CN114965264A - A kind of unmanned aerial vehicle sulfide pollution detection system and its detection method - Google Patents

Abstract

The invention provides an unmanned aerial vehicle sulfide pollution detection system and a detection method thereof, and relates to the field of sulfide pollution detection. The sulfide pollution detection system of the unmanned aerial vehicle and the detection method thereof comprise a broadband infrared light source, wherein infrared light source signals are respectively transmitted to a type 1 light filter, a type 2 light filter and a type 3 light filter by the broadband infrared light source through a light splitting sheet. According to the invention, infrared spectrums of different wave bands emitted by a light source channel above an airflow channel are received by a receiver in a receiving channel below the airflow channel, wherein the receiver for receiving the infrared spectrums for detecting the hydrogen sulfide wave bands can convert optical signals into electric signals, the electric signals are detected by an AD detection pin of a microcontroller after passing through a voltage amplifier, so that the electric signals are converted into digital signals which can be processed by the microcontroller, and the detection of sulfur dioxide and carbon dioxide is realized by directly receiving transmitted data through a USB interface and a corresponding conversion circuit, so that the corresponding data calculation is carried out.

Description

A kind of unmanned aerial vehicle sulfide pollution detection system and its detection method

technical field

The invention relates to the field of sulfide pollution detection, in particular to an unmanned aerial vehicle sulfide pollution detection system and a detection method thereof.

Background technique

With the increasing social and economic development, while driving people's living standards, it also brings some negative environmental problems. The decline of air quality and heavy air pollution have also become hot topics at present, and people are paying more and more attention. In the environment where it is located, due to the continuous development of heavy industry, a lot of waste gas will be generated. Although many factories have treated the waste gas, there are still some harmful gases that are still discharged into the air. In addition, there are many The reasons cause pollution to the air, especially fossil energy, and the large consumption of gas, coal and firewood in daily life. The sulfur-containing components are mostly emitted into the atmosphere as SO2 gas after combustion. According to the environmental bulletin, my country's atmospheric The pollution is particularly serious, in which sulfide is the main pollutant, SO2, H2S, SO3, etc. are included in the sulfide, sulfide will not only cause certain impact and damage to the ecological environment, but also to people's health The situation has a great impact and can cause various respiratory diseases. Therefore, it is very necessary to monitor the atmosphere in real time to control the emission of sulfides.

At present, there are many methods to monitor the concentration of sulfide, such as fluorescence method, gas chromatography, electrochemical method, etc., but due to the different principles of each method, its advantages and disadvantages are not the same, because the current air pollutant monitoring methods have real-time monitoring Delays, limited monitoring distance, and insufficient detection accuracy cannot meet the requirements of environmental monitoring in the new era.

SUMMARY OF THE INVENTION

(1) Technical problems solved

In view of the deficiencies of the prior art, the present invention provides an unmanned aerial vehicle sulfide pollution detection system and a detection method thereof, which solves the problem that there are many methods to monitor the concentration of sulfide, such as fluorescence method, gas chromatography, electrochemical method, etc. However, due to the different principles of each method, its advantages and disadvantages are not the same. Because the current air pollutant monitoring methods have real-time monitoring delays, limited monitoring distances, and insufficient detection accuracy, they cannot meet the requirements of environmental monitoring in the new era.

(2) Technical solutions

In order to achieve the above purpose, the present invention is achieved through the following technical solutions: a UAV sulfide pollution detection system, including sulfide pollution detection, including a broadband infrared light source, and the broadband infrared light source transmits the infrared light source signal through the beam splitter respectively. For type 1 filter, type 2 filter and type 3 filter;

The type 1 filter, type 2 filter and type 3 filter respectively transmit the infrared light source signal to the monochromator through the airflow channel of the environment to be measured;

The type 1 filter, the type 2 filter and the type 3 filter transmit the infrared light source to the monochromator according to the light source in the stable environment;

The monochromator transmits the infrared light source of the type 1 filter to the receiver, and transmits it to the MCU through the amplifier;

The monochromator transmits the infrared light sources of the type 2 filter and the type 3 filter to the receiver through the type 2 filter and the type 3 filter respectively, and the receiver transmits it to the MUS through the USB interface.

Preferably, the motor is controlled by the MUS inside the monochromator, and the motor drives the chopper to operate and transmits signals.

Preferably, the MUS controls the steering gear, and the steering gear converts the direction of the light beam, and the light beam receives the infrared light source transmitted through the filter in a stable environment.

Preferably, the MUS is connected to peripheral devices through 485 and transmits signals, and the MUS is connected to AT24CO2 through IIC and transmits signals.

A method for detecting sulfide pollution of unmanned aerial vehicle, the method for detecting sulfide pollution of unmanned aerial vehicle comprises: the whole system needs to perform a basic zero adjustment and calibration when running for the first time, and at this time, the detection part of the sensor is placed in the In an environment filled with corresponding detection gas, if you press the calibration button within a certain period of time after starting the system, the system will compare the collected ADC data with the theoretical data, and feed back the structure after the comparison to the control of the steering gear. In this way, the angle of the light beam is adjusted. After a short period of adaptive adjustment, the light beam position of the sensor can be adjusted to a reasonable angle, and after the calibration is completed, the system will also adjust the current adjusted PWM duty cycle data. It is recorded in the EEPROM chip through the I2C bus. When the user does not need to perform zero calibration, the system can automatically set the corresponding PWM wave duty cycle according to the data stored in the EEPROM after running the system. The Modbus protocol established on the 485 bus sends the corresponding message to obtain the detection data of the sensor.

Preferably, the UAV sulfide pollution detection method further comprises: in the actual acquisition process, the microcontroller will simultaneously detect the rising edges of the three detected signals through the external interrupt pin, and when the rising edge is detected After the existence of the AD conversion of the corresponding channel, the AD conversion of the corresponding channel will be started. After the AD conversion is completed, the data will be recorded in the array of the corresponding position. After repeated detection 5 times, the microcontroller will remove the 5 data in the array. The largest data and the smallest data, and calculate the average of the remaining three data, and then save the calculated data to another variable;

In addition, after each detection of the voltage after the arrival of the rising edge, the voltage after the arrival of the falling edge will be detected once to determine the voltage of the reference zero point at this moment. After five consecutive detections of the voltage after the arrival of the falling edge, the Remove the maximum and minimum values in the five data, and then calculate the average of the remaining three numbers as the voltage of the reference zero point and put it into the corresponding variable. The difference between the voltage change of the subsequent circuit and the voltage of the reference zero point is put into the corresponding array as the actual valid data, and the array can store up to 20 data. When the 20 data is full, the data in the array will be flushed from high to low. , wait for the Modbus protocol established on the 485 communication to send the detected data to the host at one time after the host requests the data from the sensor system.

Preferably, the UAV sulfide pollution detection method further includes: the system fails to read valid data from the EEPROM and the user presses the calibration button within 5s after the system is turned on, then the system will enter the In calibration mode, the system will immediately start judging that there is a falling edge on the signal receiving pin. If there is a falling edge, it means that the system is already in an environment with a high concentration of the gas to be detected, and the calibration can be started. During calibration, the system will Control the steering gear to return to the 0° angular position, and then continuously control the steering gear according to the detected ADC data. When the detected ADC data can be between 0 and 10, it proves that the light angle controlled by the steering gear can be To meet the detection needs, to prove that the calibration is successful, the current PWM output data is recorded in the EEPROM, and the control LED emits green light to remind the user that the calibration is completed.

(3) Beneficial effects

The invention provides an unmanned aerial vehicle sulfide pollution detection system and a detection method thereof. Has the following beneficial effects:

1. First, the receiver in the receiving channel below the airflow channel receives the infrared spectrum of different bands emitted by the light source channel above the airflow channel. The receiver that receives and detects the infrared spectrum of the hydrogen sulfide band will convert the optical signal into an electrical signal. This electrical signal is detected by the AD detection pin of the microcontroller after passing through the voltage amplifier, and thus converted into a digital signal that can be processed by the microcontroller. The detection of sulfur dioxide and carbon dioxide is directly through the USB interface and the corresponding The conversion circuit receives the outgoing data and performs corresponding data calculation.

2. The system compares the collected ADC data with the theoretical data, and feeds back the structure after the comparison to the control of the steering gear, so as to adjust the angle of the light beam, so as to realize the adjustment of the reference zero point. After a short period of self-adaptation Adjustment.

3. After each detection of the voltage after the rising edge, the voltage after the falling edge will be detected to determine the voltage of the reference zero point at the moment, thus avoiding the temperature drift of the light source due to the working time process. As a result, the detection accuracy of the sensor decreases.

4. When the system does not detect data, or within 5s after the user turns on the power, the user presses the calibration part, the system enters the calibration mode, and controls the steering gear to return to the 0° angular position, which improves the automatic operation of the system and prevents The loss of data leads to major mistakes.

Description of drawings

FIG. 1 is a schematic diagram of the sensor structure of the present invention;

Fig. 2 is the system control schematic diagram of the present invention;

3 is a schematic diagram of a sensor data acquisition program of the present invention;

FIG. 4 is a schematic diagram of the system calibration flow of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Example 1:

As shown in FIG. 1 , an embodiment of the present invention provides a sulfide pollution detection system for an unmanned aerial vehicle and a detection method thereof, including detection of sulfide pollution, including a broadband infrared light source, and the broadband infrared light source transmits the infrared light source signal to the Type 1 filter, Type 2 filter and Type 3 filter;

The 1-type filter, the 2-type filter and the 3-type filter respectively transmit the infrared light source signal to the monochromator through the airflow channel of the environment to be measured;

Type 1 filter, Type 2 filter and Type 3 filter pass the infrared light source to the monochromator according to the light source in a stable environment;

The monochromator transmits the infrared light source of the type 1 filter to the receiver, and transmits it to the MCU through the amplifier;

The monochromator transmits the infrared light source of the type 2 filter and the type 3 filter to the receiver through the type 2 filter and the type 3 filter respectively, and the receiver transmits it to the MUS through the USB interface;

The monochromator controls the motor through MUS, the motor drives the chopper to operate, and transmits the signal;

MUS controls the steering gear, the steering gear converts the direction of the light beam, and the light beam receives the infrared light source transmitted through the filter in a stable environment;

MUS is connected to peripheral devices through 485 and transmits signals. MUS is connected to AT24CO2 through IIC and transmits signals. First, the receiver in the receiving channel below the airflow channel receives the infrared spectrum of different bands emitted by the light source channel above the airflow channel. The receiver that detects the infrared spectrum in the hydrogen sulfide band will convert the optical signal into an electrical signal, and this electrical signal will be detected by the AD detection pin of the microcontroller after passing through the voltage amplifier, so that it can be converted into an electrical signal that can be detected by the microcontroller. For the detection of sulfur dioxide and carbon dioxide, the outgoing data is directly received through the USB interface and the corresponding conversion circuit, so as to calculate the corresponding data.

Embodiment 2:

As shown in FIG. 2 , an embodiment of the present invention provides a UAV sulfide pollution detection system and a detection method thereof, including sulfide pollution detection. The entire system needs to perform a basic zero adjustment and calibration during the first operation. The sensor detection part is placed in the environment filled with the corresponding detection gas. If the calibration button is pressed within a certain period of time after starting the system, the system will compare the collected ADC data with the theoretical data, and feedback the structure after the comparison. To control the steering gear to adjust the angle of the light beam, after a short period of adaptive adjustment, the light beam position of the sensor can be adjusted to a reasonable angle, and after the calibration is completed, the system will also adjust the current position. The adjusted PWM duty cycle data is recorded in the EEPROM chip through the I2C bus. When the user does not need to perform zero calibration, the system can automatically set the corresponding PWM wave duty cycle according to the data saved in the EEPROM after running the system. , and the user can directly obtain the detection data of the sensor by sending the corresponding message through the Modbus protocol established on the 485 bus. The system compares the collected ADC data with the theoretical data, and feeds back the structure after the comparison to the steering gear. Control, so as to adjust the angle of the light beam, so as to realize the adjustment of the reference zero point, after a short period of self-adaptive adjustment.

Embodiment three:

As shown in FIG. 3 , an embodiment of the present invention provides a UAV sulfide pollution detection system and a detection method, including sulfide pollution detection. During the actual acquisition process, the microcontroller will simultaneously detect through an external interrupt pin The rising edge of the three detected signals, when the existence of the rising edge is detected, the AD conversion of the corresponding channel will be started, and the data will be recorded in the array of the corresponding position after the AD conversion is completed. After repeated detection 5 times, The microcontroller will remove the largest data and the smallest data from the 5 data in the array, and calculate the average value of the remaining three data, and then save the calculated data to another variable;

In addition, after each detection of the voltage after the arrival of the rising edge, the voltage after the arrival of the falling edge will be detected once to determine the voltage of the reference zero point at this moment. After five consecutive detections of the voltage after the arrival of the falling edge, the Remove the maximum and minimum values in the five data, and then calculate the average of the remaining three numbers as the voltage of the reference zero point and put it into the corresponding variable. The difference between the voltage change of the subsequent circuit and the voltage of the reference zero point is put into the corresponding array as the actual valid data, and the array can store up to 20 data. When the 20 data is full, the data in the array will be flushed from high to low. , wait for the Modbus protocol established on the 485 communication to send the detected data to the host at one time after the host requests the data from the sensor system, and will detect a falling edge after each detection of the voltage after a rising edge. The voltage after the arrival is used to determine the voltage of the reference zero point at the moment, so as to avoid the temperature drift of the light source caused by the working time process, thereby reducing the detection accuracy of the sensor.

Embodiment 4:

As shown in FIG. 4 , an embodiment of the present invention provides a UAV sulfide pollution detection system and a detection method thereof, including sulfide pollution detection, when the system fails to read valid data from the EEPROM and the user turns on the machine after the If the calibration button is pressed within 5s, the system will enter the calibration mode. At this time, the system will immediately start judging that the signal receiving pin has a falling edge. , the calibration can be started. During calibration, the system will control the steering gear to return to the 0° angular position, and then continuously control the steering gear according to the detected ADC data. When the detected ADC data can be between 0 and 10 At this time, it proves that the light angle controlled by the servo can meet the needs of the detection, so as to prove that the calibration is successful, record the current PWM output data in the EEPROM, and control the LED to emit a green light to remind the user that the calibration is completed. Data is detected, or within 5s after the user turns on the power, the user presses the calibration part, the system enters the calibration mode, and controls the steering gear to return to the 0° angular position, which improves the automatic operation of the system and prevents the loss of data from causing serious problems. 's mistakes.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, and substitutions can be made in these embodiments without departing from the principle and spirit of the invention and modifications, the scope of the present invention is defined by the appended claims and their equivalents.

Claims (7)

1. The utility model provides an unmanned aerial vehicle sulphide pollution detection system, includes broadband infrared light source, its characterized in that: the broadband infrared light source transmits infrared light source signals to the type 1 optical filter, the type 2 optical filter and the type 3 optical filter through the light splitting piece respectively;

the type 1 optical filter, the type 2 optical filter and the type 3 optical filter respectively transmit infrared light source signals to the monochromator through airflow channels of an environment to be detected;

the type 1 optical filter, the type 2 optical filter and the type 3 optical filter transmit an infrared light source to the monochromator according to light ions in a stable environment;

the monochromator transmits an infrared light source of the type 1 optical filter to the receiver and transmits the infrared light source to the MCU through the amplifier;

the monochromator transmits the infrared light sources of the 2-type optical filter and the 3-type optical filter to the receiver through the 2-type optical filter and the 3-type optical filter respectively, and the receiver transmits the infrared light sources to the MUS through the USB interface.

2. The unmanned aerial vehicle sulfide contamination detection system of claim 1, wherein: the monochromator is internally controlled by the MUS, and the motor drives the chopper to operate and transmit signals.

3. The unmanned aerial vehicle sulfide contamination detection system of claim 1, wherein: the MUS controls the steering engine, the steering engine converts the direction of the light wedge, and the light wedge receives the infrared light source transmitted by the optical filter in a stable environment.

4. The unmanned aerial vehicle sulfide contamination detection system of claim 1, wherein: the MUS is connected to and transmits signals with the peripheral device through 485, and the MUS is connected to and transmits signals with the AT24CO2 through IIC.

5. An unmanned aerial vehicle sulfide pollution detection method is characterized in that: the unmanned aerial vehicle sulfide pollution detection method comprises the following steps: the whole system needs to perform basic zero-setting calibration when running for the first time, at the moment, a sensor detection part is placed in an environment filled with corresponding detection gas, if a calibration button is pressed within a certain time after the system is started, the system can compare acquired ADC data with theoretical data and feed back the compared structure to control a steering engine, so that the angle of an optical wedge is adjusted, the optical wedge position of the sensor can be adjusted to a reasonable angle through short-time self-adaptive adjustment, after the calibration is completed, the system can record the currently adjusted PWM duty ratio data in an EEPROM chip through an I2C bus, when a user does not need to perform zero-setting, the system can automatically set the corresponding PWM wave duty ratio according to the data stored in the EEPROM after the system is operated, and the user can directly send corresponding messages to acquire the detection data of the sensor through a Modbus protocol established on a 485 bus.

6. The unmanned aerial vehicle sulfide contamination detection method of claim 5, wherein: the unmanned aerial vehicle sulfide pollution detection method further comprises the following steps: in the actual acquisition process, the microcontroller can simultaneously detect the rising edges of three detected signals through an external interrupt pin, the AD conversion of a corresponding channel is started after the rising edges are detected, data are recorded in an array at a corresponding position after the AD conversion is completed, 5 data in the array are removed by the microcontroller after the repeated detection is carried out for 5 times, the maximum data and the minimum data are calculated for the remaining three data, and then the calculated data are stored in another variable;

and the voltage after the arrival of the falling edge is detected once after the voltage after the arrival of the rising edge is detected once, so as to determine the voltage of the reference zero point at the moment, the maximum and minimum values of the five data are removed after the voltages of the five falling edges are continuously detected, then the average of the remaining three numbers is taken as the voltage of the reference zero point and put into the corresponding variable, finally, the detected voltage change of a subsequent circuit caused by the light beam passing through the gas to be detected and the voltage of the reference zero point are differentiated and then are put into a corresponding array to be used as actual effective data, the array stores 20 data at most, when the 20 data are full, the data in the array can be flushed from high to low, and the detected data can be sent to the host computer once after the data are required by the sensor system through the Modbus protocol established on 485 communication and sent by the host computer.

7. The unmanned aerial vehicle sulfide contamination detection method of claim 5, wherein: the unmanned aerial vehicle sulfide pollution detection method further comprises the following steps: the system can enter a calibration mode if effective data cannot be read from the EEPROM and a user presses a calibration key within 5s after the system is started, the system can immediately start to judge at the moment, a signal receiving pin has a falling edge, the system can start to calibrate if the signal receiving pin has the falling edge, the system is proved to be in an environment with high concentration of gas to be detected if the signal receiving pin has the falling edge, the steering engine can be controlled to return to a 0-degree angular position by the system during calibration, then the steering engine is continuously controlled according to detected ADC data, the light wedge angle controlled by the steering engine can meet the detection requirement if the detected ADC data can be between 0 and 10, the calibration is proved to be successful, the data output by current PWM is recorded in the EEPROM, and the LED is controlled to emit green light to remind the user of completing the calibration.

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