1. An atmospheric environment monitoring system based on hyperspectral technology, characterized in that the system comprises: the system comprises an unmanned aerial vehicle, a data acquisition module, a data transmitting module, a data transmission module, a data receiving module, a data analysis module, a data processing module, a data storage module and a data output module;

the unmanned aerial vehicle is used for monitoring the atmospheric environment of a certain area, commanding and cruising are carried out by the unmanned aerial vehicle through a remote control station worker, and timely position information feedback is carried out through an RTK positioning module so that the unmanned aerial vehicle can yaw, the unmanned aerial vehicle is connected with an expansion device through a ground station, a sweep frequency instruction of a specified frequency band is sent to the unmanned aerial vehicle through map transmission, and the expansion device displays the received frequency spectrum density;

the data acquisition module comprises a hyperspectral camera and a gas optical sensor, wherein the hyperspectral camera is used for high-quality spectral imaging of a short-wave infrared band, hyperspectral data of all bands are acquired by using a single light path and a single detector, different measurement bands can be selected, only actually required band images are acquired, the gas optical sensor has different absorption spectra according to different molecular structures, different concentrations and different energy distributions, and qualitative and quantitative analysis is performed on gas through the spectral determination;

the data transmitting module is used for filtering data acquired by the hyperspectral camera and the gas optical sensor and sending the data out through the data antenna; the data transmission module is connected to the cloud server and used for data interaction with the unmanned aerial vehicle; the data receiving module is used for receiving data information transmitted by a cloud server and consists of an A/D conversion unit and an acquisition control unit, and the A/D conversion unit is connected with the acquisition control unit;

the data analysis module is used for analyzing the data sent by the data receiving module and classifying the data to form different types of data indexes; the data processing module is used for further processing the data indexes transmitted by the data analysis module to form a visual data model; the data storage module is used for storing a starting program of the data processing module, and determining a storage address for storing the starting program of the data processing module according to the read information of the data processing module; and the data output module judges whether harmful gas in the atmospheric environment is in a normal value according to the processed data model, so that whether the atmosphere in the area is polluted or not is judged.

2. The atmospheric environment monitoring system based on hyperspectral technology according to claim 1 is characterized by further comprising four data acquisition modes: the system automatically identifies whether to start or stop measurement according to the high-precision INS data, and directly acquires data of a task area, so that a large amount of invalid data caused by the fact that the traditional equipment can only continuously measure is avoided, the operation efficiency is improved, and the difficulty of data post-processing is reduced.

3. The atmospheric environment monitoring system based on hyperspectral technology as claimed in claim 1, wherein the RTK positioning module comprises an RTK reference station, a remote control station worker transmits a wireless communication signal through a remote control device, and the unmanned aerial vehicle can acquire positioning differential data sent by the RTK reference station to determine the geographical position information.

4. A monitoring device applied to an atmosphere environment monitoring system based on hyperspectral technology according to any one of claims 1-3, comprising an unmanned aerial vehicle body (1), wherein a plurality of horizontal rods are fixedly connected to the outer side end of the unmanned aerial vehicle body (1), each horizontal rod is provided with a propeller wing (2), the propeller wings (2) are symmetrically distributed, a flight control box (3) is fixedly installed on the upper side of the unmanned aerial vehicle body (1), a hyperspectral camera (5) is fixedly installed on the bottom side of the unmanned aerial vehicle body (1), landing gear assemblies (4) are symmetrically arranged on the bottom side of the unmanned aerial vehicle body (1), a balancing device is arranged at the tail of the unmanned aerial vehicle body (1), and the unmanned aerial vehicle body (1) is fixedly connected with a gas optical sensor (10) through a positioning rod.

5. The atmosphere environment monitoring device based on the hyperspectral technology according to claim 4 is characterized in that the unmanned aerial body (1) is further provided with a signal receiving antenna (6) and a signal transmitting antenna (7), and the signal receiving antenna (6) and the signal transmitting antenna (7) are both distributed at the tail of the unmanned aerial body (1).

6. The atmospheric environment monitoring devices based on hyperspectral technique of claim 4, characterized in that, balancing unit includes metal forming tube (8), metal forming tube (8) fixed connection is at the afterbody of unmanned aerial vehicle body (1), the one end fixedly connected with balancing weight (9) of unmanned aerial vehicle body (1) are kept away from to metal forming tube (8).

7. The atmosphere environment monitoring device based on the hyperspectral technology is characterized in that the landing gear assembly (4) comprises a vertical support rod (402) and a horizontal support rod, a sleeve shaft (401) is arranged on the horizontal support rod, the vertical support rod (402) is sleeved on the sleeve shaft (401), rubber columns (406) are symmetrically and fixedly connected in the sleeve shaft (401), spring grooves matched with the rubber columns (406) are formed in the vertical support rod (402), and damping springs (403) are fixedly connected between the rubber columns (406) and the bottom walls of the spring grooves.

8. The atmosphere environment monitoring device based on the hyperspectral technology as recited in claim 7, wherein the vertical support rod (402) is provided with a piston ring (404), and the sleeve shaft (401) is symmetrically provided with small damping holes (405).

Background

Toxic and harmful gases in general terms include mainly flammable and explosive gases, toxic inorganic gases and volatile organic compounds.

The traditional air pollution monitoring mode needs the detection personnel to carry sampling equipment (including a sampler, an absorption bottle, a Suma tank and the like) to enter an enterprise factory for monitoring and sampling, and the personal safety can not be guaranteed for environment monitoring personnel.

Disclosure of Invention

The invention aims to solve the defects that in the prior art, a traditional air pollution monitoring mode needs a detection person to carry sampling equipment to enter an enterprise factory for monitoring and sampling, and personal safety cannot be guaranteed for environment monitoring personnel, and provides an atmospheric environment monitoring system based on a hyperspectral technology.

In order to achieve the purpose, the invention adopts the following technical scheme:

an atmospheric environment monitoring system based on hyperspectral technology, the system comprising: the system comprises an unmanned aerial vehicle, a data acquisition module, a data transmitting module, a data transmission module, a data receiving module, a data analysis module, a data processing module, a data storage module and a data output module;

the unmanned aerial vehicle is used for monitoring the atmospheric environment of a certain area, the unmanned aerial vehicle conducts command cruise through a remote control station worker and conducts timely position information feedback through an RTK positioning module so that the unmanned aerial vehicle can yaw, the unmanned aerial vehicle is connected with an expansion device through a ground station, a sweep frequency instruction of a specified frequency band is sent to the unmanned aerial vehicle through map transmission, and the expansion device displays the received frequency spectrum density;

the data acquisition module comprises a hyperspectral camera and a gas optical sensor, wherein the hyperspectral camera is used for high-quality spectral imaging of a short-wave infrared band, hyperspectral data of all bands are acquired by using a single light path and a single detector, different measurement bands can be selected, only actually required band images are acquired, the gas optical sensor has different absorption spectra according to different molecular structures, different concentrations and different energy distributions, and qualitative and quantitative analysis is performed on gas through the spectral measurement;

the data transmitting module is used for filtering data collected by the hyperspectral camera and the gas optical sensor and sending the data out through the data antenna; the data transmission module is connected to the cloud server and used for data interaction with the unmanned aerial vehicle; the data receiving module is used for receiving data information transmitted by a cloud server, and consists of an A/D conversion unit and an acquisition control unit, wherein the A/D conversion unit is connected with the acquisition control unit;

the data analysis module is used for analyzing the data sent by the data receiving module and classifying the data to form different types of data indexes; the data processing module is used for further processing the data indexes transmitted by the data analysis module to form a visual data model; the data storage module is used for storing a starting program of the data processing module, and determining a storage address for storing the starting program of the data processing module according to the read information of the data processing module; and the data output module judges whether the harmful gas in the atmosphere environment is in a normal value according to the processed data model, so that whether the atmosphere in the area is polluted or not is judged.

Preferably, the system further comprises four data acquisition modes: the system automatically identifies whether to start or stop measurement according to the high-precision INS data, and directly acquires data of a task area, so that a large amount of invalid data caused by the fact that the traditional equipment can only continuously measure is avoided, the operation efficiency is improved, and the difficulty of data post-processing is reduced.

Preferably, the RTK positioning module includes an RTK base station, a remote control station worker transmits a wireless communication signal through a remote control device, and the unmanned aerial vehicle can acquire positioning differential data sent by the RTK base station to determine the geographic position information.

The utility model provides a be applied to as above an atmospheric environment monitoring system's monitoring devices based on high spectrum technology, includes the unmanned aerial vehicle body, a plurality of horizon bars of the outside end fixedly connected with of unmanned aerial vehicle body, every all be provided with the propeller wing on the horizon bar, it is a plurality of the propeller wing is the symmetric distribution, unmanned aerial vehicle body upside fixed mounting has the flight control case, unmanned aerial vehicle body bottom side fixed mounting has high spectral camera, unmanned aerial vehicle body bottom side symmetry is provided with the undercarriage subassembly, unmanned aerial vehicle body afterbody is provided with balancing unit, the unmanned aerial vehicle body passes through locating lever fixedly connected with gas optical sensor.

Preferably, still be provided with signal reception antenna and signal emission antenna on the unmanned aerial vehicle body respectively, signal reception antenna and signal emission antenna all distribute at the afterbody of unmanned aerial vehicle body.

Preferably, balancing unit includes the metal calibrator, metal calibrator fixed connection is at the afterbody of unmanned aerial vehicle body, the one end fixed connection that unmanned aerial vehicle body was kept away from to the metal calibrator has the balancing weight.

Preferably, the undercarriage subassembly includes vertical support rod and horizontal bracing piece, be provided with the sleeve spindle on the horizontal bracing piece, the vertical support rod has been cup jointed on the sleeve spindle, symmetry fixedly connected with rubber column in the sleeve spindle, set up the spring groove with rubber column matched with in the vertical support rod, fixedly connected with damping spring between rubber column and the spring groove diapire.

Preferably, the vertical support rod is provided with a piston ring, and the sleeve shaft is symmetrically provided with small damping holes.

Compared with the prior art, the invention has the beneficial effects that:

1. through with high spectrum camera, gaseous optical sensor integrates with unmanned aerial vehicle's aerial survey module, both cooperate each other and carry out accurate collection to environmental data, then send to high in the clouds server through data transmission module, behind the data receiving module receipt data of high in the clouds server, carry out further analytic processing, carry out backup storage to the data of gathering each time, it is in the normal value whether to reach atmosphere environment harmful gas at last, thereby judge whether this regional atmosphere takes place to pollute, this system carries out remote control monitoring through ground station and remote control station staff, do not need the measurement personnel to carry sampling device and get into enterprise's production factory and monitor and sampling work, to environment monitoring personnel, personal safety can obtain effectual guarantee.

2. Make it can effectively avoid the organism to lean forward when flying through setting up the balancing weight at unmanned aerial vehicle body afterbody, maintain gravity balance, and move to the sleeve shaft inboard when the unmanned aerial vehicle body descends vertical support pole, the rubber post removes to spring inslot portion, make the rubber post and the emergence of damping spring extrude, under common elastic action between them, thereby impact force when descending cushions, thereby the piston ring slides down and extrudes sleeve shaft inside air simultaneously, gaseous sharp compression is discharged from the damping aperture, produce damping effect between gaseous and the pore wall this moment, further impact energy when descending converts air friction heat energy into, thereby reduce the impact effect that the organism received when descending.

Drawings

FIG. 1 is a system block diagram of an atmospheric environment monitoring system based on hyperspectral technology according to the present invention;

FIG. 2 is a block diagram of a control flow of an unmanned aerial vehicle in an atmospheric environment monitoring system based on a hyperspectral technology, provided by the invention;

FIG. 3 is a schematic side structure diagram of an atmospheric environment monitoring device based on hyperspectral technology according to the present invention;

FIG. 4 is a schematic top view of an atmospheric environment monitoring device based on hyperspectral technology according to the present invention;

FIG. 5 is a schematic front structural view of an atmospheric environment monitoring device based on hyperspectral technology according to the present invention;

FIG. 6 is a schematic structural view of a landing gear assembly of an atmospheric environmental monitoring device based on hyperspectral technology.

In the figure: 1-unmanned aerial vehicle body, 2-propeller wing, 3-flight control box, 4-landing gear component, 401-sleeve shaft, 402-vertical supporting rod, 403-damping spring, 404-piston ring, 405-damping small hole, 406-rubber column, 5-hyperspectral camera, 6-signal receiving antenna, 7-signal transmitting antenna, 8-metal shaping tube, 9-counterweight block and 10-gas optical sensor.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, refer to orientations or positional relationships based on those shown in the drawings, and are used only for the purpose of facilitating the description of the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present invention.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Referring to fig. 1-2, an atmospheric environment monitoring system based on hyperspectral technology comprises: unmanned aerial vehicle, data acquisition module, data transmission module, data receiving module, data analysis module, data processing module, data storage module, data output module, this system still includes four kinds of data acquisition modes: the system automatically identifies whether to start or stop measurement according to the high-precision INS data, and directly acquires data of a task area, so that a large amount of invalid data caused by the fact that the conventional equipment can only continuously measure is avoided, the operation efficiency is improved, and the difficulty of data post-processing is reduced;

the unmanned aerial vehicle is used for monitoring the atmospheric environment of a certain area, the unmanned aerial vehicle conducts command cruise through a remote control station worker and performs timely position information feedback through an RTK positioning module so that the unmanned aerial vehicle can yaw, the unmanned aerial vehicle is connected with an expansion device through a ground station and transmits a sweep frequency instruction of a specified frequency band to the unmanned aerial vehicle, the expansion device displays the received frequency spectral density, the RTK positioning module comprises an RTK reference station, the remote control station worker transmits a wireless communication signal through a remote control device, and the unmanned aerial vehicle can acquire positioning differential data sent by the RTK reference station to determine geographical position information;

the data acquisition module comprises a hyperspectral camera and a gas optical sensor, wherein the hyperspectral camera is used for high-quality spectral imaging of a short-wave infrared band, hyperspectral data of all bands are acquired by using a single light path and a single detector, different measurement bands can be selected, only actually required band images are acquired, the gas optical sensor has different absorption spectra according to different molecular structures, different concentrations and different energy distributions, and qualitative and quantitative analysis is performed on gas through the spectral determination;

the data transmitting module is used for filtering data acquired by the hyperspectral camera and the gas optical sensor and sending the data out through the data antenna; the data transmission module is connected to the cloud server and used for data interaction with the unmanned aerial vehicle; the data receiving module is used for receiving data information transmitted by the cloud server and consists of an A/D conversion unit and an acquisition control unit, and the A/D conversion unit is connected with the acquisition control unit;

the data analysis module is used for analyzing the data sent by the data receiving module and classifying the data to form different types of data indexes; the data processing module is used for further processing the data indexes transmitted by the data analysis module to form a visual data model; the data storage module is used for storing a starting program of the data processing module, and determining a storage address for storing the starting program of the data processing module according to the read information of the data processing module; the data output module judges whether harmful gas in atmospheric environment is in a normal value according to the processed data model, so that whether the atmosphere in the area is polluted or not is judged.

Referring to fig. 3-6, a be applied to like foretell atmospheric environment monitoring system's based on high spectrum technology monitoring devices, including unmanned aerial vehicle body 1, a plurality of horizon bars of outside end fixedly connected with of unmanned aerial vehicle body 1, all be provided with propeller wing 2 on every horizon bar, a plurality of propeller wings 2 are the symmetric distribution, carry out the lift equilibrium nature that synchronous rotation kept the organism, unmanned aerial vehicle body 1 upside fixed mounting has flight control case 3, unmanned aerial vehicle body 1 bottom side fixed mounting has hyperspectral camera 5, unmanned aerial vehicle body 1 bottom side symmetry is provided with undercarriage subassembly 4, unmanned aerial vehicle body 1 afterbody is provided with balancing unit, balancing unit includes metal forming tube 8, metal forming tube 8 fixed connection is at the afterbody of unmanned aerial vehicle body 1, the one end fixed connection that unmanned aerial vehicle body 1 was kept away from to metal forming tube 8 has balancing weight 9.

Undercarriage subassembly 4 includes vertical support pole 402 and horizontal bracing piece, be provided with sleeve 401 on the horizontal bracing piece, vertical support pole 402 has been cup jointed on the sleeve 401, symmetrical fixedly connected with rubber column 406 in the sleeve 401, set up the spring groove with rubber column 406 matched with in the vertical support pole 402, fixedly connected with damping spring 403 between rubber column 406 and the spring groove diapire, be provided with piston ring 404 on the vertical support pole 402, damping aperture 405 has been seted up to the symmetry on the sleeve 401, unmanned aerial vehicle body 1 passes through locating lever fixedly connected with gas optical sensor 10, still be provided with signal reception antenna 6 and signal transmission antenna 7 on the unmanned aerial vehicle body 1 respectively, signal reception antenna 6 and signal transmission antenna 7 evenly distributed are at the afterbody of unmanned aerial vehicle body 1.

In the invention, the hyperspectral camera 5, the gas optical sensor 10 and the aerial survey module of the unmanned aerial vehicle are integrated, the hyperspectral camera and the aerial survey module are matched with each other to accurately collect environmental data, the environmental data are transmitted to a cloud server through a data transmission module, the data are further analyzed and processed after being received by a data receiving module of the cloud server, the data collected each time are backup stored, and whether atmospheric harmful gas is in a normal value is finally obtained, so that whether the atmosphere in the area is polluted or not is judged, the system is remotely controlled and monitored by ground station and remote station workers, the workers do not need to carry sampling equipment to enter an enterprise production plant area for monitoring and sampling, personal safety can be effectively protected for environmental monitoring workers, and the forward tilting of the unmanned aerial vehicle body can be effectively avoided by arranging the balancing weight 9 at the tail part of the unmanned aerial vehicle body 1, maintain gravity balance, and when the unmanned aerial vehicle body 1 when descending vertical support pole 402 removes to sleeve 401 inboard, rubber column 406 removes to spring inslot portion, make rubber column 406 and damping spring 403 take place the extrusion, under common elastic action between them, thereby impact force when descending cushions, thereby piston ring 404 lapse pushes the inside air of sleeve 401 simultaneously, gaseous sharp compression is discharged from damping aperture 405, produce damping effect between gaseous and the pore wall this moment, further impact energy when descending converts the air into and rubs heat energy, thereby reduce the impact effect that receives when the organism descends.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and equivalent alternatives or modifications according to the technical solution and the inventive concept of the present invention should be covered by the scope of the present invention.