CN105527382A - Flyable air detection equipment and mobile terminal applying flyable air detection equipment - Google Patents
Flyable air detection equipment and mobile terminal applying flyable air detection equipment Download PDFInfo
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- 238000001514 detection method Methods 0.000 title claims abstract description 83
- 238000004891 communication Methods 0.000 claims abstract description 12
- 238000000034 method Methods 0.000 claims description 15
- 238000005070 sampling Methods 0.000 claims description 13
- UHOVQNZJYSORNB-UHFFFAOYSA-N Benzene Chemical compound C1=CC=CC=C1 UHOVQNZJYSORNB-UHFFFAOYSA-N 0.000 claims description 12
- 238000007405 data analysis Methods 0.000 claims description 12
- QGZKDVFQNNGYKY-UHFFFAOYSA-N Ammonia Chemical compound N QGZKDVFQNNGYKY-UHFFFAOYSA-N 0.000 claims description 10
- WSFSSNUMVMOOMR-UHFFFAOYSA-N Formaldehyde Chemical compound O=C WSFSSNUMVMOOMR-UHFFFAOYSA-N 0.000 claims description 9
- 238000010295 mobile communication Methods 0.000 claims description 9
- 238000012544 monitoring process Methods 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 7
- 229910052704 radon Inorganic materials 0.000 claims description 7
- SYUHGPGVQRZVTB-UHFFFAOYSA-N radon atom Chemical compound [Rn] SYUHGPGVQRZVTB-UHFFFAOYSA-N 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 6
- 239000012535 impurity Substances 0.000 claims description 5
- 238000012545 processing Methods 0.000 abstract description 5
- 238000005516 engineering process Methods 0.000 abstract description 2
- 239000003570 air Substances 0.000 description 70
- 238000012360 testing method Methods 0.000 description 11
- 238000003915 air pollution Methods 0.000 description 4
- 229910021529 ammonia Inorganic materials 0.000 description 3
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- 231100001261 hazardous Toxicity 0.000 description 3
- 230000036541 health Effects 0.000 description 3
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical group C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 2
- 206010001052 Acute respiratory distress syndrome Diseases 0.000 description 2
- 208000013616 Respiratory Distress Syndrome Diseases 0.000 description 2
- 208000011341 adult acute respiratory distress syndrome Diseases 0.000 description 2
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- 238000000429 assembly Methods 0.000 description 2
- 239000000356 contaminant Substances 0.000 description 2
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- 239000000463 material Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 206010058467 Lung neoplasm malignant Diseases 0.000 description 1
- 206010037423 Pulmonary oedema Diseases 0.000 description 1
- 239000000809 air pollutant Substances 0.000 description 1
- 231100001243 air pollutant Toxicity 0.000 description 1
- 239000012080 ambient air Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 231100000357 carcinogen Toxicity 0.000 description 1
- 239000003183 carcinogenic agent Substances 0.000 description 1
- 210000003169 central nervous system Anatomy 0.000 description 1
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- 238000009792 diffusion process Methods 0.000 description 1
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- 230000007774 longterm Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0004—Gaseous mixtures, e.g. polluted air
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N15/00—Investigating characteristics of particles; Investigating permeability, pore-volume or surface-area of porous materials
- G01N15/06—Investigating concentration of particle suspensions
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Abstract
The invention discloses flyable air detection equipment and a mobile terminal applying the flyable air detection equipment. The flyable air detection equipment comprises a flying module and an anti-impact protection device, wherein the flying module comprises a main machine body and a power device; the flying module is arranged in the anti-impact protection device; the main machine body is provided with a main control module, a detecting sensor module, a communication module and a power supply module; the detecting sensor module, the communication module and the power supply module are electrically connected with the main control module; the main control module comprises a GPS (Global positioning system) positioning module, a motor driving module and a data receiving-transmitting module; the power device is electrically connected with the motor driving module. The flyable air detection equipment and the mobile terminal applying the flyable air detection equipment have the advantages that the flyable air detection equipment performs air quality detection by utilization of an unmanned aerial vehicle technology; the mobile terminal is taken as a control terminal and a data processing terminal for the flyable air detection equipment, so that the remote control is realized, and an operator is prevented from entering into a dangerous region, therefore the personal safety of the operator is guaranteed.
Description
Technical field
The present invention relates to air detection apparatus field, particularly relate to a kind of fly able air detection equipment and use its mobile terminal.
Background technology
Air pollution problems inherent is on the rise in recent years, especially the PM2.5 appearing at urban brings great puzzlement to the life of people and health, therefore detect air quality index in time, ambient air contamination degree is understood better to people and takes prevention and cure measures to be significant in time.At present, in city, generally set up some monitoring points to carry out fixed point monitoring to air, but due to the pollutant in air be slowly diffusion, so the data that this fixed point monitoring draws can not be evaluated air quality reasonably and comprehensively.And employ helicopter carrying equipment air detection equipment and detect, then need to expend larger manpower and materials, increase monitoring cost.
Summary of the invention
The object of the invention is to propose a kind of sensing range wide and flexible, the fly able air detection equipment of remote control can be realized and use its mobile terminal.
For reaching this object, the present invention by the following technical solutions:
A kind of fly able air detection equipment, comprise flight module, described flight module comprises main body and propulsion system, and described propulsion system are connected with described main body; Be provided with anti-collision protection device, the inside of described anti-collision protection device is hollow and sidewall is provided with some hollow outs, and described flight module is installed on the inside of described anti-collision protection device; Described main body is provided with main control module, detecting sensor module, communication module and power module, described detecting sensor module, communication module, power module and described main control module are electrically connected, described main control module comprises GPS locating module, motor drive module and data transmit-receive module, described propulsion system and the electrical connection of described motor drive module.
Preferably, be provided with several propulsion system, each described propulsion system comprise flight support, flight motor and flight propeller, described flight motor is arranged at one end of described flight support, described flight propeller is connected with described flight motor, and the other end of described flight support is connected with the side of the shell of described main body; Described anti-collision protection device is also provided with several and installs connecting portion, and described installation connecting portion is relatively arranged at the inner side of described anti-collision protection device between two, and described installation connecting portion is fixed in one end of described flight support.
Preferably, described detecting sensor module comprises one or more in formaldehyde sensor, benzene sensor, Temperature Humidity Sensor, radon gas sensor, ammonia gas sensor, TVOC sensor and PM2.5 sensor.
Preferably, described power module comprises rechargable power supplies, charging inlet and power switch, and described charging inlet, power switch and described rechargable power supplies are electrically connected.
Preferably, use the mobile terminal of described fly able air detection equipment, comprise central control module, display module, data acquisition module, stroke recording module and mobile communication module; The output terminal of described data acquisition module connects the input end of described central control module, the output terminal of described central control module connects the input end of described mobile communication module, the input end of described display module connects the output terminal of described central control module, and the described constrained input end of stroke recording module is connected with the constrained input end of described central control module.
Preferably, described mobile terminal is also provided with data analysis module, and the input end of described data analysis module connects the output terminal of described central control module, and the output terminal of described data analysis module connects the input end of described display module.
A kind of Detection of Air Quality method, steps A, mobile terminal controls fly able air detection equipment and carries out touring sampling monitoring;
Step B, in flight course, detecting sensor module gathers the detection data of aerial temperature and humidity information and all kinds of objectionable impurities according to flight line fixed point, locates the geographic position of sampling spot simultaneously and be collected as path data by GPS locating module;
Step C, described detection data and described path data are sent to mobile terminal by data transmit-receive module in real time;
Step D, described mobile terminal shows described detection data and described path data, process and analyzes.
Preferably, in described steps A, the touring mode of described fly able air detection equipment is: in described mobile terminal, arrange touring path according to the map, or the touring path of the self-defined generation of described fly able air detection equipment is also stored in described mobile terminal.
Described fly able air detection equipment utilization unmanned air vehicle technique carries out Detection of Air Quality.Described flight module comprises main body and propulsion system, described propulsion system are flight actuating unit, described main body is flight control assemblies and carries the various modules relevant to Detection of Air Quality, described fly able air detection equipment is made to avoid the various obstacle in ground, the air quality of aerial differing heights and position can be measured, make detection more flexibly comprehensively.
Use the mobile terminal of described fly able air detection equipment as the control end of described fly able air detection equipment and data processing end, easy and simple to handle, realize intelligent control and process high in the clouds.
Described Detection of Air Quality method both can also can be carried out in indoor out of doors, detected path and chose mode flexibly, use remote control, avoided testing staff to enter hazardous location thus the personal safety of guarantee testing staff.
Accompanying drawing explanation
The present invention will be further described for accompanying drawing, but the content in accompanying drawing does not form any limitation of the invention.
Fig. 1 is the structural representation of the fly able air detection equipment of one of them embodiment of the present invention;
Fig. 2 is the detecting sensor module of one of them embodiment of the present invention and the structural drawing of power module;
Fig. 3 is each model calling relation schematic diagram in the main body of one of them embodiment of the present invention;
Fig. 4 is each model calling relation schematic diagram in the mobile terminal of one of them embodiment of the present invention.
Wherein: flight module 1; Main body 11; Propulsion system 12; Main control module 3; Detecting sensor module 4; Communication module 5; Power module 6; Connecting portion 21 is installed; GPS locating module 31; Motor drive module 32; Data transmit-receive module 33; Flight support 121; Flight motor 122; Flight propeller 123; Rechargable power supplies 61; Charging inlet 62; Power switch 63; Central control module 71; Display module 72; Data acquisition module 73; Stroke recording module 74; Mobile communication module 75; Data analysis module 76.
Embodiment
Technical scheme of the present invention is further illustrated by embodiment below in conjunction with accompanying drawing.
The fly able air detection equipment of the present embodiment, as shown in Figure 1, comprise flight module 1, described flight module 1 comprises main body 11 and propulsion system 12, and described propulsion system 12 are connected with described main body 11; Be provided with anti-collision protection device 2, the inside of described anti-collision protection device 2 is hollow and sidewall is provided with some hollow outs, and described flight module 1 is installed on the inside of described anti-collision protection device 2;
As shown in Figure 3, described main body 11 is provided with main control module 3, detecting sensor module 4, communication module 5 and power module 6, described detecting sensor module 4, communication module 5, power module 6 and described main control module 3 are electrically connected, described main control module 3 comprises GPS locating module 31, motor drive module 32 and data transmit-receive module 33, and described propulsion system 12 and described motor drive module 32 are electrically connected.
Described fly able air detection equipment utilization unmanned air vehicle technique carries out Detection of Air Quality.Described flight module 1 comprises main body 11 and propulsion system 12, described propulsion system 12 are flight actuating unit, described main body 11 is flight control assemblies and carries the various modules relevant to Detection of Air Quality, described fly able air detection equipment is made to avoid the various obstacle in ground, the air quality of aerial differing heights and position can be measured, make detection more flexibly comprehensively; And described anti-collision protection device 2 is set, can prevent described fly able air detection equipment from running into obstacle awing and the damage that collides, improve equipment use security.Described detecting sensor module 4 is for detecting the content of all kinds of objectionable impurities in air; Described GPS locating module 31 is for flight cruise location and sampling spot location; Described communication module 5 can be bluetooth or WIFI etc., connects, and control its flight path and sampling mode by mobile terminal for described fly able air detection equipment and mobile terminal; Described data transmit-receive module 33 for mobile terminal receive control command and send the path data detecting data and correspondence in real time to mobile terminal.
Preferably, be provided with several propulsion system 12, as shown in Figure 1, each described propulsion system 12 comprise flight support 121, flight motor 122 and flight propeller 123, described flight motor 122 is arranged at one end of described flight support 121, described flight propeller 123 is connected with described flight motor 122, and the other end of described flight support 121 is connected with the side of the shell of described main body 11; Described anti-collision protection device 2 is also provided with several and installs connecting portion 21, and described installation connecting portion 21 is relatively arranged at the inner side of described anti-collision protection device 2 between two, and described installation connecting portion 21 is fixed in one end of described flight support 121.Described flight motor 122 provides power for described flight propeller 123, and described flight propeller 123 is the flight such as screw propeller or jet plane propulsive mechanism, for flight provides propelling power.Described flight support 121 plays and supports undertaking effect, and described flight module 1 is connected with described anti-collision protection device 2 by described flight support 121.
Preferably, as shown in Figure 2, described detecting sensor module 4 comprises one or more in formaldehyde sensor, benzene sensor, Temperature Humidity Sensor, radon gas sensor, ammonia gas sensor, TVOC sensor and PM2.5 sensor.Described fly able air detection equipment has one or more Testing index in formaldehyde, benzene, humiture, radon gas, ammonia, TVOC and PM2.5.Wherein, described TVOC sensor is for detecting the TVOC content in air, TVOC and TOVC, immunity of organism off-leveling can be caused, affect central nervous system function, the mechanisms such as the World Health Organization (WHO), NAS/NRC (NAS/NRC) emphasize that TVOC is the important air pollutants of a class always.Described radon gas sensor is for detecting the radon gas content in air, and radon gas is one of Analyses of major carcinogens in mainstream material, and long-term suction can be lung cancer caused.Described ammonia gas sensor, for detecting the ammonia level in air, can cause pulmonary edema, adult respiratory distress syndrome (ARDS) after sucking a large amount of ammonia in a short time.Described PM2.5 sensor is for detecting the PM2.5 content in air, fine particle content in PM2.5 and air, PM2.5 particle diameter is little, area is large, active strong, easily attach poisonous and harmful substance, and grow, fed distance is far away, thus large on the impact of health and atmosphere quality the residence time in an atmosphere.
Preferably, described power module 6 comprises rechargable power supplies 61, charging inlet 62 and power switch 63, and as shown in Figure 2, described charging inlet 62, power switch 63 and described rechargable power supplies 61 are electrically connected.Described rechargable power supplies 61 provides electric power for described fly able air detection equipment; Be provided with described charging inlet 62 in addition as USB interface etc., by described charging inlet 62, described rechargable power supplies 61 charged, thus extend described rechargable power supplies 61 serviceable life, reduce to change, economic environmental protection.
Preferably, use the mobile terminal of described fly able air detection equipment, as shown in Figure 4, comprise central control module 71, display module 72, data acquisition module 73, stroke recording module 74 and mobile communication module 75; The output terminal of described data acquisition module 73 connects the input end of described central control module 71, the output terminal of described central control module 71 connects the input end of described mobile communication module 75, the input end of described display module 72 connects the output terminal of described central control module 71, and the constrained input end of described stroke recording module 74 is connected with the constrained input end of described central control module 71.Described central control module 71 sends steering order for the treatment of data and to described fly able air detection equipment, described display module 72 is for the display of air detection data, described data acquisition module 73 detects the path data of data and correspondence for Real-time Obtaining, described stroke recording module 74 is for recording and storing the path data of described fly able air detection equipment, and described mobile communication module 75 is for setting up communication with described fly able air detection equipment.
Described central control module 71 is the major control processor of described mobile terminal, described mobile communication module 75 is bluetooth or WIFI etc., the flight path and the sampling spot that control described fly able air detection equipment after described mobile terminal and described fly able air detection equipment set up communication are chosen, the path data detecting data and correspondence is also stored to mobile terminal real-time collecting described during sampling spot in flight, and data are shown, be convenient to user and understand real-time air quality to make counter-measure in time.Described mobile terminal is mobile phone, notebook computer, panel computer etc., utilizes described mobile terminal as the control end of described fly able air detection equipment and data processing end, easy and simple to handle, realizes intelligent control and process high in the clouds.
Preferably, described mobile terminal is also provided with data analysis module 76, and the input end of described data analysis module 76 connects the output terminal of described central control module 71, and the output terminal of described data analysis module 76 connects the input end of described display module 72.Described data analysis module 76 for the path data of analysis detecting data and correspondence, and generates corresponding pollutant distribution information, warning message and advisory information; Described display module 72 is for showing described pollutant distribution information, warning message and advisory information.Described data analysis module 76 can provide contaminants associated distributed intelligence, warning message and advisory information to user, contribute to user and understand air pollution degree in depth, and give related advisory for user tackles air pollution, avoid causing unnecessary fear, make user's science tackle air pollution.
The Detection of Air Quality method of the present embodiment:
Steps A, mobile terminal controls fly able air detection equipment and carries out touring sampling monitoring;
Step B, in flight course, detecting sensor module gathers the detection data of aerial temperature and humidity information and all kinds of objectionable impurities according to flight line fixed point, locates the geographic position of sampling spot simultaneously and be collected as path data by GPS locating module;
Step C, described detection data and described path data are sent to mobile terminal by data transmit-receive module in real time;
Step D, described mobile terminal shows described detection data and described path data, process and analyzes.
Described fly able air detection equipment utilization unmanned air vehicle technique carries out Detection of Air Quality, and described mobile terminal is control end and the data processing end of described fly able air detection equipment, and described mobile terminal is mobile phone, notebook computer, panel computer etc.Testing staff first determines to detect touring path and sampling mode described mobile terminal is self-defined, as detected the air quality of the varying level distance under sustained height, or the air quality of differing heights under detection same level, detection mode flexibility and changeability, to adapt to different testing requirement.
Described fly able air detection equipment carries described detecting sensor module, GPS locating module and data transmit-receive module, and described detecting sensor module is for detecting the content of all kinds of objectionable impurities in air; Described GPS locating module is used for flight cruise location and sampling spot location; Described data transmit-receive module for receiving the control command of described mobile terminal and sending the path data detecting data and correspondence to described mobile terminal in real time, and carries out showing, process and analyzing at described mobile terminal.Thus testing staff is while being undertaken detecting by the described fly able air detection equipment of described mobile terminal manipulation, the air quality of check point can be known in real time, and described mobile terminal can provide contaminants associated distributed intelligence, warning message and advisory information to testing staff, testing staff can make counter-measure by reference proposition in time.And testing staff, by the described fly able air detection equipment of described mobile terminal remote manipulation, avoids testing staff to enter hazardous location thus the personal safety of guarantee testing staff.
Preferably, in described steps A, the touring mode of described fly able air detection equipment is: in described mobile terminal, arrange touring path according to the map, or the touring path of the self-defined generation of described fly able air detection equipment is also stored in described mobile terminal.If sensing range is comparatively large, can utilize map that touring path is set, reduce detected intensity; If less can customize of sensing range generates touring path, as air detection equipment fly able as described in the operation of indoor and mobile terminal as described in being recorded to by flight path.
The fly able air detection equipment of the present embodiment and use its mobile terminal to have following beneficial effect: 1. described in, fly able air detection equipment volume is little, both can also can detect in indoor out of doors, light quality is in carrying, sampling scope is wide and flexible, realize remote control, avoid operator to enter hazardous location thus ensure operator's personal safety; 2. utilize described mobile terminal as the control end of described fly able air detection equipment and data processing end, easy and simple to handle, realize intelligent control and process high in the clouds.
Below know-why of the present invention is described in conjunction with specific embodiments.These describe just in order to explain principle of the present invention, and can not be interpreted as limiting the scope of the invention by any way.Based on explanation herein, those skilled in the art does not need to pay performing creative labour can associate other embodiment of the present invention, and these modes all will fall within protection scope of the present invention.
Claims (8)
1. a fly able air detection equipment, comprises flight module, and described flight module comprises main body and propulsion system, and described propulsion system are connected with described main body, it is characterized in that:
Be provided with anti-collision protection device, the inside of described anti-collision protection device is hollow and sidewall is provided with some hollow outs, and described flight module is installed on the inside of described anti-collision protection device;
Described main body is provided with main control module, detecting sensor module, communication module and power module, described detecting sensor module, communication module, power module and described main control module are electrically connected, described main control module comprises GPS locating module, motor drive module and data transmit-receive module, described propulsion system and the electrical connection of described motor drive module.
2. fly able air detection equipment according to claim 1, it is characterized in that: be provided with several propulsion system, each described propulsion system comprise flight support, flight motor and flight propeller, described flight motor is arranged at one end of described flight support, described flight propeller is connected with described flight motor, and the other end of described flight support is connected with the side of the shell of described main body; Described anti-collision protection device is also provided with several and installs connecting portion, and described installation connecting portion is relatively arranged at the inner side of described anti-collision protection device between two, and described installation connecting portion is fixed in one end of described flight support.
3. fly able air detection equipment according to claim 1, is characterized in that: described detecting sensor module comprise in formaldehyde sensor, benzene sensor, Temperature Humidity Sensor, radon gas sensor, ammonia gas sensor, TVOC sensor and PM2.5 sensor one or more.
4. fly able air detection equipment according to claim 1, is characterized in that: described power module comprises rechargable power supplies, charging inlet and power switch, and described charging inlet, power switch and described rechargable power supplies are electrically connected.
5. use the mobile terminal of the fly able air detection equipment described in right 1 to 4 any one, it is characterized in that: comprise central control module, display module, data acquisition module, stroke recording module and mobile communication module; The output terminal of described data acquisition module connects the input end of described central control module, the output terminal of described central control module connects the input end of described mobile communication module, the input end of described display module connects the output terminal of described central control module, and the described constrained input end of stroke recording module is connected with the constrained input end of described central control module.
6. mobile terminal according to claim 5, it is characterized in that: be also provided with data analysis module, the input end of described data analysis module connects the output terminal of described central control module, and the output terminal of described data analysis module connects the input end of described display module.
7. a Detection of Air Quality method, is characterized in that:
Steps A, mobile terminal controls fly able air detection equipment and carries out touring sampling monitoring;
Step B, in flight course, detecting sensor module gathers the detection data of aerial temperature and humidity information and all kinds of objectionable impurities according to flight line fixed point, locates the geographic position of sampling spot simultaneously and be collected as path data by GPS locating module;
Step C, described detection data and described path data are sent to mobile terminal by data transmit-receive module in real time;
Step D, described mobile terminal shows described detection data and described path data, process and analyzes.
8. Detection of Air Quality method according to claim 7, is characterized in that:
In described steps A, the touring mode of described fly able air detection equipment is: in described mobile terminal, arrange touring path according to the map, or the touring path of the self-defined generation of described fly able air detection equipment is also stored in described mobile terminal.
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Cited By (9)
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| CN106226208A (en) * | 2016-06-30 | 2016-12-14 | 桂林理工大学 | Lower atmosphere PM2.5 remote monitoring device |
| CN106679725A (en) * | 2017-01-06 | 2017-05-17 | 四川克瑞斯航空科技有限公司 | Flyable device for detecting environment index in industrial production area |
| CN107389862A (en) * | 2017-07-17 | 2017-11-24 | 王金锁 | Can flight instruments in one kind detection air chamber |
| CN107469599A (en) * | 2017-08-01 | 2017-12-15 | 合肥图森工业设计有限公司 | Remove formaldehyde running gear and its control system in a kind of interior |
| CN107621522A (en) * | 2017-09-05 | 2018-01-23 | 中国建筑股份有限公司 | A kind of Around ambient air quality monitoring system based on unmanned plane |
| CN107917988A (en) * | 2017-11-23 | 2018-04-17 | 深圳市智璟科技有限公司 | A kind of toxic and harmful gas detecting system and method based on multi-rotor unmanned aerial vehicle |
| CN108254503A (en) * | 2018-01-11 | 2018-07-06 | 上海交通大学 | Unmanned plane discharges the method for telemetering and its system |
| CN108693309A (en) * | 2018-04-12 | 2018-10-23 | 盐城工学院 | A kind of pollutant monitoring system, method and storage medium |
| CN109406716A (en) * | 2017-08-17 | 2019-03-01 | 昊翔电能运动科技(昆山)有限公司 | Pollution monitoring method and system based on unmanned plane |
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| CN107621522A (en) * | 2017-09-05 | 2018-01-23 | 中国建筑股份有限公司 | A kind of Around ambient air quality monitoring system based on unmanned plane |
| CN107917988A (en) * | 2017-11-23 | 2018-04-17 | 深圳市智璟科技有限公司 | A kind of toxic and harmful gas detecting system and method based on multi-rotor unmanned aerial vehicle |
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