| Abstract [eng] |
The final project investigated the possibility of using different measurement methods with an unmanned aerial vehicle to measure the concentration of various harmful gases and particulate matter in the air. It also analyzed the weight of the equipment that the test drone can successfully lift and carry. The aim of the project is to explore the possibilities of using an unmanned aerial vehicle to measure ambient air pollution. To achieve this aim, four main tasks were set: to analyze different UAV designs and their control methods; to examine the possibilities of using a drone to measure concentrations of harmful gases and particulate matter; to design and mount a measurement system for harmful gases and particulate matter on the UAV body; and to test the designed measurement system mounted on the UAV body by applying different pollutant measurement methods. The analytical part of this project reviews UAV structures, their control methods, as well as the potential of drones for measuring harmful gases and particulate matter. Measurements can be performed in places that are difficult or even impossible for humans to access, such as above high chimneys. The research also revealed that the measurement equipment must be protected or otherwise shielded from the wind. Although a fixed-wing design offers twice the flight time, multirotor UAVs are more versatile. It was also found that Fuzzy-PID control stabilizers ensure 2–3 times smaller position error and shorter stabilization time compared to PID controllers. The experimental part examined the factory equipment used (the test UAV “DJI Mavic 3 Enterprise RTK”, measuring devices: for harmful gases and particulate matter, “Extech Instruments” 45160 weather meter, “Raytek MiniTemp MT” infrared thermometer, etc.). Also, parts specially designed for this project and printed with a 3D printer (a holder, hood, tube for the fan, and a container). The research part describes seven scientific experiments carried out: investigation of temperature changes in the UAV motors, battery, and radiator at different payload weights; investigation of air turbulence generated by the motors at different payload weights; investigation of the effect of payload weight on drone flight time; measurements of harmful gases and particulate matter: a) without the drone, assessing the capabilities of the measurement equipment, b) with the drone, when the measuring device is attached to a rope, c) using the hooded measurement method, d) using the tube-based measurement method. To implement the hooded measurement method, the measurement equipment was suspended on the drone with a two-meter rope and enclosed in a hood to protect the device from air turbulence and wind. To implement the tube-based measurement method, the measurement equipment was mounted on top of the drone body, with sensors enclosed in a special structure, and smoke was drawn in using a variable-speed fan through a carbon fiber tube. The conducted research enabled the evaluation of the drone's ability to carry equipment weighing 605 and 402 grams. It was found that the greater the weight of the measurement equipment attached to the UAV, the following occurs: flight time is reduced by a factor of three; the motor temperature approaches a critical level of 92°C; and air turbulence under the drone increases (9.1 m/s). The tube-based measurement method eliminates the effect of wind on the measurement results, and the fan ensures that the sensors do not reach their maximum measurable values. |
