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CN114965264B - A UAV sulfide pollution detection system and detection method thereof - Google Patents

A UAV sulfide pollution detection system and detection method thereof Download PDF

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Publication number
CN114965264B
CN114965264B CN202111646207.2A CN202111646207A CN114965264B CN 114965264 B CN114965264 B CN 114965264B CN 202111646207 A CN202111646207 A CN 202111646207A CN 114965264 B CN114965264 B CN 114965264B
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light source
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CN114965264A (en
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李方强
范建明
颜新平
许燕
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Yitian Aviation Technology Suzhou Co ltd
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Yitian Aviation Technology Suzhou Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/01—Arrangements or apparatus for facilitating the optical investigation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/94—Investigating contamination, e.g. dust
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
    • Y02A50/20—Air quality improvement or preservation, e.g. vehicle emission control or emission reduction by using catalytic converters

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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 unmanned aerial vehicle sulfide pollution detection system comprises a broadband infrared light source, wherein infrared light source signals are respectively transmitted to a type 1 optical filter, a type 2 optical filter and a type 3 optical filter through a beam splitting sheet by the broadband infrared light source. The invention firstly receives the infrared spectrums of different wave bands emitted by the light source channel above the airflow channel by the receiver in the receiving channel below the airflow channel, wherein the receiver for receiving the infrared spectrums for detecting the hydrogen sulfide wave band can convert the optical signals into electric signals, the electric signals are detected by the AD detection pin of the microcontroller after passing through the 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 directly carried out by receiving outgoing data through the USB interface and the corresponding conversion circuit, so that the corresponding data calculation is carried out.

Description

Unmanned aerial vehicle sulfide pollution detection system and detection method thereof
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
Along with the increasing development of social economy, the reduction of air quality and the serious pollution of air are also the current hot topics, people are placing the attention point in the environment where the serious environmental protection is located, due to the continuous development of heavy industry, a lot of waste gas is generated, while a lot of factories process the waste gas, a part of harmful gas is still remained and discharged into the air, besides, the pollution is caused to the air by a lot of reasons, especially fossil energy, and a lot of consumption of transportation gas, coal and firewood in daily life is caused, sulfur-containing components are discharged into the atmosphere by burning a lot of SO2 gas, according to the display of environmental gazettes, the pollution of the atmosphere in China is particularly serious, sulfide is a main pollutant, SO2, H2S, SO3 and the like are included in sulfide, sulfide can have a certain influence and destroy on the ecological environment, and also have a great influence on the physical condition of people, various respiratory diseases are caused, and the real-time monitoring of the sulfide is very necessary to control the emission of sulfide.
At present, a plurality of methods are used for monitoring the concentration of sulfide, such as a fluorescence method, a gas chromatography method, an electrochemical method and the like, but the advantages and disadvantages of each method are different due to different principles, and the current method for monitoring the atmospheric pollutants has the defects of real-time monitoring delay, limited monitoring distance, insufficient detection precision and incapability of meeting the requirement of environmental monitoring in a new period.
Disclosure of Invention
(One) solving the technical problems
Aiming at the defects of the prior art, the invention provides an unmanned aerial vehicle sulfide pollution detection system and a detection method thereof, which solve the problems that a plurality of methods for monitoring the concentration of sulfide, such as a fluorescence method, a gas chromatography method, an electrochemical method and the like exist at present, but the principle of each method is different, the advantages and disadvantages are different, and the current atmospheric pollutant monitoring method has the problems of real-time monitoring delay, limited monitoring distance and insufficient detection precision, and cannot meet the requirement of new-period environment monitoring.
(II) technical scheme
In order to achieve the above purpose, the invention is realized by the following technical scheme: the unmanned aerial vehicle sulfide pollution detection system comprises sulfide pollution detection, and comprises a broadband infrared light source, wherein the broadband infrared light source transmits infrared light source signals to a type 1 optical filter, a type 2 optical filter and a type 3 optical filter through a light splitting sheet;
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 an airflow channel of an environment to be detected;
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 wedge in the 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 infrared light sources of the type 2 optical filter and the type 3 optical filter to a receiver through the type 2 optical filter and the type 3 optical filter respectively, and the receiver transmits the infrared light sources to the MUS through a USB interface.
Preferably, the motor is controlled by the MUS in the monochromator, and the motor drives the chopper to operate and transmits signals.
Preferably, the MUS controls a steering engine that converts direction of the light beam that receives the infrared light source transmitted through the filter in a stable environment.
Preferably, the MUS is connected to the peripheral device via 485 and transmits signals, and the MUS is connected to AT24CO2 via IIC and transmits signals.
An unmanned aerial vehicle sulfide pollution detection method, the unmanned aerial vehicle sulfide pollution detection method comprising: the system is characterized in that a basic zeroing calibration is needed when the whole system runs for the first time, at the moment, a sensor detection part is placed into an environment filled with corresponding detection gas, after the system is started, if a calibration button is pressed in a certain time, the system compares acquired ADC data with theoretical data, and the compared structure is fed back to control of 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 finished, the system also records the current adjusted PWM duty ratio data in an EEPROM chip through an I2C bus, when the user does not need zero calibration, the system can automatically set the corresponding PWM wave duty ratio according to data stored in the EEPROM after the system is run, and the user can directly send a corresponding message through a Modbus established on a 485 bus to acquire the detection data of the sensor.
Preferably, the unmanned aerial vehicle sulfide pollution detection method further comprises: in the actual acquisition process, the microcontroller can detect rising edges of three detected signals simultaneously through an external interrupt pin, and when the rising edges are detected, AD conversion of corresponding channels is started, after the AD conversion is completed, data are recorded in an array at a corresponding position, when the AD conversion is repeatedly detected for 5 times, the microcontroller can remove 5 data in the array to remove maximum data and minimum data, calculates average values of the remaining three data, and then stores the calculated data into another variable;
and detecting the voltage after the rising edge is detected once, detecting the voltage after the falling edge is detected once, determining the voltage of the reference zero point at the moment, removing the maximum value and the minimum value in five data after five falling edges are continuously detected, then taking the average of the rest three numbers as the voltage of the reference zero point, putting the average value into corresponding variables, finally putting the detected voltage change of a subsequent circuit caused by the light beam of the gas to be detected and the voltage difference of the reference zero point into corresponding arrays as actual effective data, storing 20 data at most in the arrays, flushing the data in the arrays from high to low after the 20 data are stored, and waiting for the Modbus protocol established on 485 communication to send the detected data to a host once after the host sends the data required by the sensor system.
Preferably, the unmanned aerial vehicle sulfide pollution detection method further comprises: the system can not read effective data from the EEPROM and the user presses the calibrating key within 5s after starting up, the system can enter a calibrating mode, the system can immediately start judging, the signal receiving pin has a falling edge, the system can start calibrating when the signal receiving pin is in an environment with high concentration of gas to be detected, the system can control the steering engine to return to a 0-degree angle position during calibrating, then the steering engine is continuously controlled according to detected ADC data, when the detected ADC data can be between 0 and 10, the light wedge angle controlled by the steering engine can meet the detecting requirement, so that the calibrating is proved to be successful, the data output by the current PWM is recorded in the EEPROM, and the LED is controlled to send green light to remind the user of the calibration.
(III) beneficial effects
The invention provides an unmanned aerial vehicle sulfide pollution detection system and a detection method thereof. The beneficial effects are as follows:
1. The method comprises the steps that firstly, a receiver in a receiving channel below an airflow channel receives infrared spectrums of different wave bands emitted by a light source channel above the airflow channel, wherein the receiver for receiving the infrared spectrums for detecting the hydrogen sulfide wave bands converts 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 directly receives outgoing data through a USB interface and a corresponding conversion circuit, so that corresponding data calculation is carried out.
2. The system compares acquired ADC data with theoretical data, and feeds the compared structure back to the control of the steering engine, so as to adjust the angle of the optical driving motor, realize the adjustment of a reference zero point and realize the self-adaptive adjustment in a short time.
3. The voltage after the rising edge comes every time is detected, and the voltage after the falling edge comes every time is detected, so that the voltage of the reference zero point at the moment is determined, the temperature drift of the light source caused by the working time process is avoided, and the detection precision of the sensor is reduced.
4. When the system does not detect data or the user presses the calibration piece within 5s after starting up, the system enters a calibration mode, the steering engine is controlled to return to the 0-degree angle position, the automatic operation capacity of the system is improved, and meanwhile, serious errors caused by data loss are prevented.
Drawings
FIG. 1 is a schematic diagram of a sensor structure according to the present invention;
FIG. 2 is a schematic diagram of the system control of the present invention;
FIG. 3 is a schematic diagram of a sensor data acquisition procedure according to the present invention;
FIG. 4 is a schematic diagram of a calibration flow of the system of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Embodiment one:
As shown in fig. 1, the embodiment of the invention provides an unmanned aerial vehicle sulfide pollution detection system and a detection method thereof, wherein the detection system comprises sulfide pollution detection, including a broadband infrared light source, and the broadband infrared light source transmits infrared light source signals to a type 1 optical filter, a type 2 optical filter and a type 3 optical filter through a light splitting sheet 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 an airflow channel of the environment to be detected;
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 wedge in the 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 infrared light sources of the type 2 optical filter and the type 3 optical filter to a receiver through the type 2 optical filter and the type 3 optical filter respectively, and the receiver transmits the infrared light sources to the MUS through a USB interface;
The motor is controlled by MUS in the monochromator, and drives the chopper to operate and transmit signals;
The MUS controls a steering engine, the steering engine converts the direction of the optical wedge, and the optical wedge receives an infrared light source transmitted by an optical filter in a stable environment;
The MUS is connected with peripheral equipment through 485 and transmits signals, the MUS is connected with AT24CO2 through IIC and transmits signals, firstly, a receiver in a receiving channel below the air flow channel receives infrared spectrums of different wave bands emitted by a light source channel above the air flow channel, wherein the receiver for receiving the infrared spectrums for detecting the wave band of hydrogen sulfide converts the optical signals into electric signals, the electric signals are detected by an AD detection pin of a microcontroller after passing through a voltage amplifier, and then 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 directly carried out through a USB interface and a corresponding conversion circuit to receive outgoing data, so that corresponding data calculation is carried out.
Embodiment two:
As shown in fig. 2, the embodiment of the invention provides an unmanned aerial vehicle sulfide pollution detection system and a detection method thereof, including sulfide pollution detection, the whole system needs to perform a basic zeroing calibration when running for the first time, at this time, a sensor detection part is placed into an environment full of corresponding detection gas, if a calibration button is pressed in a certain time after the system is started, the system compares acquired ADC data with theoretical data and feeds back the compared structure to control a steering engine, thereby adjusting an angle of an optical wedge, after a short time of self-adaptive adjustment, the optical wedge position of the sensor can be adjusted to a reasonable angle, after the calibration is completed, the system also records the current adjusted PWM duty ratio data in an EEPROM chip through an I2C bus, when the user does not need to perform zero calibration, the system can automatically perform corresponding setting of PWM wave duty ratio according to data stored in the EEPROM after the system is started, the user can directly acquire corresponding detected data of the sensor through a message established on a 485 bus and send corresponding PWM data to the steering engine after the comparison with the theoretical data, and the data of the optical wedge position of the sensor is acquired through the message established on the bus, thereby realizing the self-adaptive adjustment to the angle of the sensor.
Embodiment III:
As shown in fig. 3, an embodiment of the present invention provides an unmanned aerial vehicle sulfide pollution detection system and a detection method thereof, including sulfide pollution detection, in an actual collection process, a microcontroller may detect rising edges of three detected signals simultaneously through an external interrupt pin, when existence of a rising edge is detected, AD conversion of a corresponding channel is started, after AD conversion is completed, data is recorded in an array at a corresponding position, when 5 times of repeated detection are performed, the microcontroller may remove 5 data in the array from maximum data and minimum data, calculate average values of the remaining three data, and then store the calculated data in another variable;
And the method comprises the steps of detecting the voltage after the rising edge is detected once, determining the voltage of the reference zero point at the moment, removing the maximum value and the minimum value in five data after the five falling edges are continuously detected, taking the average of the rest three numbers as the voltage of the reference zero point, putting the average into corresponding variables, finally putting the detected voltage change of a subsequent circuit caused by the light beam of the gas to be detected and the voltage difference of the reference zero point into corresponding arrays as actual effective data, storing 20 data at most, flushing the data in the arrays from high to low after the 20 data are stored, waiting for the Modbus protocol established on 485 communication from the host to the data required by the sensor system, once sending the detected data to the host, detecting the voltage after the falling edge is detected once after the rising edge is detected once, and determining the voltage of the reference zero point at the moment, thereby avoiding the detection of the sensor precision caused by the working time drift of the light source.
Embodiment four:
As shown in fig. 4, the embodiment of the invention provides an unmanned aerial vehicle sulfide pollution detection system and a detection method thereof, including sulfide pollution detection, when the system fails to read effective data from an EEPROM and a user presses a calibration key within 5s after starting up, the system enters a calibration mode, the system immediately starts to judge that a signal receiving pin has a falling edge, when the system is proved to be in an environment with higher concentration of gas to be detected, calibration can be started, when the system is proved to be in the environment with higher concentration of gas to be detected, the system controls a steering engine to return to a 0-degree angle position, then the steering engine is continuously controlled according to detected ADC data, when the detected ADC data can be between 0 and 10, the light beam angle controlled by the steering engine can meet the detection requirement, thereby proving that the calibration is successful, the data output by the current PWM is recorded in the EEPROM, the LED is controlled to emit green light to remind the user that the calibration is completed, or the user presses the calibration member within 5s after starting up, the steering engine enters the calibration mode, the system is controlled to return to the 0-degree angle position, and the error of the system is prevented from running is greatly increased.
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, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (3)

1.一种无人机硫化物污染检测系统，包括宽带红外光源，其特征在于：所述宽带红外光源将红外光源信号通过分光片分别传输给1型滤光片、2型滤光片和3型滤光片；1. A sulfide pollution detection system for unmanned aerial vehicles, comprising a broadband infrared light source, characterized in that: the broadband infrared light source transmits the infrared light source signal to a type 1 filter, a type 2 filter and a type 3 filter respectively through a beam splitter; 所述1型滤光片、2型滤光片和3型滤光片分别对红外光源信号通过待测环境的气流通道传递给单色器；The type 1 filter, the type 2 filter and the type 3 filter respectively transmit the infrared light source signal to the monochromator through the air flow channel of the environment to be measured; 所述1型滤光片、2型滤光片和3型滤光片根据稳定环境中的光揳将红外光源传递给单色器；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 in the stable environment; 所述单色器将1型滤光片的红外光源传递给接收器，并且通过放大器传输给MCU；The monochromator transmits the infrared light source of the type 1 filter to the receiver and transmits it to the MCU through the amplifier; 所述单色器将2型滤光片和3型滤光片的红外光源分别通过2型滤光器和3型滤光器传递给接收器，接收器通过USB接口传递给MUS；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; 所述单色器内部通过MUS对电机进行控制，电机带动斩光器进行运作，并且对信号进行传输；The monochromator controls the motor through the MUS, and the motor drives the chopper to operate and transmit the signal; MUS对舵机进行控制，舵机对光揳进行方向的转换，光揳接收在稳定环境中的通过滤光片传递过来的红外光源；MUS controls the servo, which changes the direction of the optical probe. The optical probe receives the infrared light transmitted through the filter in a stable environment. MUS通过485与外围设备进行连接并且传输信号，MUS通过IIC与AT24CO2进行连接并且传输信号；MUS connects with peripheral equipment through 485 and transmits signals. MUS connects with AT24CO2 through IIC and transmits signals. 无人机硫化物污染检测方法包含：整个系统在第一次运行时需要进行一个调零校准，此时将传感器检测部分置入到充满相应检测气体的环境中，启动系统后在一定时间内若按下校准按钮，系统就会通过采集到的ADC数据与理论数据进行对比，并将对比后结构反馈到对舵机的控制，从而调整光揳的角度，经过自适应调整，就能够使得传感器的光揳位置调整到一个合理的角度，并且在校准完成之后，系统还会将当下所调整的PWM占空比数据通过I2C总线记录在EEPROM芯片中，当用户不需要进行零点校准，则在运行系统后系统会自动根据EEPROM中所保存的数据进行相应的PWM波占空比的设置，而使用者直接通过建立在485总线上的Modbus协议发送相应的报文获取传感器的检测数据；The method for detecting sulfide pollution of unmanned aerial vehicles includes: the whole system needs to be calibrated for zeroing when it is run for the first time. At this time, the sensor detection part is placed in an environment filled with corresponding detection gas. After starting the system, if the calibration button is pressed within a certain period of time, the system will compare the collected ADC data with the theoretical data, and feedback the compared structure to the control of the servo, so as to adjust the angle of the optical probe. After adaptive adjustment, the optical probe position of the sensor can be adjusted to a reasonable angle. After the calibration is completed, the system will also record the currently adjusted PWM duty cycle data in the EEPROM chip through the I2C bus. When the user does not need to perform zero calibration, the system will automatically set the corresponding PWM wave duty cycle according to the data stored in the EEPROM after running the system, and the user directly sends the corresponding message through the Modbus protocol established on the 485 bus to obtain the detection data of the sensor; MUS通过485与外围设备进行连接并且传输信号，MUS通过IIC与AT24CO2进行连接并且传输信号，首先由气流通道下方的接收通道中的接收器接收气流通道上方光源通道发射出来的不同波段的红外光谱，其中接收检测硫化氢波段的红外光谱的接收器会将光信号转变为电信号，这一电信号在经过电压放大器后被微控制器的AD检测引脚所检测，从而转变为可以被微控制器处理的数字信号，而对于二氧化硫和二氧化碳的检测则是直接通过USB接口及相应的转换电路接收传出的数据，从而进行相应的数据的计算。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 infrared spectra of different bands emitted by the light source channel above the airflow channel. The receiver that receives 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 then converted into a digital signal that can be processed by the microcontroller. For the detection of sulfur dioxide and carbon dioxide, the data transmitted is directly received through the USB interface and the corresponding conversion circuit, so as to calculate the corresponding data. 2.根据权利要求1所述的一种无人机硫化物污染检测系统，其特征在于：无人机硫化物污染检测方法还包含：在实际的采集过程中，微控制器会通过外部中断引脚同时检测三个被检测信号的上升沿，当检测到上升沿的存在后就会启动相应通道的AD转换，等到AD转换完成后会将数据记录在对应位置的数组中，当重复检测了5次以后，微控制器就会将数组中的5个数据去除掉最大的数据和最小的数据，并且对剩下的三个数据进行平均值的计算，随后将计算后的数据保存到另一个变量中；2. A UAV sulfide pollution detection system according to claim 1, characterized in that: 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 presence 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 at the corresponding position after the AD conversion is completed. After repeating the detection for 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; 并且，在每检测完一次上升沿到来后的电压后还会检测一次下降沿到来后的电压，以确定此刻的参考零点的电压是多少，在连续检测了五个下降沿到来后的电压后会去除五个数据里的最大值和最小值，然后求取剩下的三个数的平均数作为参考零点的电压放入相应的变量中，最后将检测到的通过待检测气体的光束所引起的后继电路电压变化和参考零点的电压做差后放入相应的数组中作为实际有效数据，而该数组最多存放20个数据，当20个数据存满后就会自高向低冲刷数组中的数据，等待建立在485通信上的Modbus协议由主机向传感器系统索要数据后便会将检测的数据一次性地发送给主机。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 again to determine the voltage of the reference zero point at this moment. After continuously detecting the voltage after the arrival of five falling edges, the maximum and minimum values of the five data will be removed, and then the average of the remaining three numbers will be calculated as the voltage of the reference zero point and placed in the corresponding variable. Finally, the voltage change of the subsequent circuit caused by the light beam passing through the gas to be detected and the voltage of the reference zero point are subtracted and placed in the corresponding array as actual valid data. The array can store up to 20 data. When the 20 data are full, the data in the array will be flushed from high to low, and the Modbus protocol established on the 485 communication will wait for the host to request data from the sensor system, and then the detected data will be sent to the host at one time. 3.根据权利要求1所述的一种无人机硫化物污染检测系统，其特征在于：无人机硫化物污染检测方法还包含：在系统未能够从EEPROM中读取到有效数据以及使用者在开机后的5s内按下过校准按键，则系统会进入到校准模式，此时系统会立刻开始判断，信号接收引脚存在过下降沿，当存在则证明系统已经处于待检测气体浓度较高的环境下，便开始进行校准，在校准的时候，系统会控制舵机回归0°角位置，然后根据检测到的ADC数据不断对舵机进行控制，当检测到的ADC数据能够在0至10之间时则证明此时舵机所控制的光揳角度能够满足检测的需要，从而证明校准成功，将当下PWM输出的数据记录在EEPROM中，并且控制LED发出绿光提醒使用者校准完成。3. A UAV sulfide pollution detection system according to claim 1, characterized in that: the UAV sulfide pollution detection method further comprises: when the system cannot read valid data from the EEPROM and the user presses the calibration button within 5 seconds after starting up, the system will enter the calibration mode, at which time the system will immediately start to judge whether the signal receiving pin has a falling edge. If it exists, it proves that the system is already in an environment with a high concentration of the gas to be detected, and then begins to calibrate. During the calibration, the system will control the steering gear to return to the 0° angle 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 optical angle controlled by the steering gear at this time can meet the detection needs, thereby proving that the calibration is successful, and the current PWM output data is recorded in the EEPROM, and the LED is controlled to emit green light to remind the user that the calibration is completed.
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