阅读说明：本技术 基于太阳能动力的大气质量监测无人飞艇及其控制方法 (Solar power-based air quality monitoring unmanned airship and control method thereof ) 是由 郑钰曦 祖磊 朱昱冠 袁力冰 邹卓韬 徐文权 于 2021-08-31 设计创作，主要内容包括：本发明提供一种基于太阳能动力的大气质量监测无人飞艇及其控制方法,无人飞艇包括：飞艇主体,包括艇囊、尾翼和吊舱；旋翼,设于吊舱两侧且穿入吊舱内连接有自由矢量电机座,用于通过自由矢量电机座带动旋翼转动,通过控制旋翼的转动方向控制飞艇主体的飞行方向；大气质量监测模块,设于吊舱前部；混合供电系统,包括多组太阳能电池板和锂电池,用于在光照充足时进行直接供电,并利用多余太阳能为用于弱光飞行或无光照飞行的锂电池充电,提高飞艇主体的续航能力。本发明通过飞艇主体结构设计、大气质量检测模块、太阳能电池板和锂电池混合供电系统,大幅度提升飞艇主体的续航能力,使其成为一项极具优势的大气质量监测手段。(The invention provides an atmospheric quality monitoring unmanned airship based on solar power and a control method thereof, wherein the unmanned airship comprises: the airship body comprises a airship capsule, an empennage and a nacelle; the rotary wings are arranged on two sides of the nacelle, penetrate into the nacelle and are connected with free vector motor bases, and are used for driving the rotary wings to rotate through the free vector motor bases and controlling the flight direction of the airship main body by controlling the rotation direction of the rotary wings; the atmospheric quality monitoring module is arranged at the front part of the nacelle; hybrid power supply system, including multiunit solar cell panel and lithium cell for carry out direct power supply when illumination is sufficient, and utilize unnecessary solar energy for being used for the low light flight or the lithium cell charge of no illumination flight, improve the duration of airship main part. According to the airship air quality monitoring system, the airship main body structure design, the air quality detection module, the solar cell panel and the lithium battery hybrid power supply system are adopted, so that the cruising ability of the airship main body is greatly improved, and the airship air quality monitoring system becomes an air quality monitoring means with great advantages.)

1. The utility model provides an unmanned airship of atmospheric quality monitoring based on solar power which characterized in that: the method comprises the following steps:

the airship body comprises an airship capsule, an empennage and a nacelle, wherein the empennage is arranged at the rear end of the airship capsule, and the nacelle is arranged below the airship capsule and is used for reducing the resistance generated by the airship capsule, the empennage and the nacelle and the combined resistance formed by mutual interference by controlling the pneumatic characteristic of the airship body;

the rotary wings are arranged on two sides of the nacelle, penetrate into the nacelle and are connected with free vector motor bases, the rotary wings are driven to rotate through the free vector motor bases, the flying direction of the airship main body is controlled by controlling the rotating direction of the rotary wings, and the rotary wings are connected with brushless motors which are connected with electronic speed regulators;

the atmospheric quality monitoring module is arranged at the front part of the nacelle and used for monitoring and transmitting various gas data in real time during the flight of the airship main body;

hybrid power supply system, including multiunit solar cell panel and lithium cell for carry out direct power supply when illumination is sufficient, and utilize unnecessary solar energy for being used for the low light flight or the lithium cell charge of no illumination flight, improve the duration of airship main part, multiunit series connection's solar cell panel lays in the ship bag, and the lithium cell is located and is hung in the cabin.

2. The solar-power-based atmospheric quality monitoring unmanned airship of claim 1, wherein: the boat bag adopts a LOTTE boat type, the slenderness ratio range is [4, 6], the boat bag adopts TGGH-K442 novel composite tolerance sphere double-envelope material and is of a double-sandwich structure, and when the boat bag climbs in flight, the incidence angle of the empennage is smaller than 20 degrees.

3. The solar-power-based atmospheric quality monitoring unmanned airship of claim 1, wherein: the airship control system is further arranged in the nacelle and used for flight control and data real-time processing of the airship body, the airship control system comprises a flight control module, a GPS receiver, a split airspeed meter, a power supply control module, a picture transmission and display module and a ground control station, the ground control station is connected with a high-frequency tuning module, and the high-frequency tuning module is connected with a receiver and used for transmitting a control signal of the ground control station to the flight control module to adjust the posture of the airship body.

4. The solar-power-based atmospheric quality monitoring unmanned airship of claim 3, wherein: still be equipped with power control circuit box, flight control box and lithium cell box in the nacelle, in the flight control box was located to airship control system, in the lithium cell box was located to the lithium cell, the power control circuit box and the lithium cell box outside were equipped with a plurality of wire passageways, the nacelle is external to have multispectral imager, high accuracy image transmission machine and the image module with flight control module electric connection.

5. The solar-power-based atmospheric quality monitoring unmanned airship of claim 1, wherein: the atmosphere quality monitoring module comprises a single chip microcomputer, an FAD gas sensor, a Beidou-GPS double-positioning module, a public network transmission module and an analog-to-digital conversion chip, wherein the FAD gas sensor, the Beidou-GPS double-positioning module, the public network transmission module and the analog-to-digital conversion chip are connected with the single chip microcomputer.

6. The solar-power-based atmospheric quality monitoring unmanned airship of claim 4, wherein the atmospheric quality monitoring unmanned airship is characterized by: the hybrid power supply system further comprises a solar power supply control system, an illumination detection circuit, a PWM signal switch circuit and a voltage reduction circuit, wherein the solar power supply control system is electrically connected with the illumination detection circuit and the PWM signal switch circuit, the PWM signal switch circuit is electrically connected with the voltage reduction circuit and a lithium battery, and the lithium battery is electrically connected with the brushless motor.

7. The solar-power-based atmospheric quality monitoring unmanned airship of claim 6, wherein: in illumination detection circuitry, PWM signal switch circuit and the decompression circuit all located power control circuit box, illumination detection circuitry still connected public network transmission module, and public network transmission module passes through the AT instruction and connects the cloud ware, and cloud ware electric connection ground control station for transmit the light intensity data and the lithium cell remaining capacity that illumination detection circuitry gathered to the cloud ware, the operator of being convenient for in time adjusts airship main part state according to real-time data.

8. The solar-power-based atmospheric quality monitoring unmanned airship of claim 1, wherein: the solar cell panel adopts a monocrystalline silicon solar cell piece, a carbon rod is arranged below the solar cell panel, the solar cell panel is fixedly connected with the carbon rod through an adhesive, and the carbon rod is welded in the boat bag through a high-frequency hot welding technology.

9. A control method for monitoring an unmanned airship using solar power based atmospheric quality according to any one of claims 1-8, characterized by: the method comprises the following steps:

s1, detecting illumination intensity by an illumination detection circuit, automatically switching a power supply by a solar power supply control system according to the illumination intensity, if the illumination intensity is greater than a set threshold value, supplying power to a solar panel box load, judging whether redundant electric energy is stored in a lithium battery or not according to the capacity of the lithium battery, and if the illumination intensity is less than the set threshold value, performing hybrid power supply on an airship main body by adopting a solar panel and the lithium battery;

s2, when the hybrid power supply system supplies power, the electronic speed regulator controls the rotating speed of the brushless motor and supplies power to the flight control module;

s3, the flight control module detects all parameters of the airship body in an all-round mode, receives a control signal transmitted by the ground control station through the high-frequency tuning module, the public network transmission module and the receiver, and adjusts the working state of the airship body in real time, wherein the working state comprises a navigation point mode, a home returning mode, a staying mode and a self-stabilizing mode;

s4, transmitting the shot images to a ground control station in real time through a high-precision image transmitter and an image module in the flying process of the airship main body;

s5, in the flying process of the airship body, the atmosphere quality monitoring module monitors various gas concentration data in the atmosphere through the FAD gas sensor and transmits the monitoring data and the positioning data to the ground control station through the public network transmission module.

Technical Field

The invention belongs to the technical field of unmanned airships, and particularly relates to an atmospheric quality monitoring unmanned airship based on solar power and a control method thereof.

Background

With the rapid development of economy and the rapid increase of population, environmental problems become more severe, and especially with the existence of tail gas emission, industrial waste gas emission, building and site dust emission and the like brought by industrialization, the atmospheric pollution degree is intensified, so that the atmospheric quality needs to be monitored by adopting a proper means, and a targeted control mode is further adopted to ensure the atmospheric quality.

In the prior art, because the traditional fixed-point and handheld atmospheric quality monitoring means are not flexible enough, the efficiency is low, and a real-time atmospheric model cannot be established, an airborne atmospheric quality monitoring system carried on a small unmanned aerial vehicle has been proposed in the market, and because the cruising ability of the existing small unmanned aerial vehicle is generally insufficient, generally within 40min, and the carrying capacity is small, the application of the means in the field of atmospheric quality monitoring is severely restricted, and the method is only used as a supplement of the traditional means and is not applied in a large scale. With the development of modern aviation technology and the application of high and new technologies such as photovoltaic technology and novel material technology in the airship industry, the airship platform returns to the field of vision of people again. The modern airship adopts helium as a buoyancy lift force source, so that the cruising ability of the airship is far superior to that of a common aircraft, and meanwhile, the airship has the characteristics of light weight, large load and stable flight, and is very in line with various requirements of monitoring the atmospheric quality by using an unmanned aircraft. For example, patent publication No. CN113148099A discloses a solar airship assisted by hydrogen energy and an operation method thereof, wherein when sunlight is sufficient, the solar panel absorbs solar energy to generate power, the DC brushless motor is driven by the MPPT controller and the unidirectional high voltage DC/DC converter to provide power for the airship, and when sunlight is insufficient and the power supply of the solar panel is insufficient, the hydrogen fuel cell is started, and the DC brushless motor is driven by the unidirectional high voltage DC/DC converter to provide power for the airship. But the cruising ability is improved only from the energy source perspective, and the cruising ability improvement degree is lower.

Disclosure of Invention

The invention aims to provide an unmanned airship for monitoring air quality based on solar power and a control method thereof.

The invention provides the following technical scheme:

the application provides an unmanned airship of atmospheric quality monitoring based on solar power, include:

the airship body comprises an airship capsule, an empennage and a nacelle, wherein the empennage is arranged at the rear end of the airship capsule, and the nacelle is arranged below the airship capsule and is used for reducing the resistance generated by the airship capsule, the empennage and the nacelle and the combined resistance formed by mutual interference by controlling the pneumatic characteristic of the airship body;

the rotary wings are arranged on two sides of the nacelle, penetrate into the nacelle and are connected with free vector motor bases, the rotary wings are driven to rotate through the free vector motor bases, the flying direction of the airship main body is controlled by controlling the rotating direction of the rotary wings, and the rotary wings are connected with brushless motors which are connected with electronic speed regulators;

the atmospheric quality monitoring module is arranged at the front part of the nacelle and used for monitoring and transmitting various gas data in real time during the flight of the airship main body;

hybrid power supply system, including multiunit solar cell panel and lithium cell for carry out direct power supply when illumination is sufficient, and utilize unnecessary solar energy for being used for the low light flight or the lithium cell charge of no illumination flight, improve the duration of airship main part, multiunit series connection's solar cell panel lays in the ship bag, and the lithium cell is located and is hung in the cabin.

Preferably, the boat bag adopts a LOTTE boat type, the slenderness ratio range is [4, 6], the boat bag adopts TGGH-K442 novel composite tolerance sphere double-envelope material and is of a double-sandwich structure, and when climbing in flight, the incidence angle of the tail wing is smaller than 20 degrees.

Preferentially, an airship control system is further arranged in the hanging cabin and used for flight control and data real-time processing of the airship main body, the airship control system comprises a flight control module, a GPS receiver, a splitting airspeed meter, a power supply control module, a picture transmission and display module and a ground control station, the ground control station is connected with a high-frequency tuning module, and the high-frequency tuning module is connected with a receiver and used for transmitting a control signal of the ground control station to the flight control module to adjust the posture of the airship main body.

Preferentially, still be equipped with power control circuit box, flight control box and lithium cell box in the nacelle, airship control system locates in the flight control box, and the lithium cell is located in the lithium cell box, and the power control circuit box is equipped with a plurality of wire passageways with the lithium cell box outside, and the nacelle is external to have multispectral imager, high accuracy image transmission machine and the image module with flight control module electric connection.

Preferentially, the atmosphere quality monitoring module comprises a single chip microcomputer, an FAD gas sensor connected with the single chip microcomputer, a Beidou-GPS double-positioning module, a public network transmission module and an analog-to-digital conversion chip, wherein the Beidou-GPS double-positioning module is electrically connected with the public network transmission module, and the FAD gas sensor is electrically connected with the analog-to-digital conversion chip.

Preferably, the hybrid power supply system further comprises a solar power supply control system, an illumination detection circuit, a PWM signal switch circuit and a voltage reduction circuit, wherein the solar power supply control system is electrically connected to the illumination detection circuit and the PWM signal switch circuit, the PWM signal switch circuit is electrically connected to the voltage reduction circuit and the lithium battery, and the lithium battery is electrically connected to the brushless motor.

Preferentially, in illumination detection circuitry, PWM signal switch circuit and the decompression circuit all located power control circuit box, illumination detection circuitry still connected public network transmission module, and cloud server is connected through the AT instruction to public network transmission module, and cloud server electric connection ground control station for the light intensity data and the lithium cell remaining capacity that will shine detection circuitry and gather transmit to cloud server, the operator of being convenient for in time adjusts airship main body state according to real-time data.

Preferentially, the solar cell panel adopts a monocrystalline silicon solar cell piece, a carbon rod is arranged below the solar cell panel, the solar cell panel is fixedly connected with the carbon rod through an adhesive, and the carbon rod is welded in the boat bag through a high-frequency hot welding technology.

Based on the above unmanned airship of atmospheric quality monitoring based on solar power, the present application also provides a control method of the above unmanned airship of atmospheric quality monitoring based on solar power, including the following steps:

s1, detecting illumination intensity by an illumination detection circuit, automatically switching a power supply by a solar power supply control system according to the illumination intensity, if the illumination intensity is greater than a set threshold value, supplying power to a solar panel box load, judging whether redundant electric energy is stored in a lithium battery or not according to the capacity of the lithium battery, and if the illumination intensity is less than the set threshold value, performing hybrid power supply on an airship main body by adopting a solar panel and the lithium battery;

s2, when the hybrid power supply system supplies power, the electronic speed regulator controls the rotating speed of the brushless motor and supplies power to the flight control module;

s3, the flight control module detects all parameters of the airship body in an all-round mode, receives a control signal transmitted by the ground control station through the high-frequency tuning module, the public network transmission module and the receiver, and adjusts the working state of the airship body in real time, wherein the working state comprises a navigation point mode, a home returning mode, a staying mode and a self-stabilizing mode;

s4, transmitting the shot images to a ground control station in real time through a high-precision image transmitter and an image module in the flying process of the airship main body;

s5, in the flying process of the airship body, the atmosphere quality monitoring module monitors various gas concentration data in the atmosphere through the FAD gas sensor and transmits the monitoring data and the positioning data to the ground control station through the public network transmission module.

The invention has the beneficial effects that:

1. the unmanned airship made of novel materials is light in weight and large in load capacity, and the cruising ability is obviously enhanced;

2. the airship capsule adopts a LOTTE airship shape design, so that the airship has excellent aerodynamic characteristics, strong wind resistance and small resistance;

3. the boat bag is manufactured by adopting a hot welding technology, the pod is manufactured by adopting a 3D printing technology, and a complex curved surface is built to form a frame for auxiliary forming;

4. the airship body is provided with the flight control module, so that the operation is simple during flying, and the workload of a user is reduced;

5. the hybrid power supply system of solar power supply and lithium battery is adopted, so that the hybrid power supply system has the cruising ability far exceeding that of other flight platforms;

6. adopt singlechip + public network transmission module to carry out remote data transmission, the precision is high, has solved the restriction problem of gaseous data transmission distance simultaneously.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the pod of the present invention;

fig. 3 is a flow chart of the operation of the present invention.

Labeled as: 1. the airship comprises an airship body, 11 a airship capsule, 12 an empennage, 13 a nacelle, 2 a rotor wing, 21 a free vector motor base, 3 an atmospheric quality monitoring module, 4 a solar cell panel, 5 a power supply control circuit box, 51 a wire channel, 6 a flight control box and 7 a lithium battery box.

Detailed Description

The application provides an unmanned airship of atmospheric quality monitoring based on solar power, include:

as shown in fig. 1, the airship body 1 includes an airship capsule 11, an empennage 12 and a nacelle 13, wherein the empennage 12 is arranged at the rear end of the airship capsule 11, and the nacelle 13 is arranged below the airship capsule 11 and used for reducing the resistance generated by the airship capsule 11, the empennage 12 and the nacelle 13 and the combined resistance formed by mutual interference by controlling the aerodynamic characteristics of the airship body 1.

As shown in fig. 1, the boat bag 11 is of a LOTTE boat type, and is suitable for a small-sized low-altitude airship, the boat type has good aerodynamic characteristics, is suitable for flying in various weather conditions of low and medium altitudes, has good wind resistance, and can perform flying tasks under the condition of fifth-grade wind. The slenderness ratio range of the boat bag 11 is [4, 6], and the fitting of the wind tunnel experiment data and the airship aerodynamic theoretical formula shows that when the slenderness ratio of the boat bag 11 is 4-6, the resistance of the boat bag 11 is small, and the resistance coefficient is about 0.02-0.04. The boat bag 11 adopts TGGH-K442 novel composite tolerance sphere double-envelope materials, is of a double-sandwich structure, and has high light transmittance, low helium permeability, light weight and wear resistance. The boat bag 11 is a blimp, and the inside of the boat bag is filled with buoyant gas such as helium.

As shown in fig. 1, the tail wing 12 is made of KT plate and is in a cross-shaped tail wing 12 layout, the tail wing 12 is in a NACA0009 wing shape, the span length is 0.46m, the root length is 0.64m, the tip length is 0.32m, and the distance between the front end of the wing and the nose cone of the airship is 3.00 m. Due to the existence of the tail wing 12, the characteristics of aerodynamic force and aerodynamic moment applied to the airship are greatly different from those of a pure hull. When climbing in flight, the attack angle of the tail 12 of the airship is controlled to be less than 20 degrees as much as possible.

As shown in fig. 1, the pitch center to lie x/L is 0.44 from the airship nose cone to the captain ratio, so for a 3 meter long pitch type airship, the pod 13 is placed 4 × 0.44 from the airship nose cone at 1.76m below the hull. The pod 13 is made of TPU high-molecular flexible materials, is printed and molded by using a 3D printing technology, is light in weight and high in strength, and is very suitable for outdoor work requirements of the troposphere geographic information remote sensing unmanned airship.

As shown in fig. 1, in the airship body 1, the gas generating buoyancy of the airship is helium gas of 1m³Helium gas generation buoyancy lift formula: l is_zh＝(ρ₀-ρ_h) X g, wherein L_zhThe total buoyancy lift force of the airship; rho₀Is the air density; rho_hPure helium density; g is the acceleration of gravity. When the volume of the boat bag 11 is 2.1m³Then, the available boat bag 11 generates a total buoyancy of 24.14N, i.e., a load of 2414 g.

As shown in fig. 2, a power supply control circuit box 5, a flight control box 6 and a lithium battery box 7 are further arranged in the nacelle 13, the airship control system is arranged in the flight control box 6, the lithium battery is arranged in the lithium battery box 7, a plurality of wire channels 51 are arranged on the outer sides of the power supply control circuit box 5 and the lithium battery box 7, and a multispectral imager, a high-precision image transmitter and an image module electrically connected with the flight control module are hung outside the nacelle 13.

As shown in fig. 2, the rotor 2 is disposed on both sides of the nacelle 13 and penetrates into the nacelle 13 to be connected with a free vector motor base 21, so as to drive the rotor 2 to rotate through the free vector motor base 21, control the flight direction of the airship body 1 by controlling the rotation direction of the rotor 2, and enable the motors on both sides of the airship to rotate 90 degrees in the vertical direction by controlling the flight control system, so that the airship can vertically ascend or descend, and the flight is more flexible. The rotor 2 is connected with a brushless motor, and the brushless motor is connected with an electronic speed regulator. After being connected with the hybrid power supply system, the electronic speed regulator is connected with the brushless motor and the flight control module to control the rotating speed of the brushless motor and supply power to the flight control module.

As shown in fig. 2-3, the air quality monitoring module 3 is arranged at the front part of the pod 13 and is used for monitoring and transmitting various gas data in real time during the flight of the airship body 1. The measured data mainly comprise PM2.5 concentration and sulfur dioxide (SO)₂) Nitrogen dioxide (NO)₂) Nitric Oxide (NO)₁) Ozone (O)₃) Carbon monoxide (CO) and performs real-time pre-warning. The atmosphere quality monitoring module 3 comprises a singlechip, a FAD gas sensor connected with the singlechip, a Beidou-GPS double-positioning module and a 4G public network transmission moduleAnd the Beidou-GPS double-positioning module is electrically connected with the 4G public network transmission module, and the FAD gas sensor is electrically connected with the analog-to-digital conversion chip.

As shown in fig. 2-3, the hybrid power supply system includes multiple sets of solar cell panels 4 and lithium batteries, and is used for directly supplying power when the illumination is sufficient, and charging the lithium batteries for weak light flight or no illumination flight by using redundant solar energy, so as to improve the endurance of the airship body 1, the multiple sets of solar cell panels 4 connected in series are laid in the airship envelope 11, the solar cell panels 4 adopt single crystal silicon solar cells, carbon rods are arranged under the solar cell panels 4, and the solar cell panels 4 are fixedly connected with the carbon rods by adhesives, and the carbon rods are welded in the airship envelope 11 by a high-frequency thermal welding technology. The hybrid power supply system further comprises a solar power supply control system, an illumination detection circuit, a PWM signal switch circuit and a voltage reduction circuit, wherein the solar power supply control system is electrically connected with the illumination detection circuit and the PWM signal switch circuit, the PWM signal switch circuit is electrically connected with the voltage reduction circuit and a lithium battery, and the lithium battery is electrically connected with the brushless motor. The voltage reduction circuit contains a fixed frequency oscillator and a reference voltage stabilizer, and has perfect circuit systems such as a protection circuit, a current limiting circuit, a thermal shutdown circuit and the like, and has excellent linearity and load regulation. When the chip is used, the high-efficiency voltage stabilizing circuit can be formed by only few peripheral devices, and the working mode of the high-efficiency voltage stabilizing circuit is controlled to be compatible with the TTL level.

As shown in fig. 2-3, the illumination detection circuit, the PWM signal switch circuit and the voltage reduction circuit are all disposed in the power control circuit box 5, the illumination detection circuit is further connected to the 4G public network transmission module, the 4G public network transmission module is connected to the cloud server through the AT command, and the cloud server is electrically connected to the ground control station, so as to transmit the light intensity data and the remaining electric quantity of the lithium battery collected by the illumination detection circuit to the cloud server, thereby facilitating the operator to adjust the state of the airship body 1 in time according to the real-time data.

As shown in fig. 2-3, an airship control system is further disposed in the pod 13 and used for flight control and real-time data processing of the airship body 1, the airship control system includes a flight control module, a GPS receiver, a split airspeed meter, a power control module, a map transmission and display module and a ground control station, the ground control station is connected with a high-frequency tuning module, and the high-frequency tuning module is connected with a 2.4GHz single-channel receiver and used for transmitting a control signal of the ground control station to the flight control module to adjust the attitude of the airship body 1. The flight control module has good flight control performance and strong real-time processing capacity, integrates an accelerometer, a magnetometer, a double-gyroscope, a barometer, a magnetic compass and other devices, and can detect and adjust all parameters of the aircraft in the working state in an all-around manner so as to enable the aircraft to fly according to a planned flight line.

As shown in fig. 1 to 3, based on the above unmanned airship for monitoring air quality based on solar power, the present application also provides a control method for the unmanned airship for monitoring air quality based on solar power, which includes the following steps:

s1, an illumination detection circuit detects illumination intensity, a solar power supply control system automatically switches a power supply according to the illumination intensity, if the illumination intensity is larger than a set threshold value, 4 boxes of solar panels supply power, whether redundant electric energy is stored in lithium batteries or not is judged according to the capacity of the lithium batteries, and if the illumination intensity is smaller than the set threshold value, a airship main body 1 adopts the solar panels 4 and the lithium batteries to perform hybrid power supply.

And S2, when the hybrid power supply system supplies power, the electronic speed regulator controls the rotating speed of the brushless motor and supplies power to the flight control module.

And S3, the flight control module detects all parameters of the airship body 1 in an all-around mode, receives a control signal transmitted by the ground control station through the high-frequency tuning module, the 4G public network transmission module and the receiver, and adjusts the working state of the airship body 1 in real time, wherein the working state comprises a waypoint mode, a home returning mode, a staying mode and a self-stabilizing mode. When the airship body 1 is lifted off, an operator can plan a waypoint operation at the ground station and limit the flight area, and the airship body 1 can automatically cruise according to a specified air route to complete a corresponding work task. Meanwhile, when the airship body 1 flies out of the fence due to emergency conditions such as strong gust and the like, the mode is automatically switched to a returning mode, and the airship returns to the fence boundary nearest to the position where the airship body is located to continue to complete the work task; if the airship body 1 tilts under similar conditions, the self-stabilization function of the flight control system can automatically adjust to enable the airship body 1 to return to the horizontal posture, and the airship body 1 is prevented from being crashed. The airship body 1 stays in place in the hovering mode, and corresponding height is maintained through flight control adjustment to complete corresponding tasks.

And S4, transmitting the shot images to the ground control station in real time through the high-precision image transmitter and the image module in the flying process of the airship body 1.

S5, in the flying process of the airship body 1, the atmosphere quality monitoring module 3 monitors various gas concentration data in the atmosphere through the FAD gas sensor and transmits monitoring data and positioning data to the ground control station through the 4G public network transmission module.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.