A real-time landfill odor treatment method and system based on drones

Abstract

The present invention discloses a real-time landfill odor treatment method and system based on drones. The method comprises: S1, the drone flies according to a preset patrol route and collects pollutant concentration data and environmental data in real time; the environmental data includes the drone's geographical coordinates, wind direction, wind speed, and drone's flight altitude; S2, the drone sends the pollutant concentration data to a ground terminal, and the ground terminal determines whether the pollutant concentration data exceeds a preset threshold. If so, the ground terminal calculates the geographical coordinates of the pollutant concentration peak using a Gaussian diffusion model using the environmental data currently collected by the drone, controls the drone to fly to the geographical coordinates of the pollutant concentration peak, and then hovers, and issues a deodorant spraying instruction to the drone. If not, the drone continues to fly according to the preset patrol route. The present invention solves the current technical problem of being unable to perform local and precise positioning of the landfill gas migration direction and provide immediate response feedback.

Description

Technical Field

[0001] The present invention belongs to the field of landfill odor pollution control, and more specifically, relates to a real-time landfill odor treatment method and system based on drones. Background Art

[0002] Sanitary landfill is the primary method for domestic waste disposal both domestically and internationally. However, the landfill process generates significant amounts of landfill gas, including NH3, H2S, and VOCs, which are the primary cause of landfill odor. Currently, commonly used odor treatment methods include physical, chemical, and biological methods. However, these methods all suffer from two common drawbacks: first, they can only address odor pollution locally; second, they are costly to operate over extended periods of time.

[0003] Malodor pollution is an open, unorganized emission with long duration, wide impact, and high gas production. Therefore, mobile deodorization equipment is essential to expand the odor treatment range and reduce operating time. Mobile deodorization equipment has begun to appear both domestically and internationally, but it lacks online monitoring capabilities. Odor monitoring still relies primarily on manual monitoring, which is unable to accurately pinpoint the migration direction of landfill gas and provide immediate feedback. Therefore, integrating online odor monitoring with immediate response has become a key obstacle to odor control technology. Summary of the Invention

[0004] In response to the above-mentioned defects or improvement needs of the existing technology, the present invention provides a real-time landfill odor treatment method and system based on drones, the purpose of which is to accurately locate the migration direction of landfill gas. Drone technology and deodorant technology are used in conjunction to integrate and realize online odor monitoring and immediate response, thereby solving the current technical problem of being unable to accurately locate the local migration direction of landfill gas and provide immediate response feedback.

[0005] To achieve the above objectives, according to one aspect of the present invention, a method for real-time treatment of landfill odor based on a drone is provided, comprising the following steps:

[0006] S1, the drone flies along a preset inspection route and collects pollutant concentration data and environmental data in real time; the environmental data includes the drone's geographical coordinates, wind direction, wind speed, and drone's flight altitude;

[0007] In step S2, the UAV sends the pollutant concentration data to the ground terminal, which determines whether the pollutant concentration data exceeds a preset threshold. If so, the ground terminal uses the environmental data currently collected by the UAV to calculate the geographical coordinates of the pollutant concentration peak through the Gaussian diffusion model. The UAV is controlled to fly to the geographical coordinates of the pollutant concentration peak and hover there, and a command to spray deodorant is issued to the UAV. If not, the UAV continues to fly according to the preset patrol route.

[0008] Preferably, the step of issuing a deodorant spraying instruction to the drone includes the following sub-steps:

[0009] S201, calculating the required spraying amount of deodorant according to the pollutant concentration data;

[0010] S202, issuing a command to the drone to spray a predetermined amount of deodorant. After the spraying is completed, the drone collects pollutant concentration data again.

[0011] S203, the UAV sends the pollutant concentration data to the ground terminal, and the ground terminal determines whether the pollutant concentration data exceeds the preset threshold. If not, the ground terminal stops spraying and the UAV continues to fly according to the preset patrol route. If so, an instruction is issued to the UAV to spray the deodorant multiple times according to the first preset dose. After each spraying, the UAV collects the pollutant concentration data again after a first preset time. When the pollutant concentration data obtained is less than the preset threshold, the pollutant concentration data is collected again after a second preset time. If the pollutant concentration data is still less than the preset threshold, the ground terminal stops spraying and the UAV continues to fly according to the preset patrol route.

[0012] Preferably, the preset proportion of the required spraying amount of deodorant in step S202 is 80%-90%.

[0013] Preferably, in step S203, the first preset dose of deodorant is 5-15 ml of deodorant; and the first preset time and the second preset time are 5-10 minutes.

[0014] Preferably, the required spraying amount V of the deodorant is calculated based on the pollutant concentration data as follows:

[0015] V=t×v×w×Vt

[0016] Where V is the theoretical spray volume, unit is m 3 ; t is the spraying time, unit is s; v is the spraying speed of the drone, unit is m / s; w is the spray width of the drone, unit is m; V t The spray volume per unit area of ​​the drone, unit L / m 2 ;

[0017] The injection time t is obtained by the following formula:

[0018]

[0019] Among them, C t The final concentration of odor, in mg / m 3 ; C0 is the initial concentration of odor, unit is mg / m 3; k is the apparent kinetic constant, which is 0.00075 for H2S and 0.00064 for NH3; t is the injection time, in seconds; b is the correction parameter, which is 0.0003725 for H2S and 0.000825 for NH3.

[0020] Preferably, the spraying time t can also be obtained by the following formula:

[0021] Ct / C0=kt+b

[0022] Among them, C t is the final concentration of odor, dimensionless; C0 is the initial concentration of odor, dimensionless; k is the fitting slope, 0.00042; t is the spraying time, unit is s; b is the correction parameter, 0.0047.

[0023] Preferably, it also includes: recording the geographical location coordinates of the peak pollutant concentration and adding them to the preset inspection route; preferably, the drone takes photos of the geographical location coordinates of the peak pollutant concentration and sends the photos to the ground terminal.

[0024] Preferably, the deodorant comprises the following components in mass fractions: 1.0%-5.0% anhydrous citric acid, 6.0%-12.0% tea polyphenols, 0.1%-2.5% pine wood essence, 1.0%-8.0% Tween 80 and the remainder in mass fraction water.

[0025] Preferably, the deodorant is composed of the following components by mass fraction: 5.0% anhydrous citric acid, 12.0% tea polyphenols, 0.5% pine wood essence, 3.0% Tween 80 and 79.5% water.

[0026] According to another aspect of the present invention, a real-time landfill odor treatment system based on a drone is provided, comprising:

[0027] Ground terminal, drone, odor concentration detection sensor installed on the drone, deodorant spraying system, GPS navigation module, CCD camera module and communication module;

[0028] Wherein, the odor concentration detection sensor is used to collect pollutant concentration data;

[0029] The GPS navigation module is used to collect environmental data, including the coordinates of the drone's flight location, wind direction, wind speed, and the drone's flight altitude;

[0030] The ground terminal is used to obtain the pollutant concentration data sent by the drone and determine whether the pollutant concentration data exceeds a preset threshold. If so, the geographical coordinates of the pollutant concentration peak are calculated using the Gaussian diffusion model using the environmental data currently collected by the drone. The drone is controlled to fly to the geographical coordinates of the pollutant concentration peak and then hover, and a deodorant spraying instruction is issued to the drone. If not, the drone is controlled to continue flying according to the preset patrol route.

[0031] The CCD camera module is used to capture images when the UAV flies to the geographical coordinates of the peak pollutant concentration and hovers.

[0032] In general, the above technical solutions conceived by the present invention can achieve at least the following beneficial effects compared with the prior art.

[0033] (1) This invention uses drone technology to monitor landfill gas diffusion and migration patterns and odor concentration online, enabling immediate in-situ response at the landfill site. By integrating drone technology with deodorant technology, this invention reduces the instability and risk of traditional manual monitoring methods and overcomes the problem of random spraying and the inability to accurately locate traditional mobile deodorizers.

[0034] (2) Traditional deodorant technology requires the consumption of a large amount of chemical agents, which will bring extremely high industrial costs, and excessive deodorants will also cause unknown burdens on landfills.

[0035] (3) The present invention uses drone technology to adjust the route in real time through online monitoring data, and all data collected from each voyage will be analyzed again at the ground information receiving station for optimization of the next route.

[0036] (4) The technical method described in the present invention can immediately shut down the deodorant, maximizing the utilization of high-cost deodorant resources, breaking through the limitations of various traditional methods, and having the potential for large-scale application. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a flow chart of a method for real-time landfill odor treatment based on drones provided by an embodiment of the present invention;

[0038] Figure 2 This is a structural block diagram of a real-time landfill odor treatment system based on drones provided by an embodiment of the present invention;

[0039] Figure 3 This is an embodiment of the present invention. After treatment according to the real-time landfill odor treatment method based on drones provided by the present invention, the odor concentration change graph is monitored within 180 minutes. DETAILED DESCRIPTION

[0040] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0041] The embodiment of the present invention provides a real-time landfill odor treatment method based on drones, see Figure 1 , including the following steps:

[0042] S1, the drone flies along a preset inspection route and collects pollutant concentration data and environmental data in real time; the environmental data includes the drone's geographical coordinates, wind direction, wind speed, and drone's flight altitude;

[0043] In step S2, the UAV sends the pollutant concentration data to the ground terminal, which determines whether the pollutant concentration data exceeds a preset threshold. If so, the ground terminal uses the environmental data currently collected by the UAV to calculate the geographical coordinates of the pollutant concentration peak through the Gaussian diffusion model. The UAV is controlled to fly to the geographical coordinates of the pollutant concentration peak and hover there, and a command to spray deodorant is issued to the UAV. If not, the UAV continues to fly according to the preset patrol route.

[0044] The calculation formula of the Gaussian plume diffusion model is as follows:

[0045]

[0046] Where X(x,y,z) is the concentration of the diffused gas at a distance of x meters downwind, y meters horizontally, and z meters above the ground, in kg / m 3 ; Q is the source strength, unit is kg / s; u is the average wind speed, unit is m / s; σ y is the horizontal diffusion parameter, unit is m; σ z is the vertical diffusion parameter, in meters; t is the time, in seconds; H is the effective height of the odor source, in meters; y is the horizontal distance, in meters; and z is the vertical distance, in meters.

[0047] It should be noted that the point source diffusion trend can also be obtained through the calculation formula of the Gaussian plume diffusion model.

[0048] In a feasible manner, the step of issuing a deodorant spraying instruction to the drone includes the following sub-steps:

[0049] S201, calculating the required spraying amount of deodorant according to the pollutant concentration data;

[0050] S202, issuing a command to the drone to spray a predetermined amount of deodorant. After the spraying is completed, the drone collects pollutant concentration data again.

[0051] S203, the UAV sends the pollutant concentration data to the ground terminal, and the ground terminal determines whether the pollutant concentration data exceeds the preset threshold. If not, the ground terminal stops spraying and the UAV continues to fly according to the preset patrol route. If so, an instruction is issued to the UAV to spray the deodorant multiple times according to the first preset dose. After each spraying, the UAV collects the pollutant concentration data again after a first preset time. When the pollutant concentration data obtained is less than the preset threshold, the pollutant concentration data is collected again after a second preset time. If the pollutant concentration data is still less than the preset threshold, the ground terminal stops spraying and the UAV continues to fly according to the preset patrol route.

[0052] Preferably, the preset proportion of the required spraying amount of deodorant in step S202 is 80%-90%.

[0053] Preferably, in step S203, the first preset dose of deodorant is 5-15 ml of deodorant; and the first preset time and the second preset time are 5-10 minutes.

[0054] Preferably, the required spraying amount V of the deodorant is calculated based on the pollutant concentration data as follows:

[0055] V=t×v×w×Vt

[0056] Where V is the theoretical spray volume, unit is m 3 ; t is the spraying time, unit is s; v is the spraying speed of the drone, unit is m / s; w is the spray width of the drone, unit is m; V t The spray volume per unit area of ​​the drone, unit L / m 2 ;

[0057] The injection time t is obtained by the following formula:

[0058]

[0059] Among them, C t The final concentration of odor, in mg / m 3 ; C0 is the initial concentration of odor, unit is mg / m 3 ; k is the apparent kinetic constant, which is 0.00075 for H2S and 0.00064 for NH3; t is the injection time, in seconds; b is the correction parameter, which is 0.0003725 for H2S and 0.000825 for NH3.

[0060] Preferably, the spraying time t can also be obtained by the following formula:

[0061] Ct / C0=kt+b

[0062] Among them, C t is the final concentration of odor, dimensionless; C0 is the initial concentration of odor, dimensionless; k is the fitting slope, 0.00042; t is the spraying time, unit is s; b is the correction parameter, 0.0047.

[0063] Preferably, it also includes: recording the geographical location coordinates of the peak pollutant concentration and adding them to the preset inspection route; preferably, the drone takes photos of the geographical location coordinates of the peak pollutant concentration and sends the photos to the ground terminal.

[0064] Preferably, the deodorant comprises the following components in mass fractions: 1.0%-5.0% anhydrous citric acid, 6.0%-12.0% tea polyphenols, 0.1%-2.5% pine wood essence, 1.0%-8.0% Tween 80 and the remainder in mass fraction water.

[0065] Preferably, the deodorant is composed of the following components by mass fraction: 5.0% anhydrous citric acid, 12.0% tea polyphenols, 0.5% pine wood essence, 3.0% Tween 80 and 79.5% water.

[0066] According to another aspect of the present invention, a real-time landfill odor treatment system based on drones is provided. Figure 2 ,include:

[0067] Ground terminal, drone, odor concentration detection sensor installed on the drone, deodorant spraying system, GPS navigation module, CCD camera module and communication module;

[0068] Wherein, the odor concentration detection sensor is used to collect pollutant concentration data;

[0069] The GPS navigation module is used to collect environmental data, including the coordinates of the drone's flight location, wind direction, wind speed, and the drone's flight altitude;

[0070] The ground terminal is used to obtain the pollutant concentration data sent by the drone and determine whether the pollutant concentration data exceeds a preset threshold. If so, the geographical coordinates of the pollutant concentration peak are calculated using the Gaussian diffusion model using the environmental data currently collected by the drone. The drone is controlled to fly to the geographical coordinates of the pollutant concentration peak and then hover, and a deodorant spraying instruction is issued to the drone. If not, the drone is controlled to continue flying according to the preset patrol route.

[0071] Preferably, the landfill odor real-time treatment system further includes a temperature and humidity sensor for monitoring whether the temperature in the landfill area is normal to avoid accidents such as fire.

[0072] The calculation of the required spraying amount of the deodorant according to the pollutant concentration data in step S201 is further described through the following two embodiments:

[0073] Example 1:

[0074] During the daytime (06:30-18:00) at landfill A, the drone was used to fly along the preset inspection route, and the H2S and NH3 concentrations were detected in real time using the corresponding H2S concentration sensors and NH3 concentration sensors. In this embodiment, the data detected by the H2S concentration sensor and NH3 concentration sensor were in mg / m 3 The preset threshold value of H2S in the operating route of the device is 0.05mg / m 3 The preset threshold of NH3 is 0.2mg / m 3 The maximum H2S concentration at a certain location was monitored and calculated to be about 0.17 mg / m 3 The maximum NH3 concentration is 0.45 mg / m 3 , the drone hovers. It is expected to reduce H2S and NH3 to 0.05mg / m 3 and 0.2 mg / m 3 .

[0075] The H2S and NH3 removal spraying time is calculated by the following formula:

[0076]

[0077] Among them, C t The final concentration of odor, in mg / m 3 ; C0 is the initial concentration of odor, unit is mg / m 3 k is the apparent kinetic constant, which is 0.00075 for H₂S; t is the injection time in seconds; and b is a correction factor of 0.0003725. For NH₃, it is 0.00064; t is the injection time in seconds; and b is a correction factor of 0.000825. The injection time was calculated for each gas separately, with the longest time taken as the final injection time. The calculated injection time was 105 minutes.

[0078] The flight parameters are set as follows: height 1.5m, spray width 3.5m, spray speed 4.5m / s, spray volume per unit area 0.25mL / m 2 .

[0079] Calculate the required spray volume V of deodorant as:

[0080] V=t×v×w×Vt

[0081] Where V is the theoretical spray volume, unit is m3 ; t is the spraying time, unit is s; v is the spraying speed of the drone, unit is m / s; w is the spray width of the drone, unit is m; V t The spray volume per unit area of ​​the drone, unit L / m 2 ; The required spraying amount of deodorant is calculated to be 120mL.

[0082] The drone first sprays 80% of the required deodorant volume, or 96 mL. It then collects pollutant concentration data. Finding it hasn't dropped to the desired level, it sprays another 10 mL. After a 5-minute pause, it collects pollutant concentration data. Finding it hasn't dropped to the desired level, it sprays another 10 mL. After a 5-minute pause, it collects pollutant concentration data again. Finding it hasn't dropped to the desired level, it sprays another 10 mL. After a 5-minute pause, it collects pollutant concentration data again. Finding it has dropped below the desired level, it collects pollutant concentration data again after a 5-minute pause. At this point, the deodorant spraying is considered complete, and the drone continues its pre-set patrol route. If the deodorant runs low during operation, the drone returns to the ground information receiving station for refills.

[0083] Example 2:

[0084] During the nighttime operation period (7:30 PM - 5:30 AM) at Landfill B, the drone was flown along a pre-set inspection route. The concentrations of H2S and NH3 met the standards. In this embodiment, an odor concentration sensor was used to detect the concentration parameters of a mixture of various VOCs, sulfur compounds, and nitrogen compounds. The data detected by the odor concentration sensor is a dimensionless quantity, meaning the odor concentration is a sensory indicator. During the device's operating route, the preset odor concentration threshold was 1000. At one location, an odor concentration of 1800 was detected. Using the laboratory-scale three-point comparison odor bag method, the corresponding data was converted into odor sensor parameters. The desired odor concentration was reduced to 1000.

[0085] The injection time is calculated using the following formula:

[0086] Ct / C0=kt+b

[0087] Among them, C t is the final odor concentration, a dimensionless quantity; C0 is the initial odor concentration, a dimensionless quantity; k is the fitting slope, 0.00042; t is the spray time, in seconds; and b is the correction parameter, 0.0047. The calculated spray time is 21.5 minutes.

[0088] Calculate the required spray volume V of deodorant as:

[0089] V=t×v×w×Vt

[0090] Where V is the theoretical spray volume, unit is m 3; t is the spraying time, unit is s; v is the spraying speed of the drone, unit is m / s; w is the spray width of the drone, unit is m; V t The spray volume per unit area of ​​the drone, unit L / m 2 ; The required spraying amount of deodorant is calculated to be 25mL.

[0091] The drone first sprays 80% of the required deodorant volume, or 20 mL. It then collects pollutant concentration data. If the concentration has not yet dropped to the desired level, it sprays another 5 mL. After a 5-minute pause, it collects pollutant concentration data. It also has not yet dropped to the desired level. It sprays another 5 mL. After a 5-minute pause, it collects pollutant concentration data again. It has dropped below the desired level. After a 5-minute pause, it collects pollutant concentration data again. At this point, the deodorant spraying is considered complete, and the drone continues its pre-set patrol route. If the deodorant runs low during operation, the drone returns to the ground information receiving station for refills.

[0092] It should be noted that, in the present invention, the deodorant is preferably composed of the following components by mass: 5.0% anhydrous citric acid, 12.0% tea polyphenols, 0.5% pine wood essence, 3.0% Tween 80 and 79.5% water.

[0093] Citric acid is a weak acid buffer, mainly targeting amine malodorous gases. Since amines are alkaline substances, after reacting with the weak acid buffer in the sprayed deodorant, they form ammonium salts, which are then dissolved in the deodorizing liquid, and the odor disappears. This is a chemical deodorizing component achieved through acid-base neutralization; tea polyphenols, as the active ingredient of the plant extract - tea dregs, have a strong chemical adsorption effect on polar gas molecules such as ammonia and hydrogen sulfide; on the other hand, they can inhibit the growth of microorganisms and reduce the activity of microorganisms in decomposing organic matter, thereby reducing the generation and emission of odors. As a masking deodorant, pine wood fragrance's fragrance masks the original odor. As the deodorant is sprayed, it atomizes into fine droplets. Due to the high solubility of plant essential oils for odor molecules, the odor molecules adhere firmly to the surface of the pine wood fragrance droplets upon contact, then dissolve within them, eliminating the odor. Tween 80, as a nonionic surfactant, helps reduce surface tension, increasing the solubility of deodorizing active ingredients like tea polyphenols and pine wood fragrance. Furthermore, with the same input energy, smaller spray droplets are produced, effectively expanding the contact area between the odor and the droplets. Water is the primary solvent in the formula, used to control the deodorant's dilution factor.

[0094] The deodorization efficiency of chemical deodorant and plant deodorant was compared. 3 H2S gas and 0.6mg / m 3The NH3 gas was sampled at an interval of 30 min. The deodorization was carried out by spraying multiple times in equal amounts, with a spraying volume of 15 mL each time. The H2S and NH3 concentrations were measured at 0, 30, 60, 90, 120, 150, and 180 min. The odor removal efficiency of each deodorant was finally obtained as shown in Table 1.

[0095]

[0096] Chemical deodorants, such as glyoxal, have excellent deodorizing properties, but these aldehydes, alcohols, and zinc salts themselves have pungent odors and are harmful to the human body. Plant-based deodorizing materials are environmentally friendly. For example, tea polyphenols and other plant-based active ingredients are primarily derived from tea dregs. Utilizing tea dregs not only increases the economic value of tea but also allows for waste treatment, achieving resource recycling.

[0097] This formula combines multiple plant active ingredients to reduce odor concentration in multiple aspects such as chemical adsorption, acid-base neutralization, and odor masking. It has a more obvious odor removal effect, is cheaper than chemical reagents, and has no environmental pollution. It is a deodorant formula with application prospects.

[0098] This formulation also included a series of surfactant comparisons. The three surfactants listed in Table 2 are representative nonionic surfactants. Tween-20 and Tween-80 are more widely used to avoid the generation of large, difficult-to-dissipate foam after droplet spraying. However, considering the additional antibacterial and solubilizing properties of these surfactants, Tween-80, at a higher concentration, was selected as the surfactant in this formulation.

[0099]

[0100]

[0101] See Table 3 for a comparison of the deodorizing efficiencies of chemical deodorants and plant deodorants with different formulations.

[0102] Chemical deodorant 1: 1.5% hydrogen peroxide, 1.5% ferrous sulfate, 1.0% Tween-80, 96.0% water.

[0103] Chemical deodorant 2: 1.0% vanillin, 5.0% peppermint oil, 1.0% Tween 20, 94.0% water.

[0104] Plant deodorant 3: 15.0% turpentine, 7.5% polyethylene glycol, 1.5% Tween-20, 2.0% ethanol, 74.0% water.

[0105] This deodorant formula: 5.0% anhydrous citric acid, 12.0% tea polyphenols, 0.5% pine wood essence, 3.0% Tween 80 and 79.5% water.

[0106] In Table 3, the ratio refers to the ratio of chemical deodorant or plant deodorant diluted in water. For example, the ratio 1 (1:100) of chemical deodorant 1 means that the volume ratio of chemical deodorant 1 to water is 1:100.

[0107]

[0108] The deodorant of this formula has a high dilution ratio, which can save the amount of deodorant used. At the same time, the removal effect of the two odors by the ratio one (1:1000) is better than that of the ratio two (1:500).

[0109] However, the surfactants that must be added to the deodorant are relatively expensive. For example, the Tween 80 used in this recipe costs 2,000 yuan / kg. Therefore, how to use a computer to respond instantly to the start and stop of the deodorization process is the key to saving deodorant costs. After determining the recipe, the landfill odor real-time treatment method based on drones provided by the present invention was used to treat the landfill odor, and the odor concentration changes within 180 minutes were monitored again. Figure 3 As shown:

[0110] It can be observed that the concentrations of H2S and NH3 dropped rapidly and stabilized within 60 minutes after the deodorant was sprayed, and then fluctuated slightly within 60-180 minutes, but the odor concentration did not change significantly. To a certain extent, the response error of the sensor shutdown can be ruled out, ensuring that after the deodorant was sprayed, the odor concentration reached the shutdown threshold and would not rise significantly afterwards.

[0111] It will be easily understood by those skilled in the art that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A real-time landfill odor treatment method based on drones, characterized in that: The following steps are involved: S1, the drone flies along a preset inspection route and collects pollutant concentration data and environmental data in real time; the environmental data includes the drone's geographical coordinates, wind direction, wind speed, and drone's flight altitude; S2: The UAV sends the pollutant concentration data to the ground terminal, which determines whether the pollutant concentration data exceeds a preset threshold. If so, the ground terminal uses the environmental data currently collected by the UAV to calculate the geographical coordinates of the pollutant concentration peak using the Gaussian diffusion model. The UAV is controlled to fly to the geographical coordinates of the pollutant concentration peak and hover there. The ground terminal also issues a command to the UAV to spray deodorant. If not, the UAV continues to fly according to the preset inspection route. The step of sending a deodorant spraying instruction to the drone includes step S201: calculating the required spraying amount of the deodorant according to the pollutant concentration data; the required spraying amount of the deodorant according to the pollutant concentration data is calculated as: Where V is the theoretical spray volume, unit is m 3 ; t is the spraying time, unit is s; v is the spraying speed of the drone, unit is m / s; w is the spray width of the drone, unit is m; V t The spray volume per unit area of ​​the drone, unit L / m 2 ; The injection time t is obtained by the following formula: Among them, C t The final concentration of odor, in mg / m 3 ; C0 is the initial concentration of odor, unit is mg / m 3 ; k is the apparent kinetic constant, which is 0.00075 for H2S and 0.00064 for NH3; t is the injection time, in seconds; b is the correction parameter, which is 0.0003725 for H2S and 0.000825 for NH3.

2. The method for real-time treatment of landfill odor based on drones as claimed in claim 1, characterized in that: The sending of the deodorant spraying instruction to the drone also includes the following sub-steps: S202, issuing a command to the drone to spray a predetermined amount of deodorant. After the spraying is completed, the drone collects pollutant concentration data again. S203, the UAV sends the pollutant concentration data to the ground terminal, and the ground terminal determines whether the pollutant concentration data exceeds the preset threshold. If not, the ground terminal stops spraying and the UAV continues to fly according to the preset patrol route. If so, an instruction is issued to the UAV to spray the deodorant multiple times according to the first preset dose. After each spraying, the UAV collects the pollutant concentration data again after a first preset time. When the pollutant concentration data obtained is less than the preset threshold, the pollutant concentration data is collected again after a second preset time. If the pollutant concentration data is still less than the preset threshold, the ground terminal stops spraying and the UAV continues to fly according to the preset patrol route.

3. The method for real-time treatment of landfill odor based on drones as claimed in claim 2, characterized in that: In the step S202, the preset proportion of the required spraying amount of deodorant is 80%-90%.

4. The method for real-time treatment of landfill odor based on drones as claimed in claim 2, characterized in that: In step S203 , the first preset dose of deodorant is 5-15 ml of deodorant; and the first preset time and the second preset time are 5-10 minutes.

5. The method for real-time treatment of landfill odor based on drones as claimed in claim 1, characterized in that: The injection time t can also be obtained by the following formula: Among them, C t is the final concentration of odor, dimensionless; C0 is the initial concentration of odor, dimensionless; k is the fitting slope, 0.00042; t is the spraying time, unit is s; b is the correction parameter, 0.0047.

6. The method for real-time treatment of landfill odor based on drones according to any one of claims 1 to 5, characterized in that: Also includes: Recording the geographical coordinates of the pollutant concentration peak and adding them to the preset inspection route; The drone takes photos of the geographical coordinates of the peak pollutant concentration and sends the photos to the ground terminal.

7. The method for real-time treatment of landfill odor based on drones according to any one of claims 1 to 5, characterized in that: The deodorant comprises the following components by mass fraction: 1.0%-5.0% anhydrous citric acid, 6.0%-12.0% tea polyphenols, 0.1%-2.5% pine wood essence, 1.0%-8.0% Tween 80, and the remainder by mass fraction water.

8. The method for real-time treatment of landfill odor based on drones as claimed in claim 7, characterized in that: The deodorant comprises the following components by mass fraction: 5.0% anhydrous citric acid, 12.0% tea polyphenols, 0.5% pine wood essence, 3.0% Tween 80 and 79.5% water.

9. A real-time landfill odor treatment system based on drones, characterized in that: The method for real-time treatment of landfill odor based on a drone according to any one of claims 1 to 8 comprises: Ground terminal, drone, odor concentration detection sensor installed on the drone, deodorant spraying system, GPS navigation module, CCD camera module and communication module; Wherein, the odor concentration detection sensor is used to collect pollutant concentration data; The GPS navigation module is used to collect environmental data, including the coordinates of the drone's flight location, wind direction, wind speed, and the drone's flight altitude; The ground terminal is used to obtain the pollutant concentration data sent by the drone and determine whether the pollutant concentration data exceeds a preset threshold. If so, the geographical coordinates of the pollutant concentration peak are calculated using the Gaussian diffusion model using the environmental data currently collected by the drone. The drone is controlled to fly to the geographical coordinates of the pollutant concentration peak and then hover, and a deodorant spraying instruction is issued to the drone. If not, the drone is controlled to continue flying according to the preset patrol route.

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