CN109883901A - A kind of the ultraviolet detector haze particIe system and its detection method of unmanned aerial vehicle onboard - Google Patents
A kind of the ultraviolet detector haze particIe system and its detection method of unmanned aerial vehicle onboard Download PDFInfo
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Abstract
The invention discloses a kind of ultraviolet detector haze particIe system of unmanned aerial vehicle onboard, including ultraviolet detector haze device, ultraviolet detector haze device is mounted in unmanned plane module.The invention also discloses a kind of ultraviolet detector haze particle method of unmanned aerial vehicle onboard, ultraviolet detector haze system is mounted on unmanned plane by the present invention, can detect the haze situation of large area within the scope of different height in low latitude.Traditional haze monitoring system is mostly to set up limited monitoring station in each region to obtain air quality data, and the case where for region different regions, can not monitor completely, present invention combination unmanned plane efficiently solves the problems, such as this without the features such as bias light interference, wide visual field using ultraviolet light.
Description
Technical field
The invention belongs to haze detection technology fields, and in particular to a kind of ultraviolet detector haze particle of unmanned aerial vehicle onboard
System, the invention further relates to the methods of ultraviolet detector haze particle.
Background technique
Currently, atmospheric environment problem has become the topic of whole people's care, and haze weather is focal point therein.
" day is blind " ultraviolet light refers to wavelength in the ultraviolet light of 200nm-280nm, the strong absorption due to atmospheric ozone to sunlight, so that
The wave band ultraviolet light near surface face have many advantages, such as all weather operations, without bias light interference, can wide visual field receive.Day is blind ultraviolet
Light atmospheric haze detection technique is a kind of method for detecting atmosphere pollution situation under haze weather using ultraviolet light scattering characteristic.
Atmospheric particulates detection device used in the country mostly relies on import, and expensive and maintenance cost is high.
The technology of measurement Atmospheric particulates mainly has: trace oscillating balance method, filter membrane weight method, light-scattering measurement etc..Few one
Kind of method can meet simultaneously detection device practicability, reliability and in terms of requirement.Ultraviolet light scattering measurement
The characteristics of ultraviolet light is without bias light interference, wide visual field, all weather operations is utilized in method, is carried out to the nature of atmospheric gas
Real-time measurement varies without the measurement environmental condition such as temperature and humidity, air pressure and flow velocity, therefore measurement result reflection is nature
The true physics of lower Atmospheric particulates, chemical property.
Traditional ultraviolet detector haze device is mostly located at ground, can only examine to haze in finite region, height
It surveys, relatively limits in this way.Unmanned plane has the characteristics that stability is good, easy to control, bearing capacity is strong, carries ultraviolet detector mist
Haze system has flexibility and wide coverage rate, this will become a new developing direction.
Summary of the invention
The object of the present invention is to provide a kind of ultraviolet detector haze particIe system of unmanned aerial vehicle onboard, which is able to achieve
The detection of haze within the scope of multizone, different height.
It is a further object to provide a kind of ultraviolet detector haze particle methods of unmanned aerial vehicle onboard.
The first technical solution of the present invention is: a kind of ultraviolet detector haze particle systems of unmanned aerial vehicle onboard
System, including ultraviolet detector haze device, ultraviolet detector haze device are mounted in unmanned plane module.
The characteristics of the first technical solution of the invention, also resides in:
Ultraviolet detector haze device includes power-supply system, and power-supply system is separately connected ultraviolet optical transmission module and ultraviolet light
Receiving module.
Power-supply system includes clock-signal generator, and clock-signal generator is separately connected signal generator module, at signal
Reason module and A/D sampling module, A/D sampling module are connect with ultraviolet optical receiver module, and signal generator module and ultraviolet light are sent
Module connection, clock-signal generator and signal processing module are all connected with RAM data cache module.
Ultraviolet optical transmission module includes the shaping amplification module set gradually, solar blind UV source, the polarizer, power control
Module and ultraviolet detector A, pressure stabilizing tube module provide stable voltage for solar blind UV source.
Ultraviolet optical receiver module includes setting gradually optical filter, analyzer, ultraviolet detector B and signal amplification circuit.
Second of technical solution of the present invention is: a kind of ultraviolet detector haze particle side of unmanned aerial vehicle onboard
Method specifically comprises the following steps:
Step 1, initialization test equipment；
Step 2, unmanned plane module is opened, unmanned plane module is hovered over into elemental height, makes unmanned plane module along default
Course line carries out flight detection；
Step 3, power-supply system is opened, ultraviolet optical transmission module sends ultraviolet light, the letter that ultraviolet light-receiving mould will receive
Number be sent into fpga chip in A/D sampling module 2 carry out A/D sampling, finally will the data that be collected into be stored in fpga chip in
In ARM data cache module；
Step 4, change the flying height and the line of flight of unmanned plane module 5, carry out more wheels and detect and record data；
Step 5, after completing detection in preset altitude range, stop the flight of unmanned plane module, to the number of different height
It is believed that breath is analyzed and processed.
The characteristics of second of technical solution of the invention, also resides in,
Detailed process is as follows for step 1:
Unmanned plane module uses quadrotor drone, and ultraviolet detector haze device is carried on three rotors wherein,
Ultraviolet optical transmission module, which installs several, can generate the light source of solar blind UV, and the optical wavelength which issues is in 200nm-
Within 280nm, the calibration of ultraviolet optical transmission module and ultraviolet optical receiver module, solar blind UV are carried out first before carrying
LED on source is lit one by one, is checked that can ultraviolet optical receiver module be normally received signal, is then carried out step 2 if normal.
Detailed process is as follows for step 3:
Step 3.1, power-supply system is opened, signal is generated by the signal generator module on fpga chip first, signal passes through
The solar blind UV source in ultraviolet light sending module is driven after shaping amplification module shaping amplification, pressure stabilizing tube module is that day is blind ultraviolet
Light source provides stable voltage, and solar blind UV source is adjusted to best emission state by power control module, and ultraviolet light passes through
Light intensity, Stokes vector before obtaining linearly polarized light after inclined device and scattered by ultraviolet detector A, the core of unmanned plane module
Processor reads light intensity, Stokes vector data and is sent to control platform, polarized ultraviolet and haze by radio transceiver
Particle is reached after scattering in ultraviolet optical receiver module；
Step 3.2, optical filter is filtered the ultraviolet light after haze KPT Scatter, and analyzer is to the inclined of ultraviolet light
Vibration state is detected, and converts optical signal into electric signal by ultraviolet detector B, then will be amplified through signal amplification circuit
Electric signal, which is sent into the A/D sampling module on fpga chip, carries out A/D sampling, and the data after sampling are by signal processing module
It is temporarily stored in after reason in RAM data cache module, the core processor of unmanned plane module reads the number in RAM data cache module
Control platform is sent to according to and by radio transceiver.
The detailed process of step 5 is, for haze particle, to scatter the Stokes vector of light and the Stokes vector of incident light
It is connected by collision matrix, the value of the matrix is determined by the shape of particle, scale, refractive index, passes through detection scattering front and back
The value of Stokes vector, it can be deduced that collision matrix is used to the approximate particle diameter distribution of inverting haze particle, according to photodetector
The ultraviolet light scatter intensity and polarization characteristic that detect calculates extinction coefficient, by the extinction coefficient that calculates come in inverting haze
Particle diameter distribution, optical thickness is obtained by the total light intensity detected, for the particle diameter distribution in inverting haze.
The beneficial effects of the present invention are: a kind of ultraviolet detector haze system of unmanned aerial vehicle onboard of the present invention, borrows nobody
The platform of machine assigns ultraviolet detector haze system flexibility and wide coverage rate.Unmanned plane, which has, facilitates operation, mobility good
Well, the features such as reaction speed is fast, ultraviolet detector haze system is mounted on unmanned plane by the present invention, can be detected in low latitude
The haze situation of large area within the scope of different height.Traditional haze monitoring system is mostly to set up limited monitoring in each region
It stands to obtain air quality data, and for region different regions the case where can not monitor completely, present invention combination unmanned plane benefit
This is efficiently solved the problems, such as without the features such as bias light interference, wide visual field with ultraviolet light.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the ultraviolet detector haze particIe system of unmanned aerial vehicle onboard of the present invention；
Fig. 2 is ultraviolet detector haze device in a kind of ultraviolet detector haze particIe system of unmanned aerial vehicle onboard of the present invention
Structural schematic diagram；
Fig. 3 is the internal structure of power-supply system in a kind of ultraviolet detector haze particIe system of unmanned aerial vehicle onboard of the present invention
Schematic diagram；
Fig. 4 is the knot of ultraviolet optical transmission module in a kind of ultraviolet detector haze particIe system of unmanned aerial vehicle onboard of the present invention
Structure schematic diagram；
Fig. 5 is the knot of ultraviolet optical receiver module in a kind of ultraviolet detector haze particIe system of unmanned aerial vehicle onboard of the present invention
Structure signal；
Fig. 6 is a kind of scattering principle schematic diagram of the ultraviolet detector haze method of unmanned aerial vehicle onboard of the present invention；
Fig. 7 is haze particle diameter distribution inversion point in a kind of ultraviolet detector haze method of unmanned aerial vehicle onboard of the present invention
Analysis figure.
In figure, 1. ultraviolet detector haze devices,
2. power-supply system, 2-1.FPGA chip, 2-2. clock-signal generator, 2-3. signal generator module, 2-4.A/D are adopted
Egf block, 2-5. signal processing module, 2-6.RAM data cache module；
3. ultraviolet optical transmission module, 3-1. shaping amplification module, 3-2. pressure stabilizing tube module, 3-3. solar blind UV source, 3-
4. power control module, the 3-5. polarizer, 3-6. ultraviolet detector A；
4. ultraviolet optical receiver module, 4-1. optical filter, 4-2. analyzer, 4-3. ultraviolet detector B, 4-4. signal amplification electricity
Road；
5. unmanned plane module.
Specific embodiment
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
A kind of ultraviolet detector haze particIe system of unmanned aerial vehicle onboard of the present invention, as shown in Figure 1, including ultraviolet detector
5 two large divisions of haze device 1 and unmanned plane module, ultraviolet detector haze device 1 are mounted in unmanned plane module 5.
As shown in Fig. 2, ultraviolet detector haze device 1 includes power-supply system 2, power-supply system 2 is separately connected ultraviolet light hair
Send module 3 and ultraviolet optical receiver module 4.
As shown in figure 3, power-supply system 2 includes fpga chip 2-1, occurred first by the clock signal on fpga chip 2-1
Device 2-2 pumping signal generation module 2-3 generates signal, and signal, which enters in ultraviolet optical transmission module 3, drives the day in it blind ultraviolet
Light source transmitting, by the scattering of haze particle, its received electric signal is sent into PGA chip 2-1 by ultraviolet optical receiver module 4
A/D sampling module 2-4 carries out A/D sampling, and the data after sampling are temporarily stored in RAM number after signal processing module 2-5 processing
According to cache module 2-6.
As shown in figure 4, ultraviolet optical transmission module 3 includes shaping amplification module 3-1, the solar blind UV source 3- set gradually
3, polarizer 3-5, power control module 3-4 and ultraviolet detector A3-6, pressure stabilizing tube module 3-2 are solar blind UV source 3-3
Stable voltage is provided；
As shown in figure 5, ultraviolet optical receiver module 4 includes optical filter 4-1, the analyzer 4-2, ultraviolet detector set gradually
B4-3 and signal amplification circuit 4-4.
Unmanned plane module 5 be quadrotor drone, unmanned plane module 5 using ARM chip as core processor, extend out radio
Transceiver, height sensor, GPS module and memory are, it can be achieved that within a certain area, on certain altitude, according to specified boat
Line carries out flight detection.Radio transceiver receives control platform with control platform by transmitting and receiving service link connection
The course line of transmission.Height sensor, for detecting the real-time height of unmanned plane position.GPS module, the reality for unmanned plane
Shi Dingwei.
A kind of ultraviolet detector haze particle method of unmanned aerial vehicle onboard of the present invention, specifically comprises the following steps:
Step 1, initialization test equipment；
Unmanned plane module 5 uses quadrotor drone, and ultraviolet detector haze device 1 is carried three rotors wherein
On, the light source of solar blind UV can be generated by installing several on ultraviolet optical transmission module 3, and the optical wavelength which issues exists
Within 200nm-280nm, the calibration of ultraviolet optical transmission module 3 and ultraviolet optical receiver module 4, day are carried out first before carrying
LED on the 3-3 of blind UV source is lit one by one, checks that can ultraviolet optical receiver module 4 be normally received signal, if can if into
Row step 2.
Step 2, unmanned plane module 5 is opened, unmanned plane module 5 is hovered over into elemental height, makes unmanned plane module 5 along pre-
If course line carries out flight detection.
Unmanned plane module 5 using ARM chip as core processor, extend out radio transceiver, height sensor, GPS module,
Memory, unmanned plane module 5 set elemental height before activation, and radio transceiver sends out this elevation information and default course line
Unmanned plane module 5 is given, so that unmanned plane module 5 and control platform receive control by transmitting and receiving service link connection
The route information and the data of detection are sent to control platform, height sensor, for detecting nobody in real time that platform is sent
The real-time height of machine position, GPS module, for the real-time positioning of unmanned plane, memory is SD card, convenient to turn to data
It moves.
Step 3, power-supply system 2 is opened, ultraviolet optical transmission module 3 sends ultraviolet light, and ultraviolet light-receiving mould 4 will receive
Signal, which is sent into fpga chip 2-1, carries out A/D sampling, the ARM data being finally stored in the data being collected into fpga chip 2-1
In cache module 2-6.
Step 3.1, power-supply system 2 is opened, signal, letter are generated by the signal generator module 2-3 on fpga chip 2-1 first
Number by the 3-1 shaping of shaping amplification module amplify after drive ultraviolet light sending module 3 in solar blind UV source 3-3, voltage-stabiliser tube
Module 3-2 provides stable voltage for solar blind UV source 3-3, and solar blind UV source 3-3 is adjusted to by power control module 3-4
Best emission state, before ultraviolet light after polarizer 3-5 by obtaining linearly polarized light and being scattered by ultraviolet detector A3-6
Light intensity, Stokes vector, the core processor of unmanned plane module 5 read this data and are sent to control by radio transceiver and put down
Platform, polarized ultraviolet and haze particle reach in ultraviolet optical receiver module 4 after scattering；
Step 3.2, optical filter 4-1 is filtered the ultraviolet light after haze KPT Scatter, and analyzer 4-2 is to ultraviolet
The polarization state of light is detected, and converts optical signal into electric signal by ultraviolet detector B4-3, then will amplify electricity through signal
4-4 amplified electric signal in road, which is sent into the A/D sampling module 2-4 on fpga chip 2-1, carries out A/D sampling, the number after sampling
It is temporarily stored in RAM data cache module 2-6 according to after signal processing module 2-5 processing, the core processing of unmanned plane module 5
Device reads the data in RAM data cache module 2-6 and is sent to control platform by radio transceiver.
Scattering principle as shown in fig. 6, incident uv linearly polarized light is obtained after polarizer 3-5 and obtain its scattering before
The polarization state of Stokes vector, light beam can be by 4 Stokes parameters expressions, respectively I, Q, U, V.Each Stokes ginseng
Number can all be indicated by luminous intensity, can directly be measured；
Wherein, I is the overall strength of light,
Q is that horizontal linear polarization and perpendicular linear polarization are poor；
U indicates the intensity difference of+45 ° and -45 ° of polarized components；
V is the intensity difference of dextrorotation and Left-hand circular polarization component.
It is defined as follows:
I=< Ex 2(t) >+< Ey 2(t) >
Q=< Ex 2(t) >-< Ey 2(t) >
U=2 < Ex 2(t) > < Ey 2(t) > cos [δy(t)-δx(t)]
V=2 < Ex 2(t) > < Ey 2(t) > sin [δy(t)-δx(t)]
In above formula, Ex(t),Ey(t),δx(t),δy(t) amplitude and phase of electric field on the direction x and y, < E are illustrated respectively in
(t) > indicates the time average of electric field strength.
Step 4, change the flying height and the line of flight of unmanned plane module 5, carry out more wheels and detect and record data；
The detailed process of step 4 are as follows: increase unmanned plane module 5 by 200m height every time, visited along default course line
Survey, after reaching target point in this height, unmanned plane module 5 temporarily in the detection height of next round to be received such as floating state and
Route information, control platform obtain the data of this wheel detection by radio transceiver.
Step 5, after completing detection in preset altitude range, stop the flight of unmanned plane module, to the mist of different height
Haze particle data information is analyzed and processed.
Concrete analysis process is as shown in fig. 7, obtain scattering rear polarizer state, light intensity, delustring with dynamic light scattering method measurement
Figure parameters, inverting obtain atmospheric haze optimal approximation particle diameter distribution.The particle diameter distribution of haze particle refers to the grain of different-grain diameter
Sub- proportion will scatter around when light is incident on particulate matter, and each scattering parameter of light and the partial size of particle have close
The relationship cut counter can release particle size distribution by probing into the relationship of these parameters Yu grain diameter size distribution.
The polarization characteristic of light is described using Stokes vector method, light can be accurately depicted in Stokes vector method
Intensity and polarization state.
The Stokes vector of haze particle, the Stokes vector and incident light that scatter light has been contacted by collision matrix
Come, the value of the matrix is determined by the shape of particle, scale, refractive index, can be with by the value of Stokes vector before and after detection scattering
Show that collision matrix is used to the approximate particle diameter distribution of inverting haze particle.The ultraviolet light scattering detected according to photodetector is strong
Degree and polarization characteristic calculate extinction coefficient, by the extinction coefficient that calculates come the particle diameter distribution in inverting haze.By detecting
Total light intensity obtain optical thickness, for the particle diameter distribution in inverting haze.
Claims (9)
1. a kind of ultraviolet detector haze particIe system of unmanned aerial vehicle onboard, it is characterised in that: filled including ultraviolet detector haze
It sets, ultraviolet detector haze device is mounted in unmanned plane module.
2. a kind of ultraviolet detector haze particIe system of unmanned aerial vehicle onboard according to claim 1, it is characterised in that: institute
Stating ultraviolet detector haze device includes power-supply system, and power-supply system is separately connected ultraviolet optical transmission module and ultraviolet light-receiving mould
Block.
3. a kind of ultraviolet detector haze particIe system of unmanned aerial vehicle onboard according to claim 2, it is characterised in that: institute
Stating power-supply system includes clock-signal generator, and clock-signal generator is separately connected signal generator module, signal processing module
And A/D sampling module, A/D sampling module are connect with ultraviolet optical receiver module, signal generator module and ultraviolet optical transmission module connect
It connects, clock-signal generator and signal processing module are all connected with RAM data cache module.
4. a kind of ultraviolet detector haze particIe system of unmanned aerial vehicle onboard according to claim 3, it is characterised in that: institute
State ultraviolet optical transmission module include the shaping amplification module set gradually, solar blind UV source, the polarizer, power control module with
And ultraviolet detector A, pressure stabilizing tube module provide stable voltage for solar blind UV source.
5. a kind of ultraviolet detector haze particIe system of unmanned aerial vehicle onboard according to claim 4, it is characterised in that: institute
Stating ultraviolet optical receiver module includes the optical filter set gradually, analyzer, ultraviolet detector B and signal amplification circuit.
6. a kind of detection method of the ultraviolet detector haze particIe system of unmanned aerial vehicle onboard according to claim 5,
It is characterized in that: specifically comprising the following steps:
Step 1, initialization test equipment；
Step 2, unmanned plane module is opened, unmanned plane module is hovered over into elemental height, makes unmanned plane module along default course line
Carry out flight detection；
Step 3, power-supply system is opened, ultraviolet optical transmission module sends ultraviolet light, and ultraviolet light-receiving mould send the signal received
The A/D sampling module 2 entered in fpga chip carries out A/D sampling, the ARM number being finally stored in the data being collected into fpga chip
According in cache module；
Step 4, change the flying height and the line of flight of unmanned plane module 5, carry out more wheels and detect and record data；
Step 5, after completing detection in preset altitude range, stop the flight of unmanned plane module, the data of different height are believed
Breath is analyzed and processed.
7. a kind of ultraviolet detector haze particle method of unmanned aerial vehicle onboard according to claim 6, it is characterised in that: institute
Stating step 1, detailed process is as follows:
Unmanned plane module uses quadrotor drone, and ultraviolet detector haze device is carried on three rotors wherein, ultraviolet
Several are installed on optical transmission module can generate the light source of solar blind UV, and the optical wavelength which issues is in 200nm-280nm
Within, the calibration of ultraviolet optical transmission module and ultraviolet optical receiver module is carried out first before carrying, on solar blind UV source
LED be lit one by one, check that can ultraviolet optical receiver module be normally received signal, then carry out step 2 if normal.
8. a kind of ultraviolet detector haze particle method of unmanned aerial vehicle onboard according to claim 6, it is characterised in that: institute
Stating step 3, detailed process is as follows:
Step 3.1, power-supply system is opened, signal is generated by the signal generator module on fpga chip first, signal passes through shaping
The solar blind UV source in ultraviolet light sending module is driven after amplification module shaping amplification, pressure stabilizing tube module is solar blind UV source
Stable voltage is provided, solar blind UV source is adjusted to best emission state emitting ultraviolet light, ultraviolet light by power control module
Pass through the light intensity before obtaining linearly polarized light after the polarizer and being scattered by ultraviolet detector A, Stokes vector, unmanned plane module
Core processor read light intensity, Stokes vector data and control platform, polarized ultraviolet be sent to by radio transceiver
It is reached after being scattered with haze particle in ultraviolet optical receiver module；
Step 3.2, optical filter is filtered the ultraviolet light after haze KPT Scatter, polarization shape of the analyzer to ultraviolet light
State is detected, and converts optical signal into electric signal by ultraviolet detector B, then will be through the amplified telecommunications of signal amplification circuit
Number be sent into fpga chip on A/D sampling module in carry out A/D sampling, the data after sampling are after signal processing module is handled
It is temporarily stored in RAM data cache module, the core processor of unmanned plane module reads the data in RAM data cache module simultaneously
Control platform is sent to by radio transceiver.
9. a kind of ultraviolet detector haze particle method of unmanned aerial vehicle onboard according to claim 6, it is characterised in that: institute
State the detailed process of step 5 are as follows: for haze particle, scatter the Stokes vector of light and the Stokes vector of incident light by dissipating
It penetrates matrix to connect, the value of the matrix is determined by the shape of particle, scale, refractive index, scatters front and back Stokes by detection
The value of vector, it can be deduced that collision matrix is used to the approximate particle diameter distribution of inverting haze particle, is detected according to photodetector
Ultraviolet light scatter intensity and polarization characteristic calculate extinction coefficient, by the extinction coefficient that calculates come the partial size in inverting haze
Distribution, obtains optical thickness by the total light intensity detected, for the particle diameter distribution in inverting haze.
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| CN111650102B (en) * | 2020-05-26 | 2023-08-29 | 北京中科锐景科技有限公司 | Haze pollution analysis method, device, medium and equipment based on satellite data |
| CN111929203A (en) * | 2020-06-10 | 2020-11-13 | 西安理工大学 | Aspheric dust-haze particle distinguishing method based on solar blind ultraviolet light polarization degree |
| CN112304890A (en) * | 2020-11-27 | 2021-02-02 | 重庆商勤科技有限公司 | Method and system for monitoring ozone concentration by airborne spectrum remote sensing |
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