CN106557091A - Air-quality monitoring system and method based on unmanned plane cluster - Google Patents
Air-quality monitoring system and method based on unmanned plane cluster Download PDFInfo
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Abstract
The invention discloses a kind of air-quality monitoring system and method based on unmanned plane cluster, system includes master control server, unmanned plane cluster and several on-site control devices, each unmanned plane is connected with an on-site control device, all on-site control devices are connected with master control server by wireless network, each monitoring point arranges an on-site control device and a unmanned plane, and air mass sensor is provided with unmanned plane；All unmanned planes vertical ascent or vertical decline under the control of master control server, and while take off and while decline.The present invention is monitored to each monitoring point air quality data using unmanned plane cluster, using the teaching of the invention it is possible to provide the air quality data of each monitoring point on each time point, obtains data more complete and comprehensive；Unmanned plane cluster only vertical ascent declines with vertical, and all unmanned planes rise and decline simultaneously simultaneously, mustn't carry out formation control, and control is simple；, to the control of unmanned plane without the need for manual intervention, intelligence degree is high for the present invention.
Description
Technical field
The present invention relates to field of monitoring of air quality, in particular it relates to a kind of air-quality monitoring system and method based on unmanned plane cluster.
Background technology
With science and technology it is growing, the continuous enhancing of living standards of the people, requirement of the mankind to its own existence environment and quality of life are also constantly improved, especially more concerned about the problems such as environmental pollution, air pollution.
With the development of unmanned air vehicle technique, unmanned plane is widely used in remote sensing, is carried relief goods equipment etc. due to itself excellent performance.As atmospheric pollution is extensively paid attention to, when unmanned plane is also commonly used for air monitering.
As when used in employing but prior art, unmanned plane is monitored, generally flying to each monitoring point successively using a unmanned plane is circulated monitoring, this mode cannot obtain air quality data of each time point in each monitoring point, it is impossible to provide perfect data supporting for air quality data analysis.And when adopting multiple unmanned planes, needing the flight to unmanned plane to carry out formation control, control is complicated.
The content of the invention
The purpose of the present invention is that the shortcoming and defect for overcoming above-mentioned prior art, a kind of air-quality monitoring system and method based on unmanned plane cluster is provided, air-quality monitoring system and method that should be based on unmanned plane cluster be monitored to each monitoring point air quality data using unmanned plane cluster, the air quality data of each monitoring point on each time point can be provided, obtain data more complete and comprehensive, and unmanned aerial vehicle (UAV) control is simple.
The present invention the adopted technical scheme that solves the above problems is：
Air-quality monitoring system based on unmanned plane cluster, including master control server, unmanned plane cluster and several on-site control devices, each unmanned plane in unmanned plane cluster is connected with an on-site control device, all on-site control devices are connected with master control server by wireless network, each monitoring point arranges an on-site control device and a unmanned plane, is provided with air mass sensor on the unmanned plane；All unmanned planes vertical ascent or vertical decline under the control of master control server, and while take off and while decline.In this programme, a unmanned plane is arranged in each monitoring point, the unmanned plane monitoring point vertical ascent declines reading air quality data, the air quality data of each monitoring point differing heights on each time point can be provided, theoretical maximum can be accomplished the uninterrupted flight of annual 7*24 hours and detect air quality, and the data of reading are more complete and comprehensive.As the only vertical ascent of the unmanned plane in unmanned plane cluster and vertical decline, and all unmanned planes rise and declines simultaneously simultaneously, formation control need not be carried out, control is simple.
As a further improvement on the present invention, the unmanned plane includes：Data reception module, for reading the air quality data of air mass sensor collection；Data memory module, for the air quality data that data storage receiver module reads；First communication module, for receiving the control instruction of the master control server that on-site control device is forwarded to；Second communication module, the air quality data stored in data memory module is transferred to on-site control device during ground for dropping to every time；Micro treatment module, the control instruction for being received according to first communication module control the flight of unmanned plane and carry out Comprehensive Control to data reception module, data memory module, first communication module, second communication module.
Further, the unmanned plane also includes the timing module being connected with micro treatment module, for starting timing when unmanned plane takes off, microprocessor module reads the air quality data of air mass sensor collection according to the timing control data receiver module timing of timing module.In this programme, air quality data is read in receiver module timing, and to ensure that the data for gathering are more complete and are evenly distributed in time, the data separate value of collection is bigger.
Further, the on-site control device includes third communication module, fourth communication module and micro-control module, micro-control module is for being sent to fourth communication module after the air quality data that third communication module sends extremely is carried out protocol conversion, and carries out Comprehensive Control to third communication module and fourth communication module；Third communication module is for reading air quality data from unmanned plane；Fourth communication module is for being sent to master control server by the air quality data that third communication module reads and receive control instruction that master control server sends and the control instruction is transmitted to unmanned plane.
Further, the master control server includes fifth communication module, Monitoring Data processing module, Monitoring Data memory module, unmanned plane cluster flight control modules, wherein：Fifth communication module, sends air quality data extremely for receiving all on-site control devices, and sends control instruction to all on-site control devices；Monitoring Data memory module, for storing to the air quality data that fifth communication module is received；Monitoring Data processing module, for processing to the air quality data that Monitoring Data memory module is stored；Unmanned plane cluster flight control modules, for forming the control instruction to unmanned plane and the control instruction being sent by fifth communication module.
Further, the above-mentioned air-quality monitoring system based on unmanned plane cluster also includes several wireless charging power stations, and each monitoring point arranges a wireless charging power station, and the unmanned plane also includes wireless charging module, when unmanned plane reaches ground, wireless charging power station is charged to wireless charging module.
Based on the air quality monitoring method of unmanned plane cluster, comprise the following steps：
S1, all unmanned planes of master control server emission control instruction control are taken off simultaneously, unmanned plane vertical ascent；
S2, start vertical decline when unmanned plane highly rises to specified altitude assignment；
The air quality data for reading is sent to into master control server when S3, unmanned plane return to ground；
In step S1 and step S2, unmanned plane often flight during raising and lowering specifies the time to read the air quality data of primary air mass sensor collection.
Further, also including unmanned plane clustered deploy(ment) step before step S1：Determine monitoring point, a unmanned plane and on-site control device are arranged in each monitoring point.In this method, monitor area is arranged into multiple monitoring points, one unmanned plane is set in each monitoring point air quality data is monitored, using the teaching of the invention it is possible to provide the air quality data of each monitoring point on each time point, obtain data more complete and comprehensive；Unmanned plane in unmanned plane cluster only vertical ascent declines with vertical, and all unmanned planes rise and decline simultaneously simultaneously, mustn't carry out formation control, and control is simple；Without the need for manual intervention, whole unmanned, intelligence degree are high for the control of unmanned plane.
Preferably, the specified time is 5s, and the specified altitude assignment is 500m-800m.
Further, automatic charging is carried out to unmanned plane also when unmanned plane returns to ground in step S3.
To sum up, the invention has the beneficial effects as follows：
1st, the present invention arranges multiple monitoring points in monitored area, each monitoring point air quality data is monitored using unmanned plane cluster, the air quality data of each monitoring point on each time point can be provided, theoretical maximum can accomplish that 365 days 7*24 hours are uninterruptedly flown and detection air quality, obtain data more complete and comprehensive；
2nd, in the present invention in unmanned plane cluster unmanned plane only vertical ascent and vertical decline, and the rising simultaneously of all unmanned planes and decline simultaneously, mustn't carry out formation control, and control is simply；
3rd, to the control of unmanned plane without the need for manual intervention, whole unmanned, intelligence degree are high for the present invention.
Description of the drawings
Fig. 1 is a kind of structural representation of specific embodiment of the present invention.
Specific embodiment
With reference to embodiment and accompanying drawing, make detailed description further, but embodiments of the present invention not limited to this to the present invention.
Embodiment 1：
As shown in Figure 1, air-quality monitoring system based on unmanned plane cluster, including master control server, it is arranged in the unmanned plane cluster and several on-site control devices of monitored area Nei Ge monitoring points, the unmanned plane cluster includes several unmanned planes, air mass sensor is mounted on each unmanned plane, air mass sensor is used for the air quality data for gathering present position, is typically lifted on outside unmanned plane, and unmanned plane is during raising and lowering according to certain time interval（The specified time）Read the air quality data of air mass sensor collection.
When unmanned plane cluster is arranged, the region monitored as needed arranges monitoring point, for example, detection zone is divided into the rectangular grid shape zonule that the length of side is 5000m, the centrally disposed monitoring point in each zonule.
Each monitoring point arranges an on-site control device and a unmanned plane, on-site control device is arranged on ground, the unmanned plane of each monitoring point is connected by wireless network with the on-site control device positioned at same monitoring point, all on-site control devices are connected with master control server by wireless network, are easy to the unmanned plane air quality data read to master control server transport by on-site control device and the control instruction for receiving master control server；All unmanned planes vertical ascent or vertical decline under the control of master control server, and while take off and while decline.
The unmanned plane includes：
Data reception module, for reading the air quality data of air mass sensor collection；
Data memory module, for the air quality data that data storage receiver module reads, also adds read access time in air quality data during storage；
First communication module, for receiving the control instruction of the master control server that on-site control device is forwarded to；
Second communication module, is located at the on-site control device of same monitoring point with which for dropping to every time to be transferred to the air quality data stored in data memory module during ground；
Timing module, for starting timing when unmanned plane takes off；
Micro treatment module, for carrying out Comprehensive Control to data reception module, data memory module, first communication module, second communication module, timing module, the air quality data of air mass sensor collection is read according to the timing control data receiver module timing of timing module, the flight of unmanned plane is controlled according to the control instruction that first communication module is received.
The on-site control device includes third communication module, fourth communication module, micro-control module, micro-control module is sent to fourth communication module after being additionally operable to for the air quality data that third communication module sends extremely to carry out protocol conversion, micro-control module is for carrying out Comprehensive Control to third communication module and fourth communication module；For reading air quality data from being located in the unmanned plane of same monitoring point with which, fourth communication module is located at the unmanned plane of same monitoring point with which for the air quality data that third communication module reads to be sent to master control server and receive control instruction that master control server sends and be transmitted to the control instruction to third communication module.
The master control server includes fifth communication module, Monitoring Data processing module, Monitoring Data memory module, unmanned plane cluster flight control modules, CPU, wherein：
Fifth communication module, sends air quality data extremely for receiving all on-site control devices, and sends control instruction to all on-site control devices；
Monitoring Data memory module, for storing to the air quality data that fifth communication module is received；
Monitoring Data processing module, for processing to the air quality data that Monitoring Data memory module is stored, for example data are carried out classifying, analyze acquisition air quality situation, process of the Monitoring Data processing module to air quality data adopts Air Quality Analysis processing method commonly used in the prior art, repeats no more in the present embodiment；
Unmanned plane cluster flight control modules, for forming the control instruction to unmanned plane and the control instruction being sent by fifth communication module, the control instruction mainly includes the instruction of taking off of unmanned plane, declines instruction etc.；
CPU, for carrying out Comprehensive Control to fifth communication module, Monitoring Data receiver module, Monitoring Data memory module, unmanned plane cluster flight control modules.
In the present embodiment, the data reception module can adopt the interfaces such as serial ports, RS485 interfaces to read the air quality data of air mass sensor collection.
The first communication module, fourth communication module, fifth communication module adopt radio module, make unmanned plane, on-site control device, master control server by utilizing radio amateur band transmitting data, radio communication is realized on the basis of existing communication network, the use of the normal frequency range of radio is had no effect on.The second communication module and third communication module adopt bluetooth module so that unmanned plane passes through Bluetooth transmission air quality data with on-site control device.The air mass sensor adopts Sharp's GP2Y10 detection modules, micro treatment module and micro-control module realize using processors such as FPGA, CPLD, DSP, CPU, the CPU that CPU is used using general server.Above-mentioned micro-control module is sent to fourth communication module after being additionally operable to for the air quality data that third communication module sends extremely to carry out protocol conversion, micro-control module mainly carries out communication protocol matching, the blue-teeth data that third communication module is received is converted to into the radio transmission protocol suitable for fourth communication module transfer mainly in the present embodiment, the conversion is communications field common technology, and its implementation is repeated no more in the present embodiment.It is the method for adding timestamp commonly used in the prior art that above-mentioned data memory module adds read access time in air quality data, and the present embodiment is not also repeated.
Based on the air quality monitoring method of unmanned plane cluster, comprise the following steps：
S1, all unmanned planes of master control server emission control instruction control are taken off simultaneously, unmanned plane vertical ascent, and now the timing module of each unmanned plane starts timing；
S2, start vertical decline when unmanned plane highly rises to specified altitude assignment, the specified altitude assignment is preferably 500m-800m；The decline of unmanned plane in this step can be controlled by master control server emission control instruction, it is also possible to controlled by the micro treatment module of unmanned plane itself not via master control server controls；
The air quality data for reading is sent to into master control server when S3, unmanned plane return to ground, and wireless charging is carried out to unmanned plane；
In step S1 and step S2, unmanned plane often flies timing situation of the specified time air quality data unmanned plane according to timing module during raising and lowering, and the time of specifying of often flying reads the air quality data of primary air mass sensor collection.
In the present embodiment, to specify the time as 5s, as a example by specified altitude assignment is 800m, when master control server controls unmanned plane begins to ramp up, the timing module of unmanned plane starts timing, unmanned plane vertical ascent, often flight 5S carries out primary air qualitative data reading to unmanned plane, and when unmanned plane highly rises to 800m, unmanned plane starts vertical decline.The height of unmanned plane determines and can obtain unmanned plane height by master control server analysis using after GPS location, it is also possible to calculated according to the flight speed of unmanned plane and flight time by master control server or micro treatment module.In the present embodiment, unmanned plane often goes up to the air the reading and record for carrying out primary air qualitative data in 5 seconds, it is assumed that the speed of unmanned plane causes unmanned plane to complete within 10 minutes a raising and lowering, then each unmanned plane read 120 data samples in 10 minutes；These data can calculate its collection position according to its read access time.
The flow direction of the present embodiment data transfer is：
（1）Air quality data：The air quality data of air mass sensor collection is sent to unmanned plane, the data reception module of unmanned plane after reading stores air quality data in data memory module, and data memory module also adds read access time in air quality data when air quality data is stored（All contain the acquisition time of each air quality data in the air quality data transmitted afterwards）The air quality data that data memory module is stored is sent to by on-site control device by second communication module when unmanned plane drops to ground, the third communication module of on-site control device is sent to micro-control module after receiving air quality data, micro-control module will be parsed and be packaged into again the packet of support radio transmission protocol using the air quality data of Bluetooth protocol, and be sent to master control server by fourth communication module；The fifth communication module of master control server is stored after receiving air quality data in Monitoring Data memory module.
（2）The control instruction of master control server：Fifth communication module is transferred to be sent to on-site control device by wireless network after the control instruction of the unmanned plane cluster flight control modules generation unmanned plane of master control server, the fourth communication module of on-site control device is transmitted to unmanned plane after receiving control instruction；The first communication module of unmanned plane is sent to micro treatment module after receiving control instruction, micro treatment module controls the flight of unmanned plane according to the control instruction.
The present invention is monitored to each monitoring point air quality data using unmanned plane cluster, the air quality data of each monitoring point differing heights on each time point can be provided, theoretical maximum can accomplish that 365 days 7*24 hours uninterruptedly flight and detect air quality, and the data of collection are more complete and comprehensively.
In the present invention, unmanned plane cluster only vertical ascent declines with vertical, and all unmanned planes rise and decline simultaneously simultaneously, need not carry out formation control, and control is simple；And the control of unmanned plane is without the need for manual intervention, unmanned plane direct bluetooth outgoi8ng data after making a return voyage, without the need for manual intervention, whole unmanned, intelligence degree are high for whole process.
The method also includes unmanned plane clustered deploy(ment) step in actual applications, before step S1：The region monitored as needed arranges monitoring point, and detection zone is divided into the rectangular grid shape zonule of certain length of side such as 5000m, and a unmanned plane and on-site control device are arranged in each monitoring point in the centrally disposed monitoring point in each zonule.In practical application, the size of above-mentioned each zonule according to actual monitoring it needs to be determined that, be not limited to the rectangular area of 5000m*5000m.The above-mentioned specified time can also according to actual monitoring it needs to be determined that, be not limited to 5s.
Embodiment 2：
On the basis of embodiment 1, in the present embodiment, following improvement is carried out to the air-quality monitoring system based on unmanned plane cluster also：A wireless charging power station being charged to unmanned plane is additionally provided with each monitoring point ground, the unmanned plane also includes the wireless charging module being connected with micro treatment module.The data reception module of the unmanned plane can further include Signal-regulated kinase, Signal-regulated kinase is to sending air quality data extremely for receiving air mass sensor, and received, amplify, filtering, digital-to-analogue conversion etc. is processed, when the microprocessor module of unmanned plane controls at the appointed time to read primary air qualitative data according to the timing of timing module, can also be without the reception of control data receiver module, but sample rate during control digital-to-analogue conversion is realized, for example once sampled per 5s and be also achieved that every 5s reads primary air qualitative data, control is convenient；When wireless charging module mainly supports that unmanned plane returns to ground, wireless charging power station carries out wireless charging to unmanned plane.
Additionally, the step of air quality monitoring method based on unmanned plane cluster in S3, unmanned plane also carries out automatic charging to unmanned plane when returning to ground.
In the present embodiment, wireless charging power station is set up, unmanned plane also includes automatic charging module, be easy to carry out unmanned plane automatic charging in time, supplement the energy, the charging process does not need manual control, and whole charging process is full-automatic unmanned charging process on duty.Therefore the taking off, decline of whole unmanned plane cluster, digital independent, charging, data transfer, unmanned plane clustered control all need not people's participation, whole-process automatic control to realize the full-automatic unmanned control on duty of whole unmanned aerial vehicle group.The automatic charging module of unmanned plane and wireless charging power station can adopt automatic charging module and the wireless charging power station of prior art, repeat no more in the present embodiment.
The range of application of the present invention is boundless, can also further expand and be applied to following aspect：
First, aid in fire-fighting command
Chemical sensor, wind speed wind direction sensor etc. are installed on unmanned plane is used for fire disaster emergency, can provide authentic communication to ground control with high-altitude monitoring toxic and harmful species, high-altitude monitoring wind speed and direction in this case.
2nd, crowd's traffic monitoring
Install aerial device on unmanned plane additional so as to aerial photography function, crowd density and triggering automatic takeoff monitoring during speed suddenly change in area under one's jurisdiction carry out public territory crowd's flow-control, the public order incident such as early warning is trampled.
3rd, components and parts evaluation and test in the industry
In the system, the unmanned plane aircraft most frequent by domestic landing is become can carry out life tests to unmanned plane key componentses, and full name records the parameter of components and parts to be measured, there is provided the critical component life parameter collection such as motor, fill the domestic gaps.
4th, calamity emergency
For the disaster relief, rescue, exploration, for example unmanned plane installs imageing sensor additional, and by earthquake, triggering is taken off automatically, and fixed height reads earthquake region image.
The above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment, and all technical schemes belonged under thinking of the present invention belong to protection scope of the present invention.It should be pointed out that for those skilled in the art, some improvements and modifications without departing from the principles of the present invention should be regarded as protection scope of the present invention.
Claims (10)
1. the air-quality monitoring system based on unmanned plane cluster, it is characterized in that, including master control server, unmanned plane cluster and several on-site control devices, each unmanned plane in unmanned plane cluster is connected with an on-site control device, all on-site control devices are connected with master control server by wireless network, each monitoring point arranges an on-site control device and a unmanned plane, is provided with air mass sensor on the unmanned plane；All unmanned planes vertical ascent or vertical decline under the control of master control server, and while take off and while decline.
2. the air-quality monitoring system based on unmanned plane cluster according to claim 1, it is characterised in that the unmanned plane includes：
Data reception module, for reading the air quality data of air mass sensor collection；
Data memory module, for the air quality data that data storage receiver module reads；
First communication module, for receiving the control instruction of the master control server that on-site control device is forwarded to；
Second communication module, the air quality data stored in data memory module is transferred to on-site control device during ground for dropping to every time；
Micro treatment module, the control instruction for being received according to first communication module control the flight of unmanned plane and carry out Comprehensive Control to data reception module, data memory module, first communication module, second communication module.
3. the air-quality monitoring system based on unmanned plane cluster according to claim 2, it is characterized in that, the unmanned plane also includes the timing module being connected with micro treatment module, for starting timing when unmanned plane takes off, microprocessor module reads the air quality data of air mass sensor collection according to the timing control data receiver module timing of timing module.
4. according to the arbitrary described air-quality monitoring system based on unmanned plane cluster of claims 1 to 3, it is characterized in that, the on-site control device includes third communication module, fourth communication module and micro-control module, micro-control module is for being sent to fourth communication module after the air quality data that third communication module sends extremely is carried out protocol conversion, and carries out Comprehensive Control to third communication module and fourth communication module；Third communication module is for reading air quality data from unmanned plane；Fourth communication module is for being sent to master control server by the air quality data that third communication module reads and receive control instruction that master control server sends and the control instruction is transmitted to unmanned plane.
5. according to the arbitrary described air-quality monitoring system based on unmanned plane cluster of claims 1 to 3, it is characterized in that, the master control server includes fifth communication module, Monitoring Data processing module, Monitoring Data memory module, unmanned plane cluster flight control modules, wherein：
Fifth communication module, sends air quality data extremely for receiving all on-site control devices, and sends control instruction to all on-site control devices；
Monitoring Data memory module, for storing to the air quality data that fifth communication module is received；
Monitoring Data processing module, for processing to the air quality data that Monitoring Data memory module is stored；
Unmanned plane cluster flight control modules, for forming the control instruction to unmanned plane and the control instruction being sent by fifth communication module.
6. according to the arbitrary described air-quality monitoring system based on unmanned plane cluster of claims 1 to 3, it is characterised in that also including several wireless charging power stations, each monitoring point arranges a wireless charging power station, and the unmanned plane also includes wireless charging module.
7. the air quality monitoring method based on unmanned plane cluster, it is characterised in that comprise the following steps：
S1, all unmanned planes of master control server emission control instruction control are taken off simultaneously, unmanned plane vertical ascent；
S2, start vertical decline when unmanned plane highly rises to specified altitude assignment；
The air quality data for reading is sent to into master control server when S3, unmanned plane return to ground；
In step S1 and step S2, unmanned plane often flight during raising and lowering specifies the time to read the air quality data of primary air mass sensor collection.
8. the air quality monitoring method based on unmanned plane cluster according to claim 7, it is characterised in that also included unmanned plane clustered deploy(ment) step before step S1：Determine monitoring point, a unmanned plane and on-site control device are arranged in each monitoring point.
9. the air quality monitoring method based on unmanned plane cluster according to claim 7, it is characterised in that the specified time is 5s, and the specified altitude assignment is 500m-800m.
10. the air quality monitoring method based on unmanned plane cluster according to claim 7, it is characterised in that automatic charging is carried out to unmanned plane also when unmanned plane returns to ground in step S3.
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