CN116973522A - Integrated automatic atmosphere monitoring control system - Google Patents
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Abstract
The application provides an integrated automatic atmosphere monitoring control system, which comprises: obtaining geographic data and weather monitoring daily report data of an atmosphere monitoring area; drawing a pre-change three-dimensional visualization graph, and increasing array monitoring points outwards by taking a region range below an atmospheric quality preset value or above an atmospheric change preset value as a center in the graph; according to the installation point and the monitoring point of the unmanned aerial vehicle monitoring platform, calculating a monitoring flight route of the monitoring unmanned aerial vehicle capable of dispatching a monitoring task through an intelligent algorithm; the monitoring unmanned aerial vehicle acquires the atmospheric data in real time, and if the atmospheric data of which the array monitoring points are lower than or higher than a preset value is monitored, the method returns to the step S4 to the step S6; drawing a three-dimensional visualization map of the pre-change of the air quality through an image processing unit; according to the area with the abnormal atmosphere quality preset value, array monitoring points are added, and according to the installation points and the monitoring points of the unmanned aerial vehicle monitoring platform, the integrated control system can calculate the optimal flight route through an intelligent algorithm.
Description
Technical Field
The application relates to the technical field of air monitoring, in particular to an integrated automatic atmosphere monitoring control system.
Background
With the development of cities and the increase of urban population, people pay more attention to the atmospheric environment of cities, so that an atmospheric environment monitoring system is developed. The existing atmosphere monitoring system has many loopholes and fuzziness on equipment fixed points, unmanned aerial vehicle monitoring working routes and efficiency, and is used for monitoring fixed points, the detection range is small, the routes in unmanned aerial vehicle arrangement are long and distributed, and therefore an integrated atmosphere automatic monitoring control system is provided.
Disclosure of Invention
In order to solve the above problems, the present application provides an integrated automatic atmospheric monitoring control system, so as to more exactly solve the problems that the existing atmospheric monitoring system has many holes and ambiguity in equipment fixed point, unmanned aerial vehicle monitoring working route and efficiency, and the monitoring is fixed point monitoring, the detection range is small, and the route in unmanned aerial vehicle arrangement is long and dispersed.
The application is realized by the following technical scheme:
the application provides an integrated automatic atmosphere monitoring control system, which comprises: the integrated control system and the at least one unmanned aerial vehicle monitoring platform;
s1: the data acquisition unit acquires geographic data and weather monitoring daily report data of the atmosphere monitoring area;
s2: drawing an atmospheric quality pre-change three-dimensional visual map of the atmospheric monitoring area through an image processing unit according to geographic data and weather monitoring daily report data of the atmospheric monitoring area, and marking installation points of an unmanned aerial vehicle monitoring platform in the atmospheric quality pre-change three-dimensional visual map;
s3: the method comprises the steps of increasing array monitoring points outwards by taking an area range which is lower than an atmospheric quality preset value or higher than the atmospheric quality preset value in an atmospheric quality pre-change three-dimensional visual map through an image processing unit;
s4: the monitoring unit acquires the residual electric quantity data of each unmanned aerial vehicle; transmitting the residual electric quantity data to an integrated control system through a wireless communication unit;
s5: the integrated control system judges whether the residual electric quantity information of the unmanned aerial vehicle is lower than a preset safety threshold value, and if yes, a charging task instruction is dispatched; if not, dispatching a monitoring task;
s6: the integrated control system calculates a monitoring flight route of the monitoring unmanned aerial vehicle capable of dispatching the monitoring task through an intelligent algorithm according to the installation point and the monitoring point of the monitoring platform of the unmanned aerial vehicle;
s7: after the monitoring unmanned aerial vehicle acquires the atmospheric data in real time and transmits the atmospheric data to the integrated control system through the communication module, if the atmospheric data lower than the atmospheric quality preset value or higher than the atmospheric change preset value appear outside the area of the array monitoring points, returning to the step S4 to the step S6, and re-planning the route after adding the array monitoring points to the area; and if the atmospheric data in the array monitoring point area is monitored to be higher than the atmospheric quality preset value or lower than the atmospheric change preset value, removing the array monitoring points which are increased outwards by taking the area range as the center.
Further, the steps of drawing an atmospheric quality pre-change three-dimensional visual map of the atmospheric monitoring area according to the geographic data and weather monitoring daily report data of the atmospheric monitoring area through an image processing unit, and marking the installation point of the unmanned aerial vehicle monitoring platform in the atmospheric quality pre-change three-dimensional visual map comprise;
marking humidity, wind speed and wind direction data in weather monitoring daily report in geographic data and historical data, generating a three-dimensional visual graph and generating a function graph according to changes of atmospheric influences of humidity, wind speed and wind direction in a preset time period of each atmosphere monitoring area; generating different color images through different vivid tone color modes according to the atmospheric quality changes of different time periods in each atmosphere monitoring area in the function graph; generating a pre-change three-dimensional visualization map of the atmosphere quality, which is displayed in a three-dimensional geographic map in different color spectrums, by wavelet transformation of a function curve of the atmosphere quality, which is transformed with time change, in each atmosphere monitoring area and the three-dimensional visualization map; meanwhile, the image processing unit can also mark the mounting point of the unmanned aerial vehicle monitoring platform on the three-dimensional visual map, namely, the take-off position of the unmanned aerial vehicle is monitored.
Further, the step of increasing the array monitoring points outwards by taking the area range as the center through the image processing unit in the area range lower than the preset value of the air quality or higher than the preset value of the air quality in the three-dimensional visualization map of the air quality pre-change comprises the following steps of;
the area lower than the preset atmospheric quality value or higher than the preset atmospheric variation value in the weather monitoring daily report data is set as a central monitoring point, a plurality of surrounding monitoring points which are distributed in a circular array are added at a certain distance outwards by taking the central monitoring point as the central point, and the array can be provided with a plurality of rings.
Further, the integrated control system judges whether the information of the residual electric quantity of the unmanned aerial vehicle is lower than a preset safety threshold, and if yes, a charging task instruction is dispatched; if not, the step of dispatching the monitoring task comprises the following steps;
judging whether a preset safety threshold is in a safety warning threshold or not, if so, intelligently selecting an unmanned aerial vehicle platform to automatically charge or automatically replace a battery according to the wind direction and the distance between the unmanned aerial vehicle monitoring platform and the unmanned aerial vehicle platform of the unmanned aerial vehicle monitoring platform; if not, judging the number of the monitoring points which can be monitored by the unmanned aerial vehicle according to the remaining constant-speed flight distance of the unmanned aerial vehicle and the distance between the monitoring points.
Further, the step of calculating a monitoring flight route of the monitoring unmanned aerial vehicle capable of dispatching the monitoring task through an intelligent algorithm by the integrated control system according to the installation point and the monitoring point of the monitoring platform of the unmanned aerial vehicle comprises the following steps of;
each mounting point is used as a starting point of the monitoring unmanned aerial vehicle, the monitoring point is used as a target point of the monitoring unmanned aerial vehicle for atmosphere monitoring, and each mounting point is used as a target point of the monitoring unmanned aerial vehicle when the electric quantity of the monitoring unmanned aerial vehicle is lower than a preset safety threshold value;
after the number m of the monitoring unmanned aerial vehicles to be operated is confirmed, calculating the probability of the monitoring unmanned aerial vehicle from the starting point to one of the target points through a probability calculation formula;
after the probability of the monitoring unmanned aerial vehicle from the starting point to one of the target points is determined, setting an additional positive feedback value for exciting the optimal path to the path pheromone according to an improved algorithm formula to update the pheromone increment, and according to the number of generation selection times, obtaining the optimal solution of the total path flown by each monitoring unmanned aerial vehicle of the current round.
Further, the improved algorithm formula is:wherein D is the concentration of pheromone, x and y are monitoring points, and the stimulate is used for exciting the optimal path.
Further, the exciting the optimal path stimulate is:wherein e is a superparameter for adjusting the excitation value weight, < >>The BSF marks the currently found optimal path for the length of the currently known optimal path.
Further, the unmanned aerial vehicle monitoring platform comprises a monitoring unmanned aerial vehicle for monitoring the atmosphere, and the unmanned aerial vehicle platform is used for automatically charging or automatically replacing batteries for the monitoring unmanned aerial vehicle.
The application has the beneficial effects that: according to the collected data, a three-dimensional visualization map of the pre-change of the air quality can be drawn through an image processing unit; for the area with abnormal air quality preset value, the area can be used as the center to be externally added with array monitoring points, and according to the installation point and the monitoring point of the unmanned aerial vehicle monitoring platform, the integrated control system can calculate the optimal flight route through an intelligent algorithm.
Drawings
FIG. 1 is a flow chart of an integrated automatic atmospheric monitoring control system of the present application.
The realization, functional characteristics and advantages of the present application are further described with reference to the accompanying drawings in combination with the embodiments.
Detailed Description
In order to more clearly and completely describe the technical scheme of the application, the application is further described below with reference to the accompanying drawings.
Referring to fig. 1, the present application provides an integrated automatic atmospheric monitoring control system, comprising: the integrated control system and the at least one unmanned aerial vehicle monitoring platform; an integrated control system: the control system is a part of the ground station and is used for receiving and processing data transmitted back from the unmanned aerial vehicle, and after receiving the unmanned aerial vehicle electric quantity data, the control system can make corresponding adjustment according to the electric quantity condition, for example, change the flight route of the unmanned aerial vehicle so as to save the electric quantity, or arrange the unmanned aerial vehicle with enough electric quantity to replace the unmanned aerial vehicle with insufficient electric quantity;
s1: the data acquisition unit acquires geographic data and weather monitoring daily report data of the atmosphere monitoring area;
s2: drawing an atmospheric quality pre-change three-dimensional visual map of the atmospheric monitoring area through an image processing unit according to geographic data and weather monitoring daily report data of the atmospheric monitoring area, and marking installation points of an unmanned aerial vehicle monitoring platform in the atmospheric quality pre-change three-dimensional visual map;
s3: the method comprises the steps of increasing array monitoring points outwards by taking an area range which is lower than an atmospheric quality preset value or higher than the atmospheric quality preset value in an atmospheric quality pre-change three-dimensional visual map through an image processing unit;
s4: the monitoring unit acquires the residual electric quantity data of each unmanned aerial vehicle; transmitting the residual electric quantity data to an integrated control system through a wireless communication unit; the monitoring unit is arranged on the unmanned aerial vehicle for monitoring the electric quantity condition of the unmanned aerial vehicle in real time, and can continuously read the current electric quantity value of the unmanned aerial vehicle when the unmanned aerial vehicle flies in the air for detecting the air quality;
s5: the integrated control system judges whether the residual electric quantity information of the unmanned aerial vehicle is lower than a preset safety threshold value, and if yes, a charging task instruction is dispatched; if not, dispatching a monitoring task;
s6: the integrated control system calculates a monitoring flight route of the monitoring unmanned aerial vehicle capable of dispatching the monitoring task through an intelligent algorithm according to the installation point and the monitoring point of the monitoring platform of the unmanned aerial vehicle;
s7: after the monitoring unmanned aerial vehicle acquires the atmospheric data in real time and transmits the atmospheric data to the integrated control system through the communication module, if the atmospheric data lower than the atmospheric quality preset value or higher than the atmospheric change preset value appear outside the area of the array monitoring points, returning to the step S4 to the step S6, and re-planning the route after adding the array monitoring points to the area; and if the atmospheric data in the array monitoring point area is monitored to be higher than the atmospheric quality preset value or lower than the atmospheric change preset value, removing the array monitoring points which are increased outwards by taking the area range as the center.
In specific implementation, the data acquisition unit collects geographic data and weather monitoring daily report data of an atmosphere monitoring area, the data comprise topography, weather conditions, wind direction, wind speed and the like of the area, the image processing unit is used for processing and analyzing the acquired data and converting the acquired data into a visual form, a three-dimensional visual map of the atmosphere quality of the atmosphere monitoring area, which is pre-changed, is created according to the data, the map shows the area of which the atmosphere quality is possibly changed, and the three-dimensional visual map provides an intuitive space view angle, so that a user can clearly see the whole atmosphere monitoring area and the place of which the atmosphere quality is possibly changed; for the area with the possibly significant change of the atmospheric quality, the image processing unit may be marked with special colors or symbols so that a user can see the special colors or symbols at a glance, and the installation points of the unmanned aerial vehicle monitoring platform are marked on the graph, so that the user can be helped to understand the take-off position and the flight route of the unmanned aerial vehicle and the covered monitoring area, and further, the atmospheric quality monitoring task can be planned and managed better, and if the atmospheric quality of certain areas is lower than or the atmospheric change is higher than a preset value in the atmospheric quality pre-change three-dimensional visualization map, the image processing unit increases the array monitoring points with the areas as the center, namely, more unmanned aerial vehicles can perform more intensive monitoring in the areas;
before the unmanned aerial vehicle is dispatched or in the task execution process, the integrated control system judges whether the unmanned aerial vehicle needs to be charged according to the received electric quantity information, and if the electric quantity is lower than a preset safety threshold value, the system dispatches a charging task instruction; otherwise, dispatching a monitoring task; when a monitoring task is dispatched, the integrated control system also calculates a monitoring flight route of the unmanned aerial vehicle by using an intelligent algorithm according to the installation point and the monitoring point of the unmanned aerial vehicle monitoring platform and the electric quantity of the unmanned aerial vehicle; in the process of executing a monitoring task, the unmanned aerial vehicle can acquire atmospheric data in real time and transmit the atmospheric data back to the integrated control system through the communication module; if the new area is monitored to have the problem of atmospheric quality, the area is expanded in the monitoring range, the system re-plans the route, and the array monitoring points of the areas are increased; in contrast, if the atmosphere quality of the originally preset problem area changes along with the change of weather, such as the change of humidity, wind speed and the like, so that the problem area is recovered to be normal, the system removes the array monitoring points of the areas, and only fewer monitoring points are reserved.
In this embodiment, step S2 includes; marking humidity, wind speed and wind direction data in weather monitoring daily report in geographic data and historical data, generating a three-dimensional visual graph and generating a function graph according to changes of atmospheric influences of humidity, wind speed and wind direction in a preset time period of each atmosphere monitoring area; generating different color images through different vivid tone color modes according to the atmospheric quality changes of different time periods in each atmosphere monitoring area in the function graph; generating a function curve of the atmosphere quality transformed with time in each atmosphere monitoring area and a three-dimensional visualization map by wavelet transformation to be differentThe chromatogram is displayed in a three-dimensional geographic map of the pre-change of the atmospheric quality; meanwhile, the image processing unit marks the mounting point of the unmanned aerial vehicle monitoring platform on the three-dimensional visual map, namely, the take-off position of the unmanned aerial vehicle is monitored; the time change and the illumination intensity change are brought into a wavelet transformation formula as follows:wherein t is time; psi (t) is a curve function, i is a corresponding scaling factor, g is a corresponding translation parameter; specifically, converting the original data into another image representation, and generating different color images by using different vivid tone color modes according to the atmospheric data in different time periods in each atmosphere monitoring area in the function graph; generating a function graph according to the change of the atmosphere data generated in the next days after analysis and filtration along with the change of time; and generating a visualized power generation three-dimensional graph which is displayed in a three-dimensional geographic graph in different color spectrums by wavelet transformation of the function curve of the illumination intensity and the wind intensity which are transformed along with the time change in each atmosphere monitoring area and the three-dimensional visualized graph.
In this embodiment, step S3 includes; the method comprises the steps that a region lower than an atmospheric quality preset value or higher than an atmospheric change preset value in weather monitoring daily report data is set as a central monitoring point, a plurality of surrounding monitoring points which are distributed in a circular array are added at a certain distance outwards by taking the central monitoring point as the central point, and the array can be provided with a plurality of rings; firstly, the system screens out the areas with the air quality lower than a preset value or higher than a change preset value from weather monitoring daily report data, wherein the areas generally represent possible air pollution problems, so that intensive monitoring is needed; the system can set the problem areas as central monitoring points, the central monitoring points are arranged to ensure that an unmanned aerial vehicle can accurately monitor the atmosphere quality of the area with the problem, besides the central monitoring points, the system can also increase a plurality of surrounding monitoring points within a certain distance range around the central monitoring points, and the monitoring points are distributed according to a circular array to form a monitoring network; if desired, the monitoring network may have multiple rings, that is, multiple layers of surrounding monitoring points may be provided around a central monitoring point; each layer is equivalent to a monitoring range, and the monitoring coverage area of the unmanned aerial vehicle can be enlarged by increasing the number of layers of the monitoring range.
In this embodiment, step S5 includes; judging whether a preset safety threshold is in a safety warning threshold or not, if so, intelligently selecting an unmanned aerial vehicle platform to automatically charge or automatically replace a battery according to the wind direction and the distance between the unmanned aerial vehicle monitoring platform and the unmanned aerial vehicle platform of the unmanned aerial vehicle monitoring platform; if not, judging the number of the monitoring points which can be monitored by the unmanned aerial vehicle according to the remaining constant-speed flight distance of the unmanned aerial vehicle and the distance between the monitoring points; the unmanned aerial vehicle monitoring platform package is used for monitoring an unmanned aerial vehicle for monitoring the atmosphere, and the unmanned aerial vehicle is provided with various sensors and devices, so that the atmospheric air can be monitored in real time; they can collect atmospheric quality data such as sensors for particulate matter, content of harmful gases, etc.; the unmanned aerial vehicle platform is used for automatically charging or automatically changing batteries of the monitoring unmanned aerial vehicle and is used for managing and maintaining a ground station of the monitoring unmanned aerial vehicle; an automatic charging station or a battery replacement device is arranged in the platform, and when the electric quantity of the unmanned aerial vehicle is lower than a certain threshold value, the unmanned aerial vehicle can be automatically guided to return to the platform for charging or battery replacement; in addition, the unmanned aerial vehicle platform also comprises data processing and analyzing equipment, can receive and process the atmosphere monitoring data sent back by the unmanned aerial vehicle, and then displays the result through a data visualization tool so as to facilitate further analysis and decision making by professionals, and can be an intelligent platform which is not shut down in Xinjiang and can automatically replace a battery, and can be an M350RTK; if the electric quantity of the unmanned aerial vehicle exceeds a safety warning threshold value, the control system calculates the constant-speed flight distance supported by the residual electric quantity of the unmanned aerial vehicle; then, the system compares the distance with the distance between the current position of the unmanned aerial vehicle and each monitoring point, so as to obtain the number of the monitoring points which can reach and complete the task of the unmanned aerial vehicle; the design can ensure that the unmanned aerial vehicle can effectively execute tasks, and meanwhile, the task failure or unmanned aerial vehicle damage caused by electric quantity exhaustion can not be caused.
In this embodiment, step S6 includes; each mounting point is used as a starting point of the monitoring unmanned aerial vehicle, the monitoring point is used as a target point of the monitoring unmanned aerial vehicle for atmosphere monitoring, and each mounting point is used as a target point of the monitoring unmanned aerial vehicle when the electric quantity of the monitoring unmanned aerial vehicle is lower than a preset safety threshold value;
after the number m of the monitoring unmanned aerial vehicles to be operated is confirmed, calculating the probability of the monitoring unmanned aerial vehicle from the starting point to one of the target points through a probability calculation formula; the probability calculation formula is:wherein: />Monitoring the probability of the unmanned aerial vehicle moving from the dust raising area position x to the dust raising area position y for the kth station at the moment t; allowedk is an atmosphere monitoring area set of which the kth monitoring unmanned aerial vehicle does not reach a preset value temporarily; s is one area in the atmosphere monitoring area set which does not reach the preset value temporarily; d is the pheromone concentration; />Monitoring the concentration of pheromone on a path from the region position x to the region position y at the moment t; d is the distance;the distance from the dust raising area position x to the dust raising area position y of the unmanned aerial vehicle is monitored; alpha is the pheromone weight and beta is the heuristic factor.
After the probability of the monitoring unmanned aerial vehicle from the starting point to one of the target points is determined, setting an additional positive feedback value for exciting the optimal path to the path pheromone according to an improved algorithm formula to update the pheromone increment, and according to the number of generation selection times, obtaining the optimal solution of the total path flown by each monitoring unmanned aerial vehicle of the current round.
In this embodiment, the improved algorithm formula is:wherein D is the concentration of pheromone, and x and y are monitoring pointsThe stinum is used for exciting the optimal path; the excitation stinum of the optimal path is as follows:wherein e is a superparameter for adjusting the excitation value weight, < >>The BSF is recorded as the optimal path currently found for the length of the optimal path currently known; the principle of the algorithm is that if an unmanned aerial vehicle flies through a known optimal path which is found currently, the unmanned aerial vehicle excites the unmanned aerial vehicle, pheromones on the path are increased, so that the algorithm convergence speed is increased, the optimal path which is found currently by the algorithm is marked as BSF, and an additional positive feedback value is set on the basis of an original formula, wherein the positive feedback is generated by exciting the optimal path on the unmanned aerial vehicle.
Of course, the present application can be implemented in various other embodiments, and based on this embodiment, those skilled in the art can obtain other embodiments without any inventive effort, which fall within the scope of the present application.
Claims (8)
1. Integrated atmospheric automatic monitoring control system, its characterized in that includes: the integrated control system and the at least one unmanned aerial vehicle monitoring platform;
s1: the data acquisition unit acquires geographic data and weather monitoring daily report data of the atmosphere monitoring area;
s2: drawing an atmospheric quality pre-change three-dimensional visual map of the atmospheric monitoring area through an image processing unit according to geographic data and weather monitoring daily report data of the atmospheric monitoring area, and marking installation points of an unmanned aerial vehicle monitoring platform in the atmospheric quality pre-change three-dimensional visual map;
s3: the method comprises the steps of increasing array monitoring points outwards by taking an area range which is lower than an atmospheric quality preset value or higher than the atmospheric quality preset value in an atmospheric quality pre-change three-dimensional visual map through an image processing unit;
s4: the monitoring unit acquires the residual electric quantity data of each unmanned aerial vehicle; transmitting the residual electric quantity data to an integrated control system through a wireless communication unit;
s5: the integrated control system judges whether the residual electric quantity information of the unmanned aerial vehicle is lower than a preset safety threshold value, and if yes, a charging task instruction is dispatched; if not, dispatching a monitoring task;
s6: the integrated control system calculates a monitoring flight route of the monitoring unmanned aerial vehicle capable of dispatching the monitoring task through an intelligent algorithm according to the installation point and the monitoring point of the monitoring platform of the unmanned aerial vehicle;
s7: after the monitoring unmanned aerial vehicle acquires the atmospheric data in real time and transmits the atmospheric data to the integrated control system through the communication module, if the atmospheric data lower than the atmospheric quality preset value or higher than the atmospheric change preset value appear outside the area of the array monitoring points, returning to the step S4 to the step S6, and re-planning the route after adding the array monitoring points to the area; and if the atmospheric data in the array monitoring point area is monitored to be higher than the atmospheric quality preset value or lower than the atmospheric change preset value, removing the array monitoring points which are increased outwards by taking the area range as the center.
2. The integrated automatic atmospheric monitoring control system according to claim 1, wherein the steps of drawing an atmospheric quality pre-change three-dimensional visual map of the atmospheric monitoring area according to the geographic data and weather monitoring daily report data of the atmospheric monitoring area through the image processing unit, and marking the installation point of the unmanned aerial vehicle monitoring platform in the atmospheric quality pre-change three-dimensional visual map comprise;
marking humidity, wind speed and wind direction data in weather monitoring daily report in geographic data and historical data, generating a three-dimensional visual graph and generating a function graph according to changes of atmospheric influences of humidity, wind speed and wind direction in a preset time period of each atmosphere monitoring area; generating different color images through different vivid tone color modes according to the atmospheric quality changes of different time periods in each atmosphere monitoring area in the function graph; generating a pre-change three-dimensional visualization map of the atmosphere quality, which is displayed in a three-dimensional geographic map in different color spectrums, by wavelet transformation of a function curve of the atmosphere quality, which is transformed with time change, in each atmosphere monitoring area and the three-dimensional visualization map; meanwhile, the image processing unit can also mark the mounting point of the unmanned aerial vehicle monitoring platform on the three-dimensional visual map, namely, the take-off position of the unmanned aerial vehicle is monitored.
3. The integrated automatic atmospheric monitoring control system according to claim 1, wherein the step of increasing the array monitoring points outwards by the image processing unit with the area range as the center in the area range below the atmospheric quality preset value or above the atmospheric variation preset value in the three-dimensional visualization map of the atmospheric quality pre-variation comprises;
the area lower than the preset atmospheric quality value or higher than the preset atmospheric variation value in the weather monitoring daily report data is set as a central monitoring point, a plurality of surrounding monitoring points which are distributed in a circular array are added at a certain distance outwards by taking the central monitoring point as the central point, and the array can be provided with a plurality of rings.
4. The integrated automatic atmospheric monitoring control system according to claim 1, wherein the integrated control system determines whether the remaining power information of the unmanned aerial vehicle is lower than a preset safety threshold, and if so, dispatches a charging task instruction; if not, the step of dispatching the monitoring task comprises the following steps;
judging whether a preset safety threshold is in a safety warning threshold or not, if so, intelligently selecting an unmanned aerial vehicle platform to automatically charge or automatically replace a battery according to the wind direction and the distance between the unmanned aerial vehicle monitoring platform and the unmanned aerial vehicle platform of the unmanned aerial vehicle monitoring platform; if not, judging the number of the monitoring points which can be monitored by the unmanned aerial vehicle according to the remaining constant-speed flight distance of the unmanned aerial vehicle and the distance between the monitoring points.
5. The integrated automatic atmospheric monitoring control system according to claim 1, wherein the step of calculating a monitored flight path of a monitoring unmanned aerial vehicle capable of dispatching a monitoring task by an intelligent algorithm according to a mounting point and a monitoring point of a monitoring platform of the unmanned aerial vehicle comprises the steps of;
each mounting point is used as a starting point of the monitoring unmanned aerial vehicle, the monitoring point is used as a target point of the monitoring unmanned aerial vehicle for atmosphere monitoring, and each mounting point is used as a target point of the monitoring unmanned aerial vehicle when the electric quantity of the monitoring unmanned aerial vehicle is lower than a preset safety threshold value;
after the number m of the monitoring unmanned aerial vehicles to be operated is confirmed, calculating the probability of the monitoring unmanned aerial vehicle from the starting point to one of the target points through a probability calculation formula;
after the probability of the monitoring unmanned aerial vehicle from the starting point to one of the target points is determined, setting an additional positive feedback value for exciting the optimal path to the path pheromone according to an improved algorithm formula to update the pheromone increment, and according to the number of generation selection times, obtaining the optimal solution of the total path flown by each monitoring unmanned aerial vehicle of the current round.
6. The integrated automatic atmospheric monitoring control system of claim 5, wherein the improved algorithm formula is:wherein D is the concentration of pheromone, x and y are monitoring points, and the stimulate is used for exciting the optimal path.
7. The integrated automatic atmospheric monitoring control system according to claim 6, wherein the exciting the optimal path stimulate is:wherein e is a superparameter for adjusting the excitation value weight, < >>The BSF marks the currently found optimal path for the length of the currently known optimal path.
8. The integrated atmospheric automatic monitoring control system of claim 1, wherein the unmanned aerial vehicle monitoring platform comprises a monitoring unmanned aerial vehicle for monitoring the atmosphere, and an unmanned aerial vehicle platform for automatically charging or automatically changing batteries for the monitoring unmanned aerial vehicle.
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