无人机协同激光测气，60米外自动追踪精准测量二氧化碳泄漏。
Visual Cooperative Drone Tracking for Open-Path Gas Measurements
- 地面设备通过视觉追踪无人机上的红光标记，自动对准反射镜调整激光方向。
- 实测证明在60米距离下可稳定追踪并获取有效二氧化碳浓度数据。
- 无需接触即可避开无人机螺旋桨干扰，适合大范围室外气体监测。
开放式路径可调谐二极管激光吸收光谱法能高效测量、绘制和监控气体浓度（如泄漏的CO2或甲烷）。相比依赖原位传感器的空间采样，结合气体断层成像算法的开放路径传感器可在非侵入方式下更快覆盖大面积户外区域。然而，开放路径激光需专用反射面，自动化空间采样面临挑战。本文提出一种机器人系统，利用安装在地基云台上的传感器与携带反射器的小型无人机协同工作。通过变焦摄像头，地面单元视觉追踪无人机上安装的红光LED标记，并将传感器激光束对准反射器。结合无人机飞控提供的GNSS位置信息，进一步提升追踪精度。户外实验验证了系统的有效性，成功实现自主追踪及60米距离内的有效CO2测量。此外，系统在无螺旋桨干扰条件下成功捕获了CO2羽流，优于传统飞行式原位传感器。
原文摘要 · Abstract (English)
Open-path Tunable Diode Laser Absorption Spectroscopy offers an effective method for measuring, mapping, and monitoring gas concentrations, such as leaking CO2 or methane. Compared to spatial sampling of gas distributions using in-situ sensors, open-path sensors in combination with gas tomography algorithms can cover large outdoor environments faster in a non-invasive way. However, the requirement of a dedicated reflection surface for the open-path laser makes automating the spatial sampling process challenging. This publication presents a robotic system for collecting open-path measurements, making use of a sensor mounted on a ground-based pan-tilt unit and a small drone carrying a reflector. By means of a zoom camera, the ground unit visually tracks red LED markers mounted on the drone and aligns the sensor's laser beam with the reflector. Incorporating GNSS position information provided by the drone's flight controller further improves the tracking approach. Outdoor experiments validated the system's performance, demonstrating successful autonomous tracking and valid CO2 measurements at distances up to 60 meters. Furthermore, the system successfully measured a CO2 plume without interference from the drone's propulsion system, demonstrating its superiority compared to flying in-situ sensors.
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