TWI703318B - Dual drone air pollution tracking system - Google Patents

Abstract

The present invention discloses a dual drone air pollution tracking system, which is set in an unmanned aircraft and includes an airborne sensor unit, an air pollution sensor, an onboard computer and a first wireless communication unit. The ground monitoring unit is provided with a second wireless communication unit, a flight control module, and a graphical instrument display module. The onboard computer sequentially converts the flight sensing signal and the air pollution sensing signal into flight status information and air pollution value, and transmits them wirelessly through the first wireless communication unit. The flight control module is preset with a pollution source detection flight path for sequentially outputting flight control commands, which are transmitted to the onboard computer for interpretation through the second wireless communication unit and the first wireless communication unit. The flight control module receives the flight status information and the air pollution value through the second wireless communication unit, and then the graphical instrument display module displays the flight status display interface and the air pollution display interface, so that the drone can monitor the air pollution area. The characteristics of fast reporting and real-time location of pollution sources can be combined with ground-based detection points and aerial mobile detection areas to greatly improve the effectiveness of air pollution prevention.

Description

Dual drone air pollution tracking system

The present invention relates to a dual-UAV air pollution tracking system, in particular to a UAV air pollution tracking technology that can use the drone to monitor the air pollution area and has the characteristics of rapid return and real-time location of pollution sources.

In recent years, some related research institutions have used unmanned aerial vehicles (UAV) for collecting photogrammetry and remote sensing data. Because of this, the use of unmanned aerial vehicles to collect photogrammetry and remote sensing detection has been widely concerned and valued by various research units, business circles and relevant government departments. Not only that, there have been many experimental cases of research nature for unmanned aerial vehicles both at home and abroad. Among them, unmanned aerial vehicles can indeed provide rescue searches, pesticide spraying, atmospheric data collection, and Fixed-point shooting and many other uses.

Generally speaking, PM2.5 refers to particulate matter less than or equal to 2.5 microns in the atmosphere. PM2.5 is rich in a large number of toxic and harmful substances, and stays in the atmosphere for a long time and has a long transmission distance. The human nasal cavity and throat cannot be blocked. PM2.5 enters the trachea and bronchi, so that it stays in the lungs and causes lung diseases. In addition, pathogenic bacteria and viruses will carry PM2.5 into the deep human respiratory tract, causing infections and inducing cardiovascular diseases, which are harmful to the human body. The impact of health and the quality of the atmosphere is huge. Due to the complexity of air pollution sources, the results of air pollution concentration measurement using different detection methods often result in systematic differences and errors.

According to what we know, the instruments used by air quality monitoring stations to determine air pollution can be divided into manual and automatic monitoring methods. Manual monitoring is performed by the staff using the conditioned filter paper to the measuring station for 24-hour sampling, and then sending the filter paper back to the laboratory to calculate the concentration after weighing under controlled temperature and humidity conditions. The advantage of this method is that it can reduce the factors that may interfere with the measurement in the environment, such as the influence of relative humidity on the test value. Therefore, the results of manual monitoring are generally used internationally as the basis for determining whether the air quality meets the standard. As for my country's air quality standards, manual monitoring results are also used to determine whether air quality meets the standards. However, manual monitoring has undergone rigorous laboratory analysis procedures, and it takes 2 to 3 weeks to complete. When air quality changes, it is indeed impossible to provide people with immediate warning.

As for automatic air quality monitoring, automatic continuous monitoring is required. Generally, the concentration is measured one hour after the sample is collected, which can provide immediate warning or forecast needs. The principles of PM2.5 automatic monitoring instruments in common air quality monitoring stations include beta-ray attenuation method, conical element oscillatory balance method and light scattering method. In order to reduce possible interference problems, various automatic monitoring instruments are designed to remove interference, such as particle size sieving (removing particles larger than 2.5 microns in size), flow controller (controlling precise flow), temperature, atmospheric pressure measurement And heating the sampling airflow (to avoid moisture condensation) and so on. In addition, Taiwan’s air pollution monitoring mostly uses the fixed-point detection method of ground observatories. This method is indeed more susceptible to the influence of the terrain, which in turn affects the flexibility of monitoring, making it impossible for personnel to know where the source of the pollution is. As a result, problems and inconveniences in air pollution monitoring have occurred.

In order to improve the above deficiencies, Xie Mengying, a scholar in related technical fields, has published a paper shown in "Development and Verification of PM2.5 Air Pollution Detection Unmanned Aerial Vehicles". In addition, there is another patent as shown in the New Announcement No. M546948 "UAV Environmental Pollution Monitoring System". Both the paper and the patent disclose the use of UAVs to enter rugged terrain for air pollution detection. Although it can reduce the consumption of many resources and improve the effect of air pollution control; however, the paper and the patent are designed to detect air pollution with a single machine, and the pollution source sensor is installed on the drone, through the mobile network Lulai transmits control signals and uses GPS modules for location positioning. Because the area that needs to be detected in the air is extremely wide, it is necessary to conduct air pollution detection with a large number of aircraft clusters, and then search for data For analysis, the cost of air pollution detection by means of cluster distribution is indeed high, so that it also costs relatively more resources, which makes it one of the important factors that cannot be popularized.

In view of this, the implementation technologies disclosed in the above-mentioned conventional technologies, papers, and patents are indeed not perfect, and there is still a need for improvement. Moreover, based on the urgent needs of related industries, the inventors have made continuous efforts Under the research and development, finally developed a set of the present invention which is different from the above-mentioned conventional technology and the previously disclosed patent.

The first objective of the present invention is to provide a dual drone air pollution tracking system, which mainly uses drones to monitor air pollution areas with the characteristics of fast reporting and real-time location of pollution sources, combined with ground-based detection points and air mobile detection Area, and greatly improve the effectiveness of air pollution prevention. The technical means to achieve the aforementioned first objective is to set up an unmanned aircraft including a flight sensing unit, an air pollution sensor, an onboard computer and a first wireless communication unit. The ground monitoring unit is provided with a second wireless communication unit, a flight control module, and a graphical instrument display module. The onboard computer sequentially converts the flight sensing signal and the air pollution sensing signal into flight status information and air pollution value, and transmits them wirelessly through the first wireless communication unit. The flight control module is preset with a pollution source detection flight path for sequentially outputting flight control commands, which are transmitted to the onboard computer for interpretation through the second wireless communication unit and the first wireless communication unit. The flight control module receives flight status information and air pollution value through the second wireless communication unit, and then displays the information by the graphical instrument display module. Flight status display interface and air pollution display interface.

The second objective of the present invention is to provide a dual drone air pollution tracking system with the function of searching for pollution sources in a two-machine concentric circle method, which mainly uses two unmanned aircraft to search for pollution sources in a concentric circle method, and the received data is subjected to AI calculation. Automatically correct the flight path and transmit the location where air pollution occurs to the monitoring terminal in real time, so that the monitoring personnel can know the location that may occur at any time, so it has the characteristics of less resources and reduced costs. The technical means to achieve the aforementioned second objective is to set up an unmanned aircraft including a flight sensor unit, an air pollution sensor, an onboard computer and a first wireless communication unit. The ground monitoring unit is provided with a second wireless communication unit, a flight control module, and a graphical instrument display module. The onboard computer sequentially converts the flight sensing signal and the air pollution sensing signal into flight status information and air pollution value, and transmits them wirelessly through the first wireless communication unit. The flight control module is preset with a pollution source detection flight path for sequentially outputting flight control commands, which are transmitted to the onboard computer for interpretation through the second wireless communication unit and the first wireless communication unit. The flight control module receives the flight status information and the air pollution value through the second wireless communication unit, and the graphical instrument display module displays the flight status display interface and the air pollution display interface. Wherein, the number of the unmanned aircraft is two, and the flight control module has a built-in auto-navigation module, and the auto-navigation module can be configured to have a pollution source tracking mode that enables the two unmanned aircraft to fly according to the pollution source detection flight path. When the pollution source search mode is executed, the two drones are controlled to search from the outer circle to the inner circle in a concentric manner, and the air pollution value detected by the two drones is calculated to Determine the location and location of the pollution source, and modify the pollution source detection flight path based on the location and location of the pollution source.

The third objective of the present invention is to provide an air pollution tracking system for dual drones with aerial image return to realize the air pollution visual monitoring function. The technical means to achieve the aforementioned third objective is to set up an unmanned aircraft including flight sensing unit, air pollution sensor, onboard computer and The first wireless communication unit. The ground monitoring unit is provided with a second wireless communication unit, a flight control module, and a graphical instrument display module. The onboard computer sequentially converts the flight sensing signal and the air pollution sensing signal into flight status information and air pollution value, and transmits them wirelessly through the first wireless communication unit. The flight control module is preset with a pollution source detection flight path for sequentially outputting flight control commands, which are transmitted to the onboard computer for interpretation through the second wireless communication unit and the first wireless communication unit. The flight control module receives the flight status information and the air pollution value through the second wireless communication unit, and the graphical instrument display module displays the flight status display interface and the air pollution display interface. Wherein, the unmanned aircraft is provided with an image capturing module for capturing aerial images overlooking the ground during flight, and the flight control module receives the aerial images through the second wireless communication unit and the first wireless communication unit , And then the graphical instrument display module displays an aerial photography display interface displaying the aerial photography image, the aerial photography display interface includes a switching interface, the switching interface can be switched and the aerial photography display interface is displayed as Aerial image display mode; or an electronic map display mode that includes real-time location marks of air pollution.

10‧‧‧Unmanned Aircraft

11‧‧‧Flight control mechanism

20‧‧‧Ground Monitoring Unit

21‧‧‧Second wireless communication unit

22‧‧‧Flight Control Module

22a,23a,50a‧‧‧Microcontroller

23‧‧‧Graphical instrument display module

230‧‧‧Flight status display interface

231‧‧‧Air pollution display interface

232‧‧‧ Aerial display interface

30‧‧‧Flying sensing unit

31‧‧‧Temperature sensor

32‧‧‧Accelerometer

33‧‧‧Electronic compass

34‧‧‧GPS positioning module

35‧‧‧Barometric Altimeter

36‧‧‧Memory Module

40‧‧‧Air Pollution Sensor

50‧‧‧Onboard computer

50a‧‧‧Microcontroller

60‧‧‧First wireless communication unit

70‧‧‧Image capture module

80‧‧‧R/C remote control

Figure 1 is a schematic diagram of the operation and implementation of the unmanned aircraft of the present invention.

Figure 2 is a functional block diagram of the basic architecture of the present invention.

Figure 3 is a functional block diagram of the specific architecture of the present invention.

Figure 4 is a functional block diagram of another specific architecture of the present invention.

Fig. 5 is a schematic diagram of the implementation of the present invention for tracking and locating pollution sources with dual machines.

Figure 6 is a schematic diagram of the implementation of the present invention to search for the flight route of the pollution source.

FIG. 7 is a schematic diagram of the screen display implementation of the graphical instrument display module of the present invention.

The present invention is an unmanned rotorcraft designed for the purpose of air pollution prevention, and a set of air pollution detection data can be provided at the same time for traditional fixed and portable air pollution, combined with the unmanned aircraft 10 and the ground monitoring unit 20 to make a A tracking system for air pollution sources. The present invention also provides positioning and identification functions. The location where air pollution occurs will be instantly transmitted to the ground monitoring unit 20 and given an identification number, so that the monitoring personnel can always know where the pollution may occur. In addition, the unmanned aircraft 10 of the present invention adopts the design of a rotary wing aircraft, and is mainly used for dual-aircraft search. It uses 4G wireless communication modules to transmit flight status information and air pollution detection such as PM1.0, PM2.5, PM10 and other air pollution values. , Combined with the unmanned aircraft 10 and the ground monitoring unit 20, use GPS positioning and identification functions, and use two unmanned aircraft 10 to search in a concentric circle, the received data is processed by AI calculation, the flight path is automatically corrected, and the air The location where the pollution occurs is instantly transmitted to the ground monitoring unit 20 so that the monitoring personnel can know the location where it may occur at any time. Since the present invention only needs two unmanned aircraft 10 to achieve the effect of air pollution detection, it requires less resources and can reduce costs.

In order for your reviewer to further understand the overall technical features of the present invention and the technical means to achieve the purpose of the invention, specific examples and diagrams are used to illustrate in detail: please refer to Figures 1 to 3 for the purpose of achieving the invention. The first specific embodiment of the first item includes at least one unmanned aircraft 10 and a ground monitoring unit 20. The unmanned aircraft 10 is provided with at least one flight sensing unit 30 for sensing the flight state and generating a flight sensing signal, and an air pollution sensing unit 30 for sensing the air pollution state of the atmosphere to generate the air pollution sensing signal Sensor 40 (such as PM1.0, PM2.5, PM10 detection of dust sensors), an on-board computer 50 and a first wireless communication unit 60 (such as 4G wireless communication module; but not as limit). The onboard computer 50 sequentially converts the flight sensing signal and the air pollution sensing signal into corresponding flight status information and air pollution value, and wirelessly transmits the flight status information and air pollution value through the first wireless communication unit 60 . The ground monitoring unit 20 is further provided with a second wireless communication unit 21 (such as a 4G wireless communication module; but not limited to this), a flight Control module 22, a graphical instrument display module 23. The flight control module 22 is preset with at least one pollution source detection flight path for sequentially outputting flight control commands corresponding to the pollution source detection flight path. The flight control commands are transmitted through the second wireless communication unit 21 and the first wireless communication unit 60 and transmitted to the onboard computer 50 for interpretation, so as to control the unmanned aircraft 10 to fly according to the pollution source detection flight path. The flight control module 22 receives the flight status information and the air pollution value through the second wireless communication unit 21, and then the graphical instrument display module 23 displays the flight status display interface 230 and a display interface 230 that can display flight status information. The empty pollution display interface 231 of the empty pollution value.

In a specific operation embodiment, the above-mentioned flight sensor unit 30, air pollution sensor 40, image capture module 70 and first wireless communication unit 60 are integratedly arranged on a modular circuit board. The board may be installed on the drone 10.

Please refer to FIG. 4. Specifically, the flight sensing unit 30 includes a temperature sensor 31 for sensing the real-time temperature state of the drone 10 to generate a temperature signal, and a temperature sensor 31 for sensing the drone 10 An accelerometer 32 for generating acceleration signals from the three-axis acceleration state, an electronic compass 33 for sensing the real-time direction of the drone 10 to generate a direction signal, and a GPS for sensing the real-time position status of the drone 10 to generate a position positioning signal The positioning module 34 and a barometric altimeter 35 are used to sense the real-time altitude state of the unmanned aircraft 10 and generate an altitude signal. The built-in microcontroller 50a of the onboard computer 50 sequentially converts temperature signals, acceleration signals, altitude signals, direction signals, and position positioning signals into corresponding temperature, acceleration (such as drone posture), altitude, direction, and position positioning. Wait for flight status information.

More specifically, the aforementioned flight status display interface 230 is a graphical interface for flight attitude, as shown in FIG. 7. The air pollution display interface 231 includes a real-time air pollution value display interface, a pollution source location indicator interface, and an air pollution value display interface of the cruised area. As for the flight attitude graphical interface, it can display flight attitude (measured by accelerometer 32), nose direction (measured by electronic compass 33), altitude (measured by air pressure), and airspeed (measured by airspeed) Test), time and date (by Flight status information such as calculated by the RTC time module), temperature (measured by the temperature sensor 31), and position location (obtained by the GPS positioning module 34).

Please refer to Figures 1 to 6, in order to achieve the second specific embodiment of the second object of the invention, this embodiment includes the overall technical features of the above-mentioned first specific embodiment, and the number of the above-mentioned unmanned aircraft 10 is two. , And an automatic navigation module (which can be realized by a software) is built in the flight control module 22, and the automatic navigation module can be set to a pollution source tracking mode that enables the two drones 10 to detect the flight path according to the pollution source. When the pollution source search mode is executed, the second drone 10 is controlled to search from the outer circle to the inner circle in a concentric manner, and the air pollution value detected by the second drone 10 is calculated to determine Prescribe the location and location of the pollution source, and modify the pollution source detection flight path according to the location and location of the pollution source.

Specifically, when the air pollution value of the inner UAV 10 is higher than the air pollution value of the outer UAV 10, continue to control the second UAV 10 in a concentric manner from the outer ring to the inner ring to fly around and search. When the air pollution value detected by the inner drone 10 is the maximum, it is determined that the location of the inner drone 10 is the location of the pollution source. When the air pollution value of the inner drone 10 is lower than the air pollution value of the outer drone 10, the navigation program executes another pollution source to detect the flight path, and the other pollution source to detect the flight path and the originally planned pollution source to detect the flight The outer edge of the path is tangent.

As mentioned above, when the above-mentioned automatic navigation module is activated, the following flight modes are executed in sequence:

(a) The heading maintenance control mode is based on the difference between the trajectory angle command of the flight control command and the trajectory angle obtained by the real-time position positioning signal, and the roll angle of the UAV 10 is determined after calculation.

(b) The route maintenance control mode is to calculate the error distance between the current position and the flight control command position based on the flight control command and the position positioning signal to determine the magnitude of the rudder surface of the UAV 10.

(c) The automatic navigation mode is based on the position positioning signal provided by the GPS positioning module 34 to guide the unmanned aircraft 10 heading to the designated pollution source to detect each waypoint or each route position of the flight path, and determine whether it has reached the preset route Point or route position.

Please refer to Figures 1 to 4, in order to achieve the third specific embodiment of the third item of the invention, this embodiment includes the overall technical features of the first specific embodiment described above, the above-mentioned unmanned aircraft 10 is provided with a An image capture module 70 that captures aerial images overlooking the ground during flight. The flight control module 22 receives the aerial images through the second wireless communication unit 21 and the first wireless communication unit 60, and then displays the aerial image by a graphical instrument display module. 23 shows an aerial photography display interface 232 displaying aerial photography images. The aerial photography display interface 232 includes a switching interface. The switching interface can be switched and the aerial photography display interface 232 is displayed in the aerial image display mode; or An electronic map display mode for instant location marking of air pollution.

The present invention proposes a task of monitoring air pollution by using a multi-band remote control rotorcraft. The system architecture diagram of the remote control unmanned aircraft 10 is shown in FIGS. 1 and 2. This system can be divided into four parts: (1) The main body of the drone 10 and the onboard computer 50. (2) Flight control module 22. (3) Graphical instrument display module 23. (4) R/C remote control 80 (Radio Control; radio control).

The system of the present invention uses the flight control module 22 to transmit flight control instructions and payload commands via the first wireless communication unit 60 and the second wireless communication unit 21 (ie, 4G wireless communication module). An R/C remote control 80 can also be used to To achieve manual flight control, as shown in Figure 2, the user can control the unmanned aircraft 10 according to the general remote control aircraft control method for the take-off and landing of the rotary-wing unmanned aircraft 10. The R/C remote control 80 has a controller to switch manual /Automatic flight. When the onboard computer 50 receives the flight control command, it transmits the digital data to the servo motor and electronic transmission of the drone 10 to control the flight attitude of the drone 10. The payload command can be aerial image transmission. The graphical instrument display module 23 is a graphical interface for displaying flight-related parameters such as flight attitude, altitude, and heading of the unmanned aircraft 10 and the detected dust concentration value, using 4G wireless The wireless network technology of the communication module receives the aerial image payload data of the computer 50 to achieve the function of real-time image monitoring, and uses an electronic map to display the current relative position of the unmanned aircraft 10 and the pollution source. The specific implementation is shown in the figure 7 shown.

The system architecture of the unmanned aircraft 10 and the onboard computer 50 of the present invention is shown in FIG. 3. The onboard computer 50 may be a system integration and computing unit (such as a computer or a microcontroller 50a), and the unmanned aircraft 10 is set to fly The sensing unit 30, the image capturing module 70 (such as the payload unit), the GPS positioning module 34 and the first wireless communication unit 60 and other components, which can be integrated on a PCB circuit board and installed on Between the main body of the drone 10 and its tripod, the basic hardware design of the present invention can be completed here.

The graphical instrument display module 23 can be switched to an electronic map or aerial image according to requirements. The instrument and the display system are respectively: (1) Graphical interface of drone attitude. (2) Image and electronic map display interface. (3) Dust concentration value display interface. (4) Show the location of the pollution source, etc.

The above graphical interface is written in C#, using 4G wireless communication module as the transmission medium to convert the data between the drone body and the onboard computer 50 into a graphical interface for display, and use this software to upload flight control parameters to the aircraft Load computer 50. The operator only needs to view the drone's flight attitude, head direction, altitude, airspeed, time, date, temperature and positioning information from the front digital display.

The system architecture of the aforementioned flight control module 22 is shown in FIG. 3. The flight control module 22 can be a palmtop computer controller, a computer, or a microcontroller 22a. In the embodiment of the palmtop computer controller, as shown in FIG. 1, the accelerometer 32 is mainly used for speed discrimination, and the manual control is converted into the attitude command of the UAV 10. There are other functions in the palmtop controller. For example, use buttons to switch the control mode. In the control mode, there are other buttons that can be used to switch the altitude and heading; in the vehicle control part, it can control the image transmission and the transmission of flight data to the display unit to the ground monitoring unit 20. To achieve the function of remote monitoring.

In addition, a variety of flight sensing signals and wireless communication technologies are the main sources of data for the entire system of the present invention, mainly using SoC (System on Chip) technology. The flight sensing signals and wireless communication technology architecture are shown in Figure 4. A variety of flight sensing components and modules are installed, and the written firmware program is installed in the microcontroller 50a (Microprocessor Control Unit, MCU) of the onboard computer 50 to connect various peripheral I/Os, transmission protocols, and After the sensing element device is driven, data is received, captured, calculated, integrated, and encoded, and the processed data is transmitted through wireless communication technology, and important flight data is stored in the SD solid-state memory module 36. The flight sensing signal and wireless communication will be installed in the unmanned aircraft 10, and the flight sensing signal can be transmitted to the graphical instrument display module 23 and the graphical instrument display module through the 4G wireless communication module long-distance wireless communication system as the transmission medium. The solid-state memory module 36 is used for information display and recording.

The pollution source tracking system concept shown in Figures 5~6 is based on the wireless network architecture to design the air pollution location function of the central monitoring and display system. In the pollution source search mode, through two unmanned aircrafts with pollution source tracking systems 10 Perform regional search and detection, and perform AI calculation based on the level of dust concentration obtained by two unmanned aircraft 10 to determine the location of the air pollution source, and correct the tracked route according to the determined location, as shown in Figure 5. The search route is to search from large to small in concentric circles, as shown in Figure 6.

The above is only a more feasible embodiment of the present invention, and is not intended to limit the patent scope of the present invention. Any equivalent implementation of other changes based on the content, characteristics and spirit of the following claims is mentioned. All should be included in the patent scope of the present invention. The structural features of the present invention are specifically defined in the claim, which are not found in similar articles, and are practical and progressive. They have already met the requirements of a patent for invention. The application is filed in accordance with the law. The legitimate rights and interests of the applicant.

10‧‧‧Unmanned Aircraft

11‧‧‧Flight control mechanism

20‧‧‧Ground Monitoring Unit

21‧‧‧Second wireless communication unit

22‧‧‧Flight Control Module

23‧‧‧Graphical instrument display module

30‧‧‧Flying sensing unit

40‧‧‧Air Pollution Sensor

50‧‧‧Onboard computer

60‧‧‧First wireless communication unit

70‧‧‧Image capture module

Claims (8)

An air pollution tracking system for dual drones, comprising: at least one unmanned aircraft, which is configured to include at least one flight sensing unit for sensing flight status and generating flight sensing signals, and one for sensing atmospheric air An air pollution sensor that generates an air pollution sensing signal in a dirty state, an onboard computer, and a first wireless communication unit; the onboard computer sequentially converts the flight sensing signal and the air pollution sensing signal Is the corresponding flight status information and air pollution value, and wirelessly transmits the flight status information and the air pollution value through the first wireless communication unit; and a ground monitoring unit that includes a second wireless communication unit and a flight Control module and a graphical instrument display module; the flight control module is preset with at least one pollution source detection flight path for sequentially outputting flight control commands corresponding to the pollution source detection flight path, the flight control command The second wireless communication unit and the first wireless communication unit are transmitted to the onboard computer for interpretation, so as to control the at least one unmanned aircraft to fly according to the pollution source detection flight path; the flight control module transmits The second wireless communication unit receives the flight status information and the air pollution value, and the graphical instrument display module displays the flight status display interface that can display the flight status information and a flight status display interface that can display the air pollution value. Air pollution display interface; among them, the number of the unmanned aircraft is two, the flight control module is built with an automatic navigation module, and the automatic navigation module can be set to enable the two unmanned aircraft to detect the flight path according to the pollution source In the pollution source tracking mode, when the pollution source search mode is executed, the two drones are controlled to search from the outer circle to the inner circle in a concentric circle, and the air pollution value detected by the two drones High and low calculations are performed to determine the location and location of the pollution source, and the pollution source detection flight path is corrected according to the location and location of the pollution source. The dual drone air pollution tracking system according to claim 1, wherein the flight sensing unit, The air pollution sensor and the first wireless communication unit are integratedly arranged on a modularized circuit board, and the circuit board is arranged on the unmanned aircraft. The dual drone air pollution tracking system according to claim 1, wherein the flight status display interface is a graphical interface for flight attitude; the air pollution display interface includes a real-time air pollution value display interface and a pollution source location indicator interface And the air pollution value display interface of the cruised area; the flight attitude graphical interface can display the flight status information such as flight attitude, nose direction, altitude, air speed, time, date, temperature and location. The dual drone air pollution tracking system according to claim 1, wherein when the air pollution value of the unmanned aircraft in the inner circle is higher than the air pollution value of the unmanned aircraft in the outer circle, continue to control the two unmanned aircraft to The search is carried out in a concentric circle from the outer circle to the inner circle. When the air pollution value detected by the drone in the inner circle is the maximum, the location of the drone in the inner circle is the location of the pollution source. The dual drone air pollution tracking system of claim 4, wherein when the air pollution value of the drone in the inner circle is lower than the air pollution value of the drone in the outer circle, the navigation program executes another pollution source Detect the flight path, the other pollution source detection flight path is tangent to the originally planned outer edge of the pollution source detection flight path. The dual-UAV air pollution tracking system according to claim 1, wherein the automatic navigation module executes the following flight modes in sequence when starting; the heading maintenance control mode is based on the trajectory angle command and real-time position positioning of the flight control command The difference of the trajectory angle obtained by the signal is calculated to determine the roll angle of the UAV; the route maintenance control mode is based on the flight control command and the position positioning signal to calculate the error distance between the current position and the flight control command position. To determine the magnitude of the rudder surface of the unmanned aircraft; and An automatic navigation mode is based on the position positioning signal to guide the unmanned aircraft to detect the waypoint or the position of the flight path of the pollution source designated by the heading, and determine whether the waypoint or the route position is preset. The dual drone air pollution tracking system according to claim 1, wherein the flight sensing unit includes a temperature sensor for sensing the real-time temperature state of the drone to generate a temperature signal, and a temperature sensor for sensing An accelerometer for generating acceleration signals from the three-axis acceleration state of the unmanned aircraft, a barometric altimeter for sensing the real-time altitude state of the unmanned aircraft and generating an altitude signal, and an electronic for sensing the real-time direction of the unmanned aircraft and generating a direction signal Compass, and GPS positioning module used to sense the real-time position status of the unmanned aircraft to generate a position positioning signal, the onboard computer sequentially the temperature signal, the acceleration signal, the altitude signal, the direction signal and the position positioning The signal is converted into corresponding flight status information such as temperature, acceleration, altitude, direction and position. The dual drone air pollution tracking system according to claim 1, wherein the unmanned aircraft is provided with an image capturing module for capturing aerial images of the ground overlooking the ground during flight, and the flight control module transmits through the second The wireless communication unit and the first wireless communication unit receive the aerial photography image, and the graphical instrument display module displays an aerial photography display interface displaying the aerial photography image, and the aerial photography display interface includes a switching interface, The switching interface can be switched to display the aerial image display interface as an aerial image display mode; or an electronic map display mode that includes real-time location markers of air pollution.

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