PM2.5 and inert gas monitoring system based on unmanned patrol car

Abstract

The invention discloses a PM2.5 and inert gas monitoring system based on an unmanned patrol car, a PM2.5 monitoring module and an inert gas monitoring module are integrated and carried on the unmanned patrol car, real-time mobile monitoring of PM2.5 and inert gas is carried out, and the comprehensiveness, real-time performance and accuracy of PM2.5 and inert gas monitoring can be improved. Compared with the prior art, the method has higher flexibility, adaptability and reliability, can be widely applied to the fields of environmental monitoring, industrial safety, emergency management and the like, and has important social benefits and economic values.

Description

Technical Field

[0001] This invention relates to the technical fields of environmental monitoring and intelligent robots, and also to multiple fields such as sensor technology, the Internet of Things, artificial intelligence, environmental safety, and new energy. More specifically, it relates to a PM2.5 and inert gas monitoring system based on an unmanned patrol vehicle, which is an efficient, intelligent, and flexible PM2.5 and inert gas monitoring solution suitable for air quality monitoring and early warning in urban environments, industrial areas, construction sites, scientific research laboratories, and other scenarios. Background Technology

[0002] Currently, pollutant and pollutant gas monitoring relies on fixed monitoring stations or manual inspections, lacking mobility or automation capabilities. For example, monitoring stations are deployed at traffic intersections, scenic areas, industrial zones, and building rooftops to collect pollutants and pollutant gases (such as PM2.5 and inert gases). These monitoring stations are static and sparsely deployed, resulting in large monitoring blind spots and limited coverage. Therefore, comprehensive coverage was not achieved in the subsequent analysis, hindering the realization of large-scale, all-weather automated monitoring, and the accuracy of the analysis results needs improvement.

[0003] With advancements in technology, unmanned patrol vehicles have acquired autonomous navigation, environmental perception, and mission execution capabilities. However, they are primarily used for security patrols and have not been integrated with environmental gas monitoring functions. Furthermore, current technology lacks the capability for joint mobile monitoring of PM2.5 and inert gases.

[0004] Therefore, there is an urgent need for an efficient, flexible, integrated, and intelligent monitoring system to improve the coverage and real-time performance of PM2.5 and inert gas monitoring. Summary of the Invention

[0005] In view of the above-mentioned technical problems, the present invention provides a PM2.5 and inert gas monitoring system based on an unmanned patrol vehicle. The PM2.5 monitoring module and the inert gas monitoring module are integrated and mounted on the unmanned patrol vehicle and move with the vehicle to perform real-time joint monitoring of PM2.5 and inert gases, which can improve the comprehensiveness, real-time performance and accuracy of PM2.5 and inert gas monitoring.

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

[0007] This invention provides a PM2.5 and inert gas monitoring system based on an unmanned patrol vehicle. The system includes: a PM2.5 monitoring module, an inert gas monitoring module, and an unmanned patrol vehicle, wherein:

[0008] The PM2.5 monitoring module and the inert gas monitoring module are integrated and mounted on the unmanned patrol vehicle. The unmanned patrol vehicle adopts a tracked or wheeled chassis and is equipped with lidar, high-definition camera, GPS, and inertial navigation device. It moves autonomously and avoids obstacles according to the planned path, covers the target monitoring area, and performs real-time mobile monitoring of PM2.5 and inert gases.

[0009] In a preferred embodiment, the PM2.5 monitoring module employs a YW-51GJ dust sensor with a detection range of 0-1000 μg / m³. 3 Accuracy ±5μg / m 3 ;

[0010] The inert gas monitoring module uses a TDLAS spectrometer to detect leaks of inert gases and volatile organic compounds; it also integrates a thermal imager to help locate the source of the gas leak.

[0011] In a preferred embodiment, the unmanned patrol vehicle is also equipped with an environmental meteorological monitoring module for sensing environmental meteorological parameters, including temperature, humidity, and wind speed.

[0012] In a preferred embodiment, the unmanned patrol vehicle is also equipped with an embedded industrial control computer. The embedded industrial control computer processes the data collected by the PM2.5 monitoring module, the inert gas monitoring module, and the environmental meteorological monitoring module, and corrects the PM2.5 and inert gas data in combination with environmental meteorological parameters. It then uses an AI model to analyze the corrected data and identify the type and location of pollution sources.

[0013] In a preferred embodiment, the embedded industrial control computer transmits monitoring data and analysis results to the cloud platform in real time via a 4G / 5G communication module; the cloud platform is used to store and display the monitoring data and analysis results, and to make judgments based on the monitoring data and analysis results, issuing a warning message when PM2.5 or inert gas data exceeds the warning threshold.

[0014] In a preferred embodiment, the embedded industrial computer is equipped with a path planning module, which performs path planning using a fusion algorithm of A* and DWA based on the monitoring task.

[0015] In a preferred embodiment, the unmanned patrol vehicle is equipped with a dual power supply unit consisting of lithium batteries and solar power.

[0016] Compared with existing technologies, the present invention provides a PM2.5 and inert gas monitoring system based on an unmanned patrol vehicle, which has at least the following beneficial technical effects:

[0017] This invention integrates a PM2.5 monitoring module and an inert gas monitoring module and mounts them on an unmanned patrol vehicle to move with the vehicle, enabling real-time joint monitoring of PM2.5 and inert gases. This can improve the comprehensiveness, real-time nature, and accuracy of PM2.5 and inert gas monitoring; it also helps to improve monitoring efficiency and emergency response capabilities.

[0018] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings.

[0019] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0022] Figure 1 This is a schematic diagram of the PM2.5 and inert gas monitoring system architecture based on an unmanned patrol vehicle, provided in an embodiment of the present invention.

[0023] Figure 2 This is a schematic diagram illustrating the working principle and process of an embedded industrial control computer identifying the type and location of pollution sources, provided in an embodiment of the present invention. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0025] In the description of this invention, it should be noted that some processes described in this application specification and drawings include multiple operations that appear in a specific order. However, it should be clearly understood that these operations may be performed in any order or in parallel. Furthermore, various numbers are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0026] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0027] This invention provides a PM2.5 and inert gas monitoring system based on an unmanned patrol vehicle. The system includes a PM2.5 monitoring module, an inert gas monitoring module, and an unmanned patrol vehicle. The PM2.5 monitoring module and the inert gas monitoring module are integrated and mounted on the unmanned patrol vehicle, moving with it. Depending on the scenario, the unmanned patrol vehicle can adopt a tracked or wheeled chassis. The unmanned patrol vehicle is equipped with devices such as lidar, high-definition cameras, GPS, and inertial navigation devices. It can move autonomously and avoid obstacles according to a planned path, covering the target monitoring area and performing real-time monitoring of PM2.5 and inert gases.

[0028] This invention applies a PM2.5 monitoring module and an inert gas monitoring module to an unmanned patrol vehicle to perform real-time mobile monitoring of PM2.5 and inert gases, which can improve the comprehensiveness, real-time performance and accuracy of PM2.5 and inert gas monitoring.

[0029] The following is combined Figure 1 and Figure 2 As shown, the specific implementation method and working principle of the PM2.5 and inert gas monitoring system based on an unmanned patrol vehicle of the present invention are described in detail:

[0030] In this embodiment, the unmanned patrol vehicle preferably adopts a wheeled chassis. Before each unmanned patrol vehicle receives a mission and departs, it calibrates the sensor deviation. When performing the mission, it collects PM2.5 and various gas detection values ​​of the surrounding environment according to the planned path, and integrates the environmental positioning values ​​of lidar, real-time images of the surrounding environment monitored by the camera, and fixed location calibration values. The data is wirelessly transmitted to the remote cloud platform at 1.2s intervals for real-time judgment, so as to realize high-precision, real-time and large-scale monitoring of PM2.5 and inert gases in both normal and complex environments.

[0031] In one specific implementation, the PM2.5 monitoring module uses a YW-51GJ dust sensor with a detection range of 0-1000 μg / m³.3 Accuracy ±5μg / m 3 It can detect PM2.5 concentration with high precision. The inert gas monitoring module uses a TDLAS spectrometer to detect VOCs (volatile organic compounds) and inert gas leaks (such as argon and helium); and integrates a thermal imager to generate a heat map to help locate the gas leak source.

[0032] In one specific implementation, the unmanned patrol vehicle is also equipped with an environmental meteorological monitoring module for sensing environmental meteorological parameters. The environmental meteorological monitoring module includes temperature, humidity and wind speed sensors, which can monitor environmental meteorological parameters such as temperature, humidity and wind speed.

[0033] In one specific implementation, the unmanned patrol vehicle is equipped with an embedded industrial control computer (Jetson Xavier NX), such as... Figure 2 As shown, the embedded industrial control computer processes data collected by the PM2.5 monitoring module, inert gas monitoring module, and environmental meteorological monitoring module. It then corrects the PM2.5 and inert gas data by incorporating environmental meteorological parameters. Using an AI model (such as CNN or LSTM models), it analyzes the corrected data to identify the type and location of pollution sources. Furthermore, the embedded industrial control computer transmits the monitoring data and analysis results to a cloud platform in real time via a 4G / 5G communication module. The cloud platform stores and displays the monitoring data and analysis results, allowing staff to remotely monitor the situation and make judgments based on the data and analysis results. When PM2.5 or inert gas data exceeds the warning threshold, it issues a warning to the management department.

[0034] In one specific implementation, the embedded industrial control computer is equipped with a path planning module. The path planning module uses a fusion algorithm of A* and DWA to plan the path according to the monitoring task. The specific process includes: initializing the grid map and setting the target point and the starting point; using the A* algorithm to plan the global path; using the improved DWA algorithm to plan the local path; updating the current position to the newly generated trajectory end point; determining whether the current position is the global target point. If so, the algorithm ends and the trajectory is connected to obtain the final planned path. Otherwise, the improved DWA algorithm is used again to plan the local path.

[0035] In one specific implementation, the unmanned patrol vehicle is equipped with a dual power supply unit consisting of lithium batteries and solar energy, which can ensure that the unmanned patrol vehicle can work stably and continuously for a long time.

[0036] As described in the above embodiments, those skilled in the art will understand that the present invention provides a PM2.5 and inert gas monitoring system based on an unmanned patrol vehicle. By integrating PM2.5 and inert gas sensors onto the unmanned patrol vehicle, real-time mobile monitoring of PM2.5 and inert gases can be performed, improving the comprehensiveness, real-time performance, and accuracy of PM2.5 and inert gas monitoring. Compared with existing technologies, the present invention has higher flexibility, adaptability, and reliability, and can be widely applied in fields such as environmental monitoring, industrial safety, and emergency management, possessing significant social and economic benefits.

[0037] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0038] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A PM2.5 and inert gas monitoring system based on an unmanned patrol vehicle, characterized in that, The system includes: a PM2.5 monitoring module, an inert gas monitoring module, and an unmanned patrol vehicle, among which: The PM2.5 monitoring module and the inert gas monitoring module are integrated and mounted on the unmanned patrol vehicle. The unmanned patrol vehicle adopts a tracked or wheeled chassis and is equipped with lidar, high-definition camera, GPS, and inertial navigation device. It moves autonomously and avoids obstacles according to the planned path, covers the target monitoring area, and performs real-time mobile monitoring of PM2.5 and inert gases.

2. The PM2.5 and inert gas monitoring system based on an unmanned patrol vehicle according to claim 1, characterized in that, The PM2.5 monitoring module uses a YW-51GJ dust sensor with a detection range of 0-1000 μg / m³. 3 Accuracy ±5μg / m 3 ; The inert gas monitoring module uses a TDLAS spectrometer to detect leaks of inert gases and volatile organic compounds; it also integrates a thermal imager to help locate the source of the gas leak.

3. The PM2.5 and inert gas monitoring system based on an unmanned patrol vehicle according to claim 1, characterized in that, The unmanned patrol vehicle is also equipped with an environmental meteorological monitoring module, which is used to sense environmental meteorological parameters, including temperature, humidity and wind speed.

4. The PM2.5 and inert gas monitoring system based on an unmanned patrol vehicle according to claim 3, characterized in that, The unmanned patrol vehicle is also equipped with an embedded industrial control computer, which processes the data collected by the PM2.5 monitoring module, the inert gas monitoring module, and the environmental meteorological monitoring module, and corrects the PM2.5 and inert gas data in combination with environmental meteorological parameters. The corrected data is analyzed using an AI model to identify the type and location of pollution sources.

5. A PM2.5 and inert gas monitoring system based on an unmanned patrol vehicle according to claim 4, characterized in that, The embedded industrial control computer transmits monitoring data and analysis results to the cloud platform in real time via a 4G / 5G communication module. The cloud platform is used to store and display the monitoring data and analysis results, and makes judgments based on the monitoring data and analysis results. When the PM2.5 or inert gas data exceeds the warning threshold, a warning message is issued.

6. A PM2.5 and inert gas monitoring system based on an unmanned patrol vehicle according to claim 4, characterized in that, The embedded industrial control computer is equipped with a path planning module, which performs path planning using a fusion algorithm of A* and DWA based on the monitoring task.

7. A PM2.5 and inert gas monitoring system based on an unmanned patrol vehicle according to claim 1, characterized in that, The unmanned patrol vehicle is equipped with a dual power supply unit consisting of lithium batteries and solar energy.

Images