VOC gas space rapid positioning method based on dual-machine cooperation

Abstract

The invention relates to the technical field of gas emission monitoring, and discloses a VOC gas space rapid positioning method based on dual-machine cooperation. Comprising the following steps: planning preset air routes on a current height working plane at the periphery of a target detection area, and enabling each preset air route not to intersect with a no-fly zone in the target detection area; controlling the unmanned aerial vehicle to fly along the corresponding preset air route; the slave unmanned aerial vehicle is controlled to keep a relative motion state with the master unmanned aerial vehicle, so that the VOC infrared detection receiving device and the VOC infrared detection transmitting device maintain a fixed relative angle; in the flight process, VOC detection data is returned to the ground station in real time through the unmanned aerial vehicle; after the detection of the working plane at one height is completed, the heights of the master unmanned aerial vehicle and the slave unmanned aerial vehicle are lifted to the next working plane; the positioning of the three-dimensional position of the VOC gas in the target detection area is realized. According to the invention, the technical bottleneck of the traditional single-machine saturation type coverage flight is overcome.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of gas emission monitoring, in particular to a VOC gas space rapid positioning method based on double-machine cooperation. BACKGROUND

[0002] Although the overall urban air quality has been continuously improved, the problem of industrial waste gas pollution emission is still further aggravated. The annual average concentration of pollutants related to industrial waste gas is still rising, and the trend of pollution aggravation has not been alleviated. Therefore, the demand for monitoring volatile organic compounds (VOC) is increasing. Because VOC gas mass will continue to rise in the atmospheric environment and move with the air flow, it is necessary to establish an efficient means of detecting, positioning and monitoring VOC gas mass. In view of the particularity of the spatial distribution of VOC gas, using unmanned aerial vehicles to monitor VOC gas emission has become an important means in the emerging monitoring method.

[0003] Among the current related inventions, there are schemes based on multi-rotor unmanned hanging detection equipment, and there are schemes of vertical take-off and landing unmanned aerial vehicles hanging detection equipment. Among them, the vertical take-off and landing unmanned aerial vehicle is more suitable for monitoring across the inter-city large geographical range, and the multi-rotor unmanned aerial vehicle is small in size, easy to deploy, and flexible in detection means, and is more suitable for urban VOC gas emission monitoring. The method of monitoring VOC by unmanned aerial vehicle includes: unmanned aerial vehicle in air sampling and unmanned aerial vehicle in air real-time monitoring.

[0004] In the scheme of unmanned aerial vehicle in air sampling, the unmanned aerial vehicle carries a gas sampling device, and after the flight is completed, the gas sample is handed over to the monitoring station for analysis. This method has a lagging detection result and a long operation time.

[0005] In the scheme of unmanned aerial vehicle in air real-time detection, the unmanned aerial vehicle carries a spectrometer, a gas phase analyzer and other detection equipment, and after real-time sampling in the air, it is detected in real time, and the detection result is transmitted back to the ground in real time. This method is fast and convenient to use.

[0006] In the current application scheme, the unmanned aerial vehicle needs to fly in a saturated coverage mode in the target detection area to ensure the detection of the entire area, which results in high trajectory density and long flight distance of the unmanned aerial vehicle in the target detection area, thereby greatly increasing the requirements for the endurance and operation time of the unmanned aerial vehicle and greatly increasing the use cost. At the same time, the saturated coverage flight also requires that there be no no-fly zone in the target detection area, but in actual situations, airports, ancient buildings and scenic spots will become no-fly zones, which greatly compresses the detection area and leaves dead angles for city VOC monitoring. In addition, the existing schemes do not consider the three-dimensional positioning of VOC gas masses, because the endurance of the unmanned aerial vehicle is consumed by the saturated coverage flight, the operating unmanned aerial vehicle mostly selects a fixed height operating surface for monitoring, which ignores the three-dimensional properties of VOC gas masses and may leave dead angles for VOC monitoring in the height direction. SUMMARY

[0007] To solve the above technical problems, the application provides a VOC gas space rapid positioning method based on double-machine cooperation.

[0008] To solve the above technical problems, the application adopts the following technical scheme: A VOC gas space rapid positioning method based on double-machine cooperation, comprising the following steps: S1, planning a preset flight path of a master unmanned aerial vehicle and a preset flight path of a slave unmanned aerial vehicle which do not intersect each other on a current height operating surface outside a target detection area, and making each preset flight path not intersect with a no-fly zone in the target detection area; S2, controlling the master unmanned aerial vehicle loaded with a VOC infrared detection emitting device to fly along the corresponding preset flight path; S3, controlling the slave unmanned aerial vehicle loaded with a VOC infrared detection receiving device to fly along the corresponding preset flight path and receiving the position, speed and attitude sent by the master unmanned aerial vehicle in real time; S4, based on the position, speed and attitude sent by the master unmanned aerial vehicle, controlling the slave unmanned aerial vehicle to maintain a relative motion state with the master unmanned aerial vehicle through a following controller, so that the VOC infrared detection receiving device and the VOC infrared detection emitting device maintain a fixed relative angle; S5, in the flight process, transmitting the VOC detection data back to the ground station in real time through the slave unmanned aerial vehicle; S6, after completing the detection of one height operating surface, raising the height of the master unmanned aerial vehicle and the slave unmanned aerial vehicle to the next operating surface; S7, repeating S1 to S6 until the detection of all height operating surfaces is completed, realizing the positioning of the three-dimensional position of VOC gas in the target detection area.

[0009] In one embodiment, the following controller is a model predictive control-based controller.

[0010] In one of the embodiments, the master unmanned aerial vehicle and the slave unmanned aerial vehicle communicate through a 433MHz data radio station.

[0011] In one of the embodiments, the slave unmanned aerial vehicle transmits VOC detection data to the ground station in real time through a 5G communication module.

[0012] In one of the embodiments, based on the position, speed and attitude of the master unmanned aerial vehicle, the slave unmanned aerial vehicle maintains the relative motion state with the master unmanned aerial vehicle through a following controller, so that the VOC infrared detection receiving device and the VOC infrared detection emitting device maintain a fixed relative angle, specifically including: The expected yaw angle of the slave unmanned aerial vehicle is calculated based on the yaw angle in the attitude of the master unmanned aerial vehicle, so as to keep the relative angle of the VOC infrared detection receiving device and the VOC infrared detection emitting device fixed.

[0013] In one of the embodiments, during the flight of the master unmanned aerial vehicle, the operator is allowed to modify the flight speed of the master unmanned aerial vehicle.

[0014] Compared with the prior art, the beneficial technical effects of the present application are: The present application overcomes the technical bottleneck of the traditional single machine saturation type coverage flight. Firstly, through the peripheral cooperative flight of the double unmanned aerial vehicles, the no-fly zone in the internal region is avoided, and the no-angle detection of the target region containing the no-fly zone is realized. Secondly, this method does not need to perform large-scale regional coverage flight, significantly shortens the flight distance and operation time, and reduces the requirement for the endurance of the single machine, thereby improving the efficiency and reducing the cost. Finally, through repeated operation at different heights, the distribution information of the VOC gas group in the vertical direction can be obtained, and the effective positioning of the three-dimensional position of the VOC gas group can be realized. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 The task execution logic diagram in the embodiment of the present application; Figure 2 The detection operation diagram on the operation surface at a certain height in the embodiment of the present application; Figure 3 The schematic diagram of three-dimensional space operation detection in the embodiment of the present application; Figure 4 The schematic diagram of the arch-shaped working path in the embodiment of the present application; Figure 5 The schematic diagram of the spiral working path in the embodiment of the present application. DETAILED DESCRIPTION

[0016] A preferred embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0017] 1. System configuration: The system used in the present application is composed of a master unmanned aerial vehicle and a slave unmanned aerial vehicle.

[0018] The master unmanned aerial vehicle is loaded with a VOC infrared detection and emission device, and the slave unmanned aerial vehicle is installed with a VOC infrared detection and reception device.

[0019] The master unmanned aerial vehicle and the slave unmanned aerial vehicle are communicatively connected through a data radio station, and both the master unmanned aerial vehicle and the slave unmanned aerial vehicle are communicatively connected with the ground through 5G.

[0020] 2. Method steps: The task execution process is shown in Figure 1 .

[0021] (1) As shown in Figure 2 , select the target detection area on the two-dimensional map.

[0022] (2) Plan the preset flight path of the master unmanned aerial vehicle and the slave unmanned aerial vehicle.

[0023] (3) Check whether the preset flight path of the master unmanned aerial vehicle and the slave unmanned aerial vehicle intersects with the no-fly zone. The target detection area is allowed to contain the no-fly zone, but the target detection area is not allowed to intersect with the no-fly zone.

[0024] (4) As shown in Figure 2 , the master unmanned aerial vehicle reaches the starting point of the master unmanned aerial vehicle flight path, and the slave unmanned aerial vehicle reaches the starting point of the slave unmanned aerial vehicle flight path, preparing to start the current working surface detection.

[0025] (5) Control the master unmanned aerial vehicle to move along the master unmanned aerial vehicle preset flight path as shown in Figure 2 , use the airborne automatic pilot instrument to maintain the unmanned aerial vehicle heading and speed, and allow the operator to modify the master unmanned aerial vehicle flight speed during the master unmanned aerial vehicle flight.

[0026] (6) The master unmanned aerial vehicle and the slave unmanned aerial vehicle maintain communication based on the 433Mhz data radio station, and the slave unmanned aerial vehicle receives the current position, speed, heading and unmanned aerial vehicle attitude information of the master unmanned aerial vehicle in real time.

[0027] (7) Use the airborne automatic pilot instrument to maintain the slave unmanned aerial vehicle flying along the preset flight path as shown in Figure 2 , while controlling the slave unmanned aerial vehicle movement speed based on the real-time received master unmanned aerial vehicle position and speed. During the movement of the slave unmanned aerial vehicle, based on the yaw angle of the master unmanned aerial vehicle attitude, the expected yaw angle of the slave unmanned aerial vehicle attitude is calculated to keep the relative angle between the slave unmanned aerial vehicle VOC infrared reception device and the master unmanned aerial vehicle VOC infrared emission device fixed. The VOC infrared detection and reception device receives the infrared signal emitted by the VOC infrared detection and emission device.

[0028] (8) Deploy a model predictive control-based follower controller from the UAV. Considering potential communication delays, complete the model predictive control parameter debugging in ground experiments to maintain good following of the master UAV during operation. The model predictive control follower controller is a type of controller, commonly abbreviated as MPC.

[0029] (9) For example Figure 3 As shown, after completing the work on a certain work area, the drone is raised to enter the next work area and begins the exploration of the new work area, repeating the above steps.

[0030] (10) Throughout the operation, the VOC infrared receiver spectrum detection results are transmitted back in real time from the UAV’s onboard 5G communication module and processed at the ground station to realize VOC monitoring of the target detection area and the three-dimensional location of possible VOC air masses.

[0031] (11) After all the work on the work surface is completed, the mission is completed and the UAV returns to base.

[0032] Current UAV-based VOC gas detection methods primarily locate VOC emission sources on a two-dimensional plane, lacking efficient and convenient three-dimensional positioning techniques and methods for VOC gas clouds. This invention proposes a UAV-based three-dimensional VOC gas location detection method, capable of locating the three-dimensional position of VOC gas clouds.

[0033] like Figure 4 and Figure 5 As shown, current methods often use a single UAV to achieve saturation coverage in a two-dimensional plane by following a bow-shaped or spiral trajectory to cover a certain area. This results in long flight distances and places high demands on the UAV's endurance and operation time. This invention, based on dual-UAV collaboration, executes a simple trajectory, significantly shortens the flight distance, greatly reduces the performance requirements of the UAVs, and accelerates the operation speed.

[0034] Currently, due to the limitations of single-drone detection modes, existing methods will cause the drone's detection trajectory to enter the no-fly zone when a no-fly zone exists in the target area, thus failing to detect such areas and leaving blind spots for VOC monitoring. This invention, however, ensures that the drone's detection trajectory does not enter the target area, allowing for the presence of no-fly zones within the target area, thereby enabling the detection of target areas including no-fly zones.

[0035] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0036] It should be understood that although the steps in the flowcharts of the accompanying drawings are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the flowcharts of the accompanying drawings may include multiple steps or stages, which are not necessarily completed at the same time, but may be executed at different times, and the execution order of these steps or stages is not necessarily sequential, but may be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0037] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0038] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention, and no reference numerals in the claims should be construed as limiting the scope of the claims.

[0039] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A method for rapid spatial positioning of VOC gas based on dual-machine collaboration, characterized in that, Includes the following steps: S1, on the current altitude working surface outside the target detection area, plan the preset routes of the main UAV and the slave UAV that do not intersect, and ensure that each preset route does not intersect with the no-fly zone within the target detection area; S2 controls the main UAV equipped with a VOC infrared detection transmitter to fly along the corresponding preset route; S3 controls the UAV equipped with a VOC infrared detection receiver to fly along the corresponding preset route and receives the position, speed and attitude sent by the main UAV in real time; S4, based on the position, speed and attitude sent by the main UAV, the follower controller controls the slave UAV to maintain the relative motion state with the main UAV, so that the VOC infrared detection receiver and the VOC infrared detection transmitter maintain a fixed relative angle. During flight, the S5 transmits VOC detection data from the drone back to the ground station in real time. S6, after completing the detection of a working area at a certain height, raises the height of the main UAV and the slave UAV to the next working area; S7. Repeat S1 to S6 until all height working surfaces are detected, thus achieving the three-dimensional positioning of VOC gas within the target detection area.

2. The method for rapid spatial positioning of VOC gas based on dual-machine cooperation according to claim 1, characterized in that, The follower controller is a model predictive control-based controller.

3. The method for rapid spatial positioning of VOC gas based on dual-machine cooperation according to claim 1, characterized in that, The master UAV and the slave UAV communicate via a 433MHz data radio.

4. The method for rapid spatial positioning of VOC gas based on dual-machine cooperation according to claim 1, characterized in that, The drone transmits VOC detection data back to the ground station in real time via a 5G communication module.

5. The method for rapid spatial positioning of VOC gas based on dual-machine cooperation according to claim 1, characterized in that, The method of controlling the slave drone to maintain its relative motion with the master drone based on the position, speed, and attitude transmitted by the master drone, and maintaining a fixed relative angle between the VOC infrared detection receiver and the VOC infrared detection transmitter, specifically includes: The desired yaw angle from the UAV is calculated based on the yaw angle in the attitude of the main UAV to keep the relative angle between the VOC infrared detection receiver and the VOC infrared detection transmitter fixed.

6. The method for rapid spatial positioning of VOC gas based on dual-machine cooperation according to claim 1, characterized in that, During the flight of the main drone, the operator is allowed to modify the flight speed of the main drone.

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