An unmanned aerial vehicle based beacon inspection device and method

Abstract

The application relates to a beacon inspection device and method based on a UAV, which is composed of a UAV, a UAV remote control platform, a LORA gateway terminal, a LORA substation terminal and a beacon, wherein the UAV is connected with the UAV remote control platform, the UAV remote control platform is connected with the LORA gateway terminal, the LORA gateway terminal is connected with the LORA substation terminal, and the LORA substation terminal is connected with the beacon. A UAV beacon inspection APP sends a control entering UAV inspection mode instruction to k beacons in n beacons in a LORA network which are in a non-UAV inspection mode; the APP regularly checks a beacon i closest to the UAV and prompts a user to take a photo or a video of the beacon i in the UAV inspection mode; and the APP generates an instruction to control the UAV to take a photo or a video. The application has the beneficial effect of realizing beacon remote measurement and remote control functions based on a UAV and providing technical support for industry characteristic applications.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle, and particularly relates to a navigation beacon inspection device and method based on unmanned aerial vehicle. BACKGROUND

[0002] Unmanned aerial vehicle (UAV) is a short name of unmanned aerial vehicle, which is a pilotless aircraft realized by wireless remote control equipment or self-provided program control device. In September 2018, the 62nd meeting of the Harmonized System Committee (HSC) of the World Customs Organization decided to classify unmanned aerial vehicles as “flying cameras”. Since each country generally does not have special trade control requirements for cameras, unmanned aerial vehicles are regulated as “flying cameras” in the form of “cameras”, which promotes the rapid development of unmanned aerial vehicles.

[0003] In recent years, the application of UAVs in various industries has driven the development of UAVs towards portability, full functionality, and reliable performance. The overall trend is towards multi-functionality, high reliability, wide range, and comprehensive platform integration. For example, in the fields of power inspection, remote sensing and mapping, navigation engineering, agricultural plant protection, express delivery, disaster rescue, film shooting, and news reporting, the development of UAVs has been greatly promoted, and the application of industries has also been improved. For example, in power inspection, UAVs can position and autonomously cruise along the power grid, transmitting real-time images for monitoring personnel to watch and control on a computer. Compared with traditional manual line inspection, which is characterized by harsh conditions and low efficiency, UAVs improve the efficiency and safety of inspection work. In remote sensing and mapping, UAV platforms can quickly obtain ground information, high-resolution digital images, and high-precision positioning data, generating 2D and 3D visual data such as DEM, 3D orthographic images, 3D landscape models, and 3D surface models, facilitating the development and application of various environmental application systems. In navigation engineering, UAVs have been actively explored in recent years. They can be used in navigation distribution, lighthouse pile site selection, and site management, taking advantage of their visual and spatial technology to quickly obtain the terrain and topography around the project site location. By combining image data with design software, an intuitive 3D model can be established for comparative analysis and simulation of ship routes to optimize design plans. In navigation inspection, UAVs can fly along the predetermined route to inspect the navigation markers on both sides of the channel. The image acquisition equipment on board can transmit real-time inspection images to the navigation management department, allowing management personnel to have a comprehensive, clear, and accurate understanding of the color, structure, and position of the navigation markers. If the collected data cannot determine the abnormality, navigation personnel can be dispatched to the site to troubleshoot and solve problems. UAV navigation inspection includes checking the shape of the navigation markers and whether they have been moved. Compared with traditional ship inspection, this method improves efficiency and allows for night-time inspection of the flashing of various light buoys, greatly improving the efficiency of night-time navigation inspection. With the help of the infrared lens of the photoelectric pod, the shape and structure of the navigation markers can also be clearly monitored at night.

[0004] In the process of application deepening of UAV + industry, it is still necessary to carry out innovative design for specific problems in order to play the platform advantage of UAV. For example, document CN102183941B invents a kind of super long-range UAV control system based on civilian mobile phone network, which realizes super long-range control of UAV by using mobile phone network, overcoming the shortcomings of large size, heavy weight, large power consumption and strong electromagnetic radiation of corresponding control equipment in existing UAV technology; document CN104537795B uses UAV, ground walking robot and control center, UAV flies within 5-20m above vegetation, imaging spectrometer shoots ground hyperspectral image, and the hyperspectral image and positioning information are transmitted to control center, thereby providing a method for identifying and positioning forest underground fire based on UAV; document CN106828912B invents a kind of forest fire cruise detection UAV, which can autonomously fly to detect the condition of forest area, find fire and project locator to locate; in order to overcome the waste of time in the process of finding point and focusing, document CN109000630A discloses a kind of UAV inspection scale, which is easy to install and fast, and can be installed and used in any terrain, and UAV can accurately locate and find point during flight; document CN109856686A provides a kind of UAV detection device for UAV lightbridge protocol; in order to realize rescue in extreme environment where conventional communication environment is missing or destroyed, document CN109714747A discloses a method and system for collecting rescue information sent by LoRa node through LoRa communication equipment carried on UAV platform, and then determining the state of rescue target and constructing communication channel with the target; document CN106927044A provides a kind of buoy marker system and a method for monitoring ocean pollutants by a fleet of unmanned aerial vehicles, the buoy marker frame is provided with a landing pad for parking unmanned aerial vehicles, the landing pad is provided with a charging device for charging unmanned aerial vehicles, a solar panel is connected to a power module, the power module includes a storage battery and a charging power supply circuit, the unmanned aerial vehicle is provided with a charging receiving circuit, the buoy marker frame is also provided with a wireless communication device and an image processor, each unmanned aerial vehicle takes off when receiving take-off instruction, the image signal of the camera device is transmitted to the image processor on the buoy marker frame, and the image processor sends the processed image signal to the shore-based control center; document CN204495346U provides a kind of buoy supervision device using UAV remote sensing, which includes UAV and ground monitoring station, the UAV is carried with flight control device, image acquisition device and communication device, the ground monitoring station is composed of monitoring device and remote control device, the image acquisition device acquires image signal of buoy, the monitoring device communicates with the image acquisition device through the communication device, and the remote control device communicates with the flight control device through the communication device; document CN204495345U uploads image signal of buoy to server at ground monitoring station based on document CN204495346U, and client accesses server to acquire image signal of buoy through local area network.Document CN109204705A discloses a buoy management method, enabling a UAV to fly according to a preset route, recording images of the buoy equipment when the UAV flies above the buoy equipment, detecting the overall structure and operating state of the buoy, establishing a communication connection between the UAV and the buoy equipment, reading and storing data records of the buoy equipment, and transmitting the data records to a management terminal by the UAV returning to the management center. The operating state of the buoy can be conveniently detected, the data collected by the buoy is transmitted back, the missing detection rate is reduced, and the maintenance difficulty of the buoy is greatly reduced; document CN109911123A discloses a navigation buoy detection and maintenance system, including a control center, a UAV and a navigation buoy, the UAV is provided with a navigation buoy position verification device and an image acquisition device, the control center is in communication connection with the UAV, the UAV is in communication connection with the UAV, and the UAV is in communication connection with the navigation buoy, the position coordinates are used for maintenance, the accuracy is high, and all the navigation buoys do not need to be sent to the control center after image acquisition, the transmission and storage pressure is relieved.

[0005] The on-site inspection method of the navigation buoy has obvious advantages, but also has prominent disadvantages, such as being affected and restricted by weather conditions, visual navigation buoys also need to climb the buoy to cover the lamp simulation, which takes a long time and makes the operating personnel tired and the danger coefficient increased; the existing remote sensing and remote control inspection makes up for many shortcomings of the on-site inspection, but still has the following shortcomings: limited coverage, occasional false positives and false negatives, and cannot display the main information such as the appearance of the navigation buoy body. With the continuous improvement of UAV technology, the carrying capacity continues to increase, and the battery endurance improves, the UAV will greatly change the maintenance work form of the navigation buoy industry, but if only image acquisition and identification are satisfied, the application depth is limited, and the interaction ability of the UAV system and the navigation buoy equipment should be enhanced based on the UAV technology to realize more characteristic application functions, so as to promote better development. SUMMARY

[0006] The present application establishes a navigation buoy inspection device and method based on a UAV to realize data communication with the navigation buoy equipment, complete remote sensing data and remote control functions based on the UAV, and especially navigation buoy maintenance characteristic functions such as lamp covering simulation, thereby providing new technical support for UAV inspection of navigation buoys and deepening industry application.

[0007] To achieve the above purpose, the technical scheme of the present application is as follows: a navigation buoy inspection device and method based on a UAV, comprising a UAV, a UAV remote control platform, a LORA gateway terminal, a LORA substation terminal and a navigation buoy, wherein the UAV and the UAV remote control platform are connected, the UAV remote control platform and the LORA gateway terminal are connected, the LORA gateway terminal and the LORA substation terminal are connected, and the LORA substation terminal and the navigation buoy are connected.

[0008] The unmanned plane is composed of a GPS module and an image acquisition module, the GPS module is used for acquiring position data of the unmanned plane, and the image acquisition device is used for acquiring image data information or video data information of a scene.

[0009] The unmanned plane remote control platform is composed of an Android tablet computer and an unmanned plane remote controller, the Android tablet computer is installed with an unmanned plane navigation beacon inspection APP, and is connected through Bluetooth, WIFI, USB and a LORA gateway terminal.

[0010] The LORA gateway terminal is composed of a gateway terminal embedded processor, a gateway terminal LORA module, a Bluetooth module, a WIFI module and a gateway terminal RS485 module, wherein the embedded processor is connected with the gateway terminal LORA module, the Bluetooth module, the WIFI module and the gateway terminal RS485 module.

[0011] The LORA substation terminal is composed of a substation terminal embedded processor, a substation terminal LORA module and a substation terminal RS485 module, wherein the substation terminal embedded processor is connected with the substation terminal LORA module and the substation terminal RS485 module.

[0012] The navigation beacon is composed of an embedded microprocessor, a GPS module, a MODEM module, an LED driving module, a daylight value sensing module and a navigation beacon RS485 module, and the embedded microprocessor is connected with the GPS module, the MODEM module, the LED driving module, the daylight value sensing module and the navigation beacon RS485 module.

[0013] The embedded microprocessor has a working mode unit Pharos_Mode inside, which saves three working modes of the navigation beacon: a normal mode, i.e., Pharos_Mode=0, a forced mode, i.e., Pharos_Mode=1, and an unmanned plane inspection mode, i.e., Pharos_Mode=2, the normal mode refers to that the light-off state of the navigation beacon (entry of light in night and entry of off in day) is controlled by the daylight value, the forced mode refers to that the light-off state of the navigation beacon is controlled by an instruction instead of the daylight value, and the unmanned plane inspection mode refers to that the navigation beacon enters the forced mode for q minutes after receiving an unmanned plane inspection control instruction, and exits the forced mode after q minutes to restore the previous working mode, usually, q is 1-30.

[0014] The embedded microprocessor has a timing unit UAV_Timer inside, with a unit of seconds; when the navigation beacon receives an unmanned plane inspection mode message instruction, the embedded microprocessor of the navigation beacon assigns UAV_Timer as m, and the range of m is 60-1800.

[0015] The embedded microprocessor has a timer inside, the timing period is 1 second, when entering 1 second interrupt service program, check if UAV_Timer is 0, if UAV_Timer is not 0, first save the current value of Pharos_Mode, then assign Pharos_Mode to 2, the beacon enters the UAV inspection mode, secondly control the light to enter the bright state, then reduce 1 to UAV_Timer unit, exit the interrupt service, otherwise UAV_Timer is 0, restore the previous saved Pharos_Mode value, the beacon exits the UAV inspection mode, then exit the interrupt service.

[0016] The UAV-based beacon inspection device and method further comprises the following methods and steps:

[0017] (1) The LORA substation terminal sends a query message instruction to the beacon through the substation terminal RS485 at a fixed time, and the beacon responds to the query message instruction and returns the GPS data, voltage, current and working mode data of the beacon;

[0018] (2) When the LORA substation terminal receives the query message instruction of the LORA gateway terminal, it will return the GPS data, voltage, current and working mode data of the beacon obtained in step (1); when the LORA substation terminal receives the control message instruction of the LORA gateway terminal, it will send a control message instruction to the beacon through the substation terminal RS485, and the beacon will respond to the instruction and return the GPS data, voltage, current and working mode data of the beacon;

[0019] (3) The LORA gateway terminal sends the n beacon data returned by the n LORA substation terminals, i.e. the n beacons in the LORA network, to the Android tablet computer of the UAV remote control platform through Bluetooth, WIFI and USB, and displays the GPS data, voltage, current and working mode data of the n beacons in the LORA network on the UAV beacon inspection APP;

[0020] (4) The LORA gateway terminal sends a query message instruction to the LORA substation terminal at a fixed time;

[0021] (5) The UAV beacon inspection APP sends a control instruction to enter the UAV inspection mode to k beacons in the LORA network that are in the non-UAV inspection mode;

[0022] (6) The UAV beacon inspection APP checks the beacon i closest to the UAV at a fixed time, and if the distance is less than M meters, usually M is 10-50 meters, the user is prompted to take a photo or video of the beacon i in the UAV inspection mode; the UAV beacon inspection APP generates an instruction to control the UAV to take a photo or video through the UAV remote controller.

[0023] The unmanned aerial vehicle navigation beacon inspection APP, in the timing service program, first calculates and analyzes the GPS data of the unmanned aerial vehicle and the GPS data of n navigation beacons in the LORA network, when the position of the unmanned aerial vehicle and the position of a navigation beacon i are close, if the navigation beacon i is not in the unmanned aerial vehicle inspection mode state, a control navigation beacon i enters the unmanned aerial vehicle inspection mode message instruction is generated, and is sent to the LORA gateway terminal through Bluetooth, WIFI and USB, and then is sent to the LORA substation terminal by the LORA gateway terminal, and finally is sent to the navigation beacon i by the LORA substation terminal; secondly, the navigation beacon i controlled to enter the unmanned aerial vehicle inspection mode will return the corresponding response message, which is returned to the Android tablet computer of the unmanned aerial vehicle remote control platform through the LORA substation terminal and the LORA gateway terminal, and is displayed on the unmanned aerial vehicle navigation beacon inspection APP; then, the unmanned aerial vehicle navigation beacon inspection APP interface prompts the user to take a photo or a video information of the navigation beacon i in the unmanned aerial vehicle inspection mode, and the unmanned aerial vehicle navigation beacon inspection APP generates an instruction to control the unmanned aerial vehicle to take a photo or a video through the unmanned aerial vehicle remote controller.

[0024] Compared with the prior art method, the beneficial effects of the present application are: realizing the navigation beacon telemetry and remote control function based on the unmanned aerial vehicle, and providing technical support for industry characteristic application.

[0025] The purposes, features and advantages of the present application will be described in detail through examples and in conjunction with the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 The topological structure diagram of the present application.

[0027] Figure 2 The LORA gateway terminal composition block diagram of the present application.

[0028] Figure 3 The LORA substation terminal composition block diagram of the present application.

[0029] Figure 4 The navigation beacon composition block diagram of the present application.

[0030] Figure 5 The unmanned aerial vehicle navigation beacon inspection APP control flow chart of the present application.

[0031] Figure 6 The timing interrupt service flow chart of the embedded microprocessor in the navigation beacon of the present application. DETAILED DESCRIPTION

[0032] Figure 1In the specific embodiment, 101 is a UAV, 102 is a UAV remote control platform, 103 is a LORA gateway terminal, 104 is a LORA substation terminal, and 105 is a navigation beacon, wherein 101 is connected to 102, 102 is connected to 103, 103 is connected to 104, and 104 is connected to 105.

[0033] Figure 2 In the specific embodiment, 201 is a gateway terminal embedded processor, 202 is a gateway terminal LORA module, 203 is a gateway terminal RS485, 204 is a WIFI module, and 205 is a Bluetooth module, wherein the gateway terminal embedded processor (201) is connected to the gateway terminal LORA module (202), the gateway terminal RS485 (203), the WIFI module (204), and the Bluetooth module (205) respectively.

[0034] Figure 3 In the specific embodiment, 301 is a substation terminal embedded processor, 302 is a substation terminal LORA module, and 303 is a substation terminal RS485, wherein the substation terminal embedded processor (301) is connected to the substation terminal LORA module (302) and the substation terminal RS485 (303) respectively.

[0035] Figure 4 In the specific embodiment, 401 is an embedded microprocessor, 402 is a GPS module, 403 is a MODEM module, 404 is an LED driving module, 405 is a daylight value sensing module, and 406 is a navigation beacon RS485 module, wherein the embedded microprocessor (401) is connected to the GPS module (402), the MODEM module (403), the LED driving module (404), the daylight value sensing module (405), and the navigation beacon RS485 module (406) respectively.

[0036] In order to further illustrate the specific embodiments of the present application, in combination with the flow chart shown in Figure 5 and Figure 6 a UAV-based navigation beacon inspection device and method are specifically described, including the following steps:

[0037] Step 500: the UAV navigation beacon inspection APP timing interrupt service starts, and step 501 is executed.

[0038] Step 501: control instructions for entering a UAV inspection mode are sent to k navigation beacons in n navigation beacons in a LORA network which are in a non-UAV inspection mode, and step 502 is executed.

[0039] Step 502: the distance D meters of the UAV and n navigation beacons in the LORA network is calculated, and step 503 is executed.

[0040] Step 503: the i-th navigation beacon with the minimum distance D is retrieved and obtained, and step 504 is executed.

[0041] Step 504: Check if the distance D of the i-th beacon is less than M meters, usually M is 10-50 meters, if yes, execute step 505, otherwise, execute step 511;

[0042] Step 505: Read the state data of the i-th beacon, execute step 506;

[0043] Step 506: Check if the i-th beacon state is unmanned aerial vehicle inspection mode? If yes, execute step 507, otherwise execute step 508;

[0044] Step 507: APP prompts the operation control unmanned aerial vehicle to take pictures or videos, execute step 510;

[0045] Step 508: Organize control the i-th beacon into unmanned aerial vehicle inspection mode message instruction, execute step 509;

[0046] Step 509: Send the control message to the LORA gateway terminal, execute step 511;

[0047] Step 510: APP control generates instruction to control unmanned aerial vehicle to take pictures or videos, execute step 511;

[0048] Step 511: Exit.

[0049] Step 601: The embedded microprocessor 1s in the beacon starts timing interrupt service, execute step 602;

[0050] Step 602: Check if the timing unit UAV_Timer is 0, if yes, execute step 606, otherwise, execute step 603;

[0051] Step 603: Set the beacon to unmanned aerial vehicle inspection mode, execute step 604;

[0052] Step 604: Control the beacon LED to light, execute step 605;

[0053] Step 605: Perform a minus one operation on the UAV_Timer unit, execute step 607;

[0054] Step 606: The beacon exits the unmanned aerial vehicle inspection mode, execute step 607;

[0055] Step 607: Exit.

[0056] Although the foregoing application has been described in some detail for purposes of clarity of understanding, it will be apparent that certain changes and modifications can be practiced within the scope of the appended claims. Accordingly, the particular embodiments described above are not intended as being limiting; rather they are to serve as illustrations of structures and techniques identified in connection with aspects of the present disclosure. It is therefore desired that what is claimed be understood, among other things, to also include any techniques willing within the scope of the claims.

Claims

1. An unmanned aerial vehicle-based navigation beacon inspection method for an unmanned aerial vehicle navigation beacon inspection device, the device being composed of an unmanned aerial vehicle, an unmanned aerial vehicle remote control platform, a LORA gateway terminal, a LORA substation terminal, and a navigation beacon, the unmanned aerial vehicle and the unmanned aerial vehicle remote control platform being connected; the navigation beacon being composed of an embedded microprocessor, a GPS module, a MODEM module, an LED driving module, a daylight value sensing module, and a navigation beacon RS485 module, the embedded microprocessor being connected with the GPS module, the MODEM module, the LED driving module, the daylight value sensing module, and the navigation beacon RS485 module respectively; the unmanned aerial vehicle remote control platform being composed of an Android tablet computer and an unmanned aerial vehicle remote controller, the Android tablet computer being installed with an unmanned aerial vehicle navigation beacon inspection APP and being connected with the LORA gateway terminal through Bluetooth, WIFI, USB, and LORA; the LORA substation terminal being composed of a substation terminal embedded processor, a substation terminal LORA module, and a substation terminal RS485 module, wherein, The substation terminal embedded processor is connected with the substation terminal LORA module and the substation terminal RS485 module respectively; characterized in that: the unmanned aerial vehicle remote control platform is connected with the LORA gateway terminal, the LORA gateway terminal is connected with the LORA substation terminal, and the LORA substation terminal is connected with the navigation beacon; The embedded microprocessor has a working mode unit Pharos_Mode inside, which saves three working modes of the navigation beacon: normal mode, i.e. Pharos_Mode=0, forced mode, i.e. Pharos_Mode=1, and unmanned aerial vehicle inspection mode, i.e. Pharos_Mode=2. The unmanned aerial vehicle inspection mode refers to that the navigation beacon enters the forced mode for q minutes after receiving the unmanned aerial vehicle inspection control instruction, and then exits the forced mode after q minutes to restore the previous working mode, wherein q is 1-30. The navigation beacon inspection method based on the unmanned aerial vehicle comprises the following steps: (1) The LORA substation terminal sends a query message instruction to the navigation beacon through the substation terminal RS485 module at a regular time, and the navigation beacon responds to the query message instruction and returns the GPS data, voltage, current and working mode data of the navigation beacon; (2) When the LORA substation terminal receives the query message instruction of the LORA gateway terminal, it returns the GPS data, voltage, current and working mode data of the navigation beacon obtained in step (1); when the LORA substation terminal receives the control message instruction of the LORA gateway terminal, it sends a control message instruction to the navigation beacon through the substation terminal RS485 module, and the navigation beacon responds to the instruction and returns the GPS data, voltage, current and working mode data of the navigation beacon; (3) The LORA gateway terminal sends the navigation beacon data returned by the n LORA substation terminals, i.e. n navigation beacons in the LORA network, to the Android tablet computer of the unmanned aerial vehicle remote control platform through Bluetooth, WIFI and USB, and displays the GPS data, voltage, current and working mode data of the n navigation beacons in the LORA network on the unmanned aerial vehicle navigation beacon inspection APP; (4) The LORA gateway terminal sends a query message instruction to the LORA substation terminal at a regular time; (5) The unmanned aerial vehicle navigation beacon inspection APP sends a control instruction to enter the unmanned aerial vehicle inspection mode to k navigation beacons in the LORA network which are in the non-unmanned aerial vehicle inspection mode; (6) The unmanned aerial vehicle navigation beacon inspection APP checks the navigation beacon i closest to the unmanned aerial vehicle at a regular time, and if the distance is less than 10 meters, the user is prompted to take a photo or video of the navigation beacon i in the unmanned aerial vehicle inspection mode; the unmanned aerial vehicle navigation beacon inspection APP generates an instruction to control the unmanned aerial vehicle to take a photo or video through the unmanned aerial vehicle remote controller. 2.The unmanned aerial vehicle-based navigation mark inspection method of claim 1, wherein The LORA gateway terminal comprises a gateway terminal embedded processor, a gateway terminal LORA module, a Bluetooth module, a WIFI module and a gateway terminal RS485 module, wherein the embedded processor is connected with the gateway terminal LORA module, the Bluetooth module, the WIFI module and the gateway terminal RS485 module respectively. 3.The unmanned aerial vehicle based navigation mark inspection method of claim 1, wherein The Pharos has a timing unit UAV_Timer in the embedded microprocessor, which is in seconds; after receiving the UAV inspection mode message instruction, the embedded microprocessor assigns UAV_Timer as m, and m ranges from 60 to 1800.

4. The unmanned aerial vehicle-based navigation mark inspection method according to claim 1, characterized in that The Pharos has a timer in the embedded microprocessor, and the timing period is 1 second; when entering the 1-second interrupt service program, it is checked whether UAV_Timer is 0; if UAV_Timer is not 0, the current value of Pharos_Mode is saved first, then Pharos_Mode is assigned as 2, the Pharos enters the UAV inspection mode, the light controller is controlled to enter the bright state, then the UAV_Timer unit is decremented by 1, and the interrupt service is exited; otherwise, UAV_Timer is 0, the saved Pharos_Mode value is restored, the Pharos exits the UAV inspection mode, and the interrupt service is exited.

5. The unmanned aerial vehicle based navigation mark inspection method of claim 1, wherein The UAV Pharos inspection APP, in the timing service program, first calculates and analyzes the GPS data of the UAV and the GPS data of n Pharoses in the LORA network; when the position of the UAV is close to the position of a Pharos i, if the Pharos i is not in the UAV inspection mode, a message instruction for controlling the Pharos i to enter the UAV inspection mode is generated, and is sent to the LORA gateway terminal through Bluetooth, WIFI or USB, then is sent to the LORA substation terminal by the LORA gateway terminal, and finally is sent to the Pharos i by the LORA substation terminal; secondly, the Pharos i controlled to enter the UAV inspection mode sends back a corresponding response message, which is sent back to the Android tablet computer of the UAV remote control platform through the LORA substation terminal and the LORA gateway terminal, and is displayed on the UAV Pharos inspection APP; then, the UAV Pharos inspection APP interface prompts the user to take a photo or a video of the Pharos i in the UAV inspection mode, and the UAV Pharos inspection APP generates an instruction to control the UAV to take a photo or a video through the UAV remote controller.

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