Unmanned aerial vehicle inspection system for energy storage power station

Abstract

An unmanned aerial vehicle inspection system for an energy storage power station relates to the technical field of unmanned aerial vehicle inspection and comprises an unmanned aerial vehicle base station and an unmanned aerial vehicle. The unmanned aerial vehicle base station comprises a box body and a parking apron, a pushing mechanism, a gripper mechanism, a standby battery and a standby fire-fighting tank which are arranged in the box body, the pushing mechanism is used for pushing the unmanned aerial vehicle landing on the parking apron to a set position, and the gripper mechanism is used for replacing the battery and the fire-fighting tank of the unmanned aerial vehicle; the unmanned aerial vehicle is used for polling each energy storage cabinet of the energy storage power station, the unmanned aerial vehicle comprises an unmanned aerial vehicle body and a battery, a fire-fighting tank, a nozzle and a camera which are arranged on the unmanned aerial vehicle body, the nozzle is connected with the fire-fighting tank and used for spraying a fire extinguishing agent in the fire-fighting tank, and the camera is used for shooting images of the energy storage cabinets. The unmanned aerial vehicle inspection system for the energy storage power station can efficiently inspect, extinguish fire in time and continuously work, and the safety management level and the emergency response capability of the energy storage power station are remarkably improved.

Description

Technical Field

[0001] The present application relates to the field of drone inspection technology, and in particular to a drone inspection system for energy storage power stations. Background Art

[0002] The existing electrochemical energy storage power station is a device system that stores, converts and releases cyclic electric energy through electrochemical battery energy storage media. With the increasing demand for large-scale access to the power grid for new energy and peak-to-valley power shaving, new energy storage technologies will play an increasingly important role in future power systems. New energy storage technologies have the characteristics of precise control, rapid response, and flexible configuration, and can provide the power system with multi-time scale, full-process balancing, support and regulation capabilities. However, the electrochemical energy storage medium used in the electrochemical energy storage power station is prone to high temperature accumulation inside when the temperature control system fails, the ambient temperature is too high, and it ages after long-term use, leading to fire. In order to avoid fire, a fire-fighting system will be installed in each energy storage cabinet in the energy storage power station, spraying fire-fighting gas inside the cabinet or battery pack to isolate oxygen and cool down, connecting a fire hose outside, and immersing the entire cabinet to extinguish the fire, so as to prevent the spread of fire.

[0003] The existing fire protection system of energy storage power stations has the following disadvantages: First, due to safety considerations, the location of energy storage power stations is generally far away from urban areas and crowded places, and there is no duty room to send personnel to guard for a long time. Only regular maintenance and inspection are carried out, which sometimes leads to inaccurate response to fire in time. Secondly, although the real-time status of the energy storage power station can be monitored remotely, the monitoring only transmits images and cannot observe the internal status of the energy storage cabinet. At present, remote monitoring updates the relevant data information of the energy storage power station in real time through a remote large screen, but the data monitoring of the energy storage power station is very dependent on sensors. Due to the cost of existing energy storage cabinets, sensors can only monitor the parameters of some batteries and cannot be fully covered. In addition, when there are multiple sensor arrays, sometimes a single sensor fails. When the collective data is counted, the failure of a single sensor may not be detected. When a fire occurs in an energy storage cabinet in an unmanned area due to the above reasons, it is difficult for the fire to arrive in time. Although the fire protection system inside the energy storage cabinet can extinguish the fire, sometimes the fire is large and the normal operation of the fire protection system cannot completely extinguish the fire. Summary of the invention

[0004] In view of this, the purpose of this application is to provide an energy storage power station drone inspection system to solve at least one of the above technical problems.

[0005] The present application provides an energy storage power station drone inspection system, including a drone base station and a drone; the drone base station includes a box body and a helipad, a pushing mechanism, a gripping mechanism, a spare battery and a spare fire tank arranged in the box body, the pushing mechanism is used to push the drone landed on the helipad to a set position, and the gripping mechanism is used to replace the battery and fire tank of the drone; the drone is used to inspect each energy storage cabinet of the energy storage power station, the drone includes a drone body and a battery, a fire tank, a nozzle and a camera arranged on the drone body, the nozzle is connected to the fire tank and is used to spray the fire extinguishing agent in the fire tank, and the camera is used to capture the image of the energy storage cabinet.

[0006] In some optional embodiments, the box body includes a lower box body, an upper cover, and a driving member, the top of the lower box body is an opening, the upper cover is installed on the lower box body, and is driven by the driving member to open and close the opening.

[0007] In some optional embodiments, the apron is rectangular, and the pushing mechanism includes a first linear module, a second linear module, a first push rod, and a second push rod. The first linear module and the second linear module are respectively arranged on the side of the apron along two adjacent sides of the apron, and the first push rod and the second push rod are respectively installed on the first linear module and the second linear module. The first push rod and the second push rod both include a first rod portion and a second rod portion. The first rod portion is extended along the linear module and is installed on the slider of the linear module. The second rod portion is horizontally perpendicular to the first rod portion and is located above the apron. The second rod portion is used to contact the drone during pushing.

[0008] In some optional embodiments, the gripper mechanism includes a third linear module and a robotic arm, the third linear module is arranged in a vertical direction, and the robotic arm is a four-degree-of-freedom robotic arm and is installed on a slider of the third linear module.

[0009] In some optional embodiments, the drone base station also includes a control module, a power module, a map module, a first high-precision GPS module, a route planning module, a first communication module, and a first storage module. The control module is used to control the movement of the pushing mechanism and the gripping mechanism, the power module is used to provide power support, the map module includes offline map data, the first high-precision GPS module is used to cooperate with the map module to locate and calibrate the position of the drone with the coordinates of the drone base station as the reference coordinate point, the route planning module is used to cooperate with the map module to plan the route of the drone, the first communication module is used to communicate with the drone, and the first storage module is used to store data received by the drone base station.

[0010] In some optional embodiments, the drone base station also includes an environment detection module, which is used to detect the weather environment near the drone base station.

[0011] In some optional embodiments, the drone body includes a fuselage, multiple rotor assemblies, multiple support legs, a flight control, and an electric speed controller. The rotor assembly includes a rotor arm, a rotor motor, and a propeller. One end of the rotor arm is connected to the fuselage, and the rotor motor is installed at the other end of the rotor arm. The rotor motor is connected to the propeller. The support legs are installed at the bottom of the rotor arm, and the flight control is electrically connected to the electric speed controller and the rotor motor.

[0012] In some optional embodiments, the camera includes a common camera and an infrared camera, the common camera is used to capture external images of the energy storage cabinet, and the infrared camera is used to capture thermal imaging images of the energy storage cabinet.

[0013] In some optional embodiments, the drone further includes a power detection module and a fire tank pressure detection module, the power detection module is used to detect the power of the battery, and the fire tank pressure detection module is used to detect the internal pressure of the fire tank.

[0014] In some optional embodiments, the drone also includes a millimeter wave radar, an infrared sensor, a second high-precision GPS module, an ultrasonic sensor, a second communication module, and a second storage module. The millimeter wave radar is used to obtain the drone's altitude information above the ground, the infrared sensor is used to detect the temperature of the energy storage cabinet, the second high-precision GPS module is used to locate and calibrate the position of the drone and provide support for the drone's route planning, the ultrasonic sensor is used to detect obstacles, the second communication module is used to communicate with the drone base station, and the second storage module is used to store data collected during the drone's flight.

[0015] Based on the above technical solution, the energy storage power station drone inspection system provided by the present application includes a drone base station and a drone. Among them, the drone base station is equipped with a backup battery and a backup fire tank. When the drone power or the fire extinguishing agent in the fire tank is insufficient, the drone can return to the drone base station for rapid replacement, ensuring that the drone has the ability to continuously inspect and extinguish fires. This design not only improves the inspection efficiency, but also significantly enhances the safety and emergency response capabilities of the energy storage power station. The drone is used to inspect each energy storage cabinet of the energy storage power station. The drone is equipped with a fire tank and a camera. By taking real-time images of the energy storage cabinet, it can promptly detect potential fires or abnormal conditions, and once a fire is detected, the drone can quickly locate and spray fire extinguishing agents to extinguish the fire, effectively curbing the spread of the fire. In summary, the energy storage power station drone inspection system provided by the present application can efficiently inspect, extinguish fires in a timely manner, and operate continuously, significantly improving the safety management level and emergency response capabilities of the energy storage power station. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 A schematic diagram of the structure of the energy storage power station drone inspection system provided in an embodiment of the present application.

[0018] Figure 2 A schematic diagram of the structure of the drone base station provided in an embodiment of the present application when the upper cover is opened.

[0019] Figure 3 A schematic diagram of the structure of the drone base station provided in an embodiment of the present application when the upper cover is closed.

[0020] Figure 4 A schematic diagram of the structure of the apron and pushing mechanism provided in an embodiment of the present application.

[0021] Figure 5 A schematic diagram of the arrangement of the gripping mechanism, backup battery and backup fire fighting tank provided in an embodiment of the present application.

[0022] Figure 6 A schematic diagram of the structure of the gripper mechanism provided in an embodiment of the present application.

[0023] Figure 7 A schematic diagram of the structure of the drone provided in an embodiment of the present application.

[0024] Figure 8 A schematic diagram of the structure of the bottom perspective of the drone provided in an embodiment of the present application.

[0025] Reference numerals: 100, energy storage power station drone inspection system; 10, drone base station; 11, box; 111, lower box; 112, upper cover; 113, driving member; 12, helipad; 13, push mechanism; 131, first linear module; 132, second linear module; 133, first push rod; 133a, second rod; 134, second push rod; 134a, second rod; 14, gripper mechanism; 141, third linear module; 142, mechanical arm; 1421, base; 142 2. Rotating table; 1423. First arm; 1424. Second arm; 1425. End effector; 15. Spare battery; 16. Spare fire tank; 20. UAV; 21. Fuselage; 22. Rotor assembly; 221. Rotor arm; 222. Rotor motor; 223. Propeller; 23. Support foot; 24. Battery; 25. Fire tank; 26 Nozzle; 27. Camera; 271. Ordinary camera; 272. Infrared camera; 28. Millimeter wave radar; 29. ​​Second communication module. DETAILED DESCRIPTION

[0026] The specific embodiments of the present application will be described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the description of the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0027] In the description of this application, unless otherwise clearly specified and limited, the terms "connection", "setting", "installation", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be that two elements are internally connected. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0028] The terms "upper", "lower", "left", "right", "front", "back", "center", "top", "bottom", "inside", "outside", "vertical", "horizontal", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship commonly placed when the product of the application is used. They are only for the convenience of description and simplified description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0029] The terms “first”, “second”, “third”, etc. are merely used to distinguish elements of similar nature, and do not indicate or imply relative importance or a particular order, unless expressly specified and limited otherwise.

[0030] The terms "comprises," "includes," "has," or any other variation thereof, are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0031] The term "plurality" means two or more (including two).

[0032] The term "and / or" is a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0033] The terms "one embodiment", "as an example", "in one implementation", etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example may be included in at least one embodiment or example of the present application. Schematic representations of such terms do not necessarily refer to the same embodiment, nor are they independent or alternative embodiments that are mutually exclusive with other embodiments. In the absence of conflict, the embodiments in the present application and the features in the embodiments may be combined in a suitable manner.

[0034] Figure 1 The schematic diagram of the structure of the energy storage power station drone inspection system 100 provided in the embodiment of the present application is as follows: Figure 1 As shown, the embodiment of the present application provides an energy storage power station drone inspection system 100, including a drone base station 10 and a drone 20. Each part is described in detail below.

[0035] Figure 2 This is a schematic diagram of the structure of the drone base station 10 provided in an embodiment of the present application when the upper cover 112 is opened. Figure 3 This is a schematic diagram of the structure of the drone base station 10 provided in the embodiment of the present application when the upper cover 112 is closed. Figure 2 and Figure 3 As shown, the drone base station 10 includes a box body 11 and a helipad 12 , a pushing mechanism 13 , a gripping mechanism 14 , a backup battery 15 and a backup fire fighting tank 16 arranged in the box body 11 .

[0036] The box body 11 includes a lower box body 111, an upper cover 112, and a driving member 113. The top of the lower box body 111 is open, and the upper cover 112 is installed on the lower box body 111 and driven by the driving member 113 to open and close the opening. As an example, there are two upper covers 112, which are symmetrically arranged on the opening of the lower box body 111 and are both rotatably connected to the lower box body 111. The two upper covers 112 are each driven by a driving member 113 to achieve rotation on a vertical plane. The two upper covers 112 are driven by their respective driving members 113 to rotate in opposite directions to achieve opening of the opening (see Figure 2 ), or they can rotate towards each other to close the opening (see Figure 3 ); two driving members 113 are respectively arranged at the rotation connection between the two upper covers 112 and the lower box body 111, and the driving member 113 is a motor and the output end of the motor is connected to the corresponding upper cover 112.

[0037] Figure 4 The schematic diagram of the structure of the apron 12 and the pushing mechanism 13 provided in the embodiment of the present application is as follows: Figure 4 As shown, the helipad 12 is a platform for the drone 20 to take off and land, and is arranged in the lower box 111. The pushing mechanism 13 is arranged on the side of the helipad 12, and is used to push the drone 20 landed on the helipad 12 to a set position.

[0038] As an example, the apron 12 is rectangular; the pushing mechanism 13 includes a first linear module 131, a second linear module 132, a first push rod 133, and a second push rod 134. The first linear module 131 and the second linear module 132 are respectively arranged on the side of the apron 12 along two adjacent sides thereof. The first linear module 131 and the second linear module 132 both include a mounting seat and a linear guide rail, a slider, a ball screw assembly and a servo motor arranged on the mounting seat. The linear movement function of each linear module is realized by the servo motor driving the ball screw assembly to drive the slider to slide along the linear guide rail. The first push rod 133 is installed on the slider of the first linear module 131, and the second push rod 134 is installed on the slider of the first linear module 131. The rod 134 is installed on the slider of the second linear module 132. The first push rod 133 and the second push rod 134 are both L-shaped and include a first rod portion and a second rod portion. The first rod portion is installed on the slider of the linear module along the extension of the linear module. The second rod portion is horizontally perpendicular to the first rod portion and is located above the apron 12. The second rod portion is used to contact the drone 20 during pushing. The initial positions of the first push rod 133 and the second push rod 134 can be set as: the second rod portion 133a of the first push rod 133 and the second rod portion 134a of the second push rod 134 are respectively located directly above the other two adjacent sides of the apron 12; the pushing mechanism 13 is used to push the drone 20 to the center position of the apron 12.

[0039] When the push mechanism 13 is working, the first linear module 131 drives the first push rod 133 to move, and the second rod portion 133a of the first push rod 133 and the support foot 23 of the drone 20 (see FIG. Figure 7 ) to push the drone 20 in the direction of the second linear module 132; the second linear module 132 drives the second push rod 134 to move, and the second rod portion 134a of the second push rod 134 contacts the support foot 23 of the drone 20, pushing the drone 20 in the direction of the first linear module 131. Finally, the first push rod 133 and the second push rod 134 push the drone 20 to the center of the apron 12.

[0040] Figure 5 The schematic diagram of the arrangement of the gripping mechanism 14, the backup battery 15 and the backup fire fighting tank 16 provided in the embodiment of the present application is as follows: Figure 5 As shown, the gripping mechanism 14 is arranged in the lower box 111 beside the apron 12, and multiple spare batteries 15 and multiple spare fire tanks 16 are arranged in the storage area in the lower box 111. The gripping mechanism 14 is used to replace the batteries and fire tanks of the drone 20.

[0041] As an example, Figure 6 A schematic diagram of the structure of the gripper mechanism 14 provided in the embodiment of the present application is shown in FIG. Figure 6 As shown, the gripper mechanism 14 includes a third linear module 141 and a mechanical arm 142. The third linear module 141 is arranged in the vertical direction, and the mechanical arm 142 is installed on the slider of the third linear module 141. The mechanical arm 142 is a four-degree-of-freedom mechanical arm, including a base 1421, a rotating table 1422, a first arm 1423, a second arm 1424, and an end effector 1425 that are rotatably connected in sequence. The base 1421 is installed on the slider of the third linear module 141. The rotating table 1422 is driven by a motor. The output shaft of the rotating table 1422 is perpendicular to the base 1421 and connected to the base 1421. A motor is provided at the rotation connection between the rotating table 1422, the first arm 1423, the second arm 1424 and the end effector 1425 to realize relative rotation between two adjacent components. The output shafts of the three motors are parallel and eccentrically perpendicular to the output shaft of the rotating table 1422. The end effector 1425 is a clamp. The mechanical arm 142 cooperates with the lifting and moving of the third linear module 141 to achieve five degrees of freedom of movement. This combined structure can be more flexible and compact in spatial layout and more cost-effective.

[0042] The drone base station 10 is also configured with a control module, a power module, a map module, a first high-precision GPS module, a route planning module, a first communication module, a first storage module, and an environment detection module.

[0043] The control module is used to control the movement of the push mechanism 13 and the gripper mechanism 14. The power module is used to provide power support to other modules and components, including charging the backup battery 15 and the battery replaced from the drone 20. The map module contains offline map data. The first high-precision GPS module is used to cooperate with the map module to locate and calibrate the position of the drone 20 with the coordinates of the drone base station 10 as the reference coordinate point. The route planning module is used to cooperate with the map module to plan the route of the drone 20. The first communication module is mainly used to communicate with the drone 20, and can also be used to communicate with mobile terminals, energy storage cabinets, ground control stations and other equipment. The first storage module is mainly used to store data received by the drone base station 10, such as flight data, image data, sensor data, etc. of the drone 20. The environment detection module is used to detect the weather environment near the drone base station 10. If the weather is not suitable for take-off due to strong winds, heavy rain, etc., the drone 20 will be stopped for inspection. The environment detection module may include a wind speed and volume sensor, a rainfall sensor, a temperature and humidity sensor, an air pressure sensor, etc.

[0044] The drone 20 is used to inspect each energy storage cabinet of the energy storage power station. Figure 7 This is a schematic diagram of the structure of the drone 20 provided in the embodiment of the present application. Figure 8 The schematic diagram of the structure of the drone 20 from the bottom perspective provided in the embodiment of the present application is as follows: Figure 7 and Figure 8 As shown, the drone 20 includes a fuselage 21, a rotor assembly 22, a support leg 23, a battery 24, a fire tank 25, a nozzle 26, a camera 27, a millimeter wave radar 28, and a second communication module 29. Among them, the fuselage 21, the rotor assembly 22, and the support leg 23 constitute the drone body.

[0045] The number of rotor assemblies 22 is multiple. As an example, the number of rotor assemblies 22 is four, and the drone 20 constitutes a quad-rotor drone. Each rotor assembly 22 includes a rotor arm 221, a rotor motor 222, and a propeller 223. One end of the rotor arm 221 is connected to the fuselage 21, and the other end of the rotor arm 221 is equipped with a rotor motor 222, and the rotor motor 222 is connected to the propeller 223.

[0046] There are multiple support legs 23, which can be installed at the bottom of the fuselage 21 and / or the rotor arm 221. The support legs 23 not only play a supporting role, but also are the parts of the drone 20 that contact the pushing mechanism 13 when the drone 20 is pushed by the pushing mechanism 13 of the drone base station 10. As an example, there are four support legs 23, and the four support legs 23 are respectively installed at the bottom of the other end of the four rotor arms 221.

[0047] The battery 24, the fire tank 25, the nozzle 26, the camera 27, the millimeter wave radar 28, and the second communication module 29 are all installed on the fuselage 21. The battery 24 is used to provide power support for the drone 20. The fire tank 25 is filled with a fire extinguishing agent. As an example, the fire extinguishing agent is a compressed carbon dioxide gas, which has the characteristics of good fire extinguishing effect, safety, environmental protection, economical and practical, and moderate weight. The nozzle 26 is used to spray the fire extinguishing agent in the fire tank 25. The nozzle 26 can be set at the bottom of the fuselage 21 and connected to the fire tank 25 through the channel inside the fuselage 21. The camera 27 can include an ordinary camera 271 and an infrared camera 272. The ordinary camera 271 is used to capture the external image of the energy storage cabinet, and the infrared camera 272 is used to capture the thermal imaging image of the energy storage cabinet. The millimeter wave radar 28 is installed at the bottom of the fuselage 21 to obtain the ground height information of the drone 20. The second communication module 29 is mainly used to communicate with the drone base station 10, and can also be used to communicate with mobile terminals, energy storage cabinets, ground control stations and other equipment.

[0048] The drone 20 is also equipped with a flight control, an electric regulator, a power detection module, a fire tank pressure detection module, an infrared sensor, a second high-precision GPS module, an ultrasonic sensor, and a second storage module.

[0049] The flight control is the main control unit of the drone 20, which is mainly used for flight attitude control. The electric regulator is electrically connected to the flight control and each rotor motor 222, and is used to convert the control signal of the flight control into the size of the current to control the speed of each rotor motor 222. The power detection module is used to detect the power of the battery 24. When the power of the battery 24 is below the set value (for example, 20%), a signal is sent to the flight control, and the flight control controls the drone 20 to interrupt the current task and return to the drone base station 10 for replacement. The fire tank pressure detection module is used to detect the internal pressure of the fire tank 25. When the internal pressure of the fire tank 25 is below the set value (for example, 80%), a signal is sent to the flight control, and the flight control controls the drone 20 to interrupt the current task and return to the drone base station 10 for replacement. The infrared sensor is used to detect the temperature of the energy storage cabinet. The second high-precision GPS module is used to locate and calibrate the position of the drone 20 and provide support for the route planning of the drone 20. The ultrasonic sensor is used to detect obstacles. The second storage module is used to store data collected during the flight of the drone 20, such as flight data, image data, sensor data, etc.

[0050] The installation and setting process of the energy storage power station drone inspection system 100 is as follows: a piece of land is planned inside the energy storage power station for installing the drone base station 10, and it is required that there are no obstructions within a certain range (for example, 3m) of the drone base station 10 and above it. After the drone base station 10 is installed, the position calibration is performed through the first high-precision GPS module of the drone base station 10 and the second high-precision GPS module of the drone 20, and the coordinates of the drone base station 10 are set as the origin of the route. Then, the drone base station 10 is connected to the APP client of the mobile terminal (mainly referring to the mobile phone) for communication, the satellite map is synchronized, and the layout diagram of the energy storage power station that can be automatically recognized by the APP client is uploaded, or a handheld infrared scanner is used to scan the layout of the energy storage power station by walking, and it is uploaded to the APP client to generate a two-dimensional layout diagram. Next, in the layout diagram of the energy storage power station, each energy storage cabinet that needs to be inspected is marked and numbered, and obstacles such as cables and poles in the energy storage power station are marked. Based on the coordinates of the drone base station 10, the marked energy storage power station layout diagram, and the performance of the drone 20, the APP client calculates and generates the planned route, and can manually fine-tune the route according to actual needs and then save it to the drone base station 10. In this way, the installation and setting of the energy storage power station drone inspection system 100 is completed.

[0051] The working principle of the energy storage power station drone inspection system 100 is as follows: the drone base station 10 determines that the environmental conditions can perform the inspection task through the environmental detection module, the upper cover 112 of the box 11 is automatically opened, the drone 20 takes off vertically on the apron 12, and detects the height above the ground according to the millimeter wave radar 28. When reaching the specified height, the drone 20 starts to inspect according to the planned route. In the normal inspection process, before the drone 20 reaches each energy storage cabinet in the route, it detects whether there is a high temperature in the energy storage cabinet through the infrared sensor, takes the thermal imaging image of the energy storage cabinet through the infrared camera 272, and takes the external image of the energy storage cabinet through the ordinary camera 271, saves the two images and sends them to the drone base station 10, and then goes to the location of the next energy storage cabinet according to the route, and repeats the above steps. When the drone 20 completes the inspection according to the route, it autonomously flies back to the drone base station 10 and lands on the apron 12. The push mechanism 13 pushes the drone 20 to the center position on the apron 12, and the box 11 of the drone base station 10 is closed.

[0052] During the inspection process of the drone 20, when the drone 20 detects that the local temperature of a certain energy storage cabinet is too high, the drone 20 sends a signal to the drone base station 10, and the drone base station 10 sends an alarm signal to the external operation and maintenance department, and at the same time sends a power cut-off signal to the EMS (Energy Management System) of the energy storage cabinet; when the drone 20 detects that a fire has occurred in a certain energy storage cabinet, the drone 20 not only sends a signal to the drone base station 10, and the drone base station 10 sends an alarm signal to the external operation and maintenance department, and sends a power cut-off signal to the EMS of the energy storage cabinet, but also the drone 20 flies to the upper side of the energy storage cabinet, opens the fire fighting tank 25 to spray the fire extinguishing agent on the energy storage cabinet, and after the spraying is completed, it flies back to the drone base station 10 to replace the spare fire fighting tank 16 and continues to spray until the fire is controlled or the on-site personnel arrive at the scene and order the drone 20 to stop spraying on the APP client of the mobile terminal, and then the drone 20 continues to inspect along the route.

[0053] When a certain energy storage cabinet catches fire, the EMS of the energy storage cabinet directly sends a fire signal to the drone base station 10, and the drone base station 10 sends an alarm signal to the external operation and maintenance department, which contacts the local fire department. At the same time, the drone base station 10 sends a signal to the drone 20. At this time, regardless of whether the drone 20 is conducting an inspection, the drone 20 will calculate the shortest arrival path based on the current position and the obstacle identification inside the route and rush to the upper side of the burning energy storage cabinet as quickly as possible to spray the fire extinguishing agent on it. After the spraying is completed, it will fly back to the drone base station 10 to replace the spare fire fighting tank 16 and continue to go back to spray until the fire is under control or the on-site personnel arrive at the scene and order the drone 20 to stop spraying on the APP client of the mobile terminal. Then the drone 20 in the inspection mission will continue to inspect along the route, and the drone 20 not in the inspection mission can directly return to the drone base station 10 according to the route.

[0054] When the power detection module of the drone 20 detects that the power of the battery 24 is below the set value and / or the fire tank pressure detection module detects that the pressure in the fire tank 25 is below the set value, a signal is sent to the flight control, and the flight control controls the drone 20 to interrupt the current task, record the current position information, and return to the drone base station 10. When the drone 20 lands on the apron 12 of the drone base station 10 and is pushed to the center by the pushing mechanism 13, the gripper mechanism 14 first removes the battery 24 and / or the fire tank 25 on the drone 20 according to the set action, and places them in the storage area inside the lower box 111, and then installs the spare battery 15 and / or spare fire tank 16 in the storage area to the drone 20, and then the drone 20 takes off again, returns to the position when the task was interrupted, and continues to perform the task. Among them, the spare battery 15 and the battery 24 replaced from the drone 20 can be charged through the power module of the drone base station 10, and the spare fire tank 16 and the fire tank 25 replaced from the drone 20 need to be replaced manually after they are consumed.

[0055] In addition, the cruising frequency of the drone 20 can be set according to the weather and temperature. As an example, if the local temperature is below 15°C, the drone 20 is set to inspect once only in the middle period between charging and discharging of the energy storage cabinet; if the local temperature is between 15°C and 25°C, the drone 20 is set to inspect once in the middle period between charging and discharging of the energy storage cabinet, near the end of charging, and near the end of discharging; if the local temperature is above 25°C, the drone 20 inspects an unlimited number of times during the charging and discharging period of the energy storage cabinet, and does not return except for replacing batteries and fire tanks.

[0056] In summary, the energy storage power station drone inspection system provided by the embodiment of the present application includes a drone base station and a drone. Among them, the drone base station is equipped with a backup battery and a backup fire tank. When the drone power or the fire extinguishing agent in the fire tank is insufficient, the drone can return to the drone base station for rapid replacement, ensuring that the drone has the ability to continuously inspect and extinguish fires. This design not only improves the inspection efficiency, but also significantly enhances the safety and emergency response capabilities of the energy storage power station. The drone is used to inspect each energy storage cabinet of the energy storage power station. The drone is equipped with a fire tank and a high-definition camera. By taking real-time images of the energy storage cabinet, it can promptly detect potential fires or abnormal conditions, and once a fire is detected, the drone can quickly locate and spray fire extinguishing agents to extinguish the fire, effectively curbing the spread of the fire. In summary, the energy storage power station drone inspection system provided by the present application can conduct comprehensive inspections, timely extinguish fires, and operate continuously, significantly improving the safety management level and emergency response capabilities of the energy storage power station.

[0057] The above description is only a specific implementation mode of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the field can easily think of various changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application.

Claims

1. An energy storage power station drone inspection system, characterized in that: It includes a UAV base station and a UAV; the UAV base station includes a box body and a helipad, a pushing mechanism, a gripping mechanism, a spare battery and a spare fire tank arranged in the box body, the pushing mechanism is used to push the UAV landed on the helipad to a set position, and the gripping mechanism is used to replace the battery and fire tank of the UAV; the UAV is used to inspect various energy storage cabinets of the energy storage power station, the UAV includes a UAV body and a battery, a fire tank, a nozzle and a camera arranged on the UAV body, the nozzle is connected to the fire tank and is used to spray the fire extinguishing agent in the fire tank, and the camera is used to capture the image of the energy storage cabinet.

2. The energy storage power station drone inspection system according to claim 1 is characterized in that: The box body comprises a lower box body, an upper cover, and a driving member. The top of the lower box body is an opening. The upper cover is installed on the lower box body and is driven by the driving member to open and close the opening.

3. The energy storage power station drone inspection system according to claim 1 is characterized in that: The apron is rectangular, and the pushing mechanism includes a first linear module, a second linear module, a first push rod, and a second push rod. The first linear module and the second linear module are respectively arranged on the side of the apron along two adjacent sides of the apron. The first push rod and the second push rod are respectively installed on the first linear module and the second linear module. The first push rod and the second push rod both include a first rod portion and a second rod portion. The first rod portion is extended along the linear module and is installed on the slider of the linear module. The second rod portion is horizontally perpendicular to the first rod portion and is located above the apron. The second rod portion is used to contact the drone during pushing.

4. The energy storage power station drone inspection system according to claim 1 is characterized in that: The gripper mechanism comprises a third linear module and a mechanical arm. The third linear module is arranged in a vertical direction. The mechanical arm is a four-degree-of-freedom mechanical arm and is installed on a slider of the third linear module.

5. The energy storage power station drone inspection system according to claim 1 is characterized in that: The UAV base station also includes a control module, a power module, a map module, a first high-precision GPS module, a route planning module, a first communication module, and a first storage module. The control module is used to control the actions of the pushing mechanism and the gripping mechanism. The power module is used to provide power support. The map module includes offline map data. The first high-precision GPS module is used to cooperate with the map module to locate and calibrate the position of the UAV with the coordinates of the UAV base station as the reference coordinate point. The route planning module is used to cooperate with the map module to plan the route of the UAV. The first communication module is used to communicate with the UAV. The first storage module is used to store data received by the UAV base station.

6. The energy storage power station drone inspection system according to claim 1 is characterized in that: The drone base station also includes an environment detection module, which is used to detect the weather environment near the drone base station.

7. The energy storage power station drone inspection system according to claim 1 is characterized in that: The drone body includes a fuselage, multiple rotor assemblies, multiple support legs, a flight control, and an electric speed controller. The rotor assembly includes a rotor arm, a rotor motor, and a propeller. One end of the rotor arm is connected to the fuselage, and the rotor motor is installed on the other end of the rotor arm. The rotor motor is connected to the propeller. The support legs are installed at the bottom of the rotor arm, and the flight control is electrically connected to the electric speed controller and the rotor motor.

8. The energy storage power station drone inspection system according to claim 1 is characterized in that: The camera includes a common camera and an infrared camera. The common camera is used to capture the external image of the energy storage cabinet, and the infrared camera is used to capture the thermal imaging image of the energy storage cabinet.

9. The energy storage power station drone inspection system according to claim 1, characterized in that: The drone also includes a power detection module and a fire tank pressure detection module, wherein the power detection module is used to detect the power of the battery, and the fire tank pressure detection module is used to detect the internal pressure of the fire tank.

10. The energy storage power station drone inspection system according to claim 1, characterized in that: The drone also includes a millimeter-wave radar, an infrared sensor, a second high-precision GPS module, an ultrasonic sensor, a second communication module, and a second storage module. The millimeter-wave radar is used to obtain the drone's altitude information above the ground, the infrared sensor is used to detect the temperature of the energy storage cabinet, the second high-precision GPS module is used to locate and calibrate the position of the drone and provide support for the drone's route planning, the ultrasonic sensor is used to detect obstacles, the second communication module is used to communicate with the drone base station, and the second storage module is used to store data collected during the flight of the drone.

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