Unmanned aerial vehicle air quality monitoring system and method based on electronic nose

Abstract

The invention relates to the technical field of air quality monitoring, and discloses an unmanned aerial vehicle air quality monitoring system and method based on an electronic nose, and the method comprises the steps: obtaining meteorological data and pollution source data, the meteorological data comprises weather types and air pollution indexes of a plurality of regions, and the pollution source data comprises pollution source positions and pollution source types; determining a monitoring area according to the air pollution index, and determining a flight path of the unmanned aerial vehicle according to the pollution source position and the monitoring area; selecting gas sensors to form an electronic nose sensor array according to the type of the pollution source, and installing the electronic nose sensor array on the unmanned aerial vehicle; and controlling the unmanned aerial vehicle to carry out flight detection according to the flight path, obtaining pollutant data, comparing the pollutant data with a pollutant concentration threshold value, and carrying out early warning according to a comparison result so as to realize air quality monitoring. The air quality change condition can be tracked in real time, and the dynamic development of the air quality condition can be mastered in time.

Description

Technical Field

[0001] The present invention relates to the technical field of air quality monitoring, and in particular to an unmanned aerial vehicle air quality monitoring system and method based on an electronic nose. Background Art

[0002] Traditional air quality monitoring usually relies on fixed monitoring stations, which can provide accurate data, but have the disadvantages of limited coverage, high construction and maintenance costs, and difficulty in achieving real-time dynamic monitoring. Therefore, it is of great practical significance to develop a new air quality monitoring method that combines electronic nose technology to improve the flexibility and efficiency of monitoring. Summary of the invention

[0003] The purpose of the present invention is to provide an unmanned aerial vehicle air quality monitoring system and method based on an electronic nose, so as to solve the problems of limited coverage, high construction and maintenance costs, and difficulty in achieving real-time dynamic monitoring in traditional monitoring methods.

[0004] The present invention provides a method for monitoring air quality of a drone based on an electronic nose, comprising:

[0005] Acquire meteorological data and pollution source data, wherein the meteorological data includes weather types and air pollution indexes of several regions, and the pollution source data includes pollution source locations and pollution source types;

[0006] Determine a monitoring area according to the air pollution index, and determine a flight path of the drone according to the pollution source location and the monitoring area;

[0007] Selecting gas sensors according to the type of pollution source to form an electronic nose sensor array, and installing the electronic nose sensor array on the drone;

[0008] The drone is controlled to perform flight detection along the flight path, pollutant data is obtained, the pollutant data is compared with the pollutant concentration threshold, and an early warning is issued according to the comparison result to realize air quality monitoring.

[0009] Preferably, determining the monitoring area according to the air pollution index includes:

[0010] The air pollution index and the region have a one-to-one correspondence;

[0011] Comparing the air pollution index with an air pollution index threshold, and if the air pollution index is less than or equal to the air pollution index threshold, determining that the area corresponding to the air pollution index does not need to be monitored;

[0012] If the air pollution index is greater than the air pollution index threshold, it is determined that the area corresponding to the air pollution index needs to be monitored, and the area is set as a monitoring area.

[0013] Preferably, determining the flight path of the drone according to the pollution source location and the monitoring area includes:

[0014] A standard flight path is preset, and the standard flight path is a flight path planned according to a path planning algorithm;

[0015] Determine whether the pollution source is located within the monitoring area, and if the pollution source is not located within the monitoring area, determine the flight path of the UAV to be a standard flight path;

[0016] If the pollution source is located within the monitoring area, determining the flight path of the UAV to be a standard flight path and an additional flight path;

[0017] There are several detection points arranged around the pollution source, and the additional flight path is a flight path covering all the detection points.

[0018] Preferably, gas sensors are selected according to the type of pollution source to form an electronic nose sensor array, including:

[0019] A pollutant sensor comparison table is preset, and the pollutant sensor comparison table includes several pollutant types, and each pollutant type is provided with a corresponding gas sensor;

[0020] Determine the type of pollutant based on the type of pollution source;

[0021] The corresponding gas sensors are determined according to the types of pollutants to form an electronic nose sensor array.

[0022] Preferably, before controlling the UAV to perform flight detection according to the flight path, the method further includes:

[0023] Determine whether to perform flight detection based on the meteorological data, specifically:

[0024] The meteorological data includes wind speed;

[0025] Determine whether the weather type is thunderstorm weather, and if the weather type is thunderstorm weather, stop the flight detection;

[0026] If the weather type is not thunderstorm weather, the wind speed is compared with the wind speed threshold, and if the wind speed is less than or equal to the wind speed threshold, flight detection is performed;

[0027] If the wind speed is greater than the wind speed threshold, the flight detection is stopped.

[0028] Preferably, the wind speed threshold is determined according to the total weight of the drone after the electronic nose sensor array is installed;

[0029] The wind speed threshold is determined according to the following formula:

[0030] Vy=Wz×a;

[0031] Vy represents the wind speed threshold, Wz represents the total weight of the drone, and a represents the weight influence coefficient.

[0032] Preferably, the pollutant data is compared with the pollutant concentration threshold, and an early warning is issued according to the comparison result, including:

[0033] The pollutant data include pollutant types and pollutant concentrations;

[0034] A number of pollutant concentration thresholds corresponding to the types of pollutants are preset;

[0035] Comparing the pollutant concentration with the pollutant concentration threshold, if the pollutant concentration is less than or equal to the pollutant concentration threshold, determining that the corresponding pollutant type does not need to be warned;

[0036] If the pollutant concentration is greater than the pollutant concentration threshold, it is determined that the corresponding pollutant type needs to be warned, and warning information is generated.

[0037] Preferably, the warning information includes the type and concentration of pollutants for which a warning is required.

[0038] The present invention also discloses an unmanned aerial vehicle air quality monitoring system based on an electronic nose, which is used to apply the above-mentioned unmanned aerial vehicle air quality monitoring method based on an electronic nose, comprising:

[0039] A data acquisition module, used to acquire meteorological data and pollution source data, wherein the meteorological data includes weather types and air pollution indexes of several regions, and the pollution source data includes pollution source locations and pollution source types;

[0040] A path making module, used to determine a monitoring area according to the air pollution index, and determine a flight path of the drone according to the pollution source location and the monitoring area;

[0041] An electronic nose selection module, used for selecting gas sensors to form an electronic nose sensor array according to the type of pollution source, and installing the electronic nose sensor array on the drone;

[0042] The air monitoring module is used to control the UAV to perform flight detection along the flight path, obtain pollutant data, compare the pollutant data with the pollutant concentration threshold, and issue an early warning based on the comparison result to achieve air quality monitoring.

[0043] Compared with the prior art, the beneficial effect of the present invention is that the present invention can quickly obtain meteorological data and pollution source data of multiple regions to achieve comprehensive monitoring of air quality. The flight path is determined according to the location of the pollution source and the monitoring area to ensure that the drone can accurately reach the area that needs to be monitored, thereby improving the accuracy of monitoring. At the same time, according to the type of pollution source, suitable gas sensors are selected to form an electronic nose sensor array, which can be used for targeted monitoring of different pollutants. The present invention obtains pollutant data in real time and compares it with the threshold value to timely discover air quality problems and issue early warnings, which helps to take timely response measures. Using drones for monitoring can quickly cover large areas, improve monitoring efficiency, and save manpower and material resources. It can also track changes in air quality in real time and keep abreast of the dynamic development of air quality conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0045] Figure 1 It is a flow chart of a method for monitoring air quality of a drone based on an electronic nose according to the present invention;

[0046] Figure 2 It is a functional block diagram of an electronic nose-based drone air quality monitoring system of the present invention. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0048] like Figure 1 As shown, the present invention provides a method for monitoring air quality of a drone based on an electronic nose, comprising:

[0049] Acquire meteorological data and pollution source data, wherein the meteorological data includes weather types and air pollution indexes of several regions, and the pollution source data includes pollution source locations and pollution source types;

[0050] Determine a monitoring area according to the air pollution index, and determine a flight path of the drone according to the pollution source location and the monitoring area;

[0051] Selecting gas sensors according to the type of pollution source to form an electronic nose sensor array, and installing the electronic nose sensor array on the drone;

[0052] The drone is controlled to perform flight detection along the flight path, pollutant data is obtained, the pollutant data is compared with the pollutant concentration threshold, and an early warning is issued according to the comparison result to realize air quality monitoring.

[0053] The present invention monitors air quality in real time through electronic nose technology, which helps to quickly respond to air pollution events, provides support for decision-making, reduces the construction and maintenance costs of traditional fixed monitoring stations, and improves monitoring efficiency.

[0054] In some embodiments of the present application, a monitoring area is determined based on the air pollution index, including: the air pollution index and the area are in a one-to-one correspondence; the air pollution index is compared with an air pollution index threshold, and if the air pollution index is less than or equal to the air pollution index threshold, it is determined that the area corresponding to the air pollution index does not need to be monitored; if the air pollution index is greater than the air pollution index threshold, it is determined that the area corresponding to the air pollution index needs to be monitored, and the area is set as the monitoring area.

[0055] In this embodiment, the air pollution index is an indicator for measuring the air quality status, which comprehensively reflects the concentration level of major pollutants in the air. It usually includes the concentration values ​​of various pollutants such as sulfur dioxide, nitrogen dioxide, carbon monoxide, ozone, particulate matter (PM10 and PM2.5), etc. By converting the concentration values ​​of these pollutants into an easy-to-understand index form, a simple and clear air quality status can be provided to the public.

[0056] In this application, the area to be monitored is determined according to the air pollution index. Specifically, there is a one-to-one correspondence between the air pollution index and the area. This means that each air pollution index corresponds to an area. Next, these air pollution indexes are compared and analyzed with the pre-set air pollution index threshold. If the air pollution index of a certain area is less than or equal to this threshold, it can be concluded that the air quality in the area is relatively good, so no additional monitoring is required. On the contrary, if the air pollution index of a certain area is greater than this threshold, it can be determined that the air quality in the area is poor and further monitoring is required. In this case, the area is set as a monitoring area so that corresponding measures can be taken to improve the air quality. In this way, areas with poor air quality can be effectively identified and managed to ensure the health of the public and the sustainable development of the environment.

[0057] In some embodiments of the present application, the flight path of the UAV is determined according to the pollution source location and the monitoring area, including: a standard flight path is preset, and the standard flight path is a flight path planned according to a path planning algorithm; determining whether the pollution source location is within the monitoring area, if the pollution source location is not within the monitoring area, determining the flight path of the UAV to be the standard flight path; if the pollution source location is within the monitoring area, determining the flight path of the UAV to be the standard flight path and the additional flight path; wherein, a number of detection points are set around the pollution source location, and the additional flight path is a flight path covering all detection points.

[0058] In this embodiment, in order to effectively monitor and evaluate environmental pollution, it is necessary to design the flight path of the drone according to the specific location of the pollution source and the scope of the monitoring area. First, a set of standard flight paths are preset, which are designed by a path planning algorithm to ensure that the drone can efficiently cover the monitoring area. In actual operation, it is first determined whether the specific location of the pollution source is located in the predetermined monitoring area. If the pollution source is not located in the monitoring area, the drone will fly according to the preset standard flight path to ensure comprehensive monitoring of the surrounding environment. If the pollution source is located in the monitoring area, the flight path of the drone needs to be adjusted. In this case, the flight path of the drone will include two parts: a standard flight path and an additional flight path. The standard flight path is still designed based on the path planning algorithm to ensure that the drone can cover the entire monitoring area. The additional flight path is designed to monitor the pollution source and its surrounding environment in more detail. Specifically, several detection points will be set around the pollution source location, which are used to obtain more accurate pollution data. The additional flight path will ensure that the drone can cover these detection points, thereby obtaining more comprehensive pollution data. This method of flexibly adjusting the flight path can ensure that the drone can not only cover the entire monitoring area during the monitoring process, but also conduct more detailed monitoring of the pollution source and its surrounding environment, thereby providing more accurate data support for environmental protection and pollution control.

[0059] In some embodiments of the present application, gas sensors are selected according to the pollution source type to form an electronic nose sensor array, including: a pollutant sensor comparison table is preset, the pollutant sensor comparison table includes several pollutant types, and each pollutant type is provided with a corresponding gas sensor; the pollutant type is determined according to the pollution source type; and the corresponding gas sensor is determined according to the pollutant type to form the electronic nose sensor array.

[0060] In this embodiment, in order to effectively detect and identify specific types of pollution sources, a series of gas sensors need to be selected to build an electronic nose sensor array. First, a detailed pollutant sensor comparison table is preset, which lists a variety of different types of pollutants. For each type of pollutant, one or more specific gas sensors are assigned to detect and respond to these pollutants. After determining the type of pollution source, the next task is to identify the types of pollutants that may be generated based on this type of pollution source. This process requires an in-depth understanding of the characteristics of the pollution source so that it can be accurately matched to the corresponding types of pollutants in the comparison table. Once the types of pollutants are determined, the next step is to select the corresponding gas sensors based on these types. These sensors will be combined into an electronic nose sensor array so that they can work together to provide comprehensive detection and analysis of specific pollutants. In this way, the electronic nose sensor array can effectively identify and quantify the various gas components released by the pollution source, thereby achieving accurate monitoring and control of the pollution source.

[0061] It is understandable that the electronic nose sensor array can be a sensor array composed of MQ series sensors, metal oxide sensors, etc., to achieve detection of multiple pollutants (such as CO, NOx, SO2, PM2.5, etc.).

[0062] In some embodiments of the present application, before controlling the drone to perform flight detection according to the flight path, it also includes: judging whether to perform flight detection based on the meteorological data, specifically: the meteorological data includes wind speed; judging whether the weather type is thunderstorm weather, if the weather type is thunderstorm weather, stopping the flight detection; if the weather type is not thunderstorm weather, comparing the wind speed with the wind speed threshold, if the wind speed is less than or equal to the wind speed threshold, performing flight detection; if the wind speed is greater than the wind speed threshold, stopping the flight detection.

[0063] In this embodiment, before executing the task of performing flight detection of the drone according to the predetermined flight path, a series of preliminary preparations and judgments need to be performed. First, it is necessary to obtain and analyze relevant meteorological data to ensure the safety and feasibility of the flight detection. The meteorological data includes the key indicator of wind speed. Next, it is necessary to judge the current weather type to determine whether it is suitable for flight detection. Specifically, it is first necessary to determine whether the current weather type is thunderstorm weather. If the weather type is judged to be thunderstorm weather, then for safety reasons, the flight detection should be stopped. There are strong lightning and heavy rain in thunderstorm weather, which will pose a great threat to the flight safety of the drone, so it is not appropriate to perform flight detection in this case. However, if the weather type is not thunderstorm weather, the wind speed data needs to be further analyzed. The acquired wind speed data is compared with the pre-set wind speed threshold. If the wind speed is less than or equal to the wind speed threshold, it means that the current wind speed is within the safety range and will not have much impact on the flight of the drone. In this case, the flight detection can continue. On the contrary, if the wind speed is greater than the wind speed threshold, it means that the current wind speed is too high, which may pose a threat to the stability and safety of the drone. In this case, in order to ensure the safety of the drone, flight detection will be stopped to avoid potential risks caused by excessive wind speed.

[0064] In some embodiments of the present application, the wind speed threshold is determined based on the total weight of the drone after the electronic nose sensor array is installed; wherein, the wind speed threshold is determined according to the following formula: Vy=Wz×a; Vy represents the wind speed threshold, Wz represents the total weight of the drone, and a represents the weight influence coefficient.

[0065] In this embodiment, the wind speed threshold is determined based on the total weight of the drone equipped with the electronic nose sensor array. Specifically, the total weight Wz of the drone includes the weight of the drone itself and the weight of all the equipment and sensors carried. These equipment and sensors include the electronic nose sensor array, as well as other possible instruments and components. The total weight Wz is a key factor because it directly affects the stability and flight performance of the drone in the wind. A wind speed threshold suitable for the total weight of a specific drone is determined by the total weight. This wind speed threshold is an important parameter that the drone must comply with when performing a mission to ensure the safety and reliability of the flight. When the wind speed exceeds this threshold, the drone needs to take appropriate measures to avoid the risks caused by excessive wind speed.

[0066] In some embodiments of the present application, the pollutant data is compared with the pollutant concentration threshold, and an early warning is issued based on the comparison result, including: the pollutant data includes pollutant type and pollutant concentration; a number of pollutant concentration thresholds corresponding to the pollutant type are preset; the pollutant concentration is compared with the pollutant concentration threshold, and if the pollutant concentration is less than or equal to the pollutant concentration threshold, it is determined that the corresponding pollutant type does not need to be warned; if the pollutant concentration is greater than the pollutant concentration threshold, it is determined that the corresponding pollutant type needs to be warned, and warning information is generated.

[0067] In this embodiment, during the environmental monitoring process, it is necessary to conduct a detailed comparative analysis of the collected pollutant data with the preset pollutant concentration threshold. This process involves two key elements: first, the pollutant data itself, which includes specific pollutant types and their corresponding concentration values; second, a series of preset pollutant concentration thresholds corresponding to various pollutant types. By carefully comparing the actual monitored pollutant concentration with these preset concentration thresholds, the pollution status in the current environment can be further determined. Specifically, if it is found during the comparison process that the concentration of a certain pollutant is less than or equal to its corresponding pollutant concentration threshold, it can be concluded that the type of pollutant is currently within a safe range and does not require early warning processing. However, if the concentration of a certain pollutant exceeds its corresponding pollutant concentration threshold, this means that the concentration of the type of pollutant has exceeded the safe range and early warning measures need to be taken immediately. In this case, the system will automatically generate corresponding early warning information so that relevant departments and personnel can take corresponding countermeasures in time to ensure environmental safety and public health. Through this detailed comparison and analysis, the pollutant concentration in the environment can be effectively monitored and controlled, potential pollution problems can be discovered in time, and necessary early warning measures can be taken to ensure the sustainable development of the environment and the health and safety of the public.

[0068] In some embodiments of the present application, the warning information includes the type and concentration of pollutants for which a warning is required.

[0069] like Figure 2 As shown, the present application also discloses an electronic nose-based drone air quality monitoring system, which is used to apply the above-mentioned electronic nose-based drone air quality monitoring method, including:

[0070] The data acquisition module is used to acquire meteorological data and pollution source data, wherein the meteorological data includes weather types and air pollution indexes of several regions, and the pollution source data includes pollution source locations and pollution source types.

[0071] The path making module is used to determine the monitoring area according to the air pollution index, and to determine the flight path of the UAV according to the location of the pollution source and the monitoring area.

[0072] The electronic nose selection module is used to select gas sensors to form an electronic nose sensor array according to the type of the pollution source, and install the electronic nose sensor array on the drone.

[0073] The air monitoring module is used to control the UAV to perform flight detection along the flight path, obtain pollutant data, compare the pollutant data with the pollutant concentration threshold, and issue an early warning based on the comparison result to achieve air quality monitoring.

[0074] The various modules in this application are interconnected, and can obtain meteorological data and pollution source data in real time, quickly respond to changes in air quality, and provide timely information for environmental supervision. By analyzing the location and type of pollution sources, the system can accurately formulate the flight path of the drone to ensure the accuracy and pertinence of the monitoring data. At the same time, the electronic nose selection module can select suitable gas sensors according to different types of pollution sources, so that the drone can adapt to the monitoring needs of various pollutants. And the system can automatically compare pollutant data with concentration thresholds, and issue early warnings based on the results, which helps to take timely measures to reduce the impact of pollution; using drones for air quality monitoring can greatly reduce manpower and equipment costs and improve monitoring efficiency compared to traditional ground monitoring stations.

[0075] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

[0076] The system provided in the above embodiment is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the modules or steps in the embodiments of the present invention can be decomposed or combined. For example, the modules in the above embodiment can be combined into one module, or further divided into multiple sub-modules to complete all or part of the functions described above. The names of the modules and steps involved in the embodiments of the present invention are only for distinguishing the modules or steps, and are not regarded as improper limitations of the present invention.

[0077] Those skilled in the art should be able to appreciate that the modules and method steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, computer software or a combination of the two, and the programs corresponding to the software modules and method steps can be placed in random access memory (RAM), memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disks, removable disks, CD-ROMs or any other form of storage medium known in the technical field. In order to clearly illustrate the interchangeability of electronic hardware and software, the composition and steps of each example have been generally described in the above description according to the function. Whether these functions are performed in electronic hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

Claims

1. A method for monitoring air quality of unmanned aerial vehicles based on an electronic nose, characterized in that: include: Acquire meteorological data and pollution source data, wherein the meteorological data includes weather types and air pollution indexes of several regions, and the pollution source data includes pollution source locations and pollution source types; Determine a monitoring area according to the air pollution index, and determine a flight path of the drone according to the pollution source location and the monitoring area; Selecting gas sensors according to the type of pollution source to form an electronic nose sensor array, and installing the electronic nose sensor array on the drone; The drone is controlled to perform flight detection along the flight path, pollutant data is obtained, the pollutant data is compared with the pollutant concentration threshold, and an early warning is issued according to the comparison result to realize air quality monitoring.

2. The method for monitoring air quality of unmanned aerial vehicles based on an electronic nose according to claim 1, characterized in that: The monitoring area is determined according to the air pollution index, including: The air pollution index and the region have a one-to-one correspondence; Comparing the air pollution index with an air pollution index threshold, and if the air pollution index is less than or equal to the air pollution index threshold, determining that the area corresponding to the air pollution index does not need to be monitored; If the air pollution index is greater than the air pollution index threshold, it is determined that the area corresponding to the air pollution index needs to be monitored, and the area is set as a monitoring area.

3. The method for monitoring air quality of unmanned aerial vehicles based on electronic nose according to claim 1, characterized in that: Determine the flight path of the drone based on the pollution source location and monitoring area, including: A standard flight path is preset, and the standard flight path is a flight path planned according to a path planning algorithm; Determine whether the pollution source is located within the monitoring area, and if the pollution source is not located within the monitoring area, determine the flight path of the UAV to be a standard flight path; If the pollution source is located within the monitoring area, determining the flight path of the UAV to be a standard flight path and an additional flight path; There are several detection points arranged around the pollution source, and the additional flight path is a flight path covering all the detection points.

4. The method for monitoring air quality of unmanned aerial vehicles based on electronic nose according to claim 1, characterized in that: According to the type of pollution source, a gas sensor is selected to form an electronic nose sensor array, including: A pollutant sensor comparison table is preset, and the pollutant sensor comparison table includes several pollutant types, and each pollutant type is provided with a corresponding gas sensor; Determine the type of pollutant based on the type of pollution source; The corresponding gas sensors are determined according to the types of pollutants to form an electronic nose sensor array.

5. The method for monitoring air quality of unmanned aerial vehicles based on electronic nose according to claim 1, characterized in that: Before controlling the drone to perform flight detection according to the flight path, it also includes: Determine whether to perform flight detection based on the meteorological data, specifically: The meteorological data includes wind speed; Determine whether the weather type is thunderstorm weather, and if the weather type is thunderstorm weather, stop the flight detection; If the weather type is not thunderstorm weather, the wind speed is compared with the wind speed threshold, and if the wind speed is less than or equal to the wind speed threshold, flight detection is performed; If the wind speed is greater than the wind speed threshold, the flight detection is stopped.

6. The method for monitoring air quality of unmanned aerial vehicles based on electronic nose according to claim 5, characterized in that: The wind speed threshold is determined based on the total weight of the drone after the electronic nose sensor array is installed; The wind speed threshold is determined according to the following formula: Vy=Wz×a; Vy represents the wind speed threshold, Wz represents the total weight of the drone, and a represents the weight influence coefficient.

7. The method for monitoring air quality of unmanned aerial vehicles based on electronic nose according to claim 1, characterized in that: Compare the pollutant data with the pollutant concentration threshold, and issue an early warning based on the comparison result, including: The pollutant data include pollutant types and pollutant concentrations; A number of pollutant concentration thresholds corresponding to the types of pollutants are preset; Comparing the pollutant concentration with the pollutant concentration threshold, if the pollutant concentration is less than or equal to the pollutant concentration threshold, determining that the corresponding pollutant type does not need to be warned; If the pollutant concentration is greater than the pollutant concentration threshold, it is determined that the corresponding pollutant type needs to be warned, and warning information is generated.

8. The method for monitoring air quality of unmanned aerial vehicles based on electronic nose according to claim 7, characterized in that: The warning information includes the type and concentration of pollutants for which warning is required.

9. An unmanned aerial vehicle air quality monitoring system based on an electronic nose, used for applying the unmanned aerial vehicle air quality monitoring method based on an electronic nose as claimed in any one of claims 1 to 8, characterized in that: include: A data acquisition module, used to acquire meteorological data and pollution source data, wherein the meteorological data includes weather types and air pollution indexes of several regions, and the pollution source data includes pollution source locations and pollution source types; A path making module, used to determine a monitoring area according to the air pollution index, and determine a flight path of the drone according to the pollution source location and the monitoring area; An electronic nose selection module, used for selecting gas sensors to form an electronic nose sensor array according to the type of pollution source, and installing the electronic nose sensor array on the drone; The air monitoring module is used to control the UAV to perform flight detection along the flight path, obtain pollutant data, compare the pollutant data with the pollutant concentration threshold, and issue an early warning based on the comparison result to achieve air quality monitoring.

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