is convenient for later selection to view the execution of historical sampling.

Example 1

As shown in Figure 1, the atmospheric sampling control method of the present invention comprises the following steps:

Step S101 , the ground control system establishes a cruise monitoring task, determines one or more monitoring points and monitoring point information, establishes an association relationship between the cruise monitoring task and monitoring equipment, and the cruise control module acquires the cruise monitoring task. That is, collect the location information of all points that need to be monitored in advance, including horizontal latitude and longitude and vertical height, etc., and then store the point name and location information in the ground control system in one-to-one correspondence, and select the point when editing the cruise monitoring plan. Name is automatically recalled with detailed location information. The information details of each monitoring point include monitoring concentration, whether it exceeds the standard, sampling equipment number, sampling start time, sampling end time, task status, etc. In each cruise monitoring mission, a sequence of sampling equipment mounted on the same UAV needs to be added, and when a monitoring point exceeding the standard is found, the sampling device is selected in time to initiate sampling for the exceeding point. Assign a unique identification code to the cruise monitoring equipment. Scan the identification code to obtain the cruise monitoring equipment number and related information. By scanning the identification code and inputting it to the ground control system, the task association between the cruise monitoring equipment and the monitoring point can be realized. At this time, the cruise monitoring The equipment is time synchronized with the ground control system.

Step S102, after the drone flies to the preset monitoring point, measure the emission concentration data of the monitoring point. Specifically, after reaching the monitoring point, the drone hovers, the cruise monitoring equipment starts to test, and the measured stable value is sent back to the ground control system.

Step S103 , after obtaining the monitoring points of excessive discharge, mark the monitoring points of excessive discharge as sampling points. Specifically, the ground control system determines whether the point exceeds the standard in combination with the emission concentration standard applicable to the point. If it does not exceed the standard, the status of the point is displayed as completed. If it exceeds the standard, it will be displayed in the column of whether it exceeds the standard. The ground control system identifies the monitoring point with excessive discharge as a sampling point, and initiates an in-situ sampling task for that point.

Step S104, after receiving the in-situ sampling instruction from the ground control system, the sampling control module detects the actual wind speed and compares the actual wind speed with the wind speed threshold. For example, the wind speed threshold may be a strong wind level of 10.8 m/s as desired. If it is detected that the wind speed at the sampling point is lower than the wind speed threshold, step S105 is performed; if it is detected that the wind speed at the sampling point is higher than the wind speed threshold, step S106 is performed;

Step S105, the sampling device performs sampling at the sampling point according to preset sampling information (ie, sampling start time, sampling end time, etc.);

Step S106, after completing the predetermined sampling task, that is, sampling at the sampling point, the sampling device performs secondary sampling at a first preset distance in the downstream direction of the airflow. The first preset distance may be set in advance as required. If the wind speed threshold is set to a strong wind level of 10.8 m/s, the first preset distance may be set to 3 to 5 meters.

Due to the complex air flow environment at high altitude, the wind speed and wind direction may change in real time during the sampling process. Therefore, in the case of high wind speed, sampling only at the planned sampling point will cause a large error. Therefore, in Embodiment 1 of the present invention, after the wind reaches a certain level, in addition to sampling at the monitoring point exceeding the standard, secondary sampling can be carried out at a certain distance in the downstream direction of the airflow, which can not only ensure the timeliness of sampling, but also can Effectively ensure that the subsequent sampling analysis results are more accurate.

In general, sampling at multiple frequencies is required at the sampling point. According to the present invention, the sampling at the sampling point that exceeds the standard and the second sampling at a certain distance in the downstream direction of the airflow can be performed in the following manner: that is, taking the sampling point as the center of the circle, and taking the second preset distance as the radius at least three Take multiple samples in the direction. For example, when the actual wind speed at the monitoring point exceeding the standard (that is, the sampling point) is lower than the wind speed threshold, sampling can be performed only at the sampling point, and no secondary sampling is required. However, only sampling at the sampling point includes sampling in situ, and then cruising through the drone, taking the sampling point as the center, and moving to a preset distance (for example, a distance of 1 to 3 meters) in the four directions of east, west, north and south. After hovering, sampling is performed at these four adjacent points respectively. In the subsequent sampling analysis, the sampling data of the sampling point can be calculated by weighting and averaging the sampling data of the five points. The second sampling performed when the actual wind speed is higher than the wind speed threshold can be performed in the same manner as described above. The present invention adopts monitoring over-standard points (ie, sampling points) and points adjacent to the sampling points to perform multi-frequency sampling, which can further improve the accuracy of sampling and subsequent analysis in a complex airflow environment.

The control process of performing sampling at each specific point is as follows: the ground control system determines that the monitoring data of the hovering position of the drone exceeds the standard and executes the sampling command, and the corresponding sampling status is displayed as being sampled. The sampling control module controls the sampling container to perform in-situ sampling. At this time, the electric valve of the sampling container is opened, and the sampling control module records the exact time when the valve is opened. When the set sampling time is reached, the electric valve closes, and the sampling control module records the exact time when the valve is closed. . The sampling control module can transmit the recorded information back to the control system in real time, including identifying the exact time when the valve is opened as the sampling start time, and the exact time when the valve is closed as the sampling end time, and then the corresponding sampling status is displayed as sampling completed. If due to various factors, it cannot be completed as planned, the displayed status of this sampling task is sampling interrupted.

Example 2

As shown in FIG. 2 , the second embodiment of the atmospheric cruise monitoring and sampling control method of the present invention adds a wind direction detection step on the basis of the first embodiment. That is, when the actual wind speed at the sampling point is judged to be higher than the wind speed threshold, the wind direction detection can be performed. After judging the wind direction in real time, with the assistance of the UAV cruise system, the UAV can be driven to fly the first preset distance downstream in the wind direction and then hover. , subsampling 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 UAVs, and includes a task acquisition module 10 , a concentration acquisition module 20 , a sampling identification module 30 and a wind speed judgment module 40 . Among them, the task acquisition module 10 is used to acquire cruise monitoring tasks, determine one or more monitoring points and monitoring point information, and establish the relationship between the cruise monitoring tasks and monitoring equipment; After the preset monitoring point, the emission concentration data of the monitoring point is obtained; the sampling identification module 30 is used for obtaining the monitoring point of excessive discharge, and then marks the monitoring point of the excessive discharge as the sampling point; the wind speed judgment module 40 is used for Compare the real-time wind speed of the detected sampling point with the wind speed threshold: when the detected wind speed at the sampling point is lower than the wind speed threshold, the sampling device will sample at the sampling point according to the preset sampling information; When the wind speed of the bit is higher than the wind speed threshold, the sampling device performs secondary sampling at the first preset distance in the downstream direction of the airflow after sampling at the sampling point.

Further as shown in FIG. 3 , the atmospheric cruise monitoring and sampling control device of the present invention may further include a wind direction detection module 50 . The wind direction detection module 50 is used to detect the wind direction when the wind speed at the sampling point is higher than the wind speed threshold, and send the wind direction information to the UAV flight controller to control the UAV to fly downstream in the wind direction for a first preset distance and then hang Hover, subsample after hovering.

As further shown in FIG. 3 , the atmospheric cruise monitoring and sampling control device of the present invention further includes a sampling control module 60 , and the sampling control module 60 specifically includes: a multi-point execution sub-module 61 , an information recording sub-module 62 , and an information identification sub-module 63 And the status display sub-module 64 . Among them, the multi-point execution sub-module 61 is used to control the sampling point as the center of the circle and the second preset distance as the radius to perform multiple sampling in at least three directions; the information recording sub-module 62 is used to record the sampling container electric valve. Opening and closing time information; the information identification sub-module 63 is used to transmit the recorded information back to the ground control system, and identify the opening time of the electric valve as the sampling start time, and the closing time of the electric valve as the sampling end time; status The display sub-module 64 can display the sampling status according to the completeness of the information such as the sampling start time and end time.

Example 4

This embodiment provides a memory, which may be a non-transitory (non-volatile) computer storage medium, where computer-executable instructions are stored in the computer storage medium, and the computer-executable instructions can execute any of the above method embodiments. Each step of the cruise monitoring and sampling control method, and achieve the same technical effect.

Example 5

This embodiment provides an atmospheric cruise monitoring and sampling control device. The memory included in the device includes a corresponding computer program product. When the program instructions included in the computer program product are executed by a computer, the computer can be executed. The atmospheric cruise monitoring and sampling control methods described in the above aspects can achieve the same technical effect.

FIG. 4 is a schematic diagram of the hardware structure of the electronic device in this embodiment. As shown in FIG. 4 , the device includes one or more processors 610 and a memory 620 . Take one processor 610 as an example. The apparatus may also 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 in other ways, and the connection by a bus is taken as an example in FIG. 4 .

As a non-transitory computer-readable storage medium, the memory 620 can 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 by running the non-transitory software programs, instructions and modules stored in the memory 620 , that is, implementing the processing methods of the above method embodiments.

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 by at least one function; the storage data area may store data, and the like. Additionally, 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, memory 620 may optionally include memory located remotely from 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, an intranet, a local area network, a mobile communication network, and combinations thereof.

The input device 630 may receive input numerical or character information, and generate 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, execute: the atmospheric cruise monitoring and sampling control method of the present invention. The above product can execute the method provided by the embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method. For technical details 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 embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still be The technical solutions described in the foregoing embodiments are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (12)

1. an atmospheric cruise monitoring and sampling control method, is characterized in that, for the atmospheric cruise monitoring and sampling of unmanned aerial vehicle, comprises the steps: Acquire a cruise monitoring task, determine one or more monitoring points and monitoring point information, and establish an association relationship between the cruise monitoring task and monitoring equipment; After the drone flies to the preset monitoring point, measure the emission concentration data of the monitoring point; After obtaining the monitoring points of excessive discharge, marking the monitoring points of excessive discharge as sampling points; If it is detected that the wind speed at the sampling point is lower than the wind speed threshold, the sampling device performs sampling at the sampling point according to the preset sampling information; if it is detected that the wind speed at the sampling point is higher than the wind speed threshold, the After sampling at the sampling point, the sampling device performs secondary sampling at a first preset distance in the downstream direction of the airflow. 2 . The atmospheric cruise monitoring and sampling control method according to claim 1 , wherein the monitoring points include preset positioning positions of horizontal latitude and longitude and vertical height. 3 . 3. The atmospheric cruise monitoring and sampling control method according to claim 1, wherein the monitoring point information includes: monitoring concentration and whether the concentration exceeds the standard; the sampling information includes: sampling start time, sampling end time and sampling task status. 4 . The atmospheric cruise monitoring and sampling control method according to claim 1 , wherein when it is detected that the wind speed at the sampling point is higher than the wind speed threshold, the method further comprises a wind direction detection step, and the wind direction detection step is used to detect the wind direction. 5 . After judging the wind direction in real time, the drone is driven to fly the first preset distance downstream in the wind direction and then hover. 5. The atmospheric cruise monitoring and sampling control method according to claim 1, wherein the sampling control of the sampling point comprises: Taking the sampling point as the center of the circle, and taking the second preset distance as the radius, multiple samplings are performed in at least three directions. 6. The atmospheric cruise monitoring and sampling control method according to claim 5, wherein the sampling control of the sampling point further comprises: Record the opening and closing time information of the electric valve of the sampling container; The recorded information is sent back to the ground control system, and the opening time of the electric valve is identified as the sampling start time, and the closing time of the electric valve is identified as the sampling end time; The sampling status is displayed according to the information integrity of the sampling start time and end time. 7 . The atmospheric cruise monitoring and sampling control method according to claim 5 or 6 , wherein the sampling control method of the secondary sampling is the same as the sampling control method of the sampling point. 8 . 8. An atmospheric cruise monitoring and sampling control device, characterized in that it is used for atmospheric cruise monitoring and sampling of unmanned aerial vehicles, comprising: a task acquisition module, used for acquiring cruise monitoring tasks, determining one or more monitoring points and monitoring point information, and establishing an association relationship between the cruise monitoring tasks and monitoring equipment; a concentration acquisition module, configured to acquire emission concentration data at the monitoring point after the drone flies to the preset monitoring point; The sampling identification module is used to identify the monitoring point of the excessive discharge as a sampling point after obtaining the monitoring point of the excessive discharge; The wind speed judgment module is used to compare the detected real-time wind speed of the sampling point with the wind speed threshold: when it is detected that the wind speed of the sampling point is lower than the wind speed threshold, the sampling device is used at the sampling point according to the predetermined wind speed. Set sampling information for sampling; when it is detected that the wind speed at the sampling point is higher than the wind speed threshold, the sampling device performs a second sampling at the first preset distance in the downstream direction of the airflow after sampling at the sampling point sampling. 9. The atmospheric cruise monitoring and sampling control device according to claim 8, further comprising: Wind direction detection module, used to detect the wind direction when the wind speed at the sampling point is higher than the wind speed threshold, and send the wind direction information to the UAV flight controller to control the UAV to fly downstream in the wind direction Hover after the 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: A multi-point execution sub-module for controlling to perform multiple sampling in at least three directions with the sampling point as the center and the second preset distance as the radius; The information recording sub-module is used to record the opening and closing time information of the electric valve of the sampling container; an information identification sub-module, configured to transmit the recorded information back to the ground control system, and identify the opening time of the electric valve as the sampling start time, and the closing time of the electric valve as the sampling end time; The status display sub-module displays the sampling status according to the information integrity of the sampling start time and end time. 11. A memory, characterized by comprising an instruction set suitable for a processor to execute the steps in 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 device, characterized in that it comprises a bus, an input device, an output device, a processor and the memory as claimed in claim 11; the bus is used to connect the memory, the input device, the output device and the processor; the input device and the output device are used to realize interaction with the user; The processor is used to execute the set of instructions in the memory.

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