A multi-rotor unmanned aerial vehicle for collaborative monitoring of greenhouse gases and atmospheric pollutants

Abstract

The present invention relates to the technical field of ecological environment monitoring, and particularly relates to a multi-rotor unmanned aerial vehicle for collaborative monitoring of greenhouse gases and atmospheric pollutants, which comprises a multi-rotor platform, a three-dimensional ultrasonic anemometer, a comprehensive analyzer, an intake pipeline, a support rod, a main GNSS antenna, a secondary GNSS antenna, a temperature and humidity sensor and a shock absorber; the comprehensive analyzer is arranged below the multi-rotor platform; one end of the shock absorber is connected with the multi-rotor platform, and the other end is connected with the comprehensive analyzer; the support rod is fixed on the center line at the top end 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 at the end of the first end and on the rod body of the first end of the support rod; the secondary GNSS antenna and the temperature and humidity sensor are correspondingly arranged at the end of the second end and on the rod body of the second end of the support rod; the intake pipeline is fixed below the support rod; one end of the intake pipeline is arranged below the three-dimensional ultrasonic anemometer, and the other end is communicated with the comprehensive analyzer.

Description

Technical Field

[0001] The present invention relates to the technical field of ecological environment monitoring, and particularly relates to a multi-rotor unmanned aerial vehicle for collaborative monitoring of greenhouse gases and air pollutants. Background Art

[0002] The emissions of greenhouse gases and air pollutants share the characteristics of the same root, origin, and process. At present, China's ecological civilization construction has entered a critical period with carbon reduction as the key strategic direction, promoting the coordinated increase of pollution reduction and carbon reduction, and realizing the qualitative change of the improvement of ecological environment quality from quantitative change. Carrying out the monitoring of the emission concentration and intensity of greenhouse gases and air pollutants during the operation and production processes of industrial enterprises (including enterprises in related industries such as thermal power, steel, oil extraction, and coal mining) is an important basis for understanding the collaborative emission and transmission mechanisms of greenhouse gases and air pollutants in typical industries and scientifically improving the collaborative governance efficiency of carbon reduction and pollution reduction in regions.

[0003] At present, the methods for quantifying the emissions of greenhouse gases and air pollutants at home and abroad mainly include the material balance method, the emission factor method, and the on-line monitoring method. Among them, both the material balance method and the emission factor method belong to calculation methods, with perfect technical regulations and simple accounting processes, which are conducive to enterprises improving their management levels of greenhouse gases and air pollutants. However, there are significant deficiencies in the determination of parameters, especially the localization determination of emission factors. Selecting default values will bring large errors to the emissions of greenhouse gases and air pollutants of enterprises compared with the actual emissions. The on-line monitoring method mainly sets up on-line monitoring instruments at the emission end for monitoring. It is necessary to measure parameters such as flue gas flow rate, temperature, and concentration in the flue to convert the emissions, which can more intuitively reflect the real-time emissions of greenhouse gases and air pollutants. 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 gas emission forms of industrial enterprises are 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 during the entire production process. In addition, air pollutants mainly focus on whether their emission concentrations exceed the standards, and greenhouse gases mainly focus on their total emissions, and it is required to accurately measure the gas flow rate. However, the straight pipe section lengths at most waste gas sites are insufficient, the flow velocities are uneven, and it is difficult to calibrate and trace the flow velocity monitoring equipment on-site. Coupled with the influence of the representativeness of measurement points, the standardization of instrument operation and maintenance, and the effectiveness of missing data supplementation, the uncertainty of the accounting data of the emissions of greenhouse gases and air pollutants of enterprises obtained actually is relatively large, and the credibility is not high. Thus, the problem of collaborative monitoring of the emissions of greenhouse gases and air pollutants at the enterprise emission end with high accuracy and quality has not been well solved at present.

[0004] The gas emission monitoring technology based on the multi-rotor platform of unmanned aerial vehicles provides another feasible technical means for the collaborative monitoring of overall greenhouse gas and atmospheric pollutant emissions of industrial enterprises. At present, there are already relevant 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 speeds, and atmospheric temperature, humidity, and pressure, and calculate the transmission flux of greenhouse gases in the horizontal direction. There are also monitoring system equipment with unmanned aerial vehicles equipped with multi-parameter atmospheric environment monitoring sensors for monitoring atmospheric pollutant concentrations. However, the current multi-rotor unmanned aerial vehicle monitoring systems lack system equipment that can carry out synchronous monitoring of greenhouse gas and atmospheric pollutant emissions, and only consider 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, and further leading to an underestimation of the emissions calculated from the monitoring data and greater uncertainty. Summary of the Invention

[0005] (1) Technical problems to be solved

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

[0007] (2) Technical solutions

[0008] In order to achieve the above object, the multi-rotor unmanned aerial vehicle for collaborative monitoring of greenhouse gases and atmospheric pollutants of the present invention includes a multi-rotor platform, a three-dimensional ultrasonic anemometer, a comprehensive analyzer, an 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 absorber 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 at 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 at the first end head and the first end rod body of the support rod; the secondary GNSS antenna and the temperature and humidity sensor are correspondingly arranged at the second end rod body and the second end head of the support rod;

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

[0012] Optionally, the integrated analyzer includes a chassis, and a greenhouse gas analyzer, an air 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 airborne control computer disposed within the chassis;

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

[0014] The greenhouse gas analyzer, the air 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 airborne control computer correspondingly;

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

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

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

[0018] The air pollutant monitoring module can detect the gas concentrations of PM 10 , NO2, O3, PM 2.5 , SO2, TVOC, odor, or CO.

[0019] Optionally, the integrated analyzer further includes an impurity filter, a first three-way pipe, and a second three-way pipe;

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

[0021] The three nozzles of the second three-way pipe are communicated with the intake ends of the greenhouse gas analyzer, the air pollutant monitoring module, and the vacuum pump correspondingly; the gas pipelines of the greenhouse gas analyzer and the air pollutant monitoring module are in parallel;

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

[0023] Optionally, the wireless data transmission module receives the monitoring data integrated by the on-board control computer, including navigation information such as longitude, latitude, and altitude, concentration information of greenhouse gases such as CH4, CO2, and H2O, and 10 concentration information of atmospheric pollutants such as PM 2.5 , NO2, O3, and PM

[0024] , temperature, air pressure, humidity, wind speed, wind direction meteorological information, and relative height;

[0025] Optionally, the on-board control computer integrates various types of sensor data collected through internal embedded software and sends the data to the data calculation center through 4G communication and public cloud for calculating the emission intensity of greenhouse gases and atmospheric pollutants and visualizing the monitoring data.

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

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

[0028] The main GNSS antenna, the secondary 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 installation directions of the four are all vertically upward.

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

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

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

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

[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, effectively utilizing the installation space of the multi-rotor UAV. Furthermore, it can reduce the weight and volume of the multi-rotor UAV, improving the monitoring adaptability of the multi-rotor UAV to small working environments. It is also beneficial to enhance the balance during the flight of the multi-rotor UAV and improve the reliability after integrating the greenhouse gas detection tooling and the air pollutant detection tooling.

[0036] The length of the support rod needs to ensure that the installation positions of the three-dimensional ultrasonic anemometer and the temperature and humidity sensor are not affected by the rotor wake of the UAV, thus 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, and further reduce the weight and occupied space of the support rod.

[0037] The intake pipeline is arranged below the three-dimensional ultrasonic anemometer, enabling the intake pipeline to extract gas synchronously while the three-dimensional ultrasonic anemometer detects the wind speed, improving the detection efficiency of the multi-rotor UAV.

[0038] Based on the platform's synchronous monitoring of greenhouse gas concentration, air pollutant concentration, three-dimensional wind speed, atmospheric temperature, humidity, and air pressure in the area of human production activities, according to the conservation of atmospheric scalar substances and the divergence theorem, it is possible to achieve the collaborative monitoring of the greenhouse gas, air pollutant levels, vertical emission fluxes, and overall emission intensity emitted by human production activities in the monitored area. The multi-rotor UAV of the present invention has the advantages of simple on-site monitoring flight operation, high monitoring efficiency, large coverage area, low capital and time costs, etc., and can be applied to scenarios such as the monitoring and accounting of greenhouse gas and air pollutant emission intensities in industrial enterprises, the localization of greenhouse gas and air pollutant emission factors, and the emergency monitoring of sudden gas-related environmental events. Description of the Drawings

[0039] Figure 1 It is a schematic structural diagram of the multi-rotor UAV for collaborative monitoring of greenhouse gases and air pollutants of the present invention;

[0040] Figure 2 It is a front view of the multi-rotor UAV for collaborative monitoring of greenhouse gases and air pollutants of the present invention;

[0041] Figure 3 is Figure 2 an enlarged view of part A in

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

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

[0044] Figure 6 Schematic diagram of the connection of the comprehensive analyzer of the present invention.

[0045]

Description of the reference numerals

[0046] 1: Multi-rotor platform; 2: Three-dimensional ultrasonic anemometer; 3: Comprehensive analyzer; 4: Intake pipeline; 5: Support rod; 6: Main GNSS antenna; 7: Sub-GNSS antenna; 8: Temperature and humidity sensor; 9: Shock absorber. Detailed implementation manners

[0047] For better explaining the present invention for easy understanding, the present invention will be described in detail below in conjunction with the accompanying drawings through specific implementation manners.

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

[0049] In addition, the descriptions such as "first" and "second" in the present invention are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, the meaning of "a 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 integrated; "connection" can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and can be the internal connection of two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0051] See Figures 1 to 4, the present invention provides a multi-rotor unmanned aerial vehicle for collaborative monitoring of greenhouse gases and air pollutants. The multi-rotor unmanned aerial vehicle includes a multi-rotor platform 1, a three-dimensional ultrasonic anemometer 2, a comprehensive analyzer 3, an 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 at 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 at the end of the first end and on the rod body of 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 rod body of the second end and at the end of the second end of the support rod 5; the intake pipeline 4 is fixed below the support rod 5; one end of the intake pipeline 4 is arranged below the three-dimensional ultrasonic anemometer 2, and the other end is communicated with 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, constituting a space rectangular coordinate system.

[0052] In this embodiment, the three-dimensional ultrasonic anemometer 2 is a spherical oblique three-dimensional ultrasonic anemometer, which can simultaneously measure the relative wind speeds (u, v, w) in three directions, namely horizontal and vertical, improving the synergy of greenhouse gas and air pollutant monitoring, and further improving the accuracy of emission calculation of monitoring data. The intake pipeline 4 is a PVC pipeline with an inner diameter of 3 mm and 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 to enable the comprehensive analyzer 3 to support the multi-rotor platform 1 and play a buffering role when landing; and the shock absorber 9 supports the multi-rotor platform 1, enabling the support rod 5 to be installed at the gap between the multi-rotor platform 1 and the comprehensive analyzer 3, effectively optimizing the installation space of the support rod 5 and reducing the volume of the multi-rotor unmanned aerial vehicle.

[0053] The comprehensive analyzer 3 and the multi-rotor platform 1 are softly connected through the shock absorber 9, and the comprehensive analyzer 3 and the multi-rotor platform 1 form the main body of the multi-rotor unmanned aerial vehicle. A plurality of rotors are arranged around the multi-rotor platform 1. The comprehensive analyzer 3 can receive the detection data of greenhouse gases and air pollutants, process them and transmit them to the ground remote monitoring terminal or the public cloud 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, effectively utilizing the installation space of the multi-rotor UAV, thereby being able to reduce the weight and volume of the multi-rotor UAV and improve the monitoring adaptability of the multi-rotor UAV 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 beneficial to improving the balance during the flight of the multi-rotor UAV and enhancing the reliability after the integration of the greenhouse gas detection tooling and the air pollutant detection tooling.

[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 at the front and rear of the multi-rotor platform 1, and the distance between the two is greater than 1 m. 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 needs to ensure that the installation positions of the three-dimensional ultrasonic anemometer 2 and the temperature and humidity sensor 8 are not affected by the rotor wake of the UAV, so as to ensure the detection accuracy of the three-dimensional ultrasonic anemometer 2 and the temperature and humidity sensor 8. Therefore, by correspondingly installing the three-dimensional ultrasonic anemometer 2 and the temperature and humidity sensor 8 at the two free ends of the support rod 5, the length requirement for the support rod 5 can be effectively reduced, 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 while the three-dimensional ultrasonic anemometer 2 detects the wind speed, the air inlet pipeline 4 can synchronously extract gas, improving the detection efficiency of the multi-rotor UAV.

[0057] Based on the platform, through the synchronous monitoring of the concentrations of greenhouse gases (CH4, CO2, H2O), air pollutants (up to 8 parameters, including PM 10 , NO2, O3, PM 2.5 , SO2, TVOC, odor, CO), three-dimensional wind speed, atmospheric temperature, humidity, and air pressure in the areas of human production activities, according to the atmospheric scalar mass conservation and divergence theorem, the collaborative monitoring of the greenhouse gases, air pollutant levels, vertical emission fluxes, and overall emission intensities emitted by human production activities in the monitored area can be realized. The multi-rotor UAV of the present invention has the advantages of simple implementation operation for on-site monitoring flight, high monitoring efficiency, large coverage area, low capital and time costs, etc., and can be applied to scenarios such as the monitoring and accounting of greenhouse gas and air pollutant emission intensities in industrial enterprises, the localization of greenhouse gas and air pollutant emission factors, and the emergency monitoring of sudden gas-related environmental incidents.

[0058] Furthermore, the integrated analyzer 3 includes a chassis and a greenhouse gas analyzer, an air 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 airborne control computer disposed within the chassis; the greenhouse gas analyzer, the air pollutant monitoring module, the vacuum pump, the GNSS / INS integrated navigation module, the laser rangefinder, the airborne control computer, the temperature and humidity sensor 8, and the three-dimensional ultrasonic anemometer 2 are correspondingly electrically connected to the power distribution module; the greenhouse gas analyzer, the air 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 correspondingly electrically connected to the airborne control computer; the main GNSS antenna 6 and the secondary GNSS antenna 7 are correspondingly electrically connected to the GNSS / INS integrated navigation module. Specifically, the chassis housing of the integrated analyzer 3 and the support rod 5 are both made of carbon fiber material 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 concentrations of greenhouse gases (CH4, CO2, H2O). The air pollutant monitoring module is an electrochemical multi-parameter air pollutant monitoring module for detecting the concentrations of air pollutants (up to 8 parameters, including PM 10 , NO2, O3, PM 2.5 , SO2, TVOC, odor, CO). The laser rangefinder is used for distance measurement. The vacuum pump is a brushless vacuum pump for gas collection by suction, and the gas flow rate is 500 ml / min. The GNSS / INS integrated navigation module is used for navigation and positioning. The wireless data transmission module is used for transmitting the monitoring data to the wireless data transmission antenna or the public cloud. The power distribution module is connected to an external airborne battery for powering the integrated analyzer 3. The airborne control computer can receive, process, and send various monitoring data.

[0059] Secondly, the air pollutant monitoring module is provided with a gas detection probe; the intake pipeline 4 is communicated with the gas detection probe, and the two are detachably connected; the air pollutant monitoring module can detect the gas concentrations of PM 10 , NO2, O3, PM 2.5 , SO2, TVOC, odor, or CO. In one embodiment, each polluting gas corresponds to a gas detection probe, and the gas detection probe is connected to the intake pipeline 4 by means of threaded connection or pin connection. It is only necessary to select and replace the corresponding gas detection probe according to the polluting gas to be detected, effectively improving the adaptability of the multi-rotor UAV to detect various types of polluting gases.

[0060] In addition, the comprehensive analyzer 3 further includes an impurity filter, a first three-way pipe, and a second three-way pipe; the air inlet pipe 4 is communicated with the impurity filter; the three nozzles of the first three-way pipe are respectively communicated with the impurity filter, the greenhouse gas analyzer, and the air pollutant monitoring module; the three nozzles of the second three-way pipe are respectively communicated with the greenhouse gas analyzer, the air pollutant monitoring module, and the air inlet end of the vacuum pump; the gas pipelines of the greenhouse gas analyzer and the air pollutant monitoring module are in parallel; the air outlet end of the vacuum pump penetrates through the outer wall of the chassis. Specifically, the gas pipelines of the greenhouse gas analyzer and the air pollutant monitoring module are in parallel; as Figure 6 shown, after the air is inhaled, it is first filtered by the impurity filter; after filtering out large particulate air impurities, the gas enters the greenhouse gas analyzer and the air pollutant monitoring module respectively, and the greenhouse gas analyzer and the air pollutant monitoring module respectively measure the greenhouse gas concentration and the pollutant gas concentration; the gases of the greenhouse gas analyzer and the air pollutant monitoring module are merged into the air inlet end of the vacuum pump and are discharged out of the chassis by the air outlet end of the vacuum pump. In addition, the airborne control computer receives the pollutant gas concentration information of the single-chip microcomputer of the air pollutant monitoring module, the position information of the GNSS / INS integrated 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 these 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 airborne 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 calculation center through the public cloud to display the calculation data of the greenhouse gas and pollutant gas emission intensity in real time.

[0061] Furthermore, the wireless data transmission module receives the monitoring data integrated by the airborne control computer, including the navigation information of longitude, latitude, and altitude, the concentration information of CH4, CO2, and H2O greenhouse gases, PM 10 , NO2, O3, and PM 2.5 air pollutant concentration information, air temperature, air pressure, humidity, wind speed, wind direction meteorological information, and relative height; the wireless data transmission module accesses the data transmission antenna and sends the monitoring data to the ground remote monitoring terminal in real time to help the ground operators master the monitoring situation in real time and adjust the monitoring route in time.

[0062] In addition, the airborne control computer integrates various types of sensor data collected through internal embedded software, saves them in real-time and synchronously as NETCDF format data. After completing the data collection task for one flight mission, it automatically sends the collected NETCDF format data to the data calculation center via 4G communication through the public cloud for greenhouse gas and atmospheric pollutant emission intensity calculation and visualization of monitoring data. Specifically, a system control software is embedded and installed inside the airborne control computer, which is responsible for parameter setting of the monitoring end system, A / D signal conversion, data collection, data synchronization, data storage, data filtering, data output, and 4G communication of the output signals of each sensor. Relevant monitoring parameters are displayed in real-time at the data calculation center, facilitating the intuitive display of various parameters monitored by the multi-rotor UAV.

[0063] Refer again to Figure 6 , the power distribution module is connected to the external airborne battery and is used to supply power to all electronic modules in the integrated analyzer 3 according to the rated voltages 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 integrated navigation module, laser rangefinder, airborne control computer, temperature and humidity sensor 8, and three-dimensional ultrasonic anemometer 2, and is powered by the external airborne battery. The integrated analyzer 3 has a high integration level and realizes the collaborative monitoring of greenhouse gases, atmospheric pollutant levels, vertical emission fluxes, and overall emission intensities emitted by human production activities in the monitoring area.

[0064] As Figure 5 shown, a plurality of mounting blocks are sleeved on the support rod 5; the main GNSS antenna 6, the secondary 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 integrated navigation module is a dual-antenna module, that is, by accessing two GNSS antennas, the accuracy of route and attitude measurement is improved, and the baseline length between the main GNSS antenna 6 and the secondary GNSS antenna 7 is greater than 1 m. Optionally, the main GNSS antenna 6 and the secondary GNSS antenna 7 adopt multi-frequency helical GNSS antennas to further reduce the overall weight. The top of the mounting block is a plane, which is convenient for arranging components, so that the installation directions of the components on it are vertically upward, thereby improving the installation accuracy of the components on it and further improving the detection accuracy.

[0065] Furthermore, a plurality of triangular blocks are sleeved on the support rod 5; through holes are formed at the bottom ends of the triangular blocks; the air inlet pipeline 4 passes through the through holes; the mounting block is arranged above the air inlet pipeline 4. Specifically, the gas pipeline 4 is fixedly installed below the support rod 5 through a plurality of triangular blocks. The air inlet of the gas pipeline 4 is located at the end of the first end of the support rod 5. The horizontal interval between the air inlet of the gas pipeline 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 pipeline 4 and facilitate the installation of the gas pipeline 4 with a longer length. On the other hand, the triangular blocks create a certain gap between the gas pipeline 4 and the support rod 5, which is convenient for installing the mounting block, effectively avoiding direct contact between the gas pipeline 4 and the support rod 5, and effectively avoiding the disturbance of the internal airflow of the gas pipeline 4 to the detection of components such as the three-dimensional ultrasonic anemometer 2 during operation, thereby improving the detection accuracy of components such as the three-dimensional ultrasonic anemometer 2.

[0066] Secondly, a hollow channel is formed inside the support rod 5; the signal lines of the main GNSS antenna 6, the sub-GNSS antenna 7, the three-dimensional ultrasonic anemometer 2, and the temperature and humidity sensor 8 are electrically connected to the integrated analyzer 3 through the hollow channel. Embedding the signal lines in the hollow channel eliminates the need for additional components to fix the signal lines, effectively ensuring the weight and volume of the support rod 5 and facilitating the stable deployment of the support rod 5 along the x-axis.

[0067] It should be understood that the above description of the specific embodiments of the present invention is only for explaining 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. However, the present invention is not limited to the above specific embodiments. Any changes or modifications made within the scope of the claims of the present invention should be covered by the protection scope of the present invention.

Claims

1. A multi-rotor unmanned aerial vehicle for collaborative monitoring of greenhouse gases and atmospheric pollutants, characterized in that, The multi-rotor UAV includes a multi-rotor platform (1), a three-dimensional ultrasonic anemometer (2), a comprehensive analyzer (3), an 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 at 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 at the end of the first end and on the rod body of 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 rod body of the second end and at the end of the second end of the support rod (5); The intake pipeline (4) is fixed below the support rod (5); one end of the intake pipeline (4) is arranged below the three-dimensional ultrasonic anemometer (2), and the other end is communicated with the comprehensive analyzer (3); A plurality of mounting blocks are sleeved on the support rod (5); the main GNSS antenna (6), the secondary 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; A plurality of triangular blocks are also sleeved on the support rod (5); through holes are opened at the bottom ends of the triangular blocks; the intake pipeline (4) passes through the through holes; the mounting blocks are arranged above the intake pipeline (4).

2. The multi-rotor unmanned aerial vehicle for collaborative monitoring of greenhouse gases and atmospheric pollutants according to claim 1, wherein The comprehensive analyzer (3) includes a chassis and a greenhouse gas analyzer, an air 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 on-board control computer arranged in the chassis; The greenhouse gas analyzer, the air pollutant monitoring module, the vacuum pump, the GNSS / INS integrated navigation module, the laser rangefinder, the on-board control computer, the temperature and humidity sensor (8), and the three-dimensional ultrasonic anemometer (2) are correspondingly electrically connected to the power distribution module; The greenhouse gas analyzer, the air 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 correspondingly electrically connected to the on-board control computer; The main GNSS antenna (6) and the secondary GNSS antenna (7) are correspondingly electrically connected to the GNSS / INS integrated navigation module.

3. The multi-rotor unmanned aerial vehicle for collaborative monitoring of greenhouse gases and atmospheric pollutants according to claim 2, characterized in that, The air pollutant monitoring module is provided with a gas detection probe; The intake pipeline (4) is communicated with 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, odor or the gas concentration of CO.

4. The multi-rotor unmanned aerial vehicle for collaborative monitoring of greenhouse gases and atmospheric pollutants according to claim 2, characterized in that, The comprehensive analyzer (3) further includes an impurity filter, a first three-way pipe, and a second three-way pipe; The intake pipeline (4) is communicated with the impurity filter; three nozzles of the first three-way pipe are correspondingly communicated with the impurity filter, the greenhouse gas analyzer, and the air pollutant monitoring module; Three nozzles of the second three-way pipe are correspondingly communicated with the greenhouse gas analyzer, the air pollutant monitoring module, and the intake end of the vacuum pump; the gas pipelines of the greenhouse gas analyzer and the air pollutant monitoring module are in parallel; The outlet end of the vacuum pump penetrates through the outer wall of the chassis.

5. The multi-rotor unmanned aerial vehicle for collaborative monitoring of greenhouse gases and atmospheric pollutants according to claim 2, characterized in that, The wireless data transmission module receives the monitoring data integrated by the on-board control computer, including navigation information such as longitude, latitude and altitude, concentration information of greenhouse gases such as CH4, CO2 and H2O, concentration information of atmospheric pollutants such as PM 10 , NO2, O3 and PM 2.5 , meteorological information such as temperature, air pressure, humidity, wind speed and wind direction, and relative height; The wireless data transmission module transmits the monitoring data to the ground remote monitoring terminal in real time through the access data transmission antenna.

6. The multi-rotor unmanned aerial vehicle for collaborative monitoring of greenhouse gases and atmospheric pollutants according to claim 2, wherein, The airborne control computer integrates the collected detection data, and sends the detection data to the data calculation center through 4G communication and the public cloud. The data calculation center calculates the emission intensity of greenhouse gases and air pollutants and visualizes the monitoring data.

7. The multi-rotor unmanned aerial vehicle for collaborative monitoring of greenhouse gases and atmospheric pollutants according to claim 2, wherein, The power distribution module is connected to the external airborne battery, and is used to supply power to the comprehensive analyzer (3) according to the rated voltages of different sensors and provide overload protection.

8. The multi-rotor unmanned aerial vehicle for collaborative monitoring of greenhouse gases and air pollutants according to claim 1, wherein, A hollow channel is formed inside the support rod (5); The signal lines of the main GNSS antenna (6), the sub-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 correspondingly.

Images