CN205691166U - Toxic and harmful monitors based on four rotor wing unmanned aerial vehicles - Google Patents
Toxic and harmful monitors based on four rotor wing unmanned aerial vehicles Download PDFInfo
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- CN205691166U CN205691166U CN201620617447.8U CN201620617447U CN205691166U CN 205691166 U CN205691166 U CN 205691166U CN 201620617447 U CN201620617447 U CN 201620617447U CN 205691166 U CN205691166 U CN 205691166U
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Abstract
The utility model discloses a kind of toxic and harmful monitor based on four rotor wing unmanned aerial vehicles, including four rotor wing unmanned aerial vehicles, described four rotor wing unmanned aerial vehicle underhung The Cloud Terraces, movable on described The Cloud Terrace it is mounted with the monitoring photographic head and gas monitoring modular being all connected with microprocessor, four it are provided with for rotating speed and the motor turned on described four rotor wing unmanned aerial vehicles, described motor is connected with electron speed regulator respectively, described electron speed regulator is connected with described microprocessor, described microprocessor is also connected with coprocessor, described coprocessor respectively with binocular camera, ultrasonic distance measuring module, baroceptor, GPS is connected with gyroscope.A kind of based on four rotor wing unmanned aerial vehicles the toxic and harmful monitors that this utility model provides, have the plurality of advantages such as low cost, rapid, the stereoscopic monitoring of response, and application prospect is huge.
Description
Technical field
This utility model relates to a kind of toxic and harmful monitor based on four rotor wing unmanned aerial vehicles, belongs to unmanned vehicle
With atmospheric sounding techniques field.
Background technology
Along with the fast development of China's industrial economy, chemical enterprise discharge in violation of rules and regulations has become the important pollution of atmospheric pollution
Source, due to natural disaster or construction quality, the shortcoming of maintenance work, explode or poisonous gas leakage, seriously in the chemical plant of initiation
Influence area atmosphere quality.And atmosphere environment supervision be in environmental conservation and reply burst atmospheric pollution accident work
Important basic work.This is accomplished by quick, accurate, the safe concentration obtaining the main toxic and harmful of air and kind
Class.Accordingly, it would be desirable to design a kind of fast response time, the toxic and harmful monitor that with low cost, working performance is high.
The air monitor that domestic and international market is common at present, based on fixed, uses limitation bigger, it is difficult to
Burst air pollution episode moves detection to air.Also the Atmospheric Survey mode with unmanned plane as platform is had on market,
It is mainly based upon fixed-wing unmanned plane and single-rotor helicopter.Although the fixed-wing unmanned plane hang time is long, but is difficult to little model
Enclose interior air to detect, and the drop conditions that takes off is had higher requirements；Single rotor unmanned helicopter volume is big, and cost is quite
High.
Utility model content
Technical problem to be solved in the utility model is to provide that a kind of volume is little, fast response time, can three-dimensional supervise
Survey, the toxic and harmful monitors based on four rotor wing unmanned aerial vehicles of low cost；Further, this utility model provides a kind of energy
Enough realize radio communication and the toxic and harmful monitors based on four rotor wing unmanned aerial vehicles remotely controlled；Further, originally
Utility model provides one to promote safety, it is ensured that the toxic and harmfuls based on four rotor wing unmanned aerial vehicles of unmanned plane safe landing
Monitor.
For solving above-mentioned technical problem, the technical solution adopted in the utility model is:
Toxic and harmful monitors based on four rotor wing unmanned aerial vehicles, including four rotor wing unmanned aerial vehicles, described four rotors are unmanned
Machine underhung The Cloud Terrace, movable on described The Cloud Terrace is mounted with the monitoring photographic head and gas-monitoring mould being all connected with microprocessor
Block, described four rotor wing unmanned aerial vehicles are provided with four for rotating speed and the motor that turns to, described motor respectively with electron speed regulator
Being connected, described electron speed regulator is connected with described microprocessor, and described microprocessor is also connected with coprocessor, and described association processes
Device is connected with binocular camera, ultrasonic distance measuring module, baroceptor, GPS and gyroscope respectively.
Described microprocessor is also connected with battery detection module and alarm module.
Described microprocessor is also connected with wireless communication module, and described wireless communication module is with the communication of ground remote control station even
Connecing, described ground remote control station is connected with ground surveillance device communication.
Described microprocessor is also connected with the parachute being arranged at described four rotor wing unmanned aerial vehicle tops.
Parachute is small-sized parachute.
The number of described binocular camera is two right.
Described coprocessor includes FPGA.
Described gas-monitoring module includes multiple toxic and harmful sensor.
Described motor, microprocessor, monitoring photographic head, gas-monitoring module, electron speed regulator, coprocessor, binocular are taken the photograph
As head, ultrasonic distance measuring module, baroceptor, GPS, gyroscope are all connected with battery with alarm module, described battery and institute
State battery detection module to be connected.
Described alarm module includes display lamp and buzzer.
Described toxic and harmful sensor includes SO 2 sensor, chlorine sensor, ammonia gas sensor, an oxidation
Carbon sensor and NOx sensor.
This utility model devise a kind of safe and reliable, response rapidly, stereoscopic monitoring, air toxic gas with low cost
Detector.Use the multiple toxic and harmful sensings such as UAV system sulfur dioxide, chlorine, ammonia, carbon monoxide, nitrogen oxides
Toxic gas in device perception air, sensor assembly is universal detachable formula, it is simple to maintenance or according to actual detection demand more
Emat sensor.Airborne parachute makes unmanned plane safety be greatly promoted, even if there is air crash accident, it is possible to make nothing by parachute
Man-machine slow safe falling, it is to avoid the injury to ground staff's property.Monitoring photographic head on The Cloud Terrace monitors offer the most in real time
Convenience.Personnel so can be avoided to enter atmospheric pollution nucleus, it is achieved quickly respond, air in little scope is stood
Body Multi-point detection.Data basis is provided for quickly disposing atmospheric pollution accident.
A kind of based on four rotor wing unmanned aerial vehicles the toxic and harmful monitors that this utility model provides, four rotor wing unmanned aerial vehicles
Setting, make that this utility model volume is little, low cost, response rapidly fast, realize stereoscopic monitoring；Coprocessor is taken the photograph with binocular respectively
As head, ultrasonic distance measuring module, baroceptor, GPS and the setting of gyroscope, for four rotor wing unmanned aerial vehicle flight paths with fly
The acquisition of row attitude；The setting of gas-monitoring module, is used for monitoring multiple toxic and harmful；The setting of monitoring photographic head, uses
In monitoring flight path and atmospheric environment in real time；Wireless communication module and the setting at ground remote control station, it is achieved that this utility model
Radio communication and remotely control；The setting of parachute, makes this utility model promote safety, it is ensured that unmanned plane safe landing；
On The Cloud Terrace, movable loading monitors photographic head and the setting of gas monitoring modular, and making this utility model is universal detachable formula, just
In maintenance or replacing.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Detailed description of the invention
Below in conjunction with the accompanying drawings this utility model is further described.
As it is shown in figure 1, toxic and harmful monitors based on four rotor wing unmanned aerial vehicles, mainly include ground remote control station, micro-
Processor and FPGA, gas-monitoring module, four rotor flying track attitude acquisition modules, battery detecting module, electron speed regulator,
Wireless communication module and ground remote control display module (i.e. ground surveillance device).Wherein four rotor flying track attitude acquisition modules by
Binocular camera, ultrasonic distance measuring module, baroceptor, GPS and gyroscope are constituted.
Toxic and harmful monitors based on four rotor wing unmanned aerial vehicles, with microprocessor for the FPGA that advocates peace for association
Processor is auxiliary main control module.The rotating speed that microprocessor controls four motors by 4 electron speed regulators realizes unmanned plane
The adjustment of attitude.And after FPGA and two pairs of binocular camera, ultrasonic distance measuring module, baroceptor, GPS, gyroscopes are connected
It is connected with microprocessor again.Airborne multiple toxic and harmful sensor is utilized to realize the detection to atmosphere pollution；Unmanned plane
Underhung The Cloud Terrace, The Cloud Terrace loads monitoring photographic head and gas-monitoring module, and The Cloud Terrace contained monitoring photographic head is real by video equally
Time be sent to ground remote control station, observe situation for controllers, and ground controller's controllable monitoring photographic head turn to, just
In observation.The program moved by wireless remote control manipulation unmanned plane at ground remote control station or pass through to set is automatic by unmanned plane
Motion, the automatically toxic and harmful in detection air；Unmanned plane in real time will detection data and monitoring by wireless communication module
Camera image is transmitted back to ground remote control station, ground remote control station data are carried out process and collect.
This utility model is with ground remote control station as control core, by poisonous in atmospheric environment of four rotor wing unmanned aerial vehicles
Harmful gas detects substantially, use in multiple toxic and harmful Sensor monitoring air whether with the presence of harmful gas and
Its concentration, it is achieved show the function of Atmospheric Survey situation and the state of flight of four rotor wing unmanned aerial vehicles at ground remote control station in real time.Nothing
Monitoring photographic head on people's machine head, is available for personal observations's ground target.The most airborne parachute promotes safety, at unmanned plane
High-altitude runs into when penetrating the serious conditions such as oar, electrical fault, uses parachute by unmanned plane safe landing, reduces unmanned plane high-altitude pendant
Fall the damage of the personnel's property to ground.Land condition of taking off is required loose by four rotor wing unmanned aerial vehicles, only fritter need to be had smooth
Surface can complete to take off and land.
Ground remote control station sends telecommand, manipulates the operation of four rotor wing unmanned aerial vehicles；In automatic mode, by ground remote control
Remotely pilotless machine automatic takeoff of standing flies to detecting core region, and automatically in multipoint acquisition atmospheric information, passes earth station in real time back,
When one takes turns detection and terminates or time battery electric quantity is too low, four rotor wing unmanned aerial vehicles fly back departure location landing automatically.At manual mode
Under；Needing operator to be flown to search coverage by ground remote control station remote manual control unmanned plane, result of detection is beamed back by unmanned plane equally
Earth station, and by the state of flight of unmanned plane, the information such as battery electric quantity sends the remote terminal to operator.Four rotor wing unmanned aerial vehicles
Current flight state and flight is obtained by two pairs of binocular camera, ultrasonic ranging, GPS, gyroscope, baroceptor
Path, causes impact crash when any of which sensor failure all without to unmanned plane, and now unmanned plane is forced to stop
Execution task, enters troubleshooting pattern.Be confronted with a grave question cause unmanned plane cannot normal flight or hovering time, micro-process
Device suspends motor and powers and control parachute ejection, and unmanned plane relies on and bales out；And buzzer sends the warning dripped
Sound, reminds neighbouring crowd to take care.
Use step of the present utility model is as follows:
Set-up procedure: four rotor wing unmanned aerial vehicles and ground remote control station power supply are opened in the position away from polluter of being in the wind, and make ground
Face remote control station and four rotor wing unmanned aerial vehicles are set up and are connected, and are placed on launching platform by four rotor wing unmanned aerial vehicles, set at ground remote control station
Put automatic offline mode or MANUAL CONTROL mode.If conditions permit, launching platform can be masked as the end with 1m*1m green H type, four
Rotor wing unmanned aerial vehicle can catch H type landing place when automatically making a return voyage by The Cloud Terrace contained monitoring photographic head, it is achieved the most precisely pacifies
Full landing.
Use process: after set-up procedure completes, can allow four rotor wing unmanned aerial vehicles take off and perform atmospheric monitoring task.Certainly
Under dynamic model formula, after ground remote control station sends takeoff order, four rotor wing unmanned aerial vehicle automatic takeoffs, perform detection according to predetermined set
Task, auto-returned appointed place landing after completing Detection task；Ground remote control station then can monitor Atmospheric Survey result in real time
With unmanned plane during flying state.When there being emergency case, ground remote control station can be reached by and be switched to MANUAL CONTROL mode, by manually
Manipulation unmanned plane detects safely and returns.Atmosphere environment supervision data are provided in time as sudden air pollution episode.
Emergency case solution: under automatic mode navigation pattern, in case of there is obstacle in front, taken the photograph by preposition binocular
As head perception preceding object and distance, four rotor wing unmanned aerial vehicles automatically can be kept at a distance with obstacle, and be promoted flying height to hide
Obstacle；When crossing over the ground drops such as the cliff of displacement and being huge, the surveyed data of ultrasonic distance measuring module of four rotor wing unmanned aerial vehicles can be caused to lose
Going to be worth, the altitude information now provided according to baroceptor continues flight；When four rotor wing unmanned aerial vehicles are near pile
Thing or gps signal can be lost time in building, but remote signal still effectively time, now use binocular camera, gyroscope
Inertial navigation is carried out with ultrasonic distance measuring module.
The above is only preferred implementation of the present utility model, it should be pointed out that: for the common skill of the art
For art personnel, on the premise of without departing from this utility model principle, it is also possible to make some improvements and modifications, these improve and
Retouching also should be regarded as protection domain of the present utility model.
Claims (10)
1. toxic and harmful monitors based on four rotor wing unmanned aerial vehicles, it is characterised in that include four rotor wing unmanned aerial vehicles, described four
Rotor wing unmanned aerial vehicle underhung The Cloud Terrace, movable on described The Cloud Terrace to be mounted with the monitoring photographic head being all connected with microprocessor gentle
Body monitoring modular, described four rotor wing unmanned aerial vehicles are provided with four for rotating speed and the motor that turns to, described motor respectively with electricity
Sub-speed regulator is connected, and described electron speed regulator is connected with described microprocessor, and described microprocessor is also connected with coprocessor, institute
State coprocessor to be connected with binocular camera, ultrasonic distance measuring module, baroceptor, GPS and gyroscope respectively.
Toxic and harmful monitor based on four rotor wing unmanned aerial vehicles the most according to claim 1, it is characterised in that: described
Microprocessor is also connected with battery detection module and alarm module.
Toxic and harmful monitor based on four rotor wing unmanned aerial vehicles the most according to claim 1, it is characterised in that: described
Microprocessor is also connected with wireless communication module, and described wireless communication module is connected with the communication of ground remote control station, and described ground is distant
Control station is connected with ground surveillance device communication.
Toxic and harmful monitor based on four rotor wing unmanned aerial vehicles the most according to claim 2, it is characterised in that: described
Microprocessor is also connected with the parachute being arranged at described four rotor wing unmanned aerial vehicle tops.
Toxic and harmful monitor based on four rotor wing unmanned aerial vehicles the most according to claim 1, it is characterised in that: described
The number of binocular camera is two right.
Toxic and harmful monitor based on four rotor wing unmanned aerial vehicles the most according to claim 1, it is characterised in that: described
Coprocessor includes FPGA.
Toxic and harmful monitor based on four rotor wing unmanned aerial vehicles the most according to claim 1, it is characterised in that: described
Gas-monitoring module includes multiple toxic and harmful sensor.
Toxic and harmful monitor based on four rotor wing unmanned aerial vehicles the most according to claim 2, it is characterised in that: described
Motor, microprocessor, monitoring photographic head, gas-monitoring module, electron speed regulator, coprocessor, binocular camera, ultrasound
All it is connected with battery with alarm module away from module, baroceptor, GPS, gyroscope, described battery and described battery detection module
It is connected.
Toxic and harmful monitor based on four rotor wing unmanned aerial vehicles the most according to claim 2, it is characterised in that: described
Alarm module includes display lamp and buzzer.
Toxic and harmful monitor based on four rotor wing unmanned aerial vehicles the most according to claim 7, it is characterised in that: institute
State toxic and harmful sensor include SO 2 sensor, chlorine sensor, ammonia gas sensor, carbon monoxide transducer and
NOx sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620617447.8U CN205691166U (en) | 2016-06-21 | 2016-06-21 | Toxic and harmful monitors based on four rotor wing unmanned aerial vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620617447.8U CN205691166U (en) | 2016-06-21 | 2016-06-21 | Toxic and harmful monitors based on four rotor wing unmanned aerial vehicles |
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| CN205691166U true CN205691166U (en) | 2016-11-16 |
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| CN201620617447.8U Expired - Fee Related CN205691166U (en) | 2016-06-21 | 2016-06-21 | Toxic and harmful monitors based on four rotor wing unmanned aerial vehicles |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106645577A (en) * | 2016-12-20 | 2017-05-10 | 清华大学合肥公共安全研究院 | Toxic and harmful gas detection system based on multi-rotor unmanned aerial vehicle platform |
| CN106647790A (en) * | 2016-12-27 | 2017-05-10 | 重庆大学 | Four-rotor unmanned aerial vehicle aircraft system oriented to complex environment and flying method |
| CN106672235A (en) * | 2016-12-30 | 2017-05-17 | 苏州麦垛信息科技有限公司 | Multifunctional unmanned aerial vehicle |
| CN106970554A (en) * | 2017-03-07 | 2017-07-21 | 浙江大学 | Industrial gasses are discharged with the UAS for the law enforcement that exercises supervision |
| CN107807668A (en) * | 2017-11-30 | 2018-03-16 | 广州市华科尔科技股份有限公司 | A kind of multi-rotor unmanned aerial vehicle autocontrol method |
| CN108732308A (en) * | 2018-05-11 | 2018-11-02 | 南京信息工程大学 | A kind of gas measurement device based on eight rotor wing unmanned aerial vehicles |
| CN108845080A (en) * | 2018-06-15 | 2018-11-20 | 幻飞智控科技（上海）有限公司 | A kind of environmental monitoring unmanned plane and its monitoring method |
| CN109187884A (en) * | 2018-10-08 | 2019-01-11 | 西北农林科技大学 | A kind of Atmospheric components of anti-disturbance based on unmanned plane monitor system |
| CN109229378A (en) * | 2018-07-31 | 2019-01-18 | 哈尔滨工程大学 | A kind of mine disaster search and rescue based on avoidance unmanned plane and toxic and harmful gas monitoring system and its working method |
| CN109466759A (en) * | 2018-10-23 | 2019-03-15 | 北京王府科技有限公司 | The fall arrest unmanned flight's platform acquired for air and water environment parameter |
| CN113359797A (en) * | 2021-06-23 | 2021-09-07 | 重庆飞扬测控技术研究院有限公司 | Unmanned aerial vehicle system for monitoring gas quality |
| US11761938B2 (en) | 2019-06-21 | 2023-09-19 | General Electric Company | Sensing system and method |
-
2016
- 2016-06-21 CN CN201620617447.8U patent/CN205691166U/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106645577A (en) * | 2016-12-20 | 2017-05-10 | 清华大学合肥公共安全研究院 | Toxic and harmful gas detection system based on multi-rotor unmanned aerial vehicle platform |
| CN106647790A (en) * | 2016-12-27 | 2017-05-10 | 重庆大学 | Four-rotor unmanned aerial vehicle aircraft system oriented to complex environment and flying method |
| CN106672235A (en) * | 2016-12-30 | 2017-05-17 | 苏州麦垛信息科技有限公司 | Multifunctional unmanned aerial vehicle |
| CN106970554A (en) * | 2017-03-07 | 2017-07-21 | 浙江大学 | Industrial gasses are discharged with the UAS for the law enforcement that exercises supervision |
| CN107807668A (en) * | 2017-11-30 | 2018-03-16 | 广州市华科尔科技股份有限公司 | A kind of multi-rotor unmanned aerial vehicle autocontrol method |
| CN108732308B (en) * | 2018-05-11 | 2023-05-26 | 南京信息工程大学 | Gas measurement device based on eight rotor unmanned aerial vehicle |
| CN108732308A (en) * | 2018-05-11 | 2018-11-02 | 南京信息工程大学 | A kind of gas measurement device based on eight rotor wing unmanned aerial vehicles |
| CN108845080A (en) * | 2018-06-15 | 2018-11-20 | 幻飞智控科技（上海）有限公司 | A kind of environmental monitoring unmanned plane and its monitoring method |
| CN109229378A (en) * | 2018-07-31 | 2019-01-18 | 哈尔滨工程大学 | A kind of mine disaster search and rescue based on avoidance unmanned plane and toxic and harmful gas monitoring system and its working method |
| CN109229378B (en) * | 2018-07-31 | 2022-04-05 | 哈尔滨工程大学 | Mine disaster search and rescue and toxic and harmful gas monitoring system based on obstacle avoidance unmanned aerial vehicle and working method thereof |
| CN109187884A (en) * | 2018-10-08 | 2019-01-11 | 西北农林科技大学 | A kind of Atmospheric components of anti-disturbance based on unmanned plane monitor system |
| CN109466759A (en) * | 2018-10-23 | 2019-03-15 | 北京王府科技有限公司 | The fall arrest unmanned flight's platform acquired for air and water environment parameter |
| CN109466759B (en) * | 2018-10-23 | 2024-04-16 | 中铁建设集团有限公司 | Anti-falling unmanned flying platform for air and water environment parameter acquisition |
| US11761938B2 (en) | 2019-06-21 | 2023-09-19 | General Electric Company | Sensing system and method |
| CN113359797A (en) * | 2021-06-23 | 2021-09-07 | 重庆飞扬测控技术研究院有限公司 | Unmanned aerial vehicle system for monitoring gas quality |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161116 Termination date: 20180621 |