All -round atmospheric monitoring vehicle and monitoring method

Abstract

The application discloses a kind of all-around atmospheric monitoring vehicles and monitoring methods, belong to atmospheric monitoring technical field, a kind of all-around atmospheric monitoring vehicle, comprising: monitoring vehicle main body and monitoring equipment;Monitoring vehicle main body is used for the mobile ground walk, and top seat is fixedly installed on the monitoring vehicle main body;Monitoring equipment is installed on top seat.The application can realize the land mobile monitoring of atmospheric environment by monitoring equipment on monitoring vehicle main body, by multiple folding wings on monitoring equipment, so that monitoring equipment can be independent of monitoring vehicle main body and fly to monitor atmospheric environment, by air bag on monitoring equipment and swimming mechanism, so that monitoring equipment can swim in water and monitor atmospheric environment, so that monitoring equipment can move in water, land and air, so that atmospheric monitoring work is not limited by complex environment, and atmospheric environment in complex area such as natural disaster or accident can be easily obtained, which greatly facilitates the rescue of natural disaster or accident.

Description

Technical Field

[0001] This invention belongs to the field of atmospheric monitoring technology, specifically relating to an all-round atmospheric monitoring vehicle and monitoring method. Background Technology

[0002] Existing mobile atmospheric environment monitoring vehicles, equipped with particulate matter scanning lidar, gimbal cameras, and other equipment, can perform measurements while moving. This not only clarifies the causes, sources, and trends of pollution, but also enables timely detection and precise location of pollution sources. They play a crucial role in the prevention and management of air pollution, truly achieving coordinated monitoring and management, and accurately combating fugitive emissions. They are widely used in environmental monitoring and environmental surveillance systems.

[0003] Although mobile atmospheric environment monitoring vehicles can perform measurements while moving, the limited operating range of equipment such as particulate matter scanning lidar and gimbal cameras, coupled with the constraints imposed by complex environmental factors, presents the biggest challenge for these vehicles. This is particularly true when facing natural disasters like earthquakes and floods, or unexpected incidents such as explosions and hazardous gas leaks, where there is an urgent need to understand the complex atmospheric environment. Because mobile monitoring vehicles cannot move freely in such challenging conditions, they are unable to monitor the atmospheric environment, causing significant disruption to disaster relief efforts.

[0004] Therefore, in order to address the aforementioned technical problems, it is necessary to provide a comprehensive atmospheric monitoring vehicle and monitoring method.

[0005] The information disclosed in this background section is intended only to enhance the understanding of the overall background of the invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0006] The purpose of this invention is to provide an all-round atmospheric monitoring vehicle and monitoring method, which can solve the problem that mobile observation vehicles cannot monitor the atmospheric environment in complex environments such as natural disasters or accidents, which causes great trouble for disaster relief.

[0007] To achieve the above objectives, a specific embodiment of the present invention provides an all-around atmospheric monitoring vehicle, comprising: a monitoring vehicle body and monitoring equipment; The main body of the monitoring vehicle is used for ground-based mobile navigation, and a top mount is fixedly installed on the main body of the monitoring vehicle; The monitoring equipment is installed on the top base. The monitoring equipment is equipped with a pan-tilt unit and a GPS antenna. The pan-tilt unit is equipped with a particulate matter scanning lidar that can rotate in all directions. A camera is fixedly installed on the particulate matter scanning lidar. The monitoring device includes a base, a fixed column, and a top plate. A pair of support mechanisms are fixedly installed below the base. The pair of support mechanisms are used to support and fix the base on the top plate. The fixed column is fixedly installed on the base, and the top plate is fixedly installed on the fixed column. The base is equipped with multiple sets of folding wings, which can drive the base to fly. A linkage mechanism is installed between the multiple sets of folding wings, which is used to drive the multiple sets of folding wings to extend and fold synchronously. An airbag is also fixedly installed on the base, which enables the base to float on the water surface. A swimming mechanism is also fixedly installed below the base, which is used to drive the base to move on the water surface.

[0008] In one or more embodiments of the present invention, the plurality of folding wings include a plurality of rotating shafts rotatably connected to the base, and a support arm is fixedly installed on each of the plurality of rotating shafts, with the wing body installed at one end of the support arm.

[0009] In one or more embodiments of the present invention, the linkage mechanism includes a gear ring, which is rotatably mounted on a fixed column, and gears are fixedly mounted on multiple sets of the rotating shafts; All of the aforementioned gears are meshed with a gear ring; A motor is fixedly installed on the top plate, and the output end of the motor is fixed to any set of rotating shafts.

[0010] In one or more embodiments of the present invention, the base is provided with a closed cavity inside, and an opening is provided on the outer wall of the closed cavity, and the airbag is fixedly installed on the outside of the opening; A water-air dual-purpose pump is fixedly installed inside the sealed cavity. The water-air dual-purpose pump can inflate the sealed cavity with air, causing the airbag to expand outward.

[0011] In one or more embodiments of the present invention, the swimming mechanism includes a fixed seat, the fixed seat is fixedly installed at the bottom end of the base, and a pair of nozzles are fixedly installed on one side of the fixed seat; The output end of the water-air dual-purpose pump is fixedly installed with a second three-way pipe; The second three-way pipe has two outlets, and the two outlets are respectively connected to the closed cavity and the inside of the fixed base; A third solenoid valve is fixedly installed on the output port that communicates with the inside of the closed cavity, and a fourth solenoid valve is fixedly installed on the output port that communicates with the inside of the fixed base.

[0012] In one or more embodiments of the present invention, a pair of support mechanisms includes a pair of bases, the pair of bases are fixedly installed at the bottom end of the base, and multiple sets of support cylinders are fixedly installed on each pair of bases; The top seat is provided with a pair of positioning slots, and a pair of support cylinders under the base can be inserted into the pair of positioning slots respectively; A first tee pipe is fixedly installed between the pair of bases, and one end of the first tee pipe is connected to the input end of the water-air dual-purpose pump.

[0013] In one or more embodiments of the present invention, a first solenoid valve is fixedly installed at the bottom end of the support cylinder, and a second solenoid valve is fixedly installed at the top end of the support cylinder. A rubber suction nozzle is fixedly installed at the bottom of the first solenoid valve.

[0014] In one or more embodiments of the present invention, a groove is provided on the fixing column, and a power module is fixedly installed inside the groove; The top plate has an inspection port that matches the groove, and a sealing cover is fixedly installed above the inspection port.

[0015] In one or more embodiments of the present invention, a power receiving base is fixedly installed at the bottom end of the fixed column, and the bottom end of the power receiving base extends through to the bottom of the base; A charging base is fixedly installed on the top seat, and the charging base is matched with the power receiving base.

[0016] A specific embodiment of the present invention also provides a comprehensive atmospheric monitoring method, comprising the following steps: S1. Obtain the actual environmental conditions of the monitoring area and analyze and judge the actual environmental conditions; S2. Determine the target area and plan the route to the target area based on the actual environmental conditions; S3. Select the mode of movement to reach the target area according to the planned route. If the route allows the main body of the monitoring vehicle to move, the monitoring equipment is carried by the main body of the monitoring vehicle to move to the target area. If the route does not allow the main body of the monitoring vehicle to move, the monitoring equipment is flown to the target area. If the route crosses water, the monitoring equipment is flown and swam to the target area. S4. After the monitoring equipment reaches the target area, it uses particulate matter scanning lidar in conjunction with a camera to conduct comprehensive atmospheric environmental monitoring.

[0017] Compared with existing technologies, this invention enables land-based mobile monitoring of the atmospheric environment by mounting monitoring equipment on the main body of the monitoring vehicle. Through multiple sets of folding wings on the monitoring equipment, the monitoring equipment can fly independently from the main body of the monitoring vehicle to monitor the atmospheric environment. Through airbags on the monitoring equipment combined with a swimming mechanism, the monitoring equipment can swim in water to monitor the atmospheric environment. In this way, by using monitoring equipment that can move on land, water, and air, atmospheric monitoring work is not limited by complex environments, making it easier to obtain atmospheric information in complex areas such as natural disasters or accidents, and bringing great convenience to disaster relief and rescue. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 The structure of an all-around atmospheric monitoring vehicle in one embodiment of the present invention. Figure 1 ; Figure 2 The structure of an all-around atmospheric monitoring vehicle in one embodiment of the present invention. Figure 2 ; Figure 3 This is a partial exploded view of the monitoring equipment of an all-around atmospheric monitoring vehicle according to an embodiment of the present invention; Figure 4 The present invention provides a monitoring equipment structure for an all-around atmospheric monitoring vehicle according to one embodiment. Figure 1 ; Figure 5 The present invention provides a monitoring equipment structure for an all-around atmospheric monitoring vehicle according to one embodiment. Figure 2 ; Figure 6 This is a cross-sectional view of the monitoring equipment of an all-around atmospheric monitoring vehicle according to an embodiment of the present invention; Figure 7 This is a structural diagram of the support mechanism of an all-round atmospheric monitoring vehicle according to one embodiment of the present invention; Figure 8 This is an embodiment of an all-around atmospheric monitoring vehicle. Figure 2 Enlarged view of point A in the middle; Figure 9 This is an embodiment of an all-around atmospheric monitoring vehicle. Figure 6 Enlarged view of section B in the middle.

[0020] Explanation of key figure labels: 10. Monitoring vehicle body; 20. Top mount; 21. Positioning slot; 22. Charging base; 30. Monitoring equipment; 31. Base; 311. Rotating shaft; 312. Gear; 313. Support arm; 314. Wing body; 315. Airbag; 316. Enclosed cavity; 317. Opening; 32. Fixing column; 321. Gear ring; 33. Top plate; 331. Inspection port; 332. Encapsulation cover plate; 34. Motor; 40. Gimbal; 41. Particulate matter scanner 42. LiDAR; 50. Camera; 60. GPS antenna; 70. Power receiver; 80. Power module; 81. Support mechanism; 82. Base; 82. Support cylinder; 821. Rubber nozzle; 822. First solenoid valve; 823. Second solenoid valve; 83. First three-way pipe; 90. Moving mechanism; 91. Fixed base; 92. Nozzle; 93. Second three-way pipe; 931. Third solenoid valve; 932. Fourth solenoid valve; 100. Water-air dual-purpose pump. Detailed Implementation

[0021] To enable those skilled in the art to better understand the technical solutions of this invention, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this invention.

[0022] like Figures 1-9 As shown, an all-round atmospheric monitoring vehicle according to one embodiment of the present invention includes a monitoring vehicle body 10 and a monitoring device 30. The monitoring vehicle body 10 is used for ground mobile navigation. A top mount 20 is fixedly installed on the monitoring vehicle body 10, and the monitoring device 30 is parked and fixed on the top mount 20.

[0023] like Figures 1-4 As shown, the monitoring device 30 includes a base 31, a fixing column 32, and a top plate 33. The fixing column 32 is fixedly installed on the base 31, and the top plate 33 is fixedly installed on the fixing column 32. The top plate 33 is fixedly installed with a pan-tilt unit 40, a particulate matter scanning lidar 41, a camera 42, a GPS antenna 50, and a three-dimensional high-precision electronic map, etc., for atmospheric monitoring.

[0024] The particulate matter scanning lidar 41 is mounted on a pan-tilt unit 40, which allows the lidar to rotate omnidirectionally for comprehensive atmospheric monitoring. A camera 42 is fixedly mounted on the lidar 41 to acquire real-time images of the monitored area, enabling analysis and assessment of the on-site environmental conditions and subsequent location of pollution sources.

[0025] Four sets of folding wings are installed on the base 31, which can drive the base 31 to fly. There is a storage space reserved between the base 31 and the top plate 33. When not in use, the four sets of folding wings are folded and stored in the storage space, reducing the overall volume and protecting the four sets of folding wings.

[0026] Specifically, the four sets of folding wings include four sets of rotating shafts 311 rotatably connected to the base 31. Each of the four rotating shafts 311 is fixedly mounted with a support arm 313, which can rotate around the rotating shaft 311 to achieve extension and folding. One end of the support arm 313 is equipped with a wing body 314, and the four wing bodies 314 can drive the monitoring equipment 30 to fly as a whole.

[0027] A linkage mechanism is installed between the four sets of folding wings, which is used to drive the four sets of folding wings to extend and fold synchronously.

[0028] Specifically, such as Figure 3 As shown, the linkage mechanism includes a gear ring 321, which is rotatably connected to a fixed column 32 via a bushing, allowing the gear ring 321 to rotate on the fixed column 32. Gears 312 are fixedly mounted on four sets of rotating shafts 311, and all gears 312 on the four sets of rotating shafts 311 mesh with the gear ring 321. Rotating any set of gears 312 will cause the gear ring 321 to rotate, thereby causing the other three sets of gears 312 to rotate synchronously.

[0029] A motor 34 is fixedly installed on the top plate 33, and the output end of the motor 34 is fixed to any one set of rotating shafts 311. The motor 34 can drive one set of rotating shafts 311 to rotate, so that the rotating shaft 311 drives the other three sets of rotating shafts 311 to rotate synchronously in the same direction through gears 312 and gear rings 321, thereby enabling the four sets of support arms 313 to extend and fold synchronously, which facilitates the control of the use of the four sets of folding wings.

[0030] When faced with complex environments inaccessible to the main body of the monitoring vehicle 10, atmospheric monitoring encounters obstacles, yet there is an urgent need to understand the atmospheric environment of a certain area. For example, in the event of natural disasters such as earthquakes or accidents such as explosions, it is crucial to monitor the atmospheric environment of the disaster or accident area to ensure the safety of rescue personnel and thus guarantee safe rescue efforts. In such cases, the main body of the monitoring vehicle 10 is first moved to the nearest location, and then four sets of folding wings are deployed. These wings propel the monitoring equipment 30 detach from the top mount 20 and fly to the designated location to conduct atmospheric environmental monitoring of the designated area.

[0031] It is worth noting that even in areas where the main body of the monitoring vehicle 10 can travel, there are often numerous factors that hinder the particulate matter scanning lidar 41 and camera 42 from conducting atmospheric monitoring, such as buildings, greenery, and trees on both sides of the road. Due to these obstructions, the operation and use of the atmospheric monitoring vehicle are also greatly limited. In this case, the folding wings can be deployed to allow the monitoring equipment 30 to fly around these obstructions, thereby freeing atmospheric monitoring from these limitations.

[0032] This effectively eliminates the environmental limitations that hinder the operation of air monitoring vehicles, enabling air monitoring to be carried out normally in any environment. It is particularly suitable for disaster relief operations, bringing great convenience to these efforts.

[0033] like Figure 6 and Figure 9 As shown, the base 31 has a closed cavity 316 inside, and an opening 317 is provided on the outer wall of the closed cavity 316. An airbag 315 is fixedly connected to the outside of the opening 317. By inflating the closed cavity 316, the airbag 315 can gradually expand outward, so that the base 31 can float on the water surface with the help of the expanded airbag 315.

[0034] A water-air dual-purpose pump 100 is fixedly installed inside the sealed cavity 316. The water-air dual-purpose pump 100 can pump both air and water. The water-air dual-purpose pump 100 can inflate the sealed cavity 316, causing the airbag 315 to expand outward. The airbag 315 should also be equipped with an exhaust valve for convenient venting and depressurization after use.

[0035] like Figure 5 and Figure 6 As shown, a floating mechanism 90 is also fixedly installed below the base 31. The floating mechanism 90 is used to drive the base 31 to move on the water surface. Specifically, the floating mechanism 90 includes a fixed base 91, which is fixedly installed at the bottom end of the base 31. A pair of nozzles 92 are fixedly installed on one side of the fixed base 91. The pair of nozzles 92 can drive the monitoring device 30 floating on the water surface to move by spraying air or water.

[0036] The output end of the water-air dual-purpose pump 100 is fixedly equipped with a second three-way pipe 93. The second three-way pipe 93 has two output ports, which are respectively connected to the enclosed cavity 316 and the fixed base 91. That is to say, the water-air dual-purpose pump 100 can both inflate the enclosed cavity 316 with air through the second three-way pipe 93 and inflate or inject water into the fixed base 91 through the second three-way pipe 93, so that the nozzle 92 can spray air or water.

[0037] Among them, such as Figure 8As shown, a third solenoid valve 931 is fixedly installed on the output port that is connected to the inside of the closed cavity 316. The third solenoid valve 931 can control the opening and closing of the second three-way pipe 93 and the inside of the closed cavity 316. A fourth solenoid valve 932 is fixedly installed on the output port that is connected to the inside of the fixed base 91. The fourth solenoid valve 932 can control the opening and closing of the second three-way pipe 93 and the inside of the fixed base 91, so as to control the use of the two modules.

[0038] When facing large areas of water formed by floods or when atmospheric environmental monitoring needs to be carried out across large spans of water, the main body of the monitoring vehicle 10 is completely unusable. However, relying solely on the monitoring equipment 30 to fly across water and complete atmospheric monitoring or to conduct atmospheric monitoring over large water areas still presents significant challenges, such as the endurance of the monitoring equipment 30. In this case, the monitoring equipment 30 can first be flown into the water by unfolding its folding wings. During flight, the water-air dual-purpose pump 100 inflates the sealed cavity 316 through the second three-way pipe 93, causing the airbag 315 to expand outward. This allows the monitoring equipment 30 to float on the water surface after it has flown into the water. Then, the third solenoid valve 931 is closed, and the fourth solenoid valve 932 is opened, allowing the water-air dual-purpose pump 100 to draw air or water into the fixed base 91. This allows the nozzle 92 to spray air or water as power to drive the monitoring equipment 30 across the water surface, thus achieving the crossing of the water area. After crossing the water area, the monitoring equipment 30 can then fly to conduct atmospheric environmental monitoring.

[0039] By combining flight with swimming, the endurance of the monitoring equipment 30 when it is detached from the main body of the monitoring vehicle 10 for atmospheric monitoring can be effectively increased, ensuring that the monitoring equipment 30 can complete the atmospheric monitoring task.

[0040] like Figure 1 and Figure 3 As shown, a pair of support mechanisms 80 are fixedly installed below the base 31. The pair of support mechanisms 80 are used to support and fix the base 31 on the top seat 20.

[0041] Specifically, such as Figures 5-7 As shown, a pair of support mechanisms 80 includes a pair of bases 81, which are fixedly installed at the bottom of the base 31. Multiple sets of support cylinders 82 are fixedly installed on each of the pair of bases 81, and the monitoring equipment 30 can be supported by the multiple sets of support cylinders 82.

[0042] like Figure 1 and Figure 2 As shown, a pair of positioning slots 21 are provided on the top seat 20, and the support cylinders 82 under the pair of bases 81 can be inserted into the pair of positioning slots 21 respectively, so as to realize the positioning and parking of the monitoring device 30 on the top seat 20.

[0043] like Figure 5 and Figure 8As shown, a first three-way pipe 83 is fixedly installed between a pair of bases 81. Two ports of the first three-way pipe 83 are connected to the interior of the pair of bases 81, and the other port is connected to the input end of the water-air dual-purpose pump 100. Multiple sets of support cylinders 82 at the bottom of the bases 81 are all connected to the interior of the first three-way pipe 83. When the water-air dual-purpose pump 100 is filling the closed cavity 316 with air, it draws air out through the multiple sets of support cylinders 82. When the monitoring device 30 floats on the water surface, the support cylinders 82 are completely submerged in water. At this time, the water-air dual-purpose pump 100 can only draw water through the support cylinders 82 and inject it into the fixed base 91. In other words, the nozzle 92 can drive the monitoring device 30 to move on the water surface by spraying water.

[0044] When the monitoring device 30 needs to monitor the atmospheric environment by combining flight and swimming, before the device enters the water, the fourth solenoid valve 932 is closed and the third solenoid valve 931 is opened. The water-air dual-purpose pump 100 draws air through the support cylinder 82 and injects it into the sealed cavity 316, causing the airbag 315 to inflate. After entering the water, the fourth solenoid valve 932 opens and the third solenoid valve 931 closes. At this time, the water-air dual-purpose pump 100 draws water through the submerged support cylinder 82 and injects it into the fixed base 91, ultimately causing the nozzle 92 to spray water to drive the movement of the monitoring device 30. In this way, the inflation of the airbag 315 and the driving of the movement can share a single power mechanism through pipeline switching. The ingenious structure effectively reduces the weight of the monitoring device 30, allowing it to meet the requirements of lightweight design.

[0045] Preferably, a first solenoid valve 822 is fixedly installed at the bottom end of the support cylinder 82, which controls the sealing of the bottom of the support cylinder 82. A second solenoid valve 823 is fixedly installed at the top end of the support cylinder 82, which controls the sealing of the top of the support cylinder 82. In other words, the first solenoid valve 822 and the second solenoid valve 823 enable each set of support cylinders 82 to form an independent space.

[0046] Specifically, when the monitoring equipment 30 is conducting atmospheric environmental monitoring during flight, if it is necessary to perform depth testing on air samples from the monitored area, the first solenoid valve 822 and the second solenoid valve 823 on all support cylinders 82 can be closed, leaving only one set of support cylinders 82 with the first solenoid valve 822 and the second solenoid valve 823 open. At this time, air can be drawn into the support cylinder 82 by starting the water-air dual-purpose pump 100, and then the first solenoid valve 822 and the second solenoid valve 823 on the support cylinder 82 can be closed immediately. In this way, air sampling can be achieved through the support cylinder 82, which facilitates subsequent depth testing and analysis of the air.

[0047] It is worth noting that the same method can be used to complete air sampling operations in different areas during subsequent atmospheric monitoring, using different support cylinders 82. In this way, the monitoring equipment 30 can not only achieve atmospheric monitoring but also atmospheric sampling, greatly facilitating environmental governance.

[0048] Preferred, such as Figure 7 As shown, a rubber suction nozzle 821 is fixedly installed at the bottom of the first solenoid valve 822. The bottom of the support cylinder 82 can be attracted and fixed inside the positioning groove 21 through the rubber suction nozzle 821, so that the support cylinder 82 can be attracted and fixed inside the positioning groove 21, thereby realizing the stable placement of the monitoring device 30 on the top seat 20.

[0049] Specifically, after the monitoring device 30 is placed on the top seat 20 and the support cylinder 82 is inserted into the positioning groove 21, by opening the first solenoid valve 822 and the second solenoid valve 823 on all the support cylinders 82 and starting the water-air dual-purpose pump 100, a negative pressure can be formed inside the support cylinder 82, so that the bottom of the support cylinder 82 is adsorbed and fixed inside the positioning groove 21 by the rubber suction nozzle 821, ensuring that the monitoring device 30 can be stably placed and fixed on the top seat 20.

[0050] It is worth noting that the rubber suction nozzle 821 can also act as a buffer during the landing of the monitoring device 30, ensuring that the monitoring device 30 can land smoothly.

[0051] like Figure 3 and Figure 6 As shown, a groove is provided on the fixed column 32, and a power module 70 is fixedly installed inside the groove. The power module 70 is composed of multiple lithium batteries and can store electrical energy to power the operation of the monitoring equipment 30.

[0052] The top plate 33 has an inspection port 331 that matches the groove, which facilitates the installation and subsequent maintenance of the power module 70. A sealing cover 332 is fixedly installed above the inspection port 331. The sealing cover 332 is locked to the top plate 33 with bolts and is used to seal the inspection port 331.

[0053] like Figure 2 ,and Figure 5As shown, a power receiving base 60 is fixedly installed at the bottom of the fixed column 32. The bottom of the power receiving base 60 extends through to the bottom of the base 31. A power receiving coil is fixedly installed inside the power receiving base 60 and is connected in series with the power module 70. A charging base 22 is fixedly installed on the top seat 20. A generator coil is fixedly installed inside the charging base 22 and is connected to the battery inside the monitoring vehicle body 10. The charging base 22 matches the power receiving base 60. When the monitoring device 30 is parked on the top seat 20, wireless charging of the power module 70 can be achieved through the charging base 22 and the power receiving base 60.

[0054] In use, the monitoring equipment 30 is mounted on the main body 10 of the monitoring vehicle. By moving the main body 10 of the monitoring vehicle, the atmospheric environment can be measured while moving. When the actual environment does not allow the main body 10 of the monitoring vehicle to move, the monitoring equipment 30 can be detached from the main body 10 of the monitoring vehicle and fly independently to the designated area for atmospheric monitoring by unfolding the folding wings. If it is necessary to cross water or to conduct atmospheric environment monitoring on water, the airbag 315 is first inflated to ensure that the monitoring equipment 30 can float on the water surface. Then, water is sprayed out by the nozzle 92 to drive the monitoring equipment 30 to swim on the water surface, thereby achieving the crossing of water and atmospheric environment monitoring on water.

[0055] A comprehensive atmospheric monitoring method includes the following steps: S1. Obtain the actual environmental conditions of the monitoring area and analyze and judge the actual environmental conditions; S2. Determine the target area and plan the route to the target area based on the actual environmental conditions; S3. Select the mode of movement to reach the target area according to the planned route. If the route allows the main body of the monitoring vehicle 10 to move, the monitoring equipment 30 is carried on the main body of the monitoring vehicle 10 to move to the target area. If the route does not allow the main body of the monitoring vehicle 10 to move, the monitoring equipment 30 is flown to the target area. If the route crosses water, the monitoring equipment 30 is flown and swam to the target area. S4. After the monitoring equipment 30 reaches the target area, it uses particulate matter scanning lidar 41 in conjunction with camera 42 to conduct comprehensive atmospheric environmental monitoring.

[0056] This invention enables land-based mobile monitoring of the atmospheric environment by mounting a monitoring device 30 on the main body 10 of the monitoring vehicle. Multiple folding wings on the monitoring device 30 allow it to fly independently from the main body 10 to monitor the atmospheric environment. Furthermore, the airbag 315 on the monitoring device 30, combined with a swimming mechanism 90, allows it to swim in water to monitor the atmospheric environment. Thus, the monitoring device 30, capable of moving on land, water, and air, eliminates the limitations of complex environments for atmospheric monitoring, facilitating the acquisition of atmospheric information in complex areas affected by natural disasters or accidents, and greatly simplifying disaster relief and rescue efforts.

[0057] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0058] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A comprehensive atmospheric monitoring vehicle, characterized in that, include: The main body of the monitoring vehicle is used for ground-based mobile navigation, and a top mount is fixedly installed on the main body of the monitoring vehicle; The monitoring equipment is installed on the top base. The monitoring equipment is equipped with a pan-tilt unit and a GPS antenna. The pan-tilt unit is equipped with a particulate matter scanning lidar that can rotate in all directions. A camera is fixedly installed on the particulate matter scanning lidar. The monitoring device includes a base, a fixed column, and a top plate. A pair of support mechanisms are fixedly installed below the base. The pair of support mechanisms are used to support and fix the base on the top plate. The fixed column is fixedly installed on the base, and the top plate is fixedly installed on the fixed column. The base is equipped with multiple sets of folding wings, which can drive the base to fly. A linkage mechanism is installed between the multiple sets of folding wings, which is used to drive the multiple sets of folding wings to extend and fold synchronously. An airbag is also fixedly installed on the base, which enables the base to float on the water surface. A swimming mechanism is also fixedly installed below the base, which is used to drive the base to move on the water surface. The base has a closed cavity inside, and an opening is formed on the outer wall of the closed cavity. The airbag is fixedly installed on the outside of the opening. A water-air dual-purpose pump is fixedly installed inside the sealed cavity. The water-air dual-purpose pump can inflate the sealed cavity with air, causing the airbag to expand outward. The moving mechanism includes a fixed base, which is fixedly installed at the bottom end of the base, and a pair of nozzles are fixedly installed on one side of the fixed base; The output end of the water-air dual-purpose pump is fixedly installed with a second three-way pipe; The second three-way pipe has two outlets, and the two outlets are respectively connected to the closed cavity and the inside of the fixed base; A third solenoid valve is fixedly installed on the output port that is connected to the inside of the closed cavity, and a fourth solenoid valve is fixedly installed on the output port that is connected to the inside of the fixed base. Each pair of support mechanisms includes a pair of bases, the pair of bases being fixedly installed at the bottom end of the base, and multiple sets of support cylinders being fixedly installed on each pair of bases; A first tee pipe is fixedly installed between the pair of bases, and one end of the first tee pipe is connected to the input end of the water-air dual-purpose pump; A first solenoid valve is fixedly installed at the bottom end of the support cylinder, and a second solenoid valve is fixedly installed at the top end of the support cylinder. A rubber suction nozzle is fixedly installed at the bottom of the first solenoid valve.

2. The all-around atmospheric monitoring vehicle according to claim 1, characterized in that, The multiple sets of folding wings include multiple sets of rotating shafts rotatably connected to the base, and each set of rotating shafts is fixedly mounted with a support arm, with the wing body mounted at one end of the support arm.

3. The all-around atmospheric monitoring vehicle according to claim 2, characterized in that, The linkage mechanism includes a gear ring, which is rotatably mounted on a fixed column, and gears are fixedly mounted on multiple sets of the rotating shafts. All of the aforementioned gears are meshed with a gear ring; A motor is fixedly installed on the top plate, and the output end of the motor is fixed to any set of rotating shafts.

4. The all-around atmospheric monitoring vehicle according to claim 1, characterized in that, The top seat is provided with a pair of positioning slots, and a pair of support cylinders under the base can be inserted into the pair of positioning slots respectively.

5. The all-around atmospheric monitoring vehicle according to claim 1, characterized in that, The fixing column has a groove, and a power module is fixedly installed inside the groove. The top plate has an inspection port that matches the groove, and a sealing cover is fixedly installed above the inspection port.

6. The all-around atmospheric monitoring vehicle according to claim 5, characterized in that, A power receiving base is fixedly installed at the bottom end of the fixed column, and the bottom end of the power receiving base extends through to the bottom of the base; A charging base is fixedly installed on the top seat, and the charging base is matched with the power receiving base.

7. A method for comprehensive atmospheric monitoring, employing the comprehensive atmospheric monitoring vehicle described in any one of claims 1 to 6, characterized in that, Includes the following steps: S1. Obtain the actual environmental conditions of the monitoring area and analyze and judge the actual environmental conditions; S2. Determine the target area and plan the route to the target area based on the actual environmental conditions; S3. Select the mode of movement to reach the target area according to the planned route. If the route allows the main body of the monitoring vehicle to move, the monitoring equipment is carried by the main body of the monitoring vehicle to move to the target area. If the route does not allow the main body of the monitoring vehicle to move, the monitoring equipment is flown to the target area. If the route crosses water, the monitoring equipment is flown and swam to the target area. S4. After the monitoring equipment reaches the target area, it uses particulate matter scanning lidar in conjunction with a camera to conduct comprehensive atmospheric environmental monitoring.

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