Unmanned aerial vehicle monitoring and tracing system for pollution gas emission in industrial park

Abstract

The invention relates to an unmanned aerial vehicle monitoring and tracing system for industrial park pollution gas emission. The unmanned aerial vehicle monitoring and tracing system comprises a ground control assembly and a flight control assembly. The ground control assembly comprises a remote control module, a flight design module and a data storage and transmission module D; the flight control assembly comprises an unmanned aerial vehicle main body, a positioning module, an airborne monitoring module, a traceability control module and a data storage and transmission module W; the airborne monitoring modules are arranged in front, behind, on the left side and on the right side of the center of the unmanned aerial vehicle body; the airborne monitoring module comprises a sensor; the traceability control module comprises a fuzzy controller and a data storage and transmission module S; according to the industrial park area and enterprise distribution information, a flight route can be automatically designed, the maximum smoke plume concentration can be automatically tracked, active traceability is realized, specific information of a pollution source is accurately acquired by combining camera shooting and positioning functions, and the problem of accurate and rapid traceability of sudden atmospheric pollution accidents in the industrial park is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of air pollution monitoring and prevention, and in particular to an unmanned aerial vehicle monitoring and tracing system for polluted gas emissions in industrial parks. Background Art

[0002] An industrial park is a specific area that provides comprehensive services such as production, research and development, warehousing, and logistics for industrial enterprises and related industries through centralized planning, construction, and management. The advantages of industrial parks are to improve production efficiency, promote technological innovation, and promote regional economic development through the industrial agglomeration effect. Industrial parks also have disadvantages: the dense layout of factories leads to the concentration of pollution sources, which greatly increases the possibility of pollution outbreaks; the pollution sources are of various types and complex components, and the harm caused by pollution outbreaks will also be greater; among them, air pollution is difficult to find, spreads quickly, and is difficult to control, which is the top priority of pollution prevention and control in industrial parks. At present, air pollution prevention and control measures in industrial parks include air monitoring stations, micro air monitoring stations, and cruise monitoring vehicles. Air monitoring stations are prone to blind spots in monitoring air pollution. Although micro air monitoring stations can reduce monitoring blind spots, they are expensive to use; cruise monitoring vehicles can quickly and comprehensively lock pollution sources, but the equipment cost and maintenance cost are high, and they are also prone to secondary pollution. The existing technology lacks a technical means that is low in cost, has little secondary pollution, and can quickly and accurately find air pollution sources. Summary of the invention

[0003] The purpose of the present invention is to solve the above problems and to provide a drone monitoring and tracing system for polluted gas emissions in industrial parks.

[0004] The technical solution of the present invention is: an unmanned aerial vehicle monitoring and tracing system for pollutant gas emissions in industrial parks includes a ground control component and a flight control component that transmit wirelessly to each other, the ground control component includes a remote control module and a flight design module and a data storage and transmission module D mounted on the remote control module; the flight design module, the data storage and transmission module D and the remote control module are informationally connected; the remote control module, also known as an industrial computer, is used to remotely monitor the unmanned aerial vehicle body in real time; the flight status of the unmanned aerial vehicle body and the surrounding air pollution status are transmitted to the remote control module through the data storage and transmission module D, and are analyzed and judged by the remote control module; then the remote control module issues a command, which is transmitted to the flight control module through the data storage and transmission module D The flight control component controls the drone body; the flight design module can automatically design the flight route of the drone body according to the approximate area of ​​the industrial park and the distribution information of enterprises, and adjust the flight route of the drone body according to the input parameters of the industrial computer; the flight control component includes the drone body and the positioning module, airborne monitoring module, traceability control module, and data storage and transmission module W carried on the drone body; the drone body is the basic hardware that drives the drone body to fly; the positioning module can monitor the coordinate position information of the drone body in real time, and transmit it to the remote control module through the data storage and transmission module W and the data storage and transmission module D to obtain the real-time coordinate position of the drone body; the real-time coordinate position of the drone body is transmitted to the digital The data storage and transmission module D is calibrated and recorded to facilitate subsequent analysis and tracing; there are four tracing airborne monitoring modules, which are respectively arranged in front, rear, left and right of the center of the UAV body; the airborne monitoring module includes a number of sensors related to air pollution, which are used to monitor the air pollution situation in real time; the front airborne monitoring module, the rear airborne monitoring module, the left airborne monitoring module and the right airborne monitoring module respectively monitor the concentration of polluted gases in front, rear, left and right of the center of the UAV body, so as to perceive the concentration of smoke plumes gathered by polluted gases in these four directions of the UAV body; the tracing control module includes a fuzzy controller and a data storage and transmission module S; the positioning module, the airborne monitoring module, the data storage The data storage and transmission module S is connected to the data storage and transmission module D and the data storage and transmission module W; the data storage and transmission module S is connected to the fuzzy controller; the data storage and transmission module S has data storage and transmission functions, and is used to connect the data storage and transmission module W of the flight control component; the data storage and transmission module D has data storage and transmission functions, and is used to connect the data storage and transmission module W of the flight control component; the data storage and transmission module W has data storage and transmission functions, and is used to connect the data storage and transmission module D of the ground control component; the source tracing control module monitors the polluted gas concentration transmitted to the remote control module through the data storage and transmission module S, the data storage and transmission module W, and the data storage and transmission module D;The remote control module then transmits the polluted gas concentration to the fuzzy controller through the data storage and transmission module D and the data storage and transmission module S; the fuzzy controller performs fuzzy control source tracing algorithm processing and outputs a control signal; the control signal is transmitted to the drone body through the data storage and transmission module S and the data storage and transmission module W, and the drone body is adjusted to move in the direction of the maximum smoke plume concentration, until it is determined that the drone body has reached the position above the atmospheric pollution source; the positioning module sends a signal to the remote control module to obtain the coordinate position of the atmospheric pollution source, and calibrates and records it through the data storage and transmission module D. ;

[0005] Preferably, the airborne monitoring module also includes a controller MCU; a number of sensors related to air pollution are mounted on the controller MCU; the sensors related to air pollution directly output electrical signals, which need to be converted into concentration values ​​of polluted gases through a remote control module; the controller MCU has digital output and analog voltage output functions, which facilitates qualitative and quantitative analysis of data obtained by sensors related to air pollution, and then directly transmits the data to the fuzzy sensor through the data storage and transmission module W and the data storage and transmission module S, which can reduce the signal transmission process and also reduce signal distortion.

[0006] Air pollution related sensors can detect fine particulate matter (PM 2.5 ) concentration, inhalable particulate matter (PM 10 ), sulfur dioxide (SO2), nitrogen dioxide (NO2), ozone (O3), and carbon monoxide (CO) concentrations are monitored in real time; the sensor transmits an electrical signal to the controller MCU to display the corresponding concentration; the controller MCU then puts each concentration value into the air quality index AQI calculation formula to obtain the air quality index and air quality index level.

[0007] Furthermore, several sensors related to air pollution include temperature and humidity sensors, wind speed and direction sensors, volatile organic compound sensors, and particulate matter sensors; temperature and humidity sensors, wind speed and direction sensors, volatile organic compound sensors, and particulate matter sensors work together to help drones monitor ambient air quality more comprehensively. Temperature, humidity, wind speed, and wind direction will affect the diffusion and distribution of polluted gases. By comprehensively analyzing these data, the air quality status can be more accurately assessed; volatile organic compound sensors are used for VOC s Concentration detection; particulate matter sensor is used for PM 2.5 、PM 10 Concentration monitoring.

[0008] Furthermore, several sensors related to air pollution also include conventional air pollutant sensors and toxic and harmful gas sensors, which are used to detect gases such as SO2, NO2, CO, O3, toluene, and vinyl chloride.

[0009] Furthermore, the airborne monitoring module also includes an air pressure sensor; the air pressure sensor can monitor the flight altitude of the drone body and assist in determining the coordinate position of the atmospheric pollution source; generally, the lower the flight altitude of the drone body, the more accurate the coordinate position of the atmospheric pollution source it locates; on the other hand, atmospheric pressure is also one of the meteorological parameters of polluted gases, which can affect the diffusion and chemical reaction rate of the gas, and has a certain impact on the vertical transmission of polluted gases.

[0010] Furthermore, the air pressure sensor is mounted on the controller MCU; the controller MCU directly reads the detected air pressure value of the air pressure sensor, thereby reducing the data transmission process.

[0011] Preferably, the ground control component also includes an abnormal data module mounted on the remote control module; the abnormal data module is informationally connected to the data storage and transmission module D; the abnormal data module can receive the monitoring data transmitted from the flight control component to the remote control module, and mark the abnormal values ​​in the monitoring data to enhance the reliability of ground communication; during the monitoring process, the ground control component receives some abnormal values ​​in the monitoring data, and after the staff processes it through the remote control module, the command is pushed back to the flight control component, so as to adjust the flight parameters of the drone body in real time according to the actual situation.

[0012] Preferably, the flight control assembly also includes a camera module mounted on the drone body; the camera module and the data storage and transmission module are connected with information; the camera module can take high-definition videos and photos to assist in analyzing air pollution and geographical environment.

[0013] Furthermore, the flight control component also includes an obstacle avoidance module mounted on the drone body; the obstacle avoidance module and the data storage and transmission module are connected by information; the obstacle avoidance module can automatically analyze the geographical environment, identify obstacles, and realize automatic avoidance of the drone during the flight of the drone body.

[0014] Preferably, the flight control component also includes an emergency response module mounted on the drone body; the emergency response module and the data storage and transmission module are informationally connected; the emergency response module can improve the response capability of the drone monitoring and tracing system when the drone body encounters special situations during flight; the emergency response module can drive the drone monitoring and tracing system to respond quickly when encountering emergencies such as sudden environmental pollution during flight.

[0015] The beneficial effects of the present invention are:

[0016] The UAV monitoring and tracing system for polluted gas emissions in industrial parks of the present invention has the following advantages:

[0017] (1) The present invention integrates automatic monitoring of UAV flight control, active tracing of fuzzy control tracing algorithm, wireless data transmission and real-time monitoring, and has obvious advantages such as automatic and accurate monitoring, active control tracing, and rapid and accurate positioning, solving the problems of low flexibility and weak initiative in the current monitoring method. The present invention can automatically design the flight route according to the approximate area of ​​the industrial park and the distribution information of enterprises, and automatically track the maximum smoke plume concentration to achieve active tracing. Combined with the camera and positioning functions, it can accurately obtain the specific information of the pollution source, solving the problem of accurate and rapid tracing of sudden air pollution accidents in the industrial park; the overall cost of the present invention is low, and the secondary pollution is small, and the air pollution source can be found quickly and accurately.

[0018] (2) The camera module of the present invention can capture multiple continuous images for analysis through a visible band camera when the drone body is hovering;

[0019] (3) The airborne monitoring module of the present invention monitors the concentration of polluted gases in front, behind, on the left and on the right of the UAV, so as to sense the concentration of smoke plumes gathered by polluted gases in these four directions. The fuzzy controller performs fuzzy control source tracing algorithm processing and outputs a control signal; the control signal is transmitted to the UAV body through the data storage and transmission module S and the data storage and transmission module W, and the travel length and travel angle of the UAV body are adjusted, and the flight trajectory of the UAV is adjusted so that the UAV body moves in the direction of the maximum smoke plume concentration until it is determined that the UAV body has reached a position above the atmospheric pollution source. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a block diagram of the UAV monitoring and tracing system for polluted gas emissions in industrial parks of the present invention;

[0021] Figure 2 This is a block diagram of the flight control components;

[0022] Figure 3 is a block diagram of the airborne monitoring module;

[0023] Figure 4 This is the working principle diagram of the traceability control module;

[0024] Figure 5 It is a three-dimensional picture of the flight control assembly;

[0025] Figure 6 yes Figure 5 A partial cross-sectional view from bottom up;

[0026] Figure 7It is a physical picture of the drone monitoring and tracing system for polluted gas emissions in industrial parks of the present invention;

[0027] In the figure: 1. UAV body, 21. front airborne monitoring module, 22. rear airborne monitoring module, 23. left airborne monitoring module, 24. right airborne monitoring module, 3. camera module. DETAILED DESCRIPTION

[0028] Example 1: See Figure 1-6A UAV monitoring and tracing system for pollutant gas emissions in industrial parks includes a ground control component and a flight control component that transmit wirelessly to each other. The ground control component includes a remote control module and a flight design module and a data storage and transmission module D mounted on the remote control module; the flight design module, the data storage and transmission module D and the remote control module are information-connected; the remote control module, also known as an industrial computer, is used to remotely monitor the UAV body 1 in real time; the flight status of the UAV body 1 and the surrounding air pollution status are transmitted to the remote control module through the data storage and transmission module D, and are analyzed and judged by the remote control module; then the remote control module issues a command, which is transmitted to the flight control component through the data storage and transmission module D to monitor the UAV body 1 The flight design module can automatically design the flight route of the drone body 1 according to the approximate area of ​​the industrial park and the distribution information of enterprises, and adjust the flight route of the drone body 1 according to the input parameters of the industrial computer; the flight control component includes the drone body 1 and the positioning module, airborne monitoring module, traceability control module, and data storage and transmission module W carried on the drone body 1; the drone body 1 is the basic hardware for driving the drone body 1 to fly; the positioning module can monitor the coordinate position information of the drone body 1 in real time, and transmit it to the remote control module through the data storage and transmission module W and the data storage and transmission module D to obtain the real-time coordinate position of the drone body 1; the real-time coordinate position of the drone body 1 is transmitted to the data storage and transmission module W and the data storage and transmission module D. The transmission module D is calibrated and recorded to facilitate subsequent analysis and tracing; there are four tracing airborne monitoring modules, which are respectively arranged in front, rear, left and right of the center of the UAV body 1; the airborne monitoring module includes a number of sensors related to air pollution, which are used to monitor the air pollution situation in real time; the front airborne monitoring module 21, the rear airborne monitoring module 22, the left airborne monitoring module 23, and the right airborne monitoring module 24 respectively monitor the concentration of polluted gases in front, rear, left and right of the center of the UAV body 1, so as to perceive the concentration of smoke plumes gathered by polluted gases in these four directions of the UAV body 1; the tracing control module includes a fuzzy controller, a data storage and transmission module S; the positioning module, the airborne monitoring module, The data storage and transmission module S, the data storage and transmission module D and the data storage and transmission module W are connected in information; the data storage and transmission module S is connected in information with the fuzzy controller; the data storage and transmission module S has data storage and transmission functions, and is used to connect the data storage and transmission module W of the flight control component; the data storage and transmission module D has data storage and transmission functions, and is used to connect the data storage and transmission module W of the flight control component; the data storage and transmission module W has data storage and transmission functions, and is used to connect the data storage and transmission module D of the ground control component; the source tracing control module monitors the polluted gas concentration transmitted to the remote control module through the data storage and transmission module S, the data storage and transmission module W, and the data storage and transmission module D;The remote control module then transmits the polluted gas concentration to the fuzzy controller through the data storage and transmission module D and the data storage and transmission module S; the fuzzy controller performs fuzzy control source tracing algorithm processing and outputs a control signal; the control signal is transmitted to the drone body 1 through the data storage and transmission module S and the data storage and transmission module W, and the travel length and travel angle of the drone body 1 are adjusted, and the flight trajectory of the drone is adjusted so that the drone body 1 moves in the direction of the maximum smoke plume concentration until it is determined that the drone body 1 reaches the position above the atmospheric pollution source; the positioning module sends a signal to the remote control module to obtain the coordinate position of the atmospheric pollution source, and calibrates and records it through the data storage and transmission module D. ;

[0029] Compared with the prior art, the present invention realizes that the drone body 1 searches for air pollution sources and collects data in a hovering state; when no fixed air pollution source is found, the drone body 1 collects data according to a predetermined flight route; the collected data is input to the data storage and transmission module W, transmitted to the data storage and transmission module D through wireless transmission, and then displayed and analyzed on the industrial computer page of the ground control component. After finding the air pollution source, the positioning module can locate the specific coordinate information of the air pollution source and transmit the data to the remote control module for staff to view.

[0030] The airborne monitoring module also includes a controller MCU; a number of sensors related to air pollution are mounted on the controller MCU; the sensors related to air pollution directly output electrical signals, which need to be converted into concentration values ​​of polluted gases through a remote control module; the controller MCU has digital output and analog voltage output functions, which facilitates qualitative and quantitative analysis of data obtained by sensors related to air pollution, and then directly transmits the data to the fuzzy sensor through the data storage and transmission module W and the data storage and transmission module S, which can reduce the signal transmission process and also reduce signal distortion.

[0031] The Ambient Air Quality Standard (GB3095-2012) stipulates that the Air Quality Index (AQI) is an index that quantitatively describes the air quality. The larger the value, the more serious the air pollution is and the greater the harm to human health. The main pollutants involved in air quality evaluation are fine particulate matter (PM 2.5 ), inhalable particulate matter (PM 10 ), sulfur dioxide (SO2), nitrogen dioxide (NO2), ozone (O3), and carbon monoxide (CO). AQI is used to indicate the short-term air quality status and changing trends of a city.

[0032] Air pollution related sensors can detect fine particulate matter (PM 2.5 ) concentration, inhalable particulate matter (PM 10), sulfur dioxide (SO2), nitrogen dioxide (NO2), ozone (O3), and carbon monoxide (CO) concentrations are monitored in real time; the sensor transmits an electrical signal to the controller MCU to display the corresponding concentration; the controller MCU then brings each concentration value into the air quality index AQI calculation formula to obtain the air quality index and air quality index level. In this embodiment, the sensor related to air pollution adopts an electrochemical sensor widely used in the market, and uses the electrochemical principle to detect the polluted gases in the air; the onboard monitoring module has a built-in temperature and humidity sensor to obtain temperature and humidity data, so as to perform temperature and humidity compensation on the concentration of polluted gases to obtain more accurate values.

[0033] Several sensors related to air pollution include temperature and humidity sensors, wind speed and direction sensors, volatile organic compound sensors, and particulate matter sensors. Temperature and humidity sensors, wind speed and direction sensors, volatile organic compound sensors, and particulate matter sensors work together to help drones monitor ambient air quality more comprehensively. Temperature, humidity, wind speed, and wind direction affect the diffusion and distribution of polluted gases. By comprehensively analyzing these data, air quality conditions can be more accurately assessed. Volatile organic compound sensors are used to measure VOC s Concentration detection; particulate matter sensor is used for PM 2.5 、PM 10 Concentration monitoring.

[0034] The airborne monitoring module also includes an air pressure sensor; the air pressure sensor can monitor the flight altitude of the drone body 1 and assist in determining the coordinate position of the atmospheric pollution source; generally, the lower the flight altitude of the drone body 1, the more accurate the coordinate position of the atmospheric pollution source it locates; on the other hand, atmospheric pressure is also one of the meteorological parameters of polluted gases, which can affect the diffusion and chemical reaction rate of the gas and have a certain impact on the vertical transmission of polluted gases.

[0035] The airborne monitoring module is arranged at the bottom of the drone body 1 and can better receive polluted gases.

[0036] The air pressure sensor is mounted on the controller MCU; the controller MCU directly reads the detected air pressure value of the air pressure sensor to reduce the data transmission process.

[0037] The ground control component also includes an abnormal data module mounted on the remote control module; the abnormal data module is informationally connected to the data storage and transmission module D; the abnormal data module can receive the monitoring data transmitted from the flight control component to the remote control module, and mark the abnormal values ​​in the monitoring data to enhance the reliability of ground communication; during the monitoring process, the ground control component receives some abnormal values ​​in the monitoring data, and after the staff processes it through the remote control module, the command is pushed back to the flight control component, so as to adjust the flight parameters of the drone body 1 in real time according to the actual situation.

[0038] The flight control assembly also includes a camera module 3 mounted on the drone body 1; the camera module 3 is informationally connected to the data storage and transmission module W; the camera module 3 can take high-definition videos and photos to assist in analyzing air pollution and the geographical environment.

[0039] The flight control component also includes an obstacle avoidance module mounted on the drone body 1; the obstacle avoidance module is connected to the data storage and transmission module W information; the obstacle avoidance module can automatically analyze the geographical environment, identify obstacles, and realize automatic avoidance of the drone during the flight of the drone body 1.

[0040] The working process of the drone includes the following steps:

[0041] ① The UAV body is driven into the air through the remote control module; the positioning module detects the position coordinates of the UAV body after it is launched as the initial coordinates; the initial coordinate information is read out and displayed on the remote control module; the remote control module automatically designs the flight route of the UAV body 1 in combination with the approximate area of ​​the industrial park and the enterprise distribution information of the flight design module and the coordinate position; the UAV body patrols according to the flight route designed by the flight design module; during the patrol, the airborne monitoring module detects the air on the flight route in real time;

[0042] ② Once the airborne monitoring module detects that the concentration of polluted gas exceeds the standard, it sends a signal to the remote control module through the data storage and transmission module W and the data storage and transmission module D; after receiving the signal, the remote control module issues a hovering command for the drone body 1; starts and initializes the fuzzy controller, and drives the drone body 1 to search for the air pollution source locally;

[0043] ③ The positioning module detects the position coordinates of the drone body as the coordinates of the atmospheric pollution source; the initial coordinate information is read and displayed on the remote control module.

[0044] The patrol process of the drone body in step ① is to move in a bidirectional Z-shaped pattern in the set area according to the flow direction.

[0045] The process of the drone body 1 locally searching for air pollution sources includes the following steps:

[0046] S1 compares the measured pollutant gas concentration

[0047] Assume that the concentration of polluted gas measured by the airborne monitoring module in front is ρ 前 , the airborne monitoring module at the rear measures the concentration of polluted gas as ρ 后 The airborne monitoring module on the left measures the concentration of polluted gas as ρ 左 The airborne monitoring module on the right measures the concentration of polluted gas as ρ 右; Set three value intervals for the pollutant gas concentration, which are the pollutant gas concentration of good air quality ρ 优良 , lightly polluted gas concentration ρ 轻度 , concentration of polluted gas with moderate or above pollution ρ 中度 ρ 优良 <ρ 轻度 <ρ 中度 ;

[0048] Take out the polluted gas concentration measured by the airborne monitoring module at the relative position and ρ 中度 Contrast; if the concentrations of the two pollutants belong to ρ 中度 If the value range is within , then execute step S 2.1 ; If at most one of the two pollutant gas concentrations belongs to ρ 中度 When comparing two pollutant gas concentrations, if both pollutant gas concentrations belong to ρ 优良 or 轻度 , execute step S 2.2 ; If the pollutant gas concentration does not belong to the same value range, execute step S 2.3 ;

[0049] S2 controls the forward distance and angle of the drone body 1

[0050] The minimum step length of the movement of the drone body 1 is set to d; the front and left side of the drone body 1 are the default moving directions of the drone body 1;

[0051] S 2.1 The drone body 1 does not move in the direction of the onboard monitoring module at the relative position;

[0052] S 2.2 The drone body 1 moves in the default direction; the concentration of polluted gases belongs to ρ 优良 When the UAV body 1 advances a distance of 3d, the concentration of polluted gases belongs to ρ 轻度 When , the advance distance of the UAV body 1 is 2d;

[0053] S 2.3 The drone body 1 moves in the direction of the onboard monitoring module measuring the larger pollutant gas concentration; the larger pollutant gas concentration belongs to ρ 轻度 When the UAV body 1 advances a distance of 2d, the larger pollutant gas concentration belongs to ρ 中度 When , the advance distance of the drone body 1 is d;

[0054] S3 Find the source of air pollution

[0055] Repeat steps S1 and S2 until all airborne monitoring modules detect that the concentration of polluted gas is ρ 中度 .

[0056] The process of the drone body 1 locally searching for air pollution sources, after finding the air pollution sources in step S3, further includes the following steps:

[0057] S4 The drone body 1 falls to a certain height; repeat steps S1-S3 until the drone body 1 falls to a suitable height; the flight design module also saves the roof heights of houses in various areas of the industrial park; the suitable height is obtained by combining the coordinates obtained by the positioning module with the roof height saved by the flight design module.

[0058] Step S2 of regulating the forward distance and angle of the drone body 1 further includes the following steps:

[0059] S 2.4 Combined with S 2.1 -S 2.3 The distance that the drone body needs to move forward in the four directions of front, back, left and right is obtained, and the combined motion of the drone body is obtained according to the principle of vector synthesis; according to the deflection angle and forward distance of the combined motion, the drone body is first rotated on the spot by the deflection angle to make the drone body face the direction of the combined motion, and then the drone body is driven to move the forward distance of the combined motion.

[0060] As 前 ∈ρ 中度 , 后 ∈ρ 轻度 , 左 ∈ρ 轻度 , 右 ∈ρ 优良 ;

[0061] Take out ρ 前 , 后 , and found that 前 ∈ρ 中度 , And 前 >ρ 后 , so the drone body needs to move forward d in the front and rear directions;

[0062] Take out ρ 左 , 右 , and found 左 ∈ρ 轻度 , 右 ∈ρ 优良， And 左 >ρ 右 , so the drone body needs to move to the left for 2d in the left and right directions;

[0063] In this case, the combined motion of the drone body is that the drone body deflects 63° to the left and moves forward.

[0064] According to the provisions of the "Ambient Air Quality Standard" (GB3095-2012), the onboard monitoring module can detect the concentration of six pollutants related to the air quality index AQI; the detected concentration is calculated according to the air quality index AQI calculation formula to obtain the air quality index and air quality index level. The air quality index is 0-100, and the air quality index level is one or two for excellent air; the air quality index is 101-150, and the air quality index level is three for lightly polluted air; the air quality index is ≥151, and the air quality index level is four to six for moderately and above moderately polluted air.

[0065] Step S1 can use the air quality index AQI instead of the concentration of polluted gas for comparison; then take out the air quality index AQI measured by the airborne monitoring module at the relative position; if both air quality indexes AQI are ≥151, then execute step S 2.1 ; If at most one of the two air quality indexes AQI / air quality index levels belongs to the air quality index ≥ 151, then compare the two air quality indexes AQI; When comparing the two air quality indexes AQI, if the air quality indexes AQI belong to the same level, execute step S 2.2 ; If the air quality index AQI is not at the same level, execute step S 2.3 ;

[0066] Step S 2.2 In the figure, the air quality index AQI is 0-100, and the forward distance of the drone body 1 is 3 days; when the air quality index is 101-150, the forward distance of the drone body 1 is 2 days;

[0067] S 2.3 The drone body 1 moves in the direction of the airborne monitoring module measuring the maximum air quality index AQI; when the maximum air quality index AQI is 101-150, the forward distance of the drone body 1 is 2d; when the maximum pollutant gas concentration is ≥151, the forward distance of the drone body 1 is d;

[0068] S3 Find the source of air pollution

[0069] Repeat steps S1 and S2 until all airborne monitoring modules detect that the concentration of polluted gases is ≥151.

[0070] Embodiment 2: Embodiment 2 is basically the same as Embodiment 1, and the similarities are not repeated here. The difference is that the several sensors related to air pollution also include conventional air pollutant sensors and toxic and harmful gas sensors, which are used to detect gases such as SO2, NO2, CO, O3, toluene, and vinyl chloride.

[0071] The flight control component also includes an emergency response module mounted on the drone body 1; the emergency response module is informationally connected to the data storage and transmission module W; the emergency response module can improve the response capability of the drone monitoring and tracing system when the drone body 1 encounters special situations during flight; the emergency response module can drive the drone monitoring and tracing system to respond quickly when encountering emergencies such as sudden environmental pollution during flight.

Claims

1. A drone monitoring and tracing system for pollutant gas emissions in industrial parks, characterized in that: It includes a ground control component and a flight control component that transmit wirelessly to each other; the ground control component includes a remote control module and a flight design module and a data storage and transmission module D mounted on the remote control module; the flight design module, the data storage and transmission module D and the remote control module are information-connected; the flight control component includes a UAV body and a positioning module, an airborne monitoring module, a traceability control module, and a data storage and transmission module W mounted on the UAV body; there are four airborne monitoring modules, which are respectively arranged in front, rear, left and right of the center of the UAV body; the airborne monitoring module includes several sensors related to air pollution; the traceability control module includes a fuzzy controller and a data storage and transmission module S; the positioning module, the airborne monitoring module, the data storage and transmission module S, the data storage and transmission module D and the data storage and transmission module W are information-connected; the data storage and transmission module S and the fuzzy controller are information-connected.

2. The UAV monitoring and tracing system for pollutant gas emissions in industrial parks according to claim 1 is characterized by: The airborne monitoring module also includes a controller MCU; a number of sensors related to air pollution are mounted on the controller MCU.

3. The UAV monitoring and tracing system for pollutant gas emissions in industrial parks according to claim 1 or 2, characterized in that: Several sensors related to air pollution include temperature and humidity sensors, wind speed and direction sensors, volatile organic compound sensors, and particulate matter sensors.

4. The UAV monitoring and tracing system for pollutant gas emissions in industrial parks according to claim 3 is characterized by: The onboard monitoring module also includes an air pressure sensor.

5. The UAV monitoring and tracing system for polluted gas emissions in industrial parks according to claim 4 is characterized by: The air pressure sensor is mounted on the controller MCU.

6. The UAV monitoring and tracing system for pollutant gas emissions in industrial parks according to claim 1 is characterized by: The ground control component also includes an abnormal data module mounted on the remote control module; the abnormal data module is informationally connected to the data storage and transmission module D.

7. The UAV monitoring and tracing system for pollutant gas emissions in industrial parks according to claim 1 is characterized by: The flight control assembly also includes a camera module mounted on the drone body; the camera module is connected to the data storage and transmission module with information.

8. The UAV monitoring and tracing system for pollutant gas emissions in industrial parks according to claim 7 is characterized by: The flight control assembly also includes an obstacle avoidance module mounted on the drone body; the obstacle avoidance module is connected to the data storage and transmission module with information.

9. The UAV monitoring and tracing system for pollutant gas emissions in industrial parks according to claim 1 is characterized by: The flight control assembly also includes an emergency response module mounted on the drone body; the emergency response module is connected to the data storage and transmission module W information.

Images