Multi-rotor unmanned aerial vehicle for cooperatively monitoring greenhouse gas and atmospheric pollutants

Abstract

The invention relates to the technical field of ecological environment monitoring, in particular to a multi-rotor unmanned aerial vehicle for cooperatively monitoring greenhouse gas and atmospheric pollutants, which comprises a multi-rotor platform, a three-dimensional ultrasonic anemograph, a comprehensive analyzer, a gas inlet pipeline, a support rod, a main GNSS antenna, an auxiliary GNSS antenna, a temperature and humidity sensor and a damping part, the comprehensive analyzer is arranged below the multi-rotor platform; one end of the damping piece is connected with the multi-rotor platform, and the other end is connected with the comprehensive analyzer; the supporting rod is fixed on the center line of the top end of the comprehensive analyzer, and the supporting rod penetrates out of a gap between the multi-rotor platform and the comprehensive analyzer; the three-dimensional ultrasonic anemograph and the main GNSS antenna are correspondingly arranged on the first end head and the first end rod body of the supporting rod; the auxiliary GNSS antenna and the temperature and humidity sensor are correspondingly arranged on the second end head and the second end rod body of the supporting rod. The air inlet pipeline is fixed below the supporting rod; one end of the air inlet pipeline is arranged below the three-dimensional ultrasonic anemograph, and the other end of the air inlet pipeline is communicated with the comprehensive analyzer.

Description

Technical Field

[0001] The present invention relates to the technical field of ecological environment monitoring, and in particular to a multi-rotor UAV for coordinated monitoring of greenhouse gases and atmospheric pollutants. Background Art

[0002] Greenhouse gas emissions and air pollutant emissions have the same roots, sources and processes. At present, my country's ecological civilization construction has entered a critical period with carbon reduction as the key strategic direction, promoting the synergy of pollution reduction and carbon reduction, and achieving a qualitative change in the improvement of ecological environment quality from quantitative change. Carrying out monitoring of greenhouse gas and air pollutant emission concentrations and intensities in the operation and production process of industrial enterprises (including thermal power, steel, oil extraction, coal mining and other related industries) is an important basis for understanding the synergistic emission and transmission mechanism of greenhouse gases and air pollutants in typical industries and scientifically improving the effectiveness of regional synergistic governance of carbon reduction and pollution reduction.

[0003] At present, the methods for quantifying greenhouse gas and air pollutant emissions at home and abroad mainly include material balance method, emission factor method and online monitoring method. Among them, material balance method and emission factor method are both calculation methods, with perfect technical regulations and simple accounting process, which are conducive to enterprises to improve their management level of greenhouse gases and air pollutants. However, there are great deficiencies in the determination of parameters, especially the local determination of emission factors. Selecting default values ​​will cause large errors between the greenhouse gas and air pollution emissions of enterprises and the actual emissions. The online monitoring method mainly sets up online monitoring instruments at the emission end for monitoring. It is necessary to measure the flue gas flow, temperature, concentration and other parameters in the flue to convert the emissions. It can more intuitively reflect the real-time greenhouse gas and air pollutant emissions. When using the actual measurement method to measure gas emissions, it can reduce the assumptions about the fuel characteristics of the emission source. However, actual research shows that the form of gas emissions from industrial enterprises is very complex, including both point source organized emissions and fugitive emissions, both production process emissions and treatment facility emissions. Therefore, it is difficult to accurately measure the emissions in the entire production process. In addition, the main concern for atmospheric pollutants is whether their emission concentration exceeds the standard, while the main concern for greenhouse gases is their total emission, and the gas flow rate must be accurately measured. However, the length of most exhaust gas on-site straight pipe sections is insufficient, the flow rate is uneven, and the flow rate monitoring equipment is difficult to calibrate and trace on-site. In addition, due to the representativeness of the measurement points, the standardization of instrument operation and maintenance, and the effectiveness of missing data supplements, the actual accounting data of greenhouse gas and atmospheric pollutant emissions of enterprises is relatively uncertain and not very credible. It can be seen that the problem of accurate and high-quality coordinated monitoring of greenhouse gas and atmospheric pollutant emissions at the enterprise emission end has not yet been well solved.

[0004] The gas emission monitoring technology based on the multi-rotor platform of unmanned aerial vehicles provides another feasible technical means for the coordinated monitoring of the overall greenhouse gas and atmospheric pollutant emissions of industrial enterprises. At present, there are related multi-rotor unmanned aerial vehicle carbon emission monitoring systems at home and abroad that can carry out synchronous monitoring of CH4 and CO2 concentrations, horizontal wind speed, and atmospheric temperature, humidity, and pressure, and calculate the transmission flux of greenhouse gases in the horizontal direction. There are also unmanned aerial vehicles equipped with multi-parameter atmospheric environment monitoring sensors to monitor the concentration of atmospheric pollutants. However, the current multi-rotor unmanned aerial vehicle monitoring system lacks system equipment that can simultaneously monitor greenhouse gas and atmospheric pollutant emissions, and only considers the gas transmission process in the two-dimensional horizontal direction, without considering the gas transmission process in the vertical direction, resulting in a lack of coordination in the monitoring of greenhouse gases and atmospheric pollutants, which in turn leads to the emissions calculated by the monitoring data being underestimated and with greater uncertainty. Summary of the invention

[0005] 1. Technical issues to be resolved

[0006] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a multi-rotor UAV for coordinated monitoring of greenhouse gases and atmospheric pollutants, which solves the technical problem that the existing multi-rotor UAVs have poor coordination in monitoring greenhouse gases and atmospheric pollutants, resulting in low monitoring data accuracy.

[0007] (II) Technical solution

[0008] In order to achieve the above-mentioned object, the multi-rotor UAV for collaborative monitoring of greenhouse gases and atmospheric pollutants of the present invention comprises a multi-rotor platform, a three-dimensional ultrasonic anemometer, a comprehensive analyzer, an air intake pipeline, a support rod, a main GNSS antenna, a secondary GNSS antenna, a temperature and humidity sensor and a shock absorber;

[0009] The comprehensive analyzer is arranged below the multi-rotor platform; one end of the shock absorbing member is connected to the multi-rotor platform, and the other end is connected to the comprehensive analyzer;

[0010] The support rod is fixed on the center line of the top of the comprehensive analyzer, and the support rod passes through the gap between the multi-rotor platform and the comprehensive analyzer; the three-dimensional ultrasonic anemometer and the main GNSS antenna are correspondingly arranged on the first end and the first end of the support rod; the secondary GNSS antenna and the temperature and humidity sensor are correspondingly arranged on the second end and the second end of the support rod;

[0011] The air intake pipeline is fixed below the support rod; one end of the air intake pipeline is arranged below the three-dimensional ultrasonic anemometer, and the other end is connected to the comprehensive analyzer.

[0012] Optionally, the comprehensive analyzer includes a chassis and a greenhouse gas analyzer, an atmospheric pollutant monitoring module, a laser rangefinder, a vacuum pump, a GNSS / INS integrated navigation module, a wireless data transmission module, a power distribution module and an onboard control computer arranged in the chassis;

[0013] The greenhouse gas analyzer, the atmospheric pollutant monitoring module, the vacuum pump, the GNSS / INS integrated navigation module, the laser rangefinder, the onboard control computer, the temperature and humidity sensor and the three-dimensional ultrasonic anemometer are electrically connected to the power distribution module respectively;

[0014] The greenhouse gas analyzer, the atmospheric pollutant monitoring module, the GNSS / INS integrated navigation module, the laser rangefinder, the wireless data transmission module, the temperature and humidity sensor and the three-dimensional ultrasonic anemometer are electrically connected to the onboard control computer respectively;

[0015] The main GNSS antenna and the auxiliary GNSS antenna are electrically connected to the GNSS / INS integrated navigation module accordingly.

[0016] Optionally, the atmospheric pollutant monitoring module is provided with a gas detection probe;

[0017] The air intake pipeline is connected to the gas detection probe, and the two are detachably connected;

[0018] The air pollutant monitoring module can monitor PM 10 、NO2、O3、PM 2.5 , SO2, TVOC, odor or CO gas concentration.

[0019] Optionally, the comprehensive analyzer further comprises an impurity filter, a first three-way pipeline and a second three-way pipeline;

[0020] The air intake pipeline is connected to the impurity filter; the three pipe openings of the first three-way pipeline are correspondingly connected to the impurity filter, the greenhouse gas analyzer and the atmospheric pollutant monitoring module;

[0021] The three pipe openings of the second three-way pipe are connected to the greenhouse gas analyzer, the air pollutant monitoring module and the air inlet end of the vacuum pump respectively; the gas pipelines of the greenhouse gas analyzer and the air pollutant monitoring module are connected in parallel;

[0022] The air outlet end of the vacuum pump passes through the outer wall of the chassis.

[0023] Optionally, the wireless data transmission module receives monitoring data integrated by the onboard control computer, including navigation information of latitude, longitude and altitude, concentration information of CH4, CO2 and H2O greenhouse gases, PM 10 , NO2, O3 and PM 2.5 Atmospheric pollutant concentration information, temperature, pressure, humidity, wind speed, wind direction meteorological information and relative altitude;

[0024] The wireless data transmission module transmits the monitoring data to the ground remote monitoring terminal in real time by accessing the data transmission antenna.

[0025] Optionally, the onboard control computer integrates the collected data from various sensors through internal embedded software, and sends the data to a data computing center through 4G communication and the public cloud to calculate the emission intensity of greenhouse gases and air pollutants and visualize the monitoring data.

[0026] Optionally, the power distribution module is connected to an external onboard battery to supply power to the comprehensive analyzer according to the rated voltages of different sensors and to provide overload protection.

[0027] Optionally, a plurality of mounting blocks are sleeved on the support rod;

[0028] The main GNSS antenna, the auxiliary GNSS antenna, the three-dimensional ultrasonic anemometer and the temperature and humidity sensor are detachably connected to the plurality of mounting blocks one by one, so that the mounting directions of the four are all vertically upward.

[0029] Optionally, the support rod is also sleeved with a plurality of triangular blocks;

[0030] A through hole is formed at the bottom end of the triangular block; the air intake pipeline passes through the through hole; and the mounting block is arranged above the air intake pipeline.

[0031] Optionally, a hollow channel is provided inside the support rod;

[0032] The signal lines of the main GNSS antenna, the auxiliary GNSS antenna, the three-dimensional ultrasonic anemometer and the temperature and humidity sensor are electrically connected to the comprehensive analyzer through the hollow channel.

[0033] (III) Beneficial effects

[0034] The beneficial effects of the present invention are:

[0035] The support rod is fixed on the center line of the upper part of the comprehensive analyzer and passes through the gap between the comprehensive analyzer and the multi-rotor platform, which effectively utilizes the installation space of the multi-rotor drone, thereby reducing the weight and volume of the multi-rotor drone and improving the monitoring adaptability of the multi-rotor drone to small operating environments. It is also beneficial to improve the balance of the multi-rotor drone during flight and improve the reliability of the greenhouse gas detection tooling and air pollutant detection tooling after integration.

[0036] The length of the support rod must ensure that the installation position of the three-dimensional ultrasonic anemometer and the temperature and humidity sensor is not affected by the turbulence of the UAV rotor, thereby ensuring the detection accuracy of the three-dimensional ultrasonic anemometer and the temperature and humidity sensor. Installing the three-dimensional ultrasonic anemometer and the temperature and humidity sensor at the two free ends of the support rod can effectively reduce the length requirement of the support rod, thereby reducing the weight and space occupied by the support rod.

[0037] The air intake pipeline is arranged below the three-dimensional ultrasonic anemometer, so that when the three-dimensional ultrasonic anemometer detects the wind speed, the air intake pipeline can simultaneously extract gas, thereby improving the detection efficiency of the multi-rotor UAV.

[0038] Based on the platform, the greenhouse gas concentration, atmospheric pollutant concentration, three-dimensional wind speed, atmospheric temperature, humidity, and air pressure are synchronously monitored in the area of ​​artificial production activities. According to the atmospheric scalar material conservation and divergence theorem, the greenhouse gas, atmospheric pollutant horizontal and vertical emission fluxes and overall emission intensity emitted by artificial production activities in the monitoring area can be coordinated and monitored. The multi-rotor drone of the present invention has the advantages of simple operation for field monitoring flight, high monitoring efficiency, large coverage area, low capital and time cost, etc. It can be applied to the monitoring and accounting of greenhouse gas and atmospheric pollutant emission intensity of industrial enterprises, localization of greenhouse gas and atmospheric pollutant emission factors, and emergency monitoring of sudden air-related environmental events. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A schematic diagram of the structure of a multi-rotor drone for collaborative monitoring of greenhouse gases and atmospheric pollutants according to the present invention;

[0040] Figure 2 A front view of the multi-rotor drone for collaborative monitoring of greenhouse gases and atmospheric pollutants of the present invention;

[0041] Figure 3 for Figure 2 The enlarged view of point A in the middle;

[0042] Figure 4 A bottom view of the multi-rotor UAV for collaborative monitoring of greenhouse gases and air pollutants of the present invention;

[0043] Figure 5It is a schematic diagram of the connection between the three-dimensional ultrasonic anemometer and the support rod of the present invention;

[0044] Figure 6 It is a connection diagram of the comprehensive analyzer of the present invention.

[0045] [Description of Reference Numerals]

[0046] 1: Multi-rotor platform; 2: Three-dimensional ultrasonic anemometer; 3: Comprehensive analyzer; 4: Air intake pipe; 5: Support rod; 6: Main GNSS antenna; 7: Secondary GNSS antenna; 8: Temperature and humidity sensor; 9: Shock absorber. DETAILED DESCRIPTION

[0047] In order to better explain the present invention and facilitate understanding, the present invention is described in detail below through specific implementation modes in conjunction with the accompanying drawings.

[0048] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0049] In addition, in the present invention, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0050] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; "connection" can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0051] See also Figures 1 to 4The present invention provides a multi-rotor UAV for coordinated monitoring of greenhouse gases and atmospheric pollutants. The multi-rotor UAV includes a multi-rotor platform 1, a three-dimensional ultrasonic anemometer 2, a comprehensive analyzer 3, an air intake pipeline 4, a support rod 5, a main GNSS antenna 6, a secondary GNSS antenna 7, a temperature and humidity sensor 8 and a shock absorber 9; the comprehensive analyzer 3 is arranged below the multi-rotor platform 1; one end of the shock absorber 9 is connected to the multi-rotor platform 1, and the other end is connected to the comprehensive analyzer 3; the support rod 5 is fixed on the center line of the top of the comprehensive analyzer 3, and the support rod 5 passes through the gap between the multi-rotor platform 1 and the comprehensive analyzer 3; the three-dimensional ultrasonic anemometer 2 and the main GNSS antenna 6 are correspondingly arranged on the first end end and the first end rod body of the support rod 5; the secondary GNSS antenna 7 and the temperature and humidity sensor 8 are correspondingly arranged on the second end rod body and the second end end of the support rod 5; the air intake pipeline 4 is fixed below the support rod 5; one end of the air intake pipeline 4 is arranged below the three-dimensional ultrasonic anemometer 2, and the other end is connected to the comprehensive analyzer 3. In this embodiment, the x-axis points to the flight direction of the nose of the multi-rotor platform 1, that is, the axial direction of the support rod 5, the y-axis is the direction perpendicular to the x-axis in the horizontal plane, and the z-axis is the vertical direction, forming a spatial rectangular coordinate system.

[0052] In this embodiment, the three-dimensional ultrasonic anemometer 2 is a spherical oblique three-dimensional ultrasonic anemometer, which can simultaneously test the relative wind speed (u, v, w) in three directions, horizontally and vertically, thereby improving the coordination of greenhouse gas and atmospheric pollutant monitoring, and thus improving the emission accuracy of monitoring data accounting. The air intake pipeline 4 adopts a PVC pipeline with an inner diameter of 3mm, which is connected to the air inlet of the comprehensive analyzer 3 through a threaded interface. The shock absorber 9 is a spring or other linear buffer, so that the comprehensive analyzer 3 can support the multi-rotor platform 1 and play a buffering role when landing; and the shock absorber 9 supports the multi-rotor platform 1, so that the support rod 5 can be installed in the gap between the multi-rotor platform 1 and the comprehensive analyzer 3, which effectively optimizes the installation space of the support rod 5 and reduces the volume of the multi-rotor drone.

[0053] The comprehensive analyzer 3 and the multi-rotor platform 1 are softly connected through the shock absorbing member 9, and the comprehensive analyzer 3 and the multi-rotor platform 1 constitute the main body of the multi-rotor UAV. The multi-rotor platform 1 is surrounded by a plurality of rotors, and the comprehensive analyzer 3 can receive the detection data of greenhouse gases and atmospheric pollutants, and transmit the data to the ground remote monitoring terminal or the public cloud after processing, so as to achieve the purpose of real-time monitoring and visualization.

[0054] The support rod 5 is fixed on the center line of the upper part of the comprehensive analyzer 3, and passes through the gap between the comprehensive analyzer 3 and the multi-rotor platform 1, which effectively utilizes the installation space of the multi-rotor drone, thereby reducing the weight and volume of the multi-rotor drone and improving the monitoring adaptability of the multi-rotor drone to small working environments. At the same time, the support rod 5 is fixed on the center line of the upper part of the comprehensive analyzer 3, which is also conducive to improving the balance of the multi-rotor drone during flight and improving the reliability of the greenhouse gas detection tooling and the atmospheric pollutant detection tooling after integration.

[0055] The three-dimensional ultrasonic anemometer 2 is installed at the forefront of the support rod 5 along the x-axis flight direction of the multi-rotor platform 1. The main GNSS antenna 6 and the secondary GNSS antenna 7 are respectively installed in the front and rear of the multi-rotor platform 1, and the distance between them is greater than 1m. The temperature and humidity sensor 8 is installed at the tail end of the support rod 5 and is rectified by a fairing. The length of the support rod 5 must ensure that the installation position of the three-dimensional ultrasonic anemometer 2 and the temperature and humidity sensor 8 is not affected by the turbulence of the drone rotor, thereby ensuring the detection accuracy of the three-dimensional ultrasonic anemometer 2 and the temperature and humidity sensor 8. Therefore, the three-dimensional ultrasonic anemometer 2 and the temperature and humidity sensor 8 are installed at the two free ends of the support rod 5 respectively, which can effectively reduce the length requirement of the support rod 5, thereby reducing the weight and occupied space of the support rod 5.

[0056] The air inlet of the air inlet pipeline 4 is arranged below the three-dimensional ultrasonic anemometer 2, so that when the three-dimensional ultrasonic anemometer 2 detects the wind speed, the air inlet pipeline 4 can simultaneously extract gas, thereby improving the detection efficiency of the multi-rotor drone.

[0057] Based on the platform, the concentration of greenhouse gases (CH4, CO2, H2O), air pollutants (up to 8 parameters, including PM 10 、NO2、O3、PM 2.5 , SO2, TVOC, odor, CO) concentration, three-dimensional wind speed, atmospheric temperature, humidity, and air pressure can be monitored simultaneously. According to the conservation of atmospheric scalar matter and the divergence theorem, it can realize the coordinated monitoring of greenhouse gases emitted by human production activities in the monitoring area, horizontal and vertical emission fluxes of atmospheric pollutants, and overall emission intensity. The multi-rotor drone of the present invention has the advantages of simple operation for field monitoring flight, high monitoring efficiency, large coverage area, low capital and time costs, etc. It can be applied to the monitoring and accounting of greenhouse gas and atmospheric pollutant emission intensity of industrial enterprises, the localization of greenhouse gas and atmospheric pollutant emission factors, and the emergency monitoring of sudden air-related environmental events.

[0058] Further, the comprehensive analyzer 3 includes a chassis and a greenhouse gas analyzer, an atmospheric pollutant monitoring module, a laser rangefinder, a vacuum pump, a GNSS / INS integrated navigation module, a wireless data transmission module, a power distribution module and an onboard control computer arranged in the chassis; the greenhouse gas analyzer, the atmospheric pollutant monitoring module, the vacuum pump, the GNSS / INS integrated navigation module, the laser rangefinder, the onboard control computer, the temperature and humidity sensor 8 and the three-dimensional ultrasonic anemometer 2 are electrically connected to the power distribution module; the greenhouse gas analyzer, the atmospheric pollutant monitoring module, the GNSS / INS integrated navigation module, the laser rangefinder, the wireless data transmission module, the temperature and humidity sensor 8 and the three-dimensional ultrasonic anemometer 2 are electrically connected to the onboard control computer; the main GNSS antenna 6 and the secondary GNSS antenna 7 are electrically connected to the GNSS / INS integrated navigation module. Specifically, the chassis shell and the support rod 5 of the comprehensive analyzer 3 are made of carbon fiber materials to reduce the overall weight of the device and ensure the structural strength of the device. The greenhouse gas analyzer is an infrared laser greenhouse gas analyzer for detecting the concentration of greenhouse gases (CH4, CO2, H2O). The air pollutant monitoring module is an electrochemical multi-parameter air pollutant monitoring module used to detect air pollutants (up to 8 parameters, including PM 10 、NO2、O3、PM 2.5 , SO2, TVOC, odor, CO) concentration. The laser rangefinder is used for distance measurement. The vacuum pump is a brushless vacuum pump, which collects gas by suction, and the gas flow rate is 500 ml / min. The GNSS / INS combined navigation module is used for navigation and positioning. The wireless data transmission module is used to transmit the monitoring data to the wireless data transmission antenna or the public cloud. The power distribution module is connected to the external airborne battery to power the comprehensive analyzer 3. The airborne control computer can receive, process and send various monitoring data.

[0059] Secondly, the atmospheric pollutant monitoring module is provided with a gas detection probe; the air intake pipe 4 is connected to the gas detection probe, and the two are detachably connected; the atmospheric pollutant monitoring module can monitor PM 10 、NO2、O3、PM 2.5 , SO2, TVOC, malodor or CO gas concentration for detection. In one embodiment, each pollutant gas corresponds to a gas detection probe, and the gas detection probe is connected to the air intake pipe 4 by threaded connection or pin connection. The corresponding gas detection probe can be replaced according to the pollutant gas to be detected, which effectively improves the adaptability of the multi-rotor drone to detect multiple types of pollutants.

[0060] In addition, the comprehensive analyzer 3 also includes an impurity filter, a first three-way pipe and a second three-way pipe; the air intake pipe 4 is connected to the impurity filter; the three pipe openings of the first three-way pipe are connected to the impurity filter, the greenhouse gas analyzer and the air pollutant monitoring module; the three pipe openings of the second three-way pipe are connected to the greenhouse gas analyzer, the air pollutant monitoring module and the air intake end of the vacuum pump; the gas pipelines of the greenhouse gas analyzer and the air pollutant monitoring module are connected in parallel; the air outlet end of the vacuum pump passes through the outer wall of the chassis. Specifically, the gas pipelines of the greenhouse gas analyzer and the air pollutant monitoring module are connected in parallel; Figure 6 As shown, after the air is inhaled, it is first filtered through the impurity filter; after filtering out the large particulate air impurities, the gas enters the greenhouse gas analyzer and the atmospheric pollutant monitoring module respectively, and the greenhouse gas analyzer and the atmospheric pollutant monitoring module measure the greenhouse gas concentration and the pollutant gas concentration accordingly; the gas of the greenhouse gas analyzer and the atmospheric pollutant monitoring module is merged into the air inlet end of the vacuum pump, and discharged out of the chassis from the air outlet end of the vacuum pump. In addition, the airborne control computer receives the polluted gas concentration information of the single-chip microcomputer of the atmospheric pollutant monitoring module, the position information of the GNSS / INS combined navigation module, the greenhouse gas concentration information of the greenhouse gas analyzer, the distance information of the laser rangefinder, the temperature and humidity information of the temperature and humidity sensor 8, and the three-dimensional wind speed information of the three-dimensional ultrasonic anemometer 2, and processes this information. The airborne control computer is responsible for the parameter setting of the monitoring end system and the A / D signal conversion, data acquisition, data synchronization, data storage, data filtering, data output and 4G communication of the output signals of each sensor. The onboard control computer can transmit the monitoring data to the ground remote monitoring terminal through the wireless data transmission module and the wireless data transmission antenna; it can also transmit the monitoring data to the data computing center through the public cloud to display the calculated data of greenhouse gas and pollutant gas emission intensity in real time.

[0061] Furthermore, the wireless data transmission module receives monitoring data integrated by the onboard control computer, including navigation information of latitude, longitude and altitude, concentration information of CH4, CO2 and H2O greenhouse gases, PM 10 , NO2, O3 and PM 2.5 The wireless data transmission module can access the data transmission antenna to send the monitoring data to the ground remote monitoring terminal in real time, so as to help the ground operators to grasp the monitoring situation in real time and adjust the monitoring route in time.

[0062] In addition, the onboard control computer integrates the collected data from various sensors through internal embedded software, and saves them in real time and synchronously as NETCDF format data. After completing a flight data collection task, the collected NETCDF format data is automatically sent to the data computing center through 4G communication and the public cloud to calculate the emission intensity of greenhouse gases and atmospheric pollutants and visualize the monitoring data. Specifically, the onboard control computer is embedded with system control software, which is responsible for the parameter setting of the monitoring end system and the A / D signal conversion, data collection, data synchronization, data storage, data filtering, data output and 4G communication of the output signals of various sensors. The relevant monitoring parameters are displayed in real time at the data computing center, which is convenient for intuitively displaying the various parameters monitored by the multi-rotor drone.

[0063] See again Figure 6 , the power distribution module is connected to the external onboard battery, and is used to supply power to all electronic modules in the comprehensive analyzer 3 according to the rated voltage of different sensors, and provide overload protection. Specifically, the power distribution module is electrically connected to the atmospheric pollutant monitoring module, greenhouse gas analyzer, vacuum pump, GNSS / INS combined navigation module, laser rangefinder, onboard control computer, temperature and humidity sensor 8 and three-dimensional ultrasonic anemometer 2, and is powered by an external onboard battery. The comprehensive analyzer 3 has a high degree of integration, and realizes the coordinated monitoring of greenhouse gases emitted by human production activities in the monitoring area, horizontal and vertical emission fluxes of atmospheric pollutants, and overall emission intensity.

[0064] like Figure 5 As shown, a plurality of mounting blocks are sleeved on the support rod 5; the main GNSS antenna 6, the auxiliary GNSS antenna 7, the three-dimensional ultrasonic anemometer 2 and the temperature and humidity sensor 8 are detachably connected to the plurality of mounting blocks one by one, so that the installation directions of the four are all vertically upward. Specifically, the GNSS / INS combined navigation module is a dual-antenna module, that is, by connecting two GNSS antennas, the accuracy of route and attitude measurement is improved, wherein the baseline length between the main GNSS antenna 6 and the auxiliary GNSS antenna 7 is greater than 1m. Optionally, the main GNSS antenna 6 and the auxiliary GNSS antenna 7 use multi-frequency spiral GNSS antennas to further reduce the overall weight. The top of the mounting block is a plane, which is convenient for laying out components so that the installation direction of the upper components is vertically upward, thereby improving the installation accuracy of the upper components, and then improving the detection accuracy.

[0065] Furthermore, a plurality of triangular blocks are sleeved on the support rod 5; a through hole is provided at the bottom end of the triangular block; the air inlet pipe 4 passes through the through hole; and the mounting block is arranged above the air inlet pipe 4. Specifically, the gas pipe 4 is fixedly mounted below the support rod 5 through a plurality of triangular blocks, the air inlet of the gas pipe 4 is located at the first end of the support rod 5, and the horizontal interval between the air inlet of the gas pipe 4 and the three-dimensional ultrasonic anemometer 2 is not greater than 5 cm, and the vertical interval is not greater than 10 cm. On the one hand, the triangular blocks improve the installation strength of the gas pipe 4, which is convenient for installing the gas pipe 4 with a longer length; on the other hand, the triangular blocks create a certain gap between the gas pipe 4 and the support rod 5, which is convenient for installing the mounting block, effectively avoiding direct contact between the gas pipe 4 and the support rod 5, and effectively avoiding the internal airflow of the gas pipe 4 when it is working to disturb the detection of components such as the three-dimensional ultrasonic anemometer 2, thereby improving the detection accuracy of components such as the three-dimensional ultrasonic anemometer 2.

[0066] Secondly, a hollow channel is provided inside the support rod 5; the signal lines of the main GNSS antenna 6, the auxiliary GNSS antenna 7, the three-dimensional ultrasonic anemometer 2 and the temperature and humidity sensor 8 are electrically connected to the comprehensive analyzer 3 through the hollow channel. The signal lines are pre-buried in the hollow channel, and there is no need to add additional components to fix the signal lines, which effectively ensures the weight and volume of the support rod 5, and facilitates the support rod 5 to be stably deployed along the x-axis.

[0067] It should be understood that the above description of the specific embodiments of the present invention is only for illustrating the technical route and features of the present invention, and its purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly, but the present invention is not limited to the above specific implementation methods. Any changes or modifications made within the scope of the claims of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi-rotor drone for collaborative monitoring of greenhouse gases and atmospheric pollutants, characterized in that: The multi-rotor unmanned aerial vehicle comprises a multi-rotor platform (1), a three-dimensional ultrasonic anemometer (2), a comprehensive analyzer (3), an air intake pipeline (4), a support rod (5), a main GNSS antenna (6), a secondary GNSS antenna (7), a temperature and humidity sensor (8) and a shock absorber (9); The comprehensive analyzer (3) is arranged below the multi-rotor platform (1); one end of the shock absorbing member (9) is connected to the multi-rotor platform (1), and the other end is connected to the comprehensive analyzer (3); The support rod (5) is fixed on the center line of the top end of the comprehensive analyzer (3), and the support rod (5) passes through the gap between the multi-rotor platform (1) and the comprehensive analyzer (3); the three-dimensional ultrasonic anemometer (2) and the main GNSS antenna (6) are correspondingly arranged on the first end and the first end of the support rod (5); the secondary GNSS antenna (7) and the temperature and humidity sensor (8) are correspondingly arranged on the second end and the second end of the support rod (5); The air intake pipeline (4) is fixed below the support rod (5); one end of the air intake pipeline (4) is arranged below the three-dimensional ultrasonic anemometer (2), and the other end is connected to the comprehensive analyzer (3).

2. The multi-rotor drone for collaborative monitoring of greenhouse gases and air pollutants according to claim 1, characterized in that: The comprehensive analyzer (3) comprises a chassis and a greenhouse gas analyzer, an atmospheric pollutant monitoring module, a laser rangefinder, a vacuum pump, a GNSS / INS integrated navigation module, a wireless data transmission module, a power distribution module and an onboard control computer arranged in the chassis; The greenhouse gas analyzer, the atmospheric pollutant monitoring module, the vacuum pump, the GNSS / INS integrated navigation module, the laser rangefinder, the onboard control computer, the temperature and humidity sensor (8) and the three-dimensional ultrasonic anemometer (2) are electrically connected to the power distribution module accordingly; The greenhouse gas analyzer, the atmospheric pollutant monitoring module, the GNSS / INS integrated navigation module, the laser rangefinder, the wireless data transmission module, the temperature and humidity sensor (8) and the three-dimensional ultrasonic anemometer (2) are electrically connected to the onboard control computer respectively; The main GNSS antenna (6) and the auxiliary GNSS antenna (7) are electrically connected to the GNSS / INS integrated navigation module accordingly.

3. The multi-rotor drone for collaborative monitoring of greenhouse gases and air pollutants according to claim 2, characterized in that: The atmospheric pollutant monitoring module is provided with a gas detection probe; The air intake pipeline (4) is connected to the gas detection probe, and the two are detachably connected; The air pollutant monitoring module can monitor PM 10 、NO2、O3、PM 2.5 , SO2, TVOC, odor or CO gas concentration.

4. The multi-rotor UAV for collaborative monitoring of greenhouse gases and air pollutants according to claim 2, characterized in that: The comprehensive analyzer (3) further comprises an impurity filter, a first three-way pipe and a second three-way pipe; The air intake pipeline (4) is connected to the impurity filter; the three pipe openings of the first three-way pipeline are correspondingly connected to the impurity filter, the greenhouse gas analyzer and the atmospheric pollutant monitoring module; The three pipe openings of the second three-way pipe are connected to the greenhouse gas analyzer, the air pollutant monitoring module and the air inlet end of the vacuum pump respectively; the gas pipelines of the greenhouse gas analyzer and the air pollutant monitoring module are connected in parallel; The air outlet end of the vacuum pump passes through the outer wall of the chassis.

5. The multi-rotor UAV for collaborative monitoring of greenhouse gases and air pollutants according to claim 2, characterized in that: The wireless data transmission module receives monitoring data integrated by the onboard control computer, including navigation information of latitude, longitude and altitude, concentration information of CH4, CO2 and H2O greenhouse gases, PM 10 , NO2, O3 and PM 2.5 Atmospheric pollutant concentration information, temperature, pressure, humidity, wind speed, wind direction meteorological information and relative altitude; The wireless data transmission module transmits the monitoring data to the ground remote monitoring terminal in real time by accessing the data transmission antenna.

6. The multi-rotor UAV for collaborative monitoring of greenhouse gases and air pollutants according to claim 2, characterized in that: The onboard control computer integrates the collected detection data and sends the detection data to the data computing center via 4G communication and the public cloud. The data computing center calculates the emission intensity of greenhouse gases and air pollutants and visualizes the monitoring data.

7. The multi-rotor UAV for collaborative monitoring of greenhouse gases and air pollutants according to claim 2, characterized in that: The power distribution module is connected to an external onboard battery and is used to supply power to the comprehensive analyzer (3) according to the rated voltages of different sensors and to provide overload protection.

8. The multi-rotor UAV for collaborative monitoring of greenhouse gases and air pollutants according to any one of claims 1 to 7, characterized in that: The support rod (5) is sleeved with a plurality of mounting blocks; The main GNSS antenna (6), the auxiliary GNSS antenna (7), the three-dimensional ultrasonic anemometer (2) and the temperature and humidity sensor (8) are detachably connected to the plurality of mounting blocks in a one-to-one correspondence, so that the mounting directions of the four are all vertically upward.

9. The multi-rotor UAV for collaborative monitoring of greenhouse gases and air pollutants according to claim 8, characterized in that: The support rod (5) is also sleeved with a plurality of triangular blocks; A through hole is provided at the bottom end of the triangular block; the air intake pipeline (4) passes through the through hole; and the mounting block is arranged above the air intake pipeline (4).

10. The multi-rotor UAV for collaborative monitoring of greenhouse gases and air pollutants according to claim 8, characterized in that: A hollow channel is provided inside the support rod (5); The signal lines of the main GNSS antenna (6), the auxiliary GNSS antenna (7), the three-dimensional ultrasonic anemometer (2) and the temperature and humidity sensor (8) are electrically connected to the comprehensive analyzer (3) through the hollow channel.

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