CN205103150U - Machine carries follows device and gaseous remote supervising system of machine formula of carrying - Google Patents
Machine carries follows device and gaseous remote supervising system of machine formula of carrying Download PDFInfo
- Publication number
- CN205103150U CN205103150U CN201520888075.8U CN201520888075U CN205103150U CN 205103150 U CN205103150 U CN 205103150U CN 201520888075 U CN201520888075 U CN 201520888075U CN 205103150 U CN205103150 U CN 205103150U
- Authority
- CN
- China
- Prior art keywords
- light source
- unmanned aerial
- aerial vehicle
- detector
- machine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Investigating Or Analysing Materials By Optical Means (AREA)
Abstract
The utility model provides a machine carries follows the device, followed the device and include in quick -witted year: rotor unmanned aerial vehicle, first light source is used for sending the aligned bundle, at least three detector mutual isolation and setting are in rotor unmanned aerial vehicle is last, receives respectively the light intensity of aligned bundle to convey and compare the circuit, comparing the circuit and being used for comparing at least three detector received light intensity respectively, the deviation between the light intensity conveys control circuit, control circuit is used for the basis deviation and adjusting rotor unmanned aerial vehicle's spatial position makes deviation between at least three detector difference received light intensity is in the threshold value. The utility model also discloses an use the aforesaid and follow the remote supervising system of device. The utility model has the advantages of high accuracy, simple structure, with low costs.
Description
Technical field
The utility model relates to photoelectric analysis, particularly relates to airborne following device and machine-carried type gas remote measurement system.
Background technology
Gas-monitoring is extremely important with detection, but under some specific conditions, manually carries checkout equipment and enter on-the-spot abnormally dangerous, as at combustion site, having the environment of blast, radiation, toxic contaminants, near the building being on the verge of to cave in.
To sum up, a kind of unartificial gas content detection mode entered is provided to become field of gas detection technical matters in the urgent need to address.
Utility model content
For solving the deficiency in above-mentioned prior art, the utility model provides a kind of registration, efficient airborne following device.
The purpose of this utility model is achieved through the following technical solutions:
Airborne following device, described airborne following device comprises:
Rotor wing unmanned aerial vehicle;
First light source, described first light source is used for sending aligned bundle;
At least three detectors, described at least three detectors are mutually isolated and be arranged on described rotor wing unmanned aerial vehicle, receive the light intensity of described aligned bundle respectively, and are sent to Comparison Circuit;
Comparison Circuit, described Comparison Circuit is used for the light intensity that comparison at least three detectors receive respectively, and the deviation between light intensity is sent to control circuit;
Control circuit, described control circuit is used for the locus adjusting described rotor wing unmanned aerial vehicle according to described deviation, and the deviation between the light intensity that at least three detectors described in making receive respectively is in threshold value.
According to above-mentioned airborne following device, alternatively, described first light source is arranged on monitoring car roof.
According to above-mentioned airborne following device, preferably, described at least three detectors are four.
The purpose of this utility model also there are provided a kind ofly applies the high precision of above-mentioned following device, powerful machine-carried type gas remote measurement system, and this utility model object is achieved by the following technical programs:
Machine-carried type gas remote measurement system, described machine-carried type gas remote measurement system comprises:
Unmanned plane following device, described unmanned plane following device adopts above-mentioned airborne following device;
Telemetering device, described telemetering device comprises:
Secondary light source, described secondary light source is used for sending measurement light, and the wavelength of described measurement light covers the absorption line of gas to be measured; Described secondary light source is arranged on the rotor wing unmanned aerial vehicle of described airborne following device;
Measure photo-detector, described measurement photo-detector is used for the measurement light signal reflected by reverberation received to be converted to electric signal, and is sent to analysis module; Described measurement photo-detector is arranged on described rotor wing unmanned aerial vehicle;
Analysis module, described analysis module draws the content of gas to be measured according to absorption spectroscopy techniques and described electric signal.
According to above-mentioned machine-carried type gas remote measurement system, preferably, described analysis module is arranged in Control Room or monitoring car; The electric signal of output is wirelessly sent to described analysis module by described measurement photo-detector.
According to above-mentioned machine-carried type gas remote measurement system, preferably, described secondary light source is only one, and described secondary light source is also for sending pulsed optical signals.
According to above-mentioned machine-carried type gas remote measurement system, preferably, described measurement photo-detector is only one.
Compared with prior art, the beneficial effect that the utility model has is:
1. rotor wing unmanned aerial vehicle is creatively used in gas remote measurement by the utility model, as in air, indoor gas remote measurement, without the need to manually entering, and safety;
2. registration
At least three detectors are utilized to go to receive aligned bundle, the deviation of the electric signal of the light intensity utilizing at least three detectors to export goes to the locus adjusting rotor wing unmanned aerial vehicle, rotor wing unmanned aerial vehicle is made to be in directly over described first light source, for high-precision remote measurement indoor gas lays the first stone;
3. remote measurement precision is high
Utilize only a set of optical system (light source, a detector) to record the distance of indoor window to metope exactly, also, the content of indoor gas to be measured can be recorded exactly;
4. simple, the low cost of structure
Only use a set of optical system can measure gas to be measured on indoor window to the distance and optical path of metope, to the absorption of measuring light, to significantly reduce complexity and the cost of telemetry system, improve and can safeguard degree;
5. application is wide
Be arranged on rotor wing unmanned aerial vehicle by only a set of optical system, unmanned plane flies to different height, thus records the content of indoor gas in different floor by remote measurement, has expanded application;
6. powerful
The content information recorded can be sent on the communication terminal of owner in real time, even if also can know the content of indoor gas outside, finds natural gas leaking information early, gets rid of potential safety hazard.
Accompanying drawing explanation
With reference to accompanying drawing, disclosure of the present utility model will be easier to understand.Those skilled in the art it is easily understood that: these accompanying drawings only for illustrating the technical solution of the utility model, and and are not intended to be construed as limiting protection domain of the present utility model.In figure:
Fig. 1 is the basic block diagram of the machine-carried type gas remote measurement system according to the utility model embodiment.
Embodiment
Fig. 1 and following description describe Alternate embodiments of the present utility model and how to implement to instruct those skilled in the art and to reproduce the utility model.In order to instruct technical solutions of the utility model, simplifying or having eliminated some conventional aspects.Those skilled in the art should understand that the modification that is derived from these embodiments or replace will in scope of the present utility model.Those skilled in the art should understand that following characteristics can combine to form multiple modification of the present utility model in every way.Thus, the utility model is not limited to following Alternate embodiments, and only by claim and their equivalents.
Embodiment 1:
Fig. 1 schematically illustrates the basic block diagram of the machine-carried type indoor gas telemetry system of the utility model embodiment, and as shown in Figure 1, described machine-carried type indoor gas telemetry system comprises:
Airborne following device, described airborne following device comprises:
Rotor wing unmanned aerial vehicle;
First light source, as semiconductor laser; Described first light source is used for sending aligned bundle; Described first light source can be arranged on monitoring roof;
At least three detectors, described at least three detectors are mutually isolated and be arranged on described rotor wing unmanned aerial vehicle, receive the light intensity of described aligned bundle respectively, and are sent to Comparison Circuit;
Comparison Circuit, described Comparison Circuit is used for the light intensity that comparison at least three detectors receive respectively, and the deviation between light intensity is sent to control circuit;
Control circuit, described control circuit is used for the locus adjusting described rotor wing unmanned aerial vehicle according to described deviation, deviation between the light intensity that at least three detectors described in making receive respectively, in threshold value, is in directly over described first light source to make described rotor wing unmanned aerial vehicle;
Telemetering device, described telemetering device comprises:
Secondary light source, described secondary light source is used for sending measurement light, and the wavelength of described measurement light covers the absorption line of gas to be measured (as methane, the principal ingredient of rock gas is methane); Described light source preferred semiconductor laser instrument; Described secondary light source is arranged on described rotor wing unmanned aerial vehicle;
Measure photo-detector, described measurement photo-detector is used for the pulsed optical signals reflected by reverberation received to be converted to electric signal, and is sent to analysis module; Described measurement photo-detector is arranged on described rotor wing unmanned aerial vehicle;
Analysis module, the content that described analysis module obtains electric signal according to described measurement photo-detector, absorption spectroscopy techniques draws indoor gas to be measured, as described in patent CN1204391C;
In order to reduce the dead weight capacity of rotor wing unmanned aerial vehicle to improve the flying power of unmanned plane, further, described analysis module is arranged in Control Room or monitoring car; The electric signal of output is wirelessly sent to described analysis module by described measurement photo-detector.
The machine-carried type gas remote measurement method of the utility model embodiment, be also the course of work of above-mentioned telemetry system, described machine-carried type gas remote measurement method comprises the following steps:
(B1) rotor wing unmanned aerial vehicle carries following device and telemetering device arrives environment place to be measured, and in the process, the mode of following comprises the following steps:
(A1) the first light source sends aligned bundle;
(A2) at least three detectors being arranged on rotor wing unmanned aerial vehicle receive described aligned bundle respectively, and the electric signal of output is sent to Comparison Circuit respectively;
(A3) electric signal that receives of Comparison Circuit comparison, the deviation between electric signal is sent to control circuit:
If deviation is less than threshold value, then described rotor wing unmanned aerial vehicle is maintained the statusquo;
If deviation is not less than described threshold value, then enter step (A4);
(A4) locus of control circuit rotor wing unmanned aerial vehicle according to described deviation adjusting, and enter described step (A3);
(B2) treat that rotor wing unmanned aerial vehicle arrives environment to be measured, the measurement light that secondary light source on rotor wing unmanned aerial vehicle (fly away from monitoring car or be in directly over monitoring car) sends is injected in environment to be measured, gas to be measured is (as methane, the major component of rock gas is methane) absorb after measurement light reflected by described reverberation, measured photo-detector receives and is converted to electric signal, and is sent to analysis module;
(B3) analysis module obtains according to described measurement photo-detector electric signal, absorption spectroscopy techniques draw the content of indoor gas to be measured, as described in patent CN1204391C.
In order to obtain the absolute concentration of gas to be measured in environment to be measured, preferably, the content C of described gas to be measured is:
D is the distance of secondary light source to reverberation; K is calibration coefficient; b
0for coefficient at zero point; V
2ffor the intensity of gas absorption second harmonic signal; V
1ffor the intensity of gas absorption first harmonic signal; The temperature variation function that S (T) is absorption line; B (P, T) is absorption line temperature pressure compensation relation function.
In order to reduce the dead weight capacity of unmanned plane to improve the flying power of unmanned plane, further, described analysis module is arranged in Control Room or monitoring car; The electric signal of output is wirelessly sent to described analysis module by described measurement photo-detector.
For the rotor wing unmanned aerial vehicle that dead weight capacity is large, in order to reduce complexity, described analysis module can be arranged on described unmanned plane, wirelessly the content C of described gas to be measured is sent to Control Room or monitoring car.
In order to allow owner grasp indoor safety case, find the potential safety hazards such as natural gas leaking early, further, the described machine-carried type indoor gas method of telemetering is further comprising the steps:
(B4) if the content C of gas to be measured is non-vanishing, and in increasing trend, prompting is reported to the police, and content information is sent on the communication terminal of owner.
Embodiment 2:
According to telemetry system and the application examples of method in each layer room of residential building in natural gas leaking detection of the utility model embodiment 1.
In this application examples, the first light source adopts laser instrument, is arranged on monitoring car roof; At least three detectors adopt four, mutually isolated, and symmetrical (four-quadrant distribution), is arranged on many rotor wing unmanned aerial vehicles; The only light source (i.e. secondary light source) of telemetering device adopts Distributed Feedback Laser, and the wavelength measuring light comprises 1651nm (corresponding to the absorption line of methane); The driving circuit of laser instrument exports pulsed current signal and continuous current signal to laser instrument, makes laser instrument send pulsed optical signals for finding range, and detects the continuous light signal of Absorption; The only detector (namely measuring photo-detector) of telemetering device adopts indium gallium arsenic material; Unmanned plane adopts the many rotor wing unmanned aerial vehicles of large boundary, and a described light source and detector are arranged on unmanned plane; The light by window and wall reflection is collected in use convergent lens (or concave mirror), and the light after convergence is received by a detector; The second Comparison Circuit, second control circuit and video camera in the first Comparison Circuit, first control circuit and locating device in following device, storer are arranged on unmanned plane; Analysis module is arranged in monitoring car, adopts radio communication between analysis module and detector, and analysis module utilizes pulse signal arrived the mistiming Δ t of detector by the reflected light after window, wall reflection respectively and draw the distance of window to wall
C is the light velocity.
Gas remote measurement method, be also the course of work of above-mentioned telemetry system, gas remote measurement method comprises the following steps:
Follow step:
(A1) the first light source of the monitoring car roof of movement sends aligned bundle;
(A2) described aligned bundle is focused at four detectors on rotor wing unmanned aerial vehicle through convergent lens (or concave mirror), and four detectors receive described aligned bundle respectively, and the electric signal of output is sent to the first Comparison Circuit respectively;
(A3) electric signal that receives of the first Comparison Circuit comparison, the deviation (i.e. eccentric signal) between electric signal is sent to control circuit:
If deviation is less than threshold value, then described rotor wing unmanned aerial vehicle is maintained the statusquo, and continues to follow monitoring car and moves;
If deviation is not less than described threshold value, then enter step (A4);
(A4) locus of first control circuit rotor wing unmanned aerial vehicle according to described deviation adjusting, and enter described step (A3);
Positioning step:
When car to be monitored enters outside environment to be measured, unmanned plane flies in environment to be measured, needs the position adjusting many rotor wing unmanned aerial vehicles, and the video camera that unmanned plane carries is taken a width template image in the outer suitable inspection positions of building layer window and is stored in storer;
Unmanned plane climbs certain altitude, and this highly approximates the floor height of building.The height climbed can be controlled by GPS, or operator probably estimates a height.After unmanned plane hovering, entrained (in locating device) video camera shooting piece image, (in locating device) the second Comparison Circuit (the second independent Comparison Circuit, or share with the first Comparison Circuit) in software extract the angle point (angle point grid can use Harris algorithm or other similar image characteristics extraction algorithms) of window on image, then mate with the corner location of window on the template image stored, if angle point is in the position of image and mutual angle, distance (can set three compare thresholds with template is basically identical, work as position, when angle and distance is all less than given threshold value, think consistent), then the match is successful, representing locates successfully, enter remote measurement step.If above-mentioned information gap is comparatively large, illustrates and locate unsuccessfully.
If locate unsuccessfully, (in locating device) second control circuit (independent second control circuit, or share with first control circuit) attempt rotating unmanned plane or the video camera certain angle entrained by rotation, again take image, mate with template image according to above-mentioned matching process, if the match is successful, then represent and locate successfully, enter remote measurement step.
If second control circuit is still unsuccessful after adjusting unmanned plane and video camera attitude, then needs second control circuit to adjust the height of unmanned plane, rise or decline certain distance, then repeat above-mentioned steps, until locate successfully;
Remote measurement step:
Locate successfully, the window of the floor that the pulsed light that the laser instrument (secondary light source) on unmanned plane sends is accurately positioned respectively and wall reflection, it is different that reflected light arrives the time of measuring photo-detector, and first group of electric signal of output is sent to analysis module;
The continuous light that laser instrument on unmanned plane sends injects indoor, absorbed by indoor gas, and by wall reflection, the change corresponding to the intensity of the measurement light of the absorption line of methane received by analysis to measure photo-detector, the second electric signal of output is wirelessly sent to analysis module;
Analysis module utilizes the mistiming of measuring the reflected light signal that photo-detector receives to obtain the distance d of window to wall, and then according to formula
obtain indoor methane content;
If the content C of gas to be measured is non-vanishing, and in increasing trend, prompting is reported to the police, and content information is sent on the communication terminal of owner, so that owner processes in time, gets rid of natural gas leaking hidden danger.
Embodiment 3:
The gas remote measurement system and method for the utility model embodiment, as different from Example 2, at least three detectors are three, and the angle between adjacent detector is 120 degree, and isolation.
Above-described embodiment is only the situation exemplarily giving Methane in Air in sensing chamber, certainly can also be other gas of air or indoor, as poisonous in benzene homologues, formaldehyde, coal gas etc., harmful gas and flammable explosive gas, for a person skilled in the art, the specific embodiment mode of these gas detect, the basis of above-described embodiment not needing pay creativeness can draw.
Claims (7)
1. airborne following device, is characterized in that: described airborne following device comprises:
Rotor wing unmanned aerial vehicle;
First light source, described first light source is used for sending aligned bundle;
At least three detectors, described at least three detectors are mutually isolated and be arranged on described rotor wing unmanned aerial vehicle, receive the light intensity of described aligned bundle respectively, and are sent to Comparison Circuit;
Comparison Circuit, described Comparison Circuit is used for the light intensity that comparison at least three detectors receive respectively, and the deviation between light intensity is sent to control circuit;
Control circuit, described control circuit is used for the locus adjusting described rotor wing unmanned aerial vehicle according to described deviation, and the deviation between the light intensity that at least three detectors described in making receive respectively is in threshold value.
2. airborne following device according to claim 1, is characterized in that: described first light source is arranged on monitoring car roof.
3. airborne following device according to claim 1, is characterized in that: described at least three detectors are four.
4. machine-carried type gas remote measurement system, is characterized in that: described machine-carried type gas remote measurement system comprises:
Unmanned plane following device, described unmanned plane following device adopts the airborne following device described in claim 1 or 2 or 3;
Telemetering device, described telemetering device comprises:
Secondary light source, described secondary light source is used for sending measurement light, and the wavelength of described measurement light covers the absorption line of gas to be measured; Described secondary light source is arranged on the rotor wing unmanned aerial vehicle of described airborne following device;
Measure photo-detector, described measurement photo-detector is used for the measurement light signal reflected by reverberation received to be converted to electric signal, and is sent to analysis module; Described measurement photo-detector is arranged on described rotor wing unmanned aerial vehicle;
Analysis module, described analysis module draws the content of gas to be measured according to absorption spectroscopy techniques and described electric signal.
5. machine-carried type gas remote measurement system according to claim 4, is characterized in that: described secondary light source is only one, and described secondary light source is also for sending pulsed optical signals.
6. machine-carried type gas remote measurement system according to claim 4, is characterized in that: described measurement photo-detector is only one.
7. machine-carried type gas remote measurement system according to claim 4, is characterized in that: described analysis module is arranged in Control Room or monitoring car; The electric signal of output is wirelessly sent to described analysis module by described measurement photo-detector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520888075.8U CN205103150U (en) | 2015-11-10 | 2015-11-10 | Machine carries follows device and gaseous remote supervising system of machine formula of carrying |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520888075.8U CN205103150U (en) | 2015-11-10 | 2015-11-10 | Machine carries follows device and gaseous remote supervising system of machine formula of carrying |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205103150U true CN205103150U (en) | 2016-03-23 |
Family
ID=55518927
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520888075.8U Active CN205103150U (en) | 2015-11-10 | 2015-11-10 | Machine carries follows device and gaseous remote supervising system of machine formula of carrying |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205103150U (en) |
-
2015
- 2015-11-10 CN CN201520888075.8U patent/CN205103150U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Feitz et al. | The Ginninderra CH4 and CO2 release experiment: An evaluation of gas detection and quantification techniques | |
| CN110503811B (en) | Gas monitoring system and method | |
| CN202393703U (en) | Device for gas leakage monitoring by means of three-dimensional cradle head scanning and laser telemetering | |
| CN109780452A (en) | Gas based on laser telemetry technology leaks unmanned plane inspection retrieving concentration method | |
| CN106774419A (en) | For the unmanned plane cruising inspection system and method for inspecting of heat power plant boiler | |
| US11275068B2 (en) | Remote gas sensing using UAVs | |
| CN105511495A (en) | Control method and system for intelligent unmanned aerial vehicle patrol for power line | |
| CN105425808A (en) | Airborne-type indoor gas remote measurement system and method | |
| CN108490124A (en) | A kind of gas detecting system and method based on unmanned plane | |
| CN110161533B (en) | Unattended satellite optical load intelligent radiation calibration system | |
| CN105319173A (en) | Gas remote sensing detection device and method | |
| CN109596487B (en) | High and large building engineering dust tracing method | |
| Frish et al. | Low-cost lightweight airborne laser-based sensors for pipeline leak detection and reporting | |
| RU2471209C1 (en) | Method of monitoring atmospheric air | |
| CN110764500A (en) | Multi-sense active inspection robot device and control method thereof | |
| CN111857178A (en) | Unmanned aerial vehicle system for safety inspection of construction site of building construction | |
| CN104266990B (en) | A kind of detection analysis device of split type chemicals | |
| CN105333900A (en) | Flue gas monitoring system and method based on multi-rotor platform | |
| CN205068170U (en) | Machine carries positioner and machine carries indoor gaseous remote supervising system of formula | |
| CN114894248A (en) | Line monitoring method, device and system | |
| CN205103150U (en) | Machine carries follows device and gaseous remote supervising system of machine formula of carrying | |
| CN105203485A (en) | Detection device and method for indoor gas | |
| CN105300905A (en) | Machine-mounted gas telemetering system and method | |
| CN111077898A (en) | Unmanned aerial vehicle fixed point landing ground guidance system | |
| CN108535188A (en) | A kind of the unmanned plane gas detecting system and its detection method of single line laser |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |