WO2018184162A1 - System and method of using drone to detect toxic and harmful gases - Google Patents
System and method of using drone to detect toxic and harmful gases Download PDFInfo
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- WO2018184162A1 WO2018184162A1 PCT/CN2017/079540 CN2017079540W WO2018184162A1 WO 2018184162 A1 WO2018184162 A1 WO 2018184162A1 CN 2017079540 W CN2017079540 W CN 2017079540W WO 2018184162 A1 WO2018184162 A1 WO 2018184162A1
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- the present invention relates to an unmanned aerial vehicle environment detecting system, and more particularly to a toxic and harmful gas unmanned aerial vehicle detecting system and a detecting method.
- China's environmental emergency monitoring is mainly based on the manual monitoring method of single-point sampling analysis.
- problems such as limited ground conditions, traffic, monitoring conditions, slow response, low efficiency, etc.
- During the mission process it often leads to delays in the disposal of pollution accidents due to the inability to understand and comprehensively understand the distribution of pollution sources, types of pollutants, pollution concentration, pollution range, pollution area, continuous diurnal, diffusion and migration, and the extent and extent of impact.
- Machine reducing the efficiency of pollution accident handling.
- the present invention provides a UAV detection system and a detection method for rapidly detecting the type and concentration of toxic and harmful gases, and determining the toxic and harmful gas of the pollution source.
- a toxic and harmful gas drone detection system including a drone, a flight control system, a microprocessor, a gas detection module, a data acquisition module, a wireless transmission module, a geographic information module, an ultrasonic module, and a ground center;
- the control system is connected with the drone to control the flight of the drone;
- the gas detection module detects the toxic and harmful gas to determine the gas type and concentration;
- the gas detection module and the geographic information module are connected with the data acquisition module, and the data acquisition module collects The gas data of the gas detection module and the related geographic data;
- the data acquisition module and the wireless transmission module are both connected to the microprocessor, and the microprocessor transmits the gas data and the geographic data collected by the data acquisition module to the wireless transmission module to
- the ultrasonic module is connected with the microprocessor, and the obstacle is avoided by the ultrasonic obstacle to avoid the damage of the drone;
- the ground center displays the gas concentration, and the pollution source is positioned according to the concentration change of the different position.
- the toxic and harmful gas detecting sensor comprises a PID photoion gas sensor and a toxic gas electrochemical gas sensor for measuring ammonia, trimethylamine, hydrogen sulfide, methyl mercaptan, styrene, carbon disulfide volatile organic compounds in the air. concentration.
- the parabolic sensor includes a gas sensor, a wireless module, and a power source.
- the geographic module comprises a GPS module and an electronic barometric altimeter, providing geographic data of latitude and longitude and altitude.
- the ground center includes a monitoring terminal, a wireless transmission module, a display, and an input device both connected to a computer; the monitoring terminal implements dynamic display and processing analysis of gas detection data, including real data viewing, High-concentration alarm, statistical analysis, and report output.
- the monitoring module is based on the 3D GIS platform for multi-point detection data, and displays the gas concentration distribution based on the sampling point coordinates to locate the pollution source.
- the drone is a quadrotor drone.
- the detection method of the toxic and harmful gas unmanned aerial vehicle detection system comprises the following steps:
- S1 plans a route, performs path planning according to the detection area, and sets a detection start point and a detection end point, and the path further includes detection of multiple heights, the height interval is not less than 100 meters, and the progressive scan detection is performed at each height.
- the detection starting point is set at the highest level, the detection end point is set at the lowest level, and the path is planned and transmitted to the flight control system;
- the flight control system controls the drone to reach the detection starting point, starts the gas detection module, starts the uninterrupted detection from the detection point of the highest source, and then sequentially detects each height area, the detected data and the geographic data. Simultaneous transmission to the ground center;
- the display of the S3 data and the positioning of the pollution source, the monitoring terminal of the ground center realizes dynamic display and processing analysis of the gas detection data, including real data viewing, high concentration alarm, statistical analysis, and report output, and the monitoring module
- the multi-point detection data is based on the 3D GIS platform, which displays the gas concentration distribution based on the sampling point coordinates and locates the pollution source.
- step S2 further comprises: placing a parabolic sensor, spraying a parabolic sensor through a drone platform, realizing multi-point near-surface gas monitoring, and implementing gas through a wireless autonomous network transmission technology; Rapid collection of test information.
- the present invention has the following beneficial effects:
- the toxic and harmful gas unmanned aerial vehicle detection system and the detection method provided by the invention can perform toxic and harmful gas detection and pollution source localization in an area that cannot be reached by the human body at the pollution site, and solve the problem that the existing environmental emergency monitoring system is difficult under complicated terrain conditions.
- the problem of reaching, the response speed is not high, and the monitoring range is limited, which greatly improves the environmental emergency response capability.
- a toxic and harmful gas drone detection system including a drone, a flight control system, a microprocessor, a gas detection module, a data acquisition module, a wireless transmission module, a geographic information module, an ultrasonic module, and a ground center;
- the control system is connected with the drone to control the flight of the drone;
- the gas detection module detects the toxic and harmful gas to determine the gas type and concentration;
- the gas detection module and the geographic information module are connected with the data acquisition module, and the data acquisition module collects The gas data of the gas detection module and the related geographic data;
- the data acquisition module and the wireless transmission module are both connected to the microprocessor, and the microprocessor transmits the gas data and the geographic data collected by the data acquisition module to the wireless transmission module to
- the ultrasonic module is connected with the microprocessor, and the obstacle is avoided by the ultrasonic obstacle to avoid the damage of the drone;
- the ground center displays the gas concentration, and the pollution source is positioned according to the concentration change of the different position.
- the gas detection module comprises a toxic and harmful gas detection sensor and/or a parabolic sensor
- the toxic and harmful gas detecting sensor comprises a PID photoion gas sensor and a toxic gas electrochemical gas sensor for measuring ammonia, trimethylamine, hydrogen sulfide, methyl mercaptan, styrene, carbon disulfide volatile organic compounds in the air. concentration.
- the US base-line PID photoion gas sensor and the British city series of toxic gas electrochemical gas sensors can directly and accurately measure the types of toxic gases of VOCs in the air where the drone is located. And concentration data.
- the parabolic sensor includes a gas sensor, a wireless module, and a power source.
- the geographic module comprises a GPS module and an electronic barometric altimeter, providing geographic data of latitude and longitude and altitude.
- the ground center includes a monitoring terminal, a wireless transmission module, a display, and an input device both connected to a computer; the monitoring terminal implements dynamic display and processing analysis of gas detection data, including real data viewing, High-concentration alarm, statistical analysis, and report output.
- the monitoring module is based on the 3D GIS platform for multi-point detection data, and displays the gas concentration distribution based on the sampling point coordinates to locate the pollution source.
- the drone is a quadrotor drone.
- a detection method for a toxic and harmful gas drone detection system comprising the following steps:
- S1 plans a route, performs path planning according to the detection area, and sets a detection start point and a detection end point, where the path further includes detection of multiple heights, the height interval is not less than 100 meters, and the progressive scan detection is performed at each height.
- the detection starting point is set at the highest level, the detection end point is set at the lowest level, and the path is planned and transmitted to the flight control system;
- the flight control system controls the drone to reach the detection starting point, starts the gas detection module, starts the uninterrupted detection from the detection point of the highest source, and then sequentially detects each height area, the detected data and the geographic data. Simultaneous transmission to the ground center;
- the display of the S3 data and the positioning of the pollution source, the monitoring terminal of the ground center realizes dynamic display and processing analysis of the gas detection data, including real data viewing, high concentration alarm, statistical analysis, and report output, and the monitoring module
- the multi-point detection data is based on the 3D GIS platform, which displays the gas concentration distribution based on the sampling point coordinates and locates the pollution source.
- step S2 further comprises: placing a parabolic sensor, using a parabolic sensor to spread the parabolic sensor through the drone platform, realizing multi-point near-surface gas monitoring, and realizing rapid collection of gas detection information through wireless autonomous network transmission technology .
Abstract
A system and method of using a drone to detect toxic and harmful gases. The detection system comprises a flight control system connected to a drone, and a data acquisition module, a wireless transmission module and an ultrasonic module separately connected to a microprocessor, and further comprises a geographic information module, a gas detection module and a ground center. The gas detection module and the geographic information module are both connected to the data acquisition module, and gas data and geographic data are transmitted to the ground center by means of the wireless transmission module. The ground center displays gas concentrations, and locates a pollution source on the basis of changes in gas concentrations at different locations. The detection system and the detection method can detect toxic and harmful gases and locate a pollution source in a polluted area inaccessible to humans, solving the problem in which it is difficult for an existing environmental emergency monitoring system to access complex terrains, and the slow response times and limited monitoring range of existing environmental emergency monitoring systems, greatly improving environmental emergency response capabilities.
Description
说明书 发明名称：有毒有害气体无人机检测系统和检测方法 技术领域 Description: Inventive name: toxic and harmful gas unmanned aerial vehicle detection system and detection method
[0001] 本发明涉及一种无人机环境检测系统， 尤其是有毒有害气体无人机检测系统和 检测方法。 [0001] The present invention relates to an unmanned aerial vehicle environment detecting system, and more particularly to a toxic and harmful gas unmanned aerial vehicle detecting system and a detecting method.
背景技术 Background technique
[0002] 目前我国环境应急监测还主要以单点采样分析的人工监测方法为主， 存在受地 况、 交通、 监测条件等限制较多、 响应速度慢、 效率低等问题， 在执行环境应 急监测任务过程中， 往往导致由于无法及吋和全面的了解污染源分布、 污染物 种类、 污染浓度、 污染范围、 污染面积、 持续吋间、 扩散迁移、 影响范围和程 度等而延误了污染事故处置的吋机， 降低了污染事故处置的效率。 [0002] At present, China's environmental emergency monitoring is mainly based on the manual monitoring method of single-point sampling analysis. There are many problems such as limited ground conditions, traffic, monitoring conditions, slow response, low efficiency, etc. During the mission process, it often leads to delays in the disposal of pollution accidents due to the inability to understand and comprehensively understand the distribution of pollution sources, types of pollutants, pollution concentration, pollution range, pollution area, continuous diurnal, diffusion and migration, and the extent and extent of impact. Machine, reducing the efficiency of pollution accident handling.
技术问题 technical problem
[0003] 为解决上述问题， 本发明提供一种快速检测有毒有害气体的种类和浓度， 并确 定污染源的有毒有害气体无人机检测系统和检测方法。 [0003] In order to solve the above problems, the present invention provides a UAV detection system and a detection method for rapidly detecting the type and concentration of toxic and harmful gases, and determining the toxic and harmful gas of the pollution source.
问题的解决方案 Problem solution
技术解决方案 Technical solution
[0004] 具体技术方案为： [0004] The specific technical solution is:
[0005] 有毒有害气体无人机检测系统， 包括无人机、 飞行控制系统、 微处理器、 气体 检测模块、 数据采模块、 无线传输模块、 地理信息模块、 超声波模块和地面中 心； 所述飞行控制系统与无人机连接， 控制无人机的飞行； 所述气体检测模块 检测有毒有害气体确定气体类型和浓度； 所述气体检测模块和地理信息模块均 与数据采集模块连接， 数据采集模块采集气体检测模块的气体数据和相关的地 理数据； 所述数据采集模块和无线传输模块均与微处理器连接， 所述微处理器 将数据采集模块采集的气体数据和地理数据通过无线传输模块传输给地面中心 ； 所述超声波模块与微处理器连接， 通过超声波障碍判断来避免障碍物， 避免 无人机损坏； 所述地面中心显示气体浓度， 并根据不同位置的浓度变化对污染 源进行定位。
[0006] 优选的， 所述气体检测模块包括有毒有害气体检测传感器和 /或抛物式传感器 [0005] a toxic and harmful gas drone detection system, including a drone, a flight control system, a microprocessor, a gas detection module, a data acquisition module, a wireless transmission module, a geographic information module, an ultrasonic module, and a ground center; The control system is connected with the drone to control the flight of the drone; the gas detection module detects the toxic and harmful gas to determine the gas type and concentration; the gas detection module and the geographic information module are connected with the data acquisition module, and the data acquisition module collects The gas data of the gas detection module and the related geographic data; the data acquisition module and the wireless transmission module are both connected to the microprocessor, and the microprocessor transmits the gas data and the geographic data collected by the data acquisition module to the wireless transmission module to The ground center; the ultrasonic module is connected with the microprocessor, and the obstacle is avoided by the ultrasonic obstacle to avoid the damage of the drone; the ground center displays the gas concentration, and the pollution source is positioned according to the concentration change of the different position. [0006] Preferably, the gas detection module includes a toxic and harmful gas detecting sensor and/or a parabolic sensor.
[0007] 其中， 所述有毒有害气体检测传感器包括 PID光离子气体传感器和有毒气体电 化学气体传感器， 测量空气中氨气、 三甲胺、 硫化氢、 甲硫醇、 苯乙烯、 二硫 化碳挥发性有机化合物的浓度。 [0007] wherein the toxic and harmful gas detecting sensor comprises a PID photoion gas sensor and a toxic gas electrochemical gas sensor for measuring ammonia, trimethylamine, hydrogen sulfide, methyl mercaptan, styrene, carbon disulfide volatile organic compounds in the air. concentration.
[0008] 所述抛物式传感器包括气体传感器、 无线模块和电源。 [0008] The parabolic sensor includes a gas sensor, a wireless module, and a power source.
[0009] 优选的， 所述地理模块包括 GPS模块和电子式气压高度计， 提供经纬度和海拔 高度的地理数据。 [0009] Preferably, the geographic module comprises a GPS module and an electronic barometric altimeter, providing geographic data of latitude and longitude and altitude.
[0010] 优选的， 所述地面中心包括均与计算机连接的监测终端、 无线传输模块、 显示 器和输入设备； 所述监测终端实现气体检测数据的动态展示和处理分析， 包括 实吋数据査看、 高浓度报警、 统计分析、 报表输出， 所述监控模块对于多点检 测数据基于三维 GIS平台， 基于采样点位坐标， 显示气体浓度分布， 对污染源进 行定位。 [0010] Preferably, the ground center includes a monitoring terminal, a wireless transmission module, a display, and an input device both connected to a computer; the monitoring terminal implements dynamic display and processing analysis of gas detection data, including real data viewing, High-concentration alarm, statistical analysis, and report output. The monitoring module is based on the 3D GIS platform for multi-point detection data, and displays the gas concentration distribution based on the sampling point coordinates to locate the pollution source.
[0011] 其中， 所述无人机为四旋翼无人机。 [0011] wherein the drone is a quadrotor drone.
[0012] 有毒有害气体无人机检测系统的检测方法， 包括以下步骤： [0012] The detection method of the toxic and harmful gas unmanned aerial vehicle detection system comprises the following steps:
[0013] S1规划航线， 根据检测区域进行路径规划， 设置检测起点和检测终点， 所述路 径还包括多个高度的检测， 高度间距不小于 100米， 在每个高度上进行逐行扫描 式检测， 检测起点设在最高层， 检测终点设在最低层， 路径规划好后传输到飞 行控制系统； [0013] S1 plans a route, performs path planning according to the detection area, and sets a detection start point and a detection end point, and the path further includes detection of multiple heights, the height interval is not less than 100 meters, and the progressive scan detection is performed at each height. The detection starting point is set at the highest level, the detection end point is set at the lowest level, and the path is planned and transmitted to the flight control system;
[0014] S2气体检测， 飞行控制系统控制无人机到达检测起点吋启动气体检测模块， 从 最高出处检测起点幵始进行不间断检测， 然后依次对各个高度区域进行检测， 检测的数据与地理数据同步进行传输给地面中心； [0014] S2 gas detection, the flight control system controls the drone to reach the detection starting point, starts the gas detection module, starts the uninterrupted detection from the detection point of the highest source, and then sequentially detects each height area, the detected data and the geographic data. Simultaneous transmission to the ground center;
[0015] S3数据的显示和污染源的定位， 地面中心的监测终端实现气体检测数据的动态 展示和处理分析， 包括实吋数据査看、 高浓度报警、 统计分析、 报表输出， 所 述监控模块对于多点检测数据基于三维 GIS平台， 基于采样点位坐标， 显示气体 浓度分布， 对污染源进行定位。 [0015] The display of the S3 data and the positioning of the pollution source, the monitoring terminal of the ground center realizes dynamic display and processing analysis of the gas detection data, including real data viewing, high concentration alarm, statistical analysis, and report output, and the monitoring module The multi-point detection data is based on the 3D GIS platform, which displays the gas concentration distribution based on the sampling point coordinates and locates the pollution source.
[0016] 其中， 所述步骤 S2还包括投放抛物式传感器， 通过无人机平台定点抛洒抛物式 传感器， 实现多点近地面的气体监测， 并通过无线自主网络传输技术实现气体
检测信息的快速采集。 [0016] wherein, the step S2 further comprises: placing a parabolic sensor, spraying a parabolic sensor through a drone platform, realizing multi-point near-surface gas monitoring, and implementing gas through a wireless autonomous network transmission technology; Rapid collection of test information.
发明的有益效果 Advantageous effects of the invention
有益效果 Beneficial effect
[0017] 与现有技术相比本发明具有以下有益效果： [0017] Compared with the prior art, the present invention has the following beneficial effects:
[0018] 本发明提供的有毒有害气体无人机检测系统和检测方法可以对污染现场人力无 法到达的区域进行有毒有害气体检测和污染源定位， 解决了现有环境应急监测 体系在复杂地形条件下难以到达， 响应速度不高， 监控范围有限的问题， 极大 的提高了环境应急响应能力。 [0018] The toxic and harmful gas unmanned aerial vehicle detection system and the detection method provided by the invention can perform toxic and harmful gas detection and pollution source localization in an area that cannot be reached by the human body at the pollution site, and solve the problem that the existing environmental emergency monitoring system is difficult under complicated terrain conditions. The problem of reaching, the response speed is not high, and the monitoring range is limited, which greatly improves the environmental emergency response capability.
本发明的实施方式 Embodiments of the invention
[0019] 现结合实施例说明本发明的具体实施方式。 [0019] Specific embodiments of the present invention will now be described in connection with the embodiments.
[0020] 有毒有害气体无人机检测系统， 包括无人机、 飞行控制系统、 微处理器、 气体 检测模块、 数据采模块、 无线传输模块、 地理信息模块、 超声波模块和地面中 心； 所述飞行控制系统与无人机连接， 控制无人机的飞行； 所述气体检测模块 检测有毒有害气体确定气体类型和浓度； 所述气体检测模块和地理信息模块均 与数据采集模块连接， 数据采集模块采集气体检测模块的气体数据和相关的地 理数据； 所述数据采集模块和无线传输模块均与微处理器连接， 所述微处理器 将数据采集模块采集的气体数据和地理数据通过无线传输模块传输给地面中心 ； 所述超声波模块与微处理器连接， 通过超声波障碍判断来避免障碍物， 避免 无人机损坏； 所述地面中心显示气体浓度， 并根据不同位置的浓度变化对污染 源进行定位。 [0020] a toxic and harmful gas drone detection system, including a drone, a flight control system, a microprocessor, a gas detection module, a data acquisition module, a wireless transmission module, a geographic information module, an ultrasonic module, and a ground center; The control system is connected with the drone to control the flight of the drone; the gas detection module detects the toxic and harmful gas to determine the gas type and concentration; the gas detection module and the geographic information module are connected with the data acquisition module, and the data acquisition module collects The gas data of the gas detection module and the related geographic data; the data acquisition module and the wireless transmission module are both connected to the microprocessor, and the microprocessor transmits the gas data and the geographic data collected by the data acquisition module to the wireless transmission module to The ground center; the ultrasonic module is connected with the microprocessor, and the obstacle is avoided by the ultrasonic obstacle to avoid the damage of the drone; the ground center displays the gas concentration, and the pollution source is positioned according to the concentration change of the different position.
[0021] 优选的， 所述气体检测模块包括有毒有害气体检测传感器和 /或抛物式传感器 [0021] Preferably, the gas detection module comprises a toxic and harmful gas detection sensor and/or a parabolic sensor
[0022] 其中， 所述有毒有害气体检测传感器包括 PID光离子气体传感器和有毒气体电 化学气体传感器， 测量空气中氨气、 三甲胺、 硫化氢、 甲硫醇、 苯乙烯、 二硫 化碳挥发性有机化合物的浓度。 [0022] wherein the toxic and harmful gas detecting sensor comprises a PID photoion gas sensor and a toxic gas electrochemical gas sensor for measuring ammonia, trimethylamine, hydrogen sulfide, methyl mercaptan, styrene, carbon disulfide volatile organic compounds in the air. concentration.
[0023] 美国 base-line PID光离子气体传感器和英国 city系列有毒气体电化学气体传感 器， 可以直接高精度、 灵敏的测量无人机所在位置空气中 VOCs有毒气体的种类
和浓度数据。 [0023] The US base-line PID photoion gas sensor and the British city series of toxic gas electrochemical gas sensors can directly and accurately measure the types of toxic gases of VOCs in the air where the drone is located. And concentration data.
[0024] 所述抛物式传感器包括气体传感器、 无线模块和电源。 [0024] The parabolic sensor includes a gas sensor, a wireless module, and a power source.
[0025] 优选的， 所述地理模块包括 GPS模块和电子式气压高度计， 提供经纬度和海拔 高度的地理数据。 [0025] Preferably, the geographic module comprises a GPS module and an electronic barometric altimeter, providing geographic data of latitude and longitude and altitude.
[0026] 优选的， 所述地面中心包括均与计算机连接的监测终端、 无线传输模块、 显示 器和输入设备； 所述监测终端实现气体检测数据的动态展示和处理分析， 包括 实吋数据査看、 高浓度报警、 统计分析、 报表输出， 所述监控模块对于多点检 测数据基于三维 GIS平台， 基于采样点位坐标， 显示气体浓度分布， 对污染源进 行定位。 [0026] Preferably, the ground center includes a monitoring terminal, a wireless transmission module, a display, and an input device both connected to a computer; the monitoring terminal implements dynamic display and processing analysis of gas detection data, including real data viewing, High-concentration alarm, statistical analysis, and report output. The monitoring module is based on the 3D GIS platform for multi-point detection data, and displays the gas concentration distribution based on the sampling point coordinates to locate the pollution source.
[0027] 其中， 所述无人机为四旋翼无人机。 [0027] wherein the drone is a quadrotor drone.
[0028] 实施例 2 Embodiment 2
[0029] 有毒有害气体无人机检测系统的检测方法， 包括以下步骤： [0029] A detection method for a toxic and harmful gas drone detection system, comprising the following steps:
[0030] S1规划航线， 根据检测区域进行路径规划， 设置检测起点和检测终点， 所述路 径还包括多个高度的检测， 高度间距不小于 100米， 在每个高度上进行逐行扫描 式检测， 检测起点设在最高层， 检测终点设在最低层， 路径规划好后传输到飞 行控制系统； [0030] S1 plans a route, performs path planning according to the detection area, and sets a detection start point and a detection end point, where the path further includes detection of multiple heights, the height interval is not less than 100 meters, and the progressive scan detection is performed at each height. The detection starting point is set at the highest level, the detection end point is set at the lowest level, and the path is planned and transmitted to the flight control system;
[0031] S2气体检测， 飞行控制系统控制无人机到达检测起点吋启动气体检测模块， 从 最高出处检测起点幵始进行不间断检测， 然后依次对各个高度区域进行检测， 检测的数据与地理数据同步进行传输给地面中心； [0031] S2 gas detection, the flight control system controls the drone to reach the detection starting point, starts the gas detection module, starts the uninterrupted detection from the detection point of the highest source, and then sequentially detects each height area, the detected data and the geographic data. Simultaneous transmission to the ground center;
[0032] S3数据的显示和污染源的定位， 地面中心的监测终端实现气体检测数据的动态 展示和处理分析， 包括实吋数据査看、 高浓度报警、 统计分析、 报表输出， 所 述监控模块对于多点检测数据基于三维 GIS平台， 基于采样点位坐标， 显示气体 浓度分布， 对污染源进行定位。 [0032] The display of the S3 data and the positioning of the pollution source, the monitoring terminal of the ground center realizes dynamic display and processing analysis of the gas detection data, including real data viewing, high concentration alarm, statistical analysis, and report output, and the monitoring module The multi-point detection data is based on the 3D GIS platform, which displays the gas concentration distribution based on the sampling point coordinates and locates the pollution source.
[0033] 其中， 所述步骤 S2还包括投放抛物式传感器， 通过无人机平台定点抛洒抛物式 传感器， 实现多点近地面的气体监测， 并通过无线自主网络传输技术实现气体 检测信息的快速采集。
[0033] wherein, the step S2 further comprises: placing a parabolic sensor, using a parabolic sensor to spread the parabolic sensor through the drone platform, realizing multi-point near-surface gas monitoring, and realizing rapid collection of gas detection information through wireless autonomous network transmission technology .
Claims
[权利要求 1] 有毒有害气体无人机检测系统， 其特征在于， 包括无人机、 飞行控制 系统、 微处理器、 气体检测模块、 数据采模块、 无线传输模块、 地理 信息模块、 超声波模块和地面中心； 所述飞行控制系统与无人机连接 ， 控制无人机的飞行； 所述气体检测模块检测有毒有害气体确定气体 类型和浓度； 所述气体检测模块和地理信息模块均与数据采集模块连 接， 数据采集模块采集气体检测模块的气体数据和相关的地理数据； 所述数据采集模块和无线传输模块均与微处理器连接， 所述微处理器 将数据采集模块采集的气体数据和地理数据通过无线传输模块传输给 地面中心； 所述超声波模块与微处理器连接， 通过超声波障碍判断来 避免障碍物， 避免无人机损坏； 所述地面中心显示气体浓度， 并根据 不同位置的浓度变化对污染源进行定位。 [Claim 1] A toxic and harmful gas unmanned aerial vehicle detecting system, comprising: a drone, a flight control system, a microprocessor, a gas detecting module, a data mining module, a wireless transmission module, a geographic information module, an ultrasonic module, and a ground center; the flight control system is connected to the drone to control the flight of the drone; the gas detection module detects the toxic and harmful gas to determine the gas type and concentration; the gas detection module and the geographic information module are both associated with the data acquisition module Connecting, the data acquisition module collects gas data and related geographic data of the gas detection module; the data acquisition module and the wireless transmission module are both connected to the microprocessor, and the microprocessor collects the gas data and the geographic data collected by the data acquisition module. The wireless module is transmitted to the ground center; the ultrasonic module is connected with the microprocessor, and the obstacle is avoided by the ultrasonic obstacle to avoid the damage of the drone; the ground center displays the gas concentration, and according to the concentration change of the different position Pollution source for positioning
[权利要求 2] 根据权利要求 1所述的有毒有害气体无人机检测系统， 其特征在于， 所述气体检测模块包括有毒有害气体检测传感器和 /或抛物式传感器 [Claim 2] The toxic and harmful gas unmanned aerial vehicle detecting system according to claim 1, wherein the gas detecting module includes a toxic and harmful gas detecting sensor and/or a parabolic sensor
[权利要求 3] 根据权利要求 2所述的有毒有害气体无人机检测系统， 其特征在于， 所述有毒有害气体检测传感器包括 PID光离子气体传感器和有毒气体 电化学气体传感器， 测量空气中氨气、 三甲胺、 硫化氢、 甲硫醇、 苯 乙烯、 二硫化碳挥发性有机化合物的浓度。 [Claim 3] The toxic and harmful gas unmanned aerial vehicle detecting system according to claim 2, wherein the toxic and harmful gas detecting sensor comprises a PID photo ion gas sensor and a toxic gas electrochemical gas sensor for measuring ammonia in the air Concentration of volatile organic compounds of gas, trimethylamine, hydrogen sulfide, methyl mercaptan, styrene, carbon disulfide.
[权利要求 4] 根据权利要求 2所述的有毒有害气体无人机检测系统， 其特征在于， 所述抛物式传感器包括气体传感器、 无线模块和电源。 [Claim 4] The toxic and harmful gas drone detecting system according to claim 2, wherein the parabolic sensor comprises a gas sensor, a wireless module, and a power source.
[权利要求 5] 根据权利要求 1所述的有毒有害气体无人机检测系统， 其特征在于， 所述地理模块包括 GPS模块和电子式气压高度计， 提供经纬度和海拔 高度的地理数据。 [Claim 5] The toxic and harmful gas drone detecting system according to claim 1, wherein the geographic module includes a GPS module and an electronic barometric altimeter, and provides geographic data of latitude and longitude and altitude.
[权利要求 6] 根据权利要求 1所述的有毒有害气体无人机检测系统， 其特征在于， 所述地面中心包括均与计算机连接的监测终端、 无线传输模块、 显示 器和输入设备； 所述监测终端实现气体检测数据的动态展示和处理分 析， 包括实吋数据査看、 高浓度报警、 统计分析、 报表输出， 所述监
控模块对于多点检测数据基于三维 GIS平台， 基于采样点位坐标， 显 示气体浓度分布， 对污染源进行定位。 [Claim 6] The toxic and harmful gas unmanned aerial vehicle detecting system according to claim 1, wherein the ground center includes a monitoring terminal, a wireless transmission module, a display, and an input device both connected to a computer; The terminal realizes dynamic display and processing analysis of gas detection data, including real data viewing, high concentration alarm, statistical analysis, and report output. The control module is based on the 3D GIS platform for multi-point detection data, and displays the gas concentration distribution based on the sampling point coordinates to locate the pollution source.
[权利要求 7] 根据权利要求 1所述的有毒有害气体无人机检测系统， 其特征在于， 所述无人机为四旋翼无人机。 [Claim 7] The toxic and harmful gas unmanned aerial vehicle detecting system according to claim 1, wherein the unmanned aerial vehicle is a quadrotor drone.
[权利要求 8] 根据权利要求 1至 7任一项所述的有毒有害气体无人机检测系统的检测 方法， 其特征在于， 包括以下步骤： [Claim 8] The method for detecting a toxic and harmful gas unmanned aerial vehicle detecting system according to any one of claims 1 to 7, characterized in that it comprises the following steps:
S1规划航线， 根据检测区域进行路径规划， 设置检测起点和检测终点 ， 所述路径还包括多个高度的检测， 高度间距不小于 100米， 在每个 高度上进行逐行扫描式检测， 检测起点设在最高层， 检测终点设在最 低层， 路径规划好后传输到飞行控制系统； S1 plans the route, and performs path planning according to the detection area, and sets a detection start point and a detection end point. The path also includes detection of multiple heights, the height interval is not less than 100 meters, and the progressive scan detection is performed at each height, and the detection start point is detected. Located at the highest level, the detection end point is set at the lowest level, and the path is planned and transmitted to the flight control system;
S2气体检测， 飞行控制系统控制无人机到达检测起点吋启动气体检测 模块， 从最高出处检测起点幵始进行不间断检测， 然后依次对各个高 度区域进行检测， 检测的数据与地理数据同步进行传输给地面中心； S3数据的显示和污染源的定位， 地面中心的监测终端实现气体检测数 据的动态展示和处理分析， 包括实吋数据査看、 高浓度报警、 统计分 析、 报表输出， 所述监控模块对于多点检测数据基于三维 GIS平台， 基于采样点位坐标， 显示气体浓度分布， 对污染源进行定位。 S2 gas detection, the flight control system controls the drone to reach the detection starting point, starts the gas detection module, starts the uninterrupted detection from the detection point of the highest source, and then detects each height area in turn, and the detected data is transmitted synchronously with the geographic data. For the ground center; S3 data display and pollution source location, the ground center monitoring terminal realizes the dynamic display and processing analysis of gas detection data, including real data viewing, high concentration alarm, statistical analysis, report output, the monitoring module For the multi-point detection data based on the 3D GIS platform, based on the sampling point coordinates, the gas concentration distribution is displayed to locate the pollution source.
[权利要求 9] 根据权利要求 8所述的有毒有害气体无人机检测系统的检测方法， 其 特征在于， 所述步骤 S2还包括投放抛物式传感器， 通过无人机平台定 点抛洒抛物式传感器， 实现多点近地面的气体监测， 并通过无线自主 网络传输技术实现气体检测信息的快速采集。
[Claim 9] The method for detecting a toxic and harmful gas unmanned aerial vehicle detecting system according to claim 8, wherein the step S2 further comprises: placing a parabolic sensor, and spraying the parabolic sensor through the drone platform; Realize multi-point near-surface gas monitoring, and achieve rapid collection of gas detection information through wireless autonomous network transmission technology.
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