Self-suction flow type gas detection unmanned aerial vehicle and remote measurement method

Abstract

The invention discloses a self-suction flow type gas detection unmanned aerial vehicle and a remote measurement method, and relates to the technical field of gas detection. The unmanned aerial vehicle comprises a vehicle body, a drainage tube, a drainage shell and a sensor assembly; a drainage bin is arranged in the drainage shell, and the drainage tube is installed on the drainage shell. The sensor assembly is installed on the machine body, and the drainage shell is installed on the machine body. A negative pressure opening is formed in the drainage shell and communicated with the interior of the drainage bin. The telemetering method comprises the steps of connecting terminal equipment with the unmanned aerial vehicle; the collected gas concentration data is transmitted to terminal equipment; taking the target position as a circle center O, moving to the position of a first radius point A on the circumference according to the area radius, collecting gas concentration data of the position of the first radius point A, and transmitting the data to terminal equipment; forming a telemetering area; detecting and collecting gas concentration data of the circle center O again and transmitting the gas concentration data to the terminal equipment. According to the invention, the gas sensor can absorb a drainage flow field of gas, and effective and more accurate gas concentration data can be provided.

Description

Technical Field

[0001] The present invention relates to the technical field of gas detection, and in particular to a self-attracting flow-type gas detection drone and a telemetry method. Background Art

[0002] At present, drones have gradually entered large-scale applications in many industries, but their applications in some areas are still being explored and tried. For example, how to use drones to detect harmful gases in closed spaces and complex environmental scenes without satellite signals is being included in the application research and development plans of many companies. However, in the process of gas detection, drones with this function on the market are difficult to effectively detect the target gas around the body due to the interference of airflow generated by the high-speed rotation of the drone's propeller during flight (for small-scale gas leaks, the concentration of the gas to be detected in the air is too low, and it cannot effectively contact the gas sensor under the interference of the blade airflow). The most common way is to increase the gas detection area of ​​the gas sensor to receive a small amount of surrounding air to detect the gas to be tested.

[0003] For example Figure 1 As shown in the figure, a gas sensor is installed just above the drone fuselage. The gas sensor can produce an electrochemical reaction after contacting various gases in the air, and transmit the concentration of the contacted gas in the air to the drone's data processing system in the form of a numerical signal, so that the drone can be used to perform real-time detection of the target gas concentration in a specific area. When the drone is flying, due to the high-speed rotation of the rotor, a Figure 1 The rotor flow field area on the left and right sides of the drone. It is precisely because of the effect of the rotor flow field area that the area directly above and below the gas sensor forms an area without airflow, making it impossible for the gas sensor to effectively contact the gas around the drone, so that the drone cannot detect gas during flight.

[0004] However, it still has the following disadvantages: First, increasing the size of the gas sensor requires increasing the cost of the sensing hardware, while increasing the weight of the sensor, which will also reduce the drone's flight time; second, the traditional solution can only detect a small part of the gas around the drone, so it is ultimately difficult to accurately measure the concentration of the gas to be measured. Third, the traditional solution is relatively simple, from detecting the gas concentration at a certain location, the gas concentration detection effect of the area extended from the location is not good. Therefore, it is necessary to design a drone structure that can solve the existing problems. Summary of the invention

[0005] In view of the problems existing in the prior art, the present invention provides a self-attracting flow-type gas detection drone and a remote sensing method.

[0006] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0007] A self-suction flow-type gas detection UAV comprises a fuselage, a drainage tube, a drainage shell, and a sensor assembly; a drainage bin is arranged in the drainage shell, the drainage tube is mounted on the drainage shell, and gas flows into the drainage bin through the hollow channel of the drainage tube; the sensor assembly is mounted on the upper end of the fuselage, the drainage shell is mounted on the upper end of the fuselage, and the sensor assembly is located in the drainage bin of the drainage shell; a negative pressure port is arranged on the side of the drainage shell, and the opening of the negative pressure port faces the airflow-free area below the fuselage of the UAV, the position of the negative pressure port is in the rotor flow field area formed on the left and right sides of the UAV fuselage, and the negative pressure port is connected to the inside of the drainage bin; the pressure difference generated by the pipe mouth of the drainage tube and the negative pressure port is utilized to quickly suck the gas above the drainage tube into the drainage bin, so as to detect the concentration of the gas when the UAV is in flight.

[0008] Based on the above technical solution, further, a guide portion is provided on the drainage shell, the interior of the guide portion is communicated with the drainage bin, one end of the drainage tube is installed in the guide portion, and the other end is placed in the air.

[0009] Based on the above technical solution, further, the sensor assembly includes multiple gas sensors, and the multiple gas sensors can be installed on the fuselage by being fixed on an integrated mounting plate, wherein the integrated mounting plate is installed on the upper end of the fuselage, and the gas drained into the drainage bin through the drainage pipe is detected by the multiple gas sensors to obtain the gas concentration.

[0010] Based on the above technical solution, further, the fuselage is equipped with propellers and a motor, and the propellers are driven to rotate by controlling the motor to start.

[0011] A remote sensing method for a self-attracting gas detection drone comprises the following steps:

[0012] Step 1: Establish a communication connection between the terminal device and the drone, determine the current operation mode of the drone, and start the drone to the location to be tested;

[0013] Step 2: Keep the drone at the target position for a set period of time by controlling the motor start and the rotation speed of the propeller blades; and transmit the gas concentration data collected during the set period of time to the terminal device;

[0014] Step 3: After the terminal device completes receiving the data, it takes the target position of the first stop as the center O, moves to the position of the first radius point A on the circumference according to the set area radius, collects the gas concentration data corresponding to the position of the first radius point A, and transmits the data to the terminal device;

[0015] Step 4: Based on the position of the first radius point A, determine the positions of other radius points to form a key telemetry area;

[0016] Step 5: After the gas concentration data of the last radius point is collected, the remote control drone is moved to the center O of the first stop detection to detect and collect gas concentration data again, and the data is transmitted to the terminal device, thereby completing the entire telemetry process.

[0017] Based on the above technical solution, further, in step 4, the first radius point A is connected with the center O to form a first line segment, and the perpendicular bisector of the first line segment is made, wherein the two points where the perpendicular bisector intersects with the circumference are set as the second radius point B and the third radius point C respectively.

[0018] Based on the above technical solution, further, in step 4, the first line segment is extended to intersect at the fourth radius point D of the circle line, wherein the fourth radius point D and the first radius point A are symmetrically arranged with the center of the circle O as the center, the symmetrical point of the second radius point B is set to the fifth radius point E, and the symmetrical point of the third radius point C is set to the sixth radius point F.

[0019] Based on the above technical solution, further, the first radius point A, the second radius point B, the sixth radius point F, the fourth radius point D, the fifth radius point E, the third radius point C, and the first radius point A are connected in sequence to form a telemetry area.

[0020] Based on the above technical solution, further, the detection dwell time at each radial point on the circumference is shorter than two-thirds of the dwell time at the center O of the circle, and longer than one-half of the dwell time at the center O of the circle.

[0021] Based on the above technical solution, further, when the comparison error between the data detected for the first time and the data detected for the second time is within a set threshold range, the data is considered to be accurate.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. The drone of the present invention has a simple, light and small mechanical structure. At the same time, without adding additional complex electromechanical equipment, according to the principle of aerodynamics, the pressure difference generated by the existing propeller rotor is used to achieve the function of gas drainage and detection. In addition, the designed self-priming drainage device cleverly converts the rotor flow field generated by the high-speed rotation of the propeller, which is not conducive to the gas sensor absorbing gas, into a drainage flow field that is conducive to the gas sensor absorbing gas.

[0024] 3. The remote sensing method of the present invention can not only detect the gas concentration data at the target position (center of the circle), but also judge the gas concentration data of the target remote sensing area by the data of multiple radius points under the set radius, so as to provide more accurate data for analyzing the harmful gas situation. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 Schematic diagram of gas detection for a prior art drone;

[0026] Figure 2 It is a three-dimensional diagram of the entire device of the present invention;

[0027] Figure 3 For the present invention Figure 2 sectional view of

[0028] Figure 4 It is a schematic diagram of the positions of various radius points in Example 2;

[0029] Figure numerals: 1. body; 2. motor; 3. blade; 4. drainage tube; 5. drainage chamber; 6. negative pressure port; 7. gas sensor; 8. drainage shell; 9. guide part. DETAILED DESCRIPTION

[0030] The present invention is further described and illustrated below in conjunction with the accompanying drawings and specific embodiments. The technical features of each embodiment of the present invention can be combined accordingly without conflicting with each other.

[0031] In order to make the above-mentioned purpose, features and advantages of the present invention more obvious and easy to understand, the specific implementation mode of the present invention is described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below. The technical features in each embodiment of the present invention can be combined accordingly without conflicting with each other.

[0032] In the description of the present invention, it is to be understood that when an element is considered to be "connected" to another element, it may be directly connected to the other element or indirectly connected, that is, there are intermediate elements. On the contrary, when an element is said to be "directly" connected to another element, there are no intermediate elements.

[0033] In the description of the present invention, it should be understood that the terms "first" and "second" are only used for the purpose of distinguishing descriptions, and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features.

[0034] Example 1

[0035] Combination Figure 2 and Figure 3 As shown, this embodiment provides a self-attracting gas detection drone, including a drone body 1, a drainage tube 4, a drainage shell 8, a sensor assembly, a blade 3 and a motor 2; wherein a drainage bin 5 is provided in the drainage shell 8, and a guide portion 9 is also provided on the drainage shell 8, and the guide portion 9 is preferably a columnar structure with an internal hollow structure adapted to the drainage tube 4, and the internal hollow of the guide portion 9 is connected to the drainage bin 5, and one end of the drainage tube 4 is installed in the guide portion 9, and the other end is placed in the air, and the gas flows to the interior of the drainage bin 5 through the hollow channel of the drainage tube 4; the sensor assembly is installed At the upper end of the fuselage 1, the drainage housing 8 is installed at the upper end of the fuselage 1, and the sensor assembly is located in the drainage chamber 5 of the drainage housing 8. It should be noted that the sensor assembly includes multiple gas sensors 7, and multiple gas sensors 7 can be fixed on the fuselage 1 by an integrated mounting plate, wherein the integrated mounting plate is installed at the upper end of the fuselage 1. The multiple gas sensors 7 are located below the drainage pipe 4 and are not in direct contact. The multiple gas sensors 7 are wrapped in a sealed form, and the gas drained into the drainage chamber 5 through the drainage pipe 4 is detected by the multiple gas sensors 7 to obtain the gas concentration at the corresponding position. Further, the starter motor 2 is controlled externally to drive the blades 3 to rotate to achieve the flight and landing action.

[0036] In some embodiments, a negative pressure port 6 is provided on the side of the drainage housing 8, and the opening of the negative pressure port 6 faces the airflow-free area below the fuselage 1 of the drone, and the position of the negative pressure port 6 is in the rotor flow field area formed on the left and right sides of the drone fuselage 1, and the negative pressure port 6 is connected to the inside of the drainage chamber 5. The purpose of such a setting is that when the high-speed airflow in the rotor flow field area passes through the negative pressure port 6, the air near the negative pressure port 6 will form an area with very low static pressure; however, at this time, the air static pressure at the pipe mouth of the upper end of the drainage tube 4 is much greater than the static pressure area at the negative pressure port 6, so that the pipe mouth of the drainage tube 4 and the negative pressure port 6 produce a pressure difference, so that the gas above the drainage tube 4 can be quickly sucked into the drainage chamber 5, so as to realize the concentration detection of the target gas by multiple gas sensors 7 when the drone is in flight. Among them, the target gas is a harmful gas.

[0037] The drainage tube 4, negative pressure port 6 and other structures provided in the drone can solve the problem that the existing gas cannot be effectively collected due to the rotation of the blades 3, which leads to large errors in the collected gas data and is not conducive to the relevant data analysis results. It should be noted that the drone is also equipped with conventional structures such as a GPS controller and a drone main controller to achieve corresponding control, which will not be recorded in detail here.

[0038] Example 2

[0039] Based on the structure of a self-attracting flow-type gas detection drone in Example 1, a telemetry operation is performed on it, specifically including the following steps:

[0040] Step 1: Establish a communication connection between the terminal device and the drone, determine the current operation mode of the drone, and start the drone to the location to be tested.

[0041] Step 2, keep the UAV at the target position by controlling the start of motor 2 and the rotation speed of blade 3 according to natural environmental conditions; specifically, control the start of motor 2 and the rotation speed of blade 3 according to natural environmental conditions such as actual wind speed on site, and the relationship between wind speed and rotation speed follows the laws of physics; and wait at the position for a set time, such as staying for 3 minutes, 5 minutes, 10 minutes, etc.; the gas sensor 7 transmits the gas concentration and other related data collected during this period to the terminal device; wherein, through steps 1 and 2, the gas concentration data of the corresponding single position can be obtained in the structure of the self-attracting flow gas detection UAV, and the terminal device can be a computer or other equipment.

[0042] Step 3: After the terminal device completes receiving the data, it takes the target position of the first stop as the center O, moves to the position of the first radius point A on the circumference according to the set area radius, performs the same operation, collects the gas concentration and other related data corresponding to the position of the first radius point A, and transmits the data to the terminal device; it should be noted that the radius size is set according to the actual geographical environment or demand, such as 5m, 10m, etc.; and the first radius point A is any point on the circumference, which can be selected according to the actual terrain, refer to Figure 4 It should be noted that the geographic data can be known in advance.

[0043] Step 4. Based on the position of the first radius point A, determine the positions of other radius points to form a key telemetry area. The specific process is: connect the first radius point A and the center O to form a first line segment, and make the perpendicular bisector of the first line segment, wherein the two points where the perpendicular bisector intersects the circumference are set as the second radius point B and the third radius point C respectively, and at the same time extend the first line segment to intersect at the fourth radius point D of the circumference line, wherein the fourth radius point D and the first radius point A are symmetrically set with the center O as the symmetry point, and in the same way, the symmetry point of the second radius point B is determined to be the fifth radius point E, and the symmetry point of the third radius point C is set to the sixth radius point F. Further, the fifth radius point E and the sixth radius point F are both set on the circumference; the first radius point A, the second radius point B, the sixth radius point F, the fourth radius point D, the fifth radius point E, the third radius point C, and the first radius point A are sequentially connected to form a telemetry area. At the same time, at each radius point, the gas concentration of the corresponding radius point is measured in the same way, and the data is transmitted to the terminal device; thus, the gas concentration distribution of the telemetry area can be known, providing a reference for data analysis; the purpose of this step is to achieve the gas data concentration of the corresponding area, and the detection area range is wider. It should be noted that, except for the relatively long stay time at the center O position of the first stop, the detection stay time at each radius point on the circumference is shorter than two-thirds of the stay time at the center O position, and longer than half of the stay time at the center O position. This is to take into account the possible external adverse factors, such as wind speed and other objective reasons. Therefore, a short stay time can reduce the risk brought by adverse factors, resulting in large errors in data collection.

[0044] Step 5. After the gas concentration data of the last radius point is collected, that is, after the gas concentration data of the third radius point C is collected, the drone is remotely controlled to the center O position of the first stop detection to detect and collect gas concentration data again, and the data is transmitted to the terminal device; the purpose of this step is to consider that the data detected once may be subjective, so the gas concentration data at the center O position is detected again, and it is compared with the harmful gas concentration data detected for the first time. On the one hand, it can provide relevant personnel with information on the change or trend of gas concentration, and on the other hand, it can verify whether there is a large error in the harmful gas concentration data detected for the first time. When the comparison error between the first detected data and the second detected data is within the set threshold range, the data is considered to be accurate, otherwise it is considered that the data has a certain deviation, and the center O position can be detected again to provide some ideas for analyzing the reasons for the large errors in the previous and subsequent detection data, such as whether it is caused by external wind speed and other reasons. It should be noted that the set threshold range is set according to the actual situation.

[0045] In this embodiment, if it is not easy to obtain a suitable circular area for the area to be detected, you can consider choosing a shorter radius or the distance error from each radius point to the center O is within the range of 1-2m, which will not affect the execution of the entire plan and the detection results.

[0046] Finally, it should be noted that the above content is only used to illustrate the technical solution of the present invention, rather than to limit the scope of protection of the present invention. Simple modifications or equivalent substitutions of the technical solution of the present invention by ordinary technicians in this field do not deviate from the essence and scope of the technical solution of the present invention.

Claims

1. A self-attracting gas detection drone, characterized in that: It includes a fuselage, a drainage tube, a drainage shell, and a sensor assembly; A drainage chamber is provided in the drainage shell, a drainage tube is installed on the drainage shell, and the gas flows into the drainage chamber through the hollow channel of the drainage tube; The sensor assembly is mounted on the upper end of the fuselage, the drainage housing is mounted on the upper end of the fuselage, and the sensor assembly is located in the drainage compartment of the drainage housing; A negative pressure port is provided on the side of the drainage shell, and the opening of the negative pressure port faces the airflow-free area under the fuselage of the drone. The negative pressure port is located in the rotor flow field area formed on the left and right sides of the drone fuselage, and the negative pressure port is connected to the inside of the drainage chamber; The pressure difference between the drainage tube opening and the negative pressure port is used to suck the gas above the drainage tube into the drainage chamber, so that the gas concentration can be detected while the UAV is in flight.

2. A self-attracting gas detection drone according to claim 1, characterized in that: The drainage shell is also provided with a guide part, the interior of the guide part is communicated with the drainage bin, one end of the drainage tube is installed in the guide part, and the other end is placed in the air.

3. The self-attracting gas detection drone according to claim 1, characterized in that: The sensor assembly includes multiple gas sensors, which are arranged on the fuselage by being fixed on an integrated mounting plate, wherein the integrated mounting plate is installed at the upper end of the fuselage, and the gas drained into the drainage bin through the drainage pipe is detected by the multiple gas sensors to obtain the gas concentration.

4. The self-attracting gas detection drone according to claim 1, characterized in that: The fuselage is provided with propeller blades and a motor, and the propeller blades are driven to rotate by controlling the start of the motor.

5. A remote sensing method for a self-attracting gas detection drone, characterized in that: The self-attracting flow-type gas detection drone according to any one of claims 1 to 4 is used to implement the remote sensing method, which comprises the following steps: Step 1: Establish a communication connection between the terminal device and the drone, determine the current operation mode of the drone, and start the drone to the location to be tested; Step 2: Keep the drone at the target position for a set period of time by controlling the motor start and the rotation speed of the propeller blades; and transmit the gas concentration data collected during the set period of time to the terminal device; Step 3: After the terminal device completes receiving the data, it takes the target position of the first stop as the circle center O, moves to the position of the first radius point A on the circumference according to the set area radius, collects the gas concentration data corresponding to the position of the first radius point A, and transmits the data to the terminal device; Step 4: Based on the position of the first radius point A, determine the positions of other radius points to form a key telemetry area; Step 5: After the gas concentration data of the last radius point is collected, the remote control drone is moved to the center O of the first stop detection to detect and collect gas concentration data again, and the data is transmitted to the terminal device, thereby completing the entire telemetry process.

6. A remote sensing method for a self-attracting gas detection drone according to claim 5, characterized in that: In step 4, the first radius point A is connected with the center O to form a first line segment, and a perpendicular bisector is drawn for the first line segment, wherein the two points where the perpendicular bisector intersects with the circumference are set as the second radius point B and the third radius point C respectively.

7. A remote sensing method for a self-attracting gas detection drone according to claim 6, characterized in that: In step 4, the first line segment is extended to intersect at the fourth radius point D of the circle line, wherein the fourth radius point D is symmetrically arranged with the first radius point A around the center O, the symmetrical point of the second radius point B is set to the fifth radius point E, and the symmetrical point of the third radius point C is set to the sixth radius point F.

8. The remote sensing method of a self-attracting gas detection drone according to claim 7 is characterized in that: The first radius point A, the second radius point B, the sixth radius point F, the fourth radius point D, the fifth radius point E, the third radius point C, and the first radius point A are connected in sequence to form a telemetry area.

9. A remote sensing method for a self-attracting gas detection drone according to claim 8, characterized in that: The detection dwell time at each radial point on the circumference is shorter than two-thirds of the dwell time at the center O of the circle, and longer than one-half of the dwell time at the center O of the circle.

10. A remote sensing method for a self-attracting gas detection drone according to claim 9, characterized in that: When the comparison error between the data detected for the first time and the data detected for the second time is within the set threshold range, the data is considered accurate.

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