CN115060850B - Air-ground double-field coupling atmospheric pollution source tracking and flux measuring device and method - Google Patents
Air-ground double-field coupling atmospheric pollution source tracking and flux measuring device and method Download PDFInfo
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0004—Gaseous mixtures, e.g. polluted air
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- G—PHYSICS
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P13/00—Indicating or recording presence, absence, or direction, of movement
- G01P13/02—Indicating direction only, e.g. by weather vane
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
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- G—PHYSICS
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- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
Abstract
The invention discloses an air-ground double-field coupling atmospheric pollution source tracking and flux measuring device and method. The invention provides an unmanned aerial vehicle and spectrometer coupling refitting system, and further designs a method for checking, positioning and quantitatively detecting emission flux of a site methane pollution source based on the refitting system. Based on the device and the method, the position of the methane pollution source can be accurately positioned, the methane pollution source emission flux of the whole field can be obtained, and meanwhile, the interference of meteorological conditions (wind speed and wind direction) can be reduced.
Description
Technical Field
The invention belongs to the field of pollution source positioning and measuring, and particularly relates to an air-ground double-field coupling atmospheric pollution source tracking and flux measuring device and method.
Background
Methane is an important greenhouse gas in the atmosphere, the capability of absorbing infrared rays is about 26 times of that of carbon dioxide, the greenhouse effect is 27 times higher than that of carbon dioxide, and the methane accounts for the whole greenhouse gas15% of the contribution amount, wherein the content in air is about 2ppm. Artificial CH 4 An important source of (a) is the organic waste treatment of landfill sites. Of the total amount of municipal solid waste produced worldwide, about 67% is disposed of in sanitary landfills or disposed of in non-sanitary landfills or landfills. It is estimated that global landfill generated CH 4 About 12% of the year is captured in sanitary landfills, thus controlling the CH of the landfill that escapes easily during the waste management program 4 Emissions should be prioritized. In addition, the artificial methane dissipated from the landfill site causes the problem of climate warming, and meanwhile, the safety problems such as combustion explosion and the like can be caused in specific occasions, for example, a power plant of the landfill site can perform concentrated combustion power generation treatment on the collected landfill gas, and if the concentration of methane dissipated in the process is too high, the safety problems such as explosion or personnel poisoning and the like can be caused. Therefore, the method has important practical significance for the positioning investigation and quantitative detection of the methane pollution source. Based on the coupling system of unmanned aerial vehicle and spectrum appearance, utilize unmanned aerial vehicle's high altitude convenient removal advantage, carry out sampling transmission and meteorological condition (wind speed, wind direction) to landfill overhead air and measure, combine the accurate advantage of spectrum appearance to the quantitative detection of transmission gas body, can carry out the high-efficient investigation to landfill methane pollution source and quantitatively detect and discharge flux, have important value to the problem such as climate heating and combustion explosion that control methane arouses.
At present, the technology mainly adopts ground sampling analysis, and some technologies adopt unmanned aerial vehicles to carry out qualitative detection. The ground sampling analysis method is represented by a static tank flux chamber method and a portable methane analyzer method. Static tank flux chamber method a closed static tank is placed on the surface of the field, and the change of methane concentration in the tank with time is measured, so that the methane emission flux can be calculated. This method has a good effect on quantifying the methane emission flux of a single point source, but is not suitable for the measurement of the emission flux of the whole field. The portable methane analyzer is used for directly measuring the methane concentration qualitatively or semi-quantitatively on the surface of the field, and can be used for rapidly measuring the methane concentration of the whole field by combining with a GPS positioning device, but is easily influenced by methane interference sources and gas image conditions, and the discharge flux of the whole field is difficult to obtain. Because of uncertainty of distribution of methane pollution sources on the ground, the ground sampling analysis method has larger deviation compared with the actual whole. The unmanned aerial vehicle is mainly used for carrying a sensor and recording the methane concentration in the atmosphere. Compared with the traditional ground sampling analysis, the methane concentration in the air of the whole field is detected through the preset route, so that a larger methane leakage source can be rapidly identified, but the methane emission flux of the field is difficult to quantitatively determine due to serious interference of meteorological conditions.
There are prior art approaches to measuring methane emission flux from a site using static tank methods. The static box method sampling box is a closed bottomless box body made of materials with stable chemical properties (such as stainless steel and organic glass), and the volume and the bottom area of the box body are accurately known; when in measurement, the surface to be measured is covered by a box, and the gas in the box is extracted at intervals to measure the concentration; and then calculating the discharge amount of the gas on the surface of the cover according to the change rate of the gas concentration with time. The coverage area CH can be accurately given by means of a static bin method 4 、CO 2 And the release flux of trace gas VOCs and the like, and determining the total release amount of landfill gas of the landfill site and the component content ratio of the landfill gas. The static box method is the most widely used method for testing the landfill gas flux at present, and has the advantages of simple operation, low price and strong sensitivity. However, static tank methods are not ideal for testing the methane emission flux of the entire site due to uncertainty in the distribution of the methane pollution sources in the landfill. In addition, in single point source testing, after gas enters the box body, the pressure difference between the box body and the soil body below can be reduced due to the accumulation of gas pressure in the box body, so that the normal release of landfill gas is affected, and single point source methane emission flux testing errors can be caused.
In addition, in the chinese patent application with application number CN201810748055.9, an atmospheric pollution source tracking method and an unmanned aerial vehicle system based on an unmanned aerial vehicle are provided, after the unmanned aerial vehicle flies for a plurality of times in a circular track, the position with the highest content of the polluted gas on each track is measured, the positions are linearly fitted after being connected to obtain the advancing direction of the secondary wheel, after flying for a certain distance in the advancing direction of the secondary wheel, the unmanned aerial vehicle continuously flies for a plurality of times in the circular track, and the steps are repeated, thereby realizing the automatic tracking of the pollution source. According to the atmospheric pollution source tracking method and the unmanned aerial vehicle system based on the unmanned aerial vehicle, the efficiency of pollution source tracking is improved, the pollution source is accurately tracked in a windy complex natural environment, and the problems of efficiency and safety of manual operation and ground monitoring in the prior art are solved. However, for a large-scale field, the method and the system for tracking the atmospheric pollution source of the unmanned aerial vehicle are low in atmospheric pollution source tracking efficiency and are easily influenced by environmental factors such as wind speed, wind direction and the like, and even positioning errors can be caused. In addition, the unmanned aerial vehicle atmospheric pollution source tracking method and system can only perform rough qualitative positioning on the atmospheric pollution source, and can not perform quantitative measurement on the pollution source emission flux of the whole field.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides an air-ground double-field coupling atmospheric pollution source tracking and flux measuring device and method.
The specific technical scheme adopted by the invention is as follows:
the invention provides an air-ground double-field coupled atmospheric pollution source tracking and flux measuring device, which comprises an unmanned aerial vehicle spectrometer coupling system, wherein the unmanned aerial vehicle spectrometer coupling system comprises an unmanned aerial vehicle, an anemoscope, an air extracting device, a gas transmission pipe and a spectrum analyzer, the anemoscope and the air extracting device are carried on the unmanned aerial vehicle and synchronously move along with the unmanned aerial vehicle, and the air extracting device is connected with a gas inlet of the spectrum analyzer through the gas transmission pipe; the anemoscope is used for measuring the wind speed and the wind direction of different sampling points in real time in the flight process of the unmanned aerial vehicle in the target site; the air extractor is used for collecting the gas of different sampling points in real time in the flight process of the unmanned aerial vehicle in the target site, and sending the gas into the spectrum analyzer through the gas transmission pipe to determine the concentration of methane gas.
As a preference of the first aspect, the system further comprises an information processing system for processing information collected by the unmanned aerial vehicle spectrometer coupling system, wherein the information processing system comprises a data recording module, a wind field generating module, a methane concentration distribution map generating module, a pollution source positioning module and an emission flux calculating module;
the data recording module is used for recording GPS coordinates, heights, wind speeds, wind directions and methane gas concentrations at different sampling points in the flight process of the unmanned aerial vehicle in the target site;
the wind field generation module is used for generating a simulated wind field in the whole target field range according to GPS coordinates, heights, wind speeds and wind directions of different sampling points;
the methane concentration distribution map generation module is used for generating a methane concentration distribution map in the whole target field range according to GPS coordinates, heights and methane gas concentrations of different sampling points;
the pollution source positioning module is used for positioning a methane concentration peak value in the methane concentration distribution diagram and marking the position of the positioned methane concentration peak value as a pollution source;
the emission flux calculation module is used for generating a virtual section with a height around the pollution source obtained by positioning on the basis of the methane concentration distribution diagram, calculating the emission flux of each virtual section by combining a simulated wind field, and taking the average emission flux of each virtual section as the emission flux of the whole field.
As a preference of the first aspect, the GPS coordinates and the altitude recorded in the data recording module are acquired from the unmanned aerial vehicle RTK.
As a preferable aspect of the first aspect, the anemometer is attached to a top of the unmanned aerial vehicle, and the air extraction device is attached to a bottom of the unmanned aerial vehicle.
In a second aspect, the present invention provides a method for tracking and measuring flux of air-ground double-field coupling atmospheric pollution sources, which is implemented based on the air-ground double-field coupling atmospheric pollution source tracking and flux measuring device according to any one of the first aspect, and the method comprises the following steps:
s1, dividing a target field according to the endurance mileage of the unmanned aerial vehicle, and setting an unmanned aerial vehicle inspection route for each investigation region at the same time, so that the endurance mileage of single take-off of the unmanned aerial vehicle can cover the inspection route in one investigation region, and the inspection route of each investigation region should uniformly cover different sampling points at different heights of the investigation region;
s2, carrying out information acquisition tasks for each investigation region in sequence based on the unmanned aerial vehicle spectrometer coupling system, wherein in the process of executing the information acquisition tasks, each investigation region is flown according to unmanned aerial vehicle inspection routes correspondingly set by each investigation region, GPS coordinates and heights of each sampling point are acquired through unmanned aerial vehicle self-positioning equipment at each sampling point in the process of flying, wind speeds and wind directions of each sampling point are acquired through the wind speed and wind direction meter, and gas at each sampling point is sent into a spectrum analyzer through a gas transmission pipe by the gas extraction device to determine methane gas concentration; the GPS coordinates, the height, the wind speed, the wind direction and the methane gas concentration collected at each sampling point in each investigation region are uniformly recorded and stored as sampling information of the investigation region;
s3, after the information acquisition task is executed on all the investigation regions, integrating and splicing the information acquired by all the investigation regions to obtain the sampling information of all the sampling points in the whole target field;
s4, generating a three-dimensional simulated wind field in the whole target field based on GPS coordinates, heights, wind speeds and wind directions of all sampling points in the whole target field;
s5, generating a three-dimensional methane concentration distribution map in the whole target field based on GPS coordinates, heights and methane gas concentrations of all sampling points in the whole target field;
s6, carrying out peak value searching on the generated methane concentration distribution diagram, and marking the position of the methane concentration peak value as a pollution source;
and S7, generating an annular virtual section by taking the pollution source as a center on the basis of the methane concentration distribution diagram, calculating the discharge flux of each virtual section according to the simulated wind field information and the methane gas concentration value at the virtual section, and taking the average value of the discharge fluxes of each virtual section as the discharge flux of the pollution source in the whole field.
As a preferable aspect of the second aspect, when the unmanned aerial vehicle flies according to the unmanned aerial vehicle inspection route set corresponding to each survey area, the spectrum analyzer is placed on the ground, and the length of the gas transmission tube should ensure that the unmanned aerial vehicle can fly smoothly to a sampling point farthest from the spectrum analyzer.
Preferably, the target site is a landfill site.
As a preference of the above second aspect, the unmanned aerial vehicle routing lines set in each survey area include a bidirectional zigzag routing line and a peripheral routing line, wherein the bidirectional zigzag routing line is composed of two zigzag routing lines in orthogonal directions, and the peripheral routing line is a circumferential routing line surrounding the boundary of the survey area.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides an unmanned aerial vehicle and spectrometer coupling refitting system, and further designs a method for checking, positioning and quantitatively detecting emission flux of a site methane pollution source based on the refitting system. The invention can more accurately position the methane pollution source to obtain the methane pollution source discharge flux of the whole field, and can reduce the interference of meteorological conditions (wind speed and wind direction).
Drawings
Fig. 1 is a schematic diagram of a modified unmanned aerial vehicle system
FIG. 2 is a schematic diagram of the unmanned aerial vehicle spectrometer coupling system;
FIG. 3 is a workflow diagram for implementing the technical scheme of the present invention;
FIG. 4 is a schematic diagram of a two-way Z-shaped and peripheral inspection route of the unmanned aerial vehicle;
fig. 5 is a schematic diagram of methane concentration profile and virtual cross section.
The reference numerals in the drawings are: unmanned aerial vehicle 1, anemoscope 2, air extraction device 3, gas transmission pipe 4, spectrum analyzer 5.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the invention, whereby the invention is not limited to the specific embodiments disclosed below. The technical features of the embodiments of the invention can be combined correspondingly on the premise of no mutual conflict.
In the description of the present invention, it will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or be indirectly connected with intervening elements present. In contrast, when an element is referred to as being "directly connected" to another element, there are no intervening elements present.
In the description of the present invention, it should be understood that the terms "first" and "second" are used solely for the purpose of distinguishing between the descriptions and not necessarily for the purpose of indicating or implying a relative importance or implicitly indicating the number of features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature.
In a preferred embodiment of the invention, an air-ground double-field coupling atmospheric pollution source tracking and flux measuring device is provided, wherein an air field refers to unmanned aerial vehicle aerial remote sensing, the main function is to analyze and monitor measured objects (landfill sites), make reasonable airlines and take air gas samples by means of unmanned aerial vehicle carrying gas sampling equipment; the ground field refers to the analysis of a ground spectrometer, and the components and the content of the sampled gas of the unmanned aerial vehicle are analyzed by means of high-precision spectrum detection. The main body of the atmospheric pollution source tracking and flux measuring device is an unmanned aerial vehicle spectrometer coupling system, methane concentration can be sampled on the whole target site through the unmanned aerial vehicle spectrometer coupling system, meanwhile, meteorological conditions (wind speed and wind direction) of the atmospheric pollution source tracking and flux measuring device are synchronously measured in the process of sampling methane concentration of different points, and interference of the meteorological conditions is reduced.
The target site in the invention refers to a site to be subjected to pollution source tracking and flux measurement, the specific form of the target site is not limited, and the common site type is a landfill site. The source of pollution in landfill sites mostly originates from gas leakage points in the landfill sites that occur due to membrane breakage.
The main components of the unmanned aerial vehicle spectrometer coupling system provided by the invention comprise two parts, which are respectively described as follows:
the first is a part of a retrofit system for an unmanned aerial vehicle, and mainly comprises components: unmanned aerial vehicle 1, anemorumbometer 2 and air extraction device 3. As shown in fig. 1, the unmanned aerial vehicle refitting system mainly refits an anemoscope 2 and an air extractor 3 onto an unmanned aerial vehicle 1 so as to collect wind speed and direction information and surrounding gas when the unmanned aerial vehicle 1 is lifted off for inspection; the anemoclinograph and the air extractor are carried on the unmanned aerial vehicle by refitting the unmanned aerial vehicle and synchronously move along with the unmanned aerial vehicle. In order to avoid the interference caused by the rotation of the blades of the unmanned aerial vehicle to the wind speed and wind direction measurement, the anemoscope 2 is additionally arranged at the top of the unmanned aerial vehicle 1, and the air extractor 3 is additionally arranged at the bottom of the unmanned aerial vehicle 1.
The second type is a transmission analysis system, which mainly comprises the components: the gas transmission pipe 4 and the spectrum analyzer 5, and the air extractor 3 is connected with a gas inlet of the spectrum analyzer 5 through the gas transmission pipe 4. As shown in fig. 2, the transmission analysis system mainly transports the gas extracted by the unmanned aerial vehicle refitting system to the spectrum analyzer 5 through the gas transmission pipe 4, so as to realize high-precision analysis of the methane concentration in the sampled gas.
The anemoscope 2 is used for measuring the wind speed and the wind direction of different sampling points in real time in the flight process of the unmanned aerial vehicle 1 in the target site, and the air extractor 3 is used for collecting the gas of different sampling points in real time in the flight process of the unmanned aerial vehicle 1 in the target site and sending the gas into the spectrum analyzer 5 through the gas transmission pipe 4 to measure the concentration of methane gas. In the flight process, the unmanned aerial vehicle 1 can hover in the airlines according to set time intervals or intervals, then acquire wind speed and wind direction information and methane gas concentration information, and simultaneously record GPS coordinates and heights of each sampling point through the unmanned aerial vehicle RTK.
The spectrum analyzer 5 in the present invention is a portable spectrum analyzer capable of measuring methane concentration, and its specific model is not limited. The gas transmission pipe 4 in the invention needs to adopt a light hose, so that the influence on the normal flight of the unmanned aerial vehicle 1 is avoided. In the practical application process, when the unmanned aerial vehicle 1 flies according to the unmanned aerial vehicle inspection routes correspondingly set in each investigation region, the spectrum analyzer 5 is generally placed on the ground for measurement, so that the length of the gas transmission tube 4 should be adjusted according to the farthest position of each route, and at least the unmanned aerial vehicle 1 should be ensured to fly smoothly to the sampling point farthest from the spectrum analyzer 5.
The unmanned aerial vehicle spectrometer coupling system has the main functions of sampling GPS coordinates, heights, wind speeds, wind directions and methane gas concentrations at different sampling points of the whole target site, so that the positioning investigation and emission flux quantitative detection of a methane pollution source of the target site are conveniently realized. The main objects of interest in information acquisition are: sampling point GPS coordinates, altitude, wind speed, wind direction and methane gas concentration. Wind fields with different heights in the whole field range can be simulated and generated by means of the GPS coordinates of the sampling points, the heights and the wind speed and the wind direction, and a methane concentration distribution map of the whole field can be obtained by means of the GPS coordinates of the sampling points, the heights and the methane gas concentration. And (3) by analyzing the distribution map and the position of the methane concentration, locating the peak value of the methane concentration as a pollution source. And generating a virtual section with a height around the pollution source by utilizing a methane concentration distribution map, calculating section discharge flux by combining a simulated wind field, and obtaining the discharge flux of the whole field after comprehensive average. Therefore, the unmanned aerial vehicle system is refitted, and the positioning investigation and the emission flux quantitative detection of the methane pollution source of the landfill site can be realized.
Of course, the work of locating and checking the methane pollution source of the target site and quantitatively detecting the discharge flux can be performed off-line, and can also be further performed by integrating a corresponding information processing system in an upper computer.
In an embodiment of the present invention, an information processing system for processing information collected by the unmanned aerial vehicle spectrometer coupling system may be further provided by connecting an upper computer on the basis of the unmanned aerial vehicle spectrometer coupling system, where the information processing system includes a data recording module, a wind field generating module, a methane concentration profile generating module, a pollution source positioning module, and an emission flux calculating module. The specific functions of each module are as follows:
the data recording module is used for recording GPS coordinates, heights, wind speeds, wind directions and methane gas concentrations at different sampling points in the flight process of the unmanned aerial vehicle in the target site;
the wind field generation module is used for generating a simulated wind field in the whole target field range according to GPS coordinates, heights, wind speeds and wind directions of different sampling points;
the methane concentration distribution map generation module is used for generating a methane concentration distribution map in the whole target field range according to GPS coordinates, heights and methane gas concentrations of different sampling points;
the pollution source positioning module is used for positioning a methane concentration peak value in the methane concentration distribution diagram and marking the position of the positioned methane concentration peak value as a pollution source;
and the emission flux calculation module is used for generating a virtual section with a height around the pollution source obtained by positioning on the basis of the methane concentration distribution diagram, calculating the emission flux of each virtual section by combining the simulated wind field, and taking the average emission flux of each virtual section as the emission flux of the whole field.
As shown in fig. 3, based on the above-mentioned air-ground double-field coupling atmospheric pollution source tracking and flux measuring device, the present invention may further provide an air-ground double-field coupling atmospheric pollution source tracking and flux measuring method, which comprises the following steps:
s1, dividing a target field according to the endurance mileage of the unmanned aerial vehicle, setting an unmanned aerial vehicle inspection route for each investigation region, enabling the endurance mileage of single take-off of the unmanned aerial vehicle to cover the inspection route in one investigation region, and enabling the inspection route of each investigation region to uniformly cover different sampling points at different heights of the investigation region.
The aim of the survey area division in the invention is mainly to consider the problem of unmanned aerial vehicle endurance and the problem of the length of a gas transmission pipe. Taking a landfill site as an example, a larger occupied area is usually provided, and due to limited duration of the unmanned aerial vehicle, cruising of the whole site range cannot be achieved by single sampling of the unmanned aerial vehicle, and normal flight of the unmanned aerial vehicle is affected due to too long length of a transmission pipe. Therefore, appropriate survey area divisions are made for the target site. After sampling a single investigation region, the information of a plurality of regions can be spliced to obtain the information of the whole field. Meanwhile, the height dimension should be considered in the routing inspection route, sampling points at different heights can be set, and the wind speed, the wind direction and the methane gas concentration at different heights in the field can be conveniently collected, so that the three-dimensional wind field and methane distribution in a certain height range of the whole field at the subsequent inversion position can be conveniently collected.
S2, carrying out information acquisition tasks for each investigation region in sequence based on the unmanned aerial vehicle spectrometer coupling system, wherein in the process of executing the information acquisition tasks, each investigation region is flown according to unmanned aerial vehicle inspection routes correspondingly set by each investigation region, GPS coordinates and heights of each sampling point are acquired through unmanned aerial vehicle self-positioning equipment at each sampling point position in the flight process, wind speed and wind direction of each sampling point are acquired through the wind speed anemoscope 2, and gas at each sampling point is sent into a spectrum analyzer through a gas transmission pipe by the gas extraction device to determine methane gas concentration; the GPS coordinates, the altitude, the wind speed, the wind direction and the methane gas concentration collected at each sampling point in each investigation region are uniformly recorded and stored as sampling information of the investigation region.
It should be noted that when designing the unmanned aerial vehicle routing inspection route for each investigation region in the invention, the uniformity of the distribution of the sampling points and the density of the sampling points should be considered so as to satisfy that the sampling information is sufficient to invert the methane gas distribution in the whole investigation region. In order to obtain the methane concentration with stable and reliable values in consideration of the interference of meteorological factors (wind speed and wind direction), the invention further provides an unmanned aerial vehicle routing inspection route shown in fig. 4, which takes the forms of bidirectional Z-shaped and peripheral multi-sampling. Specifically, the unmanned aerial vehicle inspection route set in each investigation region comprises a bidirectional Z-shaped inspection route and a peripheral inspection route, wherein the bidirectional Z-shaped inspection route consists of two fold-line-shaped routes in the orthogonal direction, and the peripheral inspection route is a circumferential route surrounding the boundary of the investigation region. Of course, this is just one preferred routing configuration recommended by the present invention, and other routing configurations that enable uniform sampling throughout the area may be used in practice. The unmanned aerial vehicle can hover at one sampling point at regular intervals in the flight process according to the routing inspection route, then a sampling task is executed, GPS coordinates, height, wind speed, wind direction and methane gas concentration at the sampling point are obtained, the data are required to be uniformly managed through a data table, and the data information of the same sampling point is associated and stored so as to facilitate subsequent calling. The data table can be recorded by an upper computer. The data information collected by the unmanned aerial vehicle 1, the anemometer 2 and the spectrum analyzer 5 can be transmitted to the upper computer in an off-line or on-line transmission mode, which is not limited.
It should be noted that, since the retrofitting system of the present invention is mainly implemented by transmitting the methane concentration obtained by the unmanned aerial vehicle to the spectrum analyzer, the length of the gas transporting pipe can limit the transporting range of the unmanned aerial vehicle, which is mainly determined by the size of the survey area. Therefore, before the unmanned aerial vehicle takes off, for each investigation region, it is necessary to check whether the length of the gas transport pipe enables the unmanned aerial vehicle to fly smoothly to the sampling point farthest from the spectrum analyzer, and if not, the longer gas transport pipe should be replaced.
And S3, after the information acquisition task is executed for all the investigation regions, integrating and splicing the information acquired by all the investigation regions to obtain the sampling information of all the sampling points in the whole target field.
The integration and splicing process of the collected information of all investigation regions, namely the process of summarizing and combining the sampled information of the sampling points in each region, belongs to the prior art and is not repeated.
S4, generating a three-dimensional simulated wind field in the whole target field based on GPS coordinates, heights, wind speeds and wind directions of all sampling points in the whole target field.
Different from the traditional unmanned aerial vehicle sampling, in order to avoid the interference of unstable meteorological factors (wind speed and wind direction) as much as possible, the three-dimensional simulated wind field is realized by means of the wind speed and wind direction information, GPS coordinates and height recorded by sampling, so that the calculation of the three-dimensional simulated wind field is combined when the discharge flux is calculated later, and the interference of the meteorological factors is reduced.
And S5, generating a three-dimensional methane concentration distribution map at different heights in the whole target field based on GPS coordinates, heights and methane gas concentrations of all sampling points in the whole target field.
S6, carrying out peak value searching on the generated methane concentration distribution diagram, and marking the position of the methane concentration peak value near the ground surface of the near field as a pollution source.
The present invention can be used to generate a methane concentration profile for the entire field with the aid of GPS positioning of the sampling points and methane concentration, one exemplary methane concentration profile being shown in FIG. 5. The methane concentration peak in the graph is the site pollution source, and the graph is marked by a red inverted triangle.
And S7, generating an annular virtual section by taking the pollution source as a center on the basis of the methane concentration distribution diagram, calculating the discharge flux of each virtual section according to the simulated wind field information and the methane gas concentration value at the virtual section, and taking the average value of the discharge fluxes of each virtual section as the discharge flux of the pollution source in the whole field.
For any virtual section, it is annular in plan, but it also has height information in the vertical direction, thus corresponding to a cylinder. The method for calculating the discharge flux of the virtual section is as follows: the wind speed and the wind direction at different positions and different heights on the virtual section are obtained through simulating wind field information, the methane gas concentration values at different positions and different heights on the virtual section are obtained through a methane concentration distribution diagram, and the section flux of the whole virtual section can be obtained through integration. The profile flux of the virtual profile may represent the flux of methane to the external emissions within the virtual profile, thereby reflecting the methane emission concentration and risk/hazard level within the area.
It should be noted that the cross-sectional flux size, in combination with the wind direction, will be divided into positive and negative. Assuming that the discharge flux leaving the virtual cross section is positive and the discharge flux entering the virtual cross section is negative, the total discharge flux leaving the virtual cross section and entering the virtual cross section is the cross section flux of the virtual cross section in terms of mass balance. If the section flux of the virtual section is greater than 0, it can be determined that there is an emission source in the ring of the virtual section. When the size of the discharge flux of the whole field is needed to be known, the shape and the size of the virtual section can be changed to surround the whole field, and the discharge flux of the whole field can be obtained through calculation of the virtual section surrounding the whole field. It should be noted that the emission flux in the present invention is actually methane flux emitted from the pollution source in the vertical cylinder, which can reflect the relative level of emission intensity.
The specific shape and number of virtual cross sections are required to be adjusted according to the requirements of flux measurement. With continued reference to fig. 5, in an exemplary illustration of the present invention, a virtual annular profile may be generated around the suspected pollution source, and the discharge flux of each virtual annular profile is calculated by means of the virtual wind field information and the methane concentration at the virtual annular profile, and the discharge intensity of the pollution source is known, and the average discharge flux of each virtual annular profile is the discharge flux of the pollution source. The intensity of the emission intensity of the pollution sources can be judged by transversely comparing the emission flux (the height is kept the same) of the virtual section of the pollution sources corresponding to different pollution sources, so that basis is provided for taking control measures or strengthening monitoring.
The above embodiment is only a preferred embodiment of the present invention, but it is not intended to limit the present invention. Various changes and modifications may be made by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present invention. Therefore, all the technical schemes obtained by adopting the equivalent substitution or equivalent transformation are within the protection scope of the invention.
Claims (7)
1. The air-ground double-field coupling atmospheric pollution source tracking and flux measuring device is characterized by comprising an unmanned aerial vehicle spectrometer coupling system, wherein the unmanned aerial vehicle spectrometer coupling system comprises an unmanned aerial vehicle, an anemoclinograph, an air extracting device, a gas transmission pipe and a spectrum analyzer, the anemoclinograph and the air extracting device are carried on the unmanned aerial vehicle and synchronously move along with the unmanned aerial vehicle, and the air extracting device is connected with a gas inlet of the spectrum analyzer through the gas transmission pipe; the anemoscope is used for measuring the wind speed and the wind direction of different sampling points in real time in the flight process of the unmanned aerial vehicle in the target site; the air extractor is used for collecting the gases at different sampling points in real time in the flight process of the unmanned aerial vehicle in the target site, and sending the gases into the spectrum analyzer through the gas transmission pipe to determine the concentration of methane gas;
the air-ground double-field coupling atmospheric pollution source tracking and flux measuring device further comprises an information processing system for processing information acquired by the unmanned aerial vehicle spectrometer coupling system, wherein the information processing system comprises a data recording module, a wind field generating module, a methane concentration distribution map generating module, a pollution source positioning module and an emission flux calculating module;
the data recording module is used for recording GPS coordinates, heights, wind speeds, wind directions and methane gas concentrations at different sampling points in the flight process of the unmanned aerial vehicle in the target site;
the wind field generation module is used for generating a simulated wind field in the whole target field range according to GPS coordinates, heights, wind speeds and wind directions of different sampling points;
the methane concentration distribution map generation module is used for generating a methane concentration distribution map in the whole target field range according to GPS coordinates, heights and methane gas concentrations of different sampling points;
the pollution source positioning module is used for positioning a methane concentration peak value in the methane concentration distribution diagram and marking the position of the positioned methane concentration peak value as a pollution source;
the emission flux calculation module is used for generating a virtual section with a height around the pollution source obtained by positioning on the basis of the methane concentration distribution diagram, calculating the emission flux of each virtual section by combining a simulated wind field, and taking the emission flux of each virtual section as the emission flux of the whole field after averaging;
the length of the gas transmission tube should ensure that the unmanned aerial vehicle can smoothly fly to the sampling point farthest from the spectrum analyzer.
2. The air-to-ground dual field coupled atmospheric pollution source tracking and flux measuring device of claim 1, wherein the recorded GPS coordinates, altitude in the data recording module are obtained from an unmanned RTK.
3. The air-ground double-field coupled atmospheric pollution source tracking and flux measuring device according to claim 1, wherein the anemometer is additionally arranged at the top of the unmanned aerial vehicle, and the air extracting device is additionally arranged at the bottom of the unmanned aerial vehicle.
4. An air-ground double-field coupled atmospheric pollution source tracking and flux measuring method is characterized by being realized based on the air-ground double-field coupled atmospheric pollution source tracking and flux measuring device according to any one of claims 1-3, and comprises the following steps:
s1, dividing a target field according to the endurance mileage of the unmanned aerial vehicle, and setting an unmanned aerial vehicle inspection route for each investigation region at the same time, so that the endurance mileage of single take-off of the unmanned aerial vehicle can cover the inspection route in one investigation region, and the inspection route of each investigation region should uniformly cover different sampling points at different heights of the investigation region;
s2, carrying out information acquisition tasks for each investigation region in sequence based on the unmanned aerial vehicle spectrometer coupling system, wherein in the process of executing the information acquisition tasks, each investigation region is flown according to unmanned aerial vehicle inspection routes correspondingly set by each investigation region, GPS coordinates and heights of each sampling point are acquired through unmanned aerial vehicle self-positioning equipment at each sampling point in the process of flying, wind speeds and wind directions of each sampling point are acquired through the wind speed and wind direction meter, and gas at each sampling point is sent into a spectrum analyzer through a gas transmission pipe by the gas extraction device to determine methane gas concentration; the GPS coordinates, the height, the wind speed, the wind direction and the methane gas concentration collected at each sampling point in each investigation region are uniformly recorded and stored as sampling information of the investigation region;
s3, after the information acquisition task is executed on all the investigation regions, integrating and splicing the information acquired by all the investigation regions to obtain the sampling information of all the sampling points in the whole target field;
s4, generating a three-dimensional simulated wind field in the whole target field based on GPS coordinates, heights, wind speeds and wind directions of all sampling points in the whole target field;
s5, generating a three-dimensional methane concentration distribution map in the whole target field based on GPS coordinates, heights and methane gas concentrations of all sampling points in the whole target field;
s6, carrying out peak value searching on the generated methane concentration distribution diagram, and marking the position of the methane concentration peak value as a pollution source;
and S7, generating an annular virtual section by taking the pollution source as a center on the basis of the methane concentration distribution diagram, calculating the discharge flux of each virtual section according to the simulated wind field information and the methane gas concentration value at the virtual section, and taking the average value of the discharge fluxes of each virtual section as the discharge flux of the pollution source in the whole field.
5. The method for tracking and measuring flux of atmospheric pollution source according to claim 4, wherein the spectrum analyzer is disposed on the ground when the unmanned aerial vehicle flies according to the unmanned aerial vehicle inspection route set correspondingly for each survey area.
6. The atmospheric pollution source tracking and flux measurement method of claim 4, wherein the target site is a landfill site.
7. The atmospheric pollution source tracking and flux measuring method of claim 4, wherein the unmanned aerial vehicle routing lines set in each survey area comprise a bi-directional zigzag routing line and a peripheral routing line, wherein the bi-directional zigzag routing line is composed of two zigzag lines in orthogonal directions, and the peripheral routing line is a circumferential line surrounding the boundary of the survey area.
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