Photovoltaic module fire early warning system and method

Abstract

The present application belongs to the field of fire warning technology, specifically a photovoltaic module fire warning system and method, the method comprising: the drone ground control base station controls the first drone formation equipped with a comprehensive monitoring gimbal pod to fly to the first observation point; the drone control base station receives the drone power and operating status fed back by the first drone formation; when the drone power fed back by the first drone formation is lower than the preset value or the operating status is abnormal, the drone ground control base station controls the second drone formation in the drone automatic charging nest to arrive at the observation point, and makes the second drone formation replace the first drone formation to mount the comprehensive monitoring gimbal pod; the drone control base station controls the first drone formation to enter the drone automatic charging nest for charging and / or maintenance. The drone formation in the present application can automatically rotate the mounting of the comprehensive monitoring gimbal pod according to the power, so that the comprehensive monitoring gimbal pod can stay in the air for a long time and monitor the ground photovoltaic modules uninterruptedly.

Description

Technical Field

[0001] The present application belongs to the field of fire warning technology, and in particular, relates to a photovoltaic module fire warning system and method. Background Art

[0002] As a common way to utilize solar energy resources, solar photovoltaic power generation systems have developed rapidly in recent years and are widely used in the field of clean energy supply. However, rapid development also brings many fire hazards, including fire problems in photovoltaic power stations, especially distributed rooftop photovoltaic power stations. Once they occur, they may cause immeasurable personal and property losses. In order to reduce the occurrence of fire accidents, additional preventive measures are needed.

[0003] Since photovoltaic power stations are often built in areas with concentrated sunlight far from cities, the fire operation and maintenance of photovoltaic power stations cannot be detected manually in time, which makes it difficult to timely and effectively check the fire hazards of photovoltaic power stations, and the fire situation cannot be discovered in the first place. Therefore, there is an urgent need for an unmanned photovoltaic power station fire warning system, which can continuously perform intelligent detection and early warning synchronization on the fire hazards of photovoltaic power stations, and send out early warning signals in time before the fire occurs or in the early stage of the fire, thereby reducing the economic losses caused by the fire.

[0004] For example, a photovoltaic power station fire warning system disclosed in patent CN202011121564.2 collects real-time image data of the power station through fixed cameras and transmits it to the video server for processing. The image data detects flames, smoke and combustibles based on a deep learning algorithm, and collects arc signals from different branches of the power station based on the arc detection system. It determines whether an arc has occurred based on the arc alarm threshold. Finally, the cloud performs data fusion analysis based on the historical image data and other data of the power station, and finally outputs fire warning information. However, this method requires a large number of cameras, and the fixed deployed cameras are at a low height and cannot fully detect light. The patent CN201710556299.2 discloses a method for detecting photovoltaic power stations using a drone, which uses an all-weather infrared thermal imager and visible light monitoring equipment on board the drone to detect solar panels through a preset path, and quickly detects the location of the faulty panel using an online or offline digital image processing algorithm. The GPS positioning information is then used to quickly locate the fault point. Although this method solves the problem of insufficient monitoring height of fixed cameras, the drones used have limited flight time and load weight, making it difficult to monitor photovoltaic modules for a long time or to carry enough monitoring equipment to monitor photovoltaic modules.

[0005] As a further improvement plan, the existing technology also proposes a solution to charge the drone via a laser beam. However, on the one hand, the laser beam generates a lot of heat, making it difficult to charge the drone for a long time. At the same time, the stability of the drone is also required to be high, otherwise the laser beam will find it difficult to track the drone and cannot charge the drone. Summary of the invention

[0006] The embodiments of the present application provide a photovoltaic module fire warning system and method, which can solve the problem in the prior art that it is difficult to perform long-term, uninterrupted, high-precision monitoring of photovoltaic modules at a sufficient height.

[0007] In a first aspect, an embodiment of the present application provides a photovoltaic module fire warning system, the system comprising: a first drone group, a second drone group, a comprehensive monitoring PTZ pod, and a drone ground control base station; the drone ground control base station comprises a drone automatic charging nest, a communication device, and a control device;

[0008] Among them, the first UAV formation is used to mount the integrated monitoring gimbal pod;

[0009] The integrated monitoring PTZ pod is used to carry telemetry sensing equipment, which is used to collect fire warning data from ground photovoltaic power stations and transmit the fire warning data to the communication device of the UAV ground control base station;

[0010] An automatic drone charging nest, used to store the second drone formation and to charge and / or repair the drones in the second drone formation;

[0011] The communication device is connected to the first drone formation in a wireless manner to obtain the power and fault status of the drones in the first drone formation;

[0012] A control device is used to control the second drone group to arrive at the location of the integrated monitoring gimbal pod to replace the first drone group when the power and fault status indicate that the power of the drones in the first drone group is lower than a first preset value or the drones fail, and control the first drone group to return to the drone automatic charging machine nest for charging and / or maintenance.

[0013] In a possible implementation of the first aspect, the system further includes an integrated warning system, the integrated warning system is connected to a communication device of a ground control base station of the UAV, and the communication device is connected to the telemetry sensing device in a wireless manner;

[0014] The communication device is also used to obtain monitoring data from the telemetry sensor equipment carried by the integrated monitoring PTZ pod;

[0015] The integrated alarm system is used to obtain monitoring data from the communication device and generate early warning signals based on the monitoring data.

[0016] Exemplarily, the integrated alarm system is communicatively connected to the photovoltaic assembly;

[0017] The integrated alarm system is also used to notify the photovoltaic modules to perform protection actions through preset processing solutions.

[0018] In the above system, the first drone group and the second drone group include at least two drones, and the gimbal pod bracket is in a straight line or star shape.

[0019] Exemplarily, the integrated monitoring gimbal pod includes a gimbal pod bracket, on which a first mounting device and a second mounting device are provided. The first drone group is connected to the first mounting device to mount the integrated monitoring gimbal pod. When the drones of the first drone group are low on power or fail, after the second drone group is connected to the second mounting device, the first drone group disconnects from the first mounting device to replace the integrated monitoring gimbal pod.

[0020] Among them, the first mounting device and the second mounting device both include M hanging points, and the number of drones in the first drone group and the second drone group is also M.

[0021] Exemplarily, the integrated monitoring PTZ pod also includes a battery assembly;

[0022] A battery assembly is used to power the telemetry sensing device.

[0023] Exemplarily, the communication device is further used to obtain power information of the battery assembly;

[0024] The control device is also used to control the second UAV group to mount the second integrated monitoring PTZ pod to replace the first UAV group and the first integrated monitoring PTZ pod mounted thereon, and control the first UAV group to return to the UAV automatic charging nest when the power level of the battery assembly is lower than a second preset value;

[0025] It also includes a charging device for charging the first integrated monitoring pan-tilt pod.

[0026] A second aspect of the present application provides a photovoltaic module fire warning method, comprising the following steps:

[0027] The UAV ground control base station controls the first UAV formation equipped with the first integrated monitoring gimbal pod to fly to the first observation point;

[0028] The UAV control base station receives the UAV power and operation status fed back by the first UAV formation;

[0029] When the drone power reported by the first drone formation is lower than the first preset value or the operating state is abnormal, the drone ground control base station controls the second drone formation in the drone automatic charging machine nest to arrive at the observation point, and makes the second drone formation replace the first drone formation to mount the first integrated monitoring gimbal pod;

[0030] The drone control base station controls the first drone group to enter the drone automatic charging machine nest for charging and / or maintenance.

[0031] Further, the first integrated monitoring PTZ pod includes a PTZ pod bracket, the PTZ pod bracket is provided with a first mounting device and a second mounting device, and the first UAV group is connected to the first mounting device;

[0032] The second UAV formation replaces the first UAV formation and mounts the first integrated monitoring gimbal pod, including:

[0033] The UAV control base station controls the second UAV formation to match and connect with the second mounting device;

[0034] When the second drone formation is successfully connected to the second mounting device, the drone control base station controls the first drone formation to disconnect from the first mounting device.

[0035] In the above method, the drone control base station obtains monitoring data of the telemetry sensor device carried by the first integrated monitoring gimbal pod;

[0036] The drone control base station sends the monitoring data to the integrated warning system;

[0037] The integrated alarm system generates early warning signals based on monitoring data and sends treatment plans to the PV modules based on the early warning signals;

[0038] The PV panels perform protection actions according to the processing plan.

[0039] Exemplarily, a battery assembly for supplying power to the telemetry sensor device is provided in the first integrated monitoring PTZ pod, and the method further comprises the following steps:

[0040] The UAV control base station obtains first power information of a battery assembly of the integrated monitoring gimbal pod;

[0041] When the first power information indicates that the power of the battery assembly is lower than the second preset value, the drone control base station controls the second drone formation mounted with the second integrated monitoring gimbal pod to fly to the observation point;

[0042] The drone control base station controls the first drone formation mounted with the first integrated monitoring gimbal pod to enter the drone automatic charging machine nest, and the drone automatic charging machine nest is provided with a charging component for charging the battery component.

[0043] In the above method, the method further comprises the following steps:

[0044] The UAV control base station controls the first UAV formation to carry the comprehensive monitoring gimbal pod and fly from the first observation point to the second observation point.

[0045] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0046] By alternately carrying the integrated monitoring PTZ pods in the first and second drone formations, uninterrupted monitoring of the photovoltaic modules is achieved;

[0047] The first drone group and the second drone group include multiple drones, which can ensure that they are equipped with sufficient remote sensing equipment to monitor the photovoltaic modules and provide more accurate and complete monitoring data. At the same time, through the reasonable formation of the drone groups, the impact of the failure of a single drone on the stability of the comprehensive monitoring gimbal pod can be minimized;

[0048] The integrated alarm system can process monitoring data in real time, generate early warning signals, and send processing plans to photovoltaic modules based on the early warning signals, so that the photovoltaic modules can automatically perform protection actions and ensure the real-time safe operation of the photovoltaic modules. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0050] Figure 1 It is a flow chart of a photovoltaic module fire warning method provided by an embodiment of the present application;

[0051] Figure 2 This is a structural schematic diagram of a first drone formation in a photovoltaic module fire warning method provided in an embodiment of the present application;

[0052] Figure 3 This is a flow chart of a method for replacing a first drone group with a second drone group in a photovoltaic module fire warning method provided by an embodiment of the present application;

[0053] Figure 4 This is a schematic diagram of a photovoltaic module fire warning system provided by an embodiment of the present application;

[0054] Figure 5 This is a schematic diagram of a structure in which a comprehensive monitoring PTZ pod in a photovoltaic module fire warning system provided by an embodiment of the present application is mounted in rotation by a drone group;

[0055] Figure 6 This is a structural schematic diagram of another integrated pan-tilt pod in a photovoltaic module fire warning system provided by an embodiment of the present application, which is mounted in rotation by a drone formation. DETAILED DESCRIPTION

[0056] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0057] Example 1

[0058] See also Figure 1 The present application provides a photovoltaic module fire warning method comprising the following steps:

[0059] S1. The UAV ground control base station controls the first UAV formation equipped with the integrated monitoring PTZ pod to fly to the first observation point. The first UAV formation includes at least two UAVs. In some embodiments, a high-power UAV may be selected. In this embodiment, according to the weight of the mounted integrated monitoring PTZ pod, an appropriate number of UAVs may be selected to form the UAV formation.

[0060] Exemplarily, in order to ensure the accuracy of monitoring and detection results, the comprehensive monitoring PTZ pod includes a PTZ portion and a pod portion. The PTZ portion is a rotating mechanism that can rotate up, down, left, and right. The pod portion is installed on the PTZ portion, and its function is to carry remote telemetry equipment. Generally speaking, the carried remote telemetry equipment can include visible light telemetry equipment, infrared telemetry equipment, audio telemetry equipment, smoke telemetry equipment, etc. In this embodiment, the comprehensive monitoring PTZ pod with the above-mentioned remote telemetry equipment is mounted on 4 drones. The specific mounting method is as follows: Figure 2 As shown, a straight-line bracket 201 is provided on the integrated monitoring PTZ pod, and a PTZ pod 202 is located in the middle of the bracket 201. Two drones 101 and 102 are provided on the left side of the bracket 201, and two drones 103 and 104 are provided on the right side. The drones have the same model and specifications to ensure that the integrated monitoring PTZ pod can maintain good balance and stability. When the drone carrying the integrated monitoring PTZ pod arrives at the first observation point, the remote telemetry equipment automatically starts to collect monitoring data.

[0061] S2. The UAV control base station receives the UAV power and operating status feedback from the first UAV formation. In the process of performing the monitoring task, the UAV control base station not only continuously receives the monitoring data feedback from the remote telemetry equipment of the integrated monitoring gimbal pod, but also receives the power information and fault information of each UAV in the UAV formation. Figure 2 For the first UAV formation in the group, the UAV control base station will receive the power information and fault status information of the four UAVs at the same time and display them on the display screen respectively.

[0062] S3. When the drone power level reported by the first drone group is lower than the first preset value or the operating status is abnormal, the drone ground control base station controls the second drone group in the drone automatic charging nest to arrive at the first observation point, and makes the second drone group replace the first drone group to mount the integrated monitoring gimbal pod.

[0063] It should be noted that the fact that the battery level of the drone is lower than the first preset value or the running state is abnormal may be that the battery level of only one of the drones is lower than the preset value or a drone fails, such as Figure 2 When the battery level of UAV 102 is lower than 20%, or when UAV 103 fails, the UAV ground control base station sends a second UAV formation to the first observation point to replace the first UAV formation. The number of UAVs in the second UAV formation is generally the same as the number of UAVs in the first UAV formation. The number of UAVs in the second UAV formation can also be reduced, and UAVs with larger load capacity can be selected.

[0064] For example, a first mounting device and a second mounting device are provided on a pan / tilt pod bracket of the integrated monitoring pan / tilt pod, and the second drone group and the first drone group are replaced by the pan / tilt pod bracket of the integrated monitoring pan / tilt pod as follows: Figure 3 As shown:

[0065] S301, the UAV control base station controls the second UAV formation to match and connect with the second mounting device;

[0066] S302: After the second drone formation is successfully matched and connected with the second mounting device, the drone control base station controls the first drone formation to disconnect from the first mounting device.

[0067] In the specific matching and connection process, precise docking is achieved through a combination of mechanical interfaces, satellite positioning, and visual assistance.

[0068] S4. The drone control base station controls the first drone group to enter the drone automatic charging nest for charging or maintenance.

[0069] In order to ensure uninterrupted monitoring of photovoltaic modules, for example, the first drone group and the second drone group can be reset through the drone control base station, and the drone group equipped with the integrated monitoring gimbal pod can be reset to the first drone group, and the drone group in the drone automatic charging nest can be set to the second drone group, and the above steps can be repeated until the monitoring operation is completed.

[0070] In addition, as an optional implementation, a comprehensive monitoring gimbal pod can also be mounted under each drone of the first drone group, and there is only one remote telemetry device in each gimbal pod. When the battery level of a drone in the first drone group is lower than a preset value, the drone control base station can immediately obtain the remote telemetry device information mounted on the drone, and control any drone in the second drone group to mount the corresponding same remote telemetry device and go to the first observation point to replace the drone with a battery level lower than the preset value in the first drone group. When the drones of the second drone group arrive at the first observation point, the first drone group is regrouped, and the drones of the second drone group are incorporated into the first drone group, and the drones with a battery level lower than the preset value are removed from the group. The drones with a battery level lower than the preset value return to the drone automatic charging nest for charging and are incorporated into the second drone group.

[0071] Optionally, a power supply component specifically used for supplying power to the remote telemetry device is provided in the integrated monitoring PTZ pod. The power supply component here can be a rechargeable battery or a photovoltaic battery. Alternatively, the remote telemetry device can be supplied with power by the battery of the drone itself. If the power supply component is a rechargeable battery, the integrated monitoring PTZ pod also needs to feed back the power of the power supply component to the drone control base station. When the power of the power supply component is lower than the second preset value (for example, 10%, which can also be set to be the same as the first preset value for ease of control), the drone control base station will control the second drone formation to mount another integrated monitoring PTZ pod to the first observation point, and replace the first drone formation at the first observation point with the integrated monitoring PTZ pod mounted thereon. After the replacement is completed, the first drone formation returns together with the integrated monitoring PTZ pod mounted thereon for charging. The charging can be performed by adding a charging module specifically for charging the rechargeable battery of the integrated monitoring PTZ pod to the drone automatic charging nest, or by disconnecting the connection between the integrated monitoring PTZ pod and the first drone formation, and charging the integrated monitoring PTZ pod and the drones in the first drone formation separately.

[0072] While performing the above steps, the UAV control base station also obtains the monitoring data of the telemetry sensor equipment carried by the integrated monitoring gimbal pod and sends the monitoring data to the integrated alarm system; the integrated alarm system generates an early warning signal based on the monitoring data, and the early warning signal is obtained by analyzing the thermal imaging, visible light image processing information, and multi-sensor data fusion processing information included in the monitoring data and combining it with historical data. According to the early warning signal, the integrated alarm system can send an alarm prompt to the user to prompt the user to promptly resolve possible hidden dangers. At the same time, as a preferred embodiment, the integrated alarm system can also pre-store processing solutions and send preset processing solutions to photovoltaic modules. The photovoltaic modules perform protection actions such as automatic circuit breaking and current limiting according to the processing steps in the processing solution.

[0073] Optionally, the drone control base station can also control the drone formation to conduct inspections. The drone control base station designs an inspection route based on all observation points that need to be inspected, and sets the monitoring time for each observation point. After the first drone formation completes the monitoring task of the first observation point, it automatically goes to the next observation point according to the inspection route. It should be noted that during the inspection process of this method, the first drone formation will feed back its coordinates to the drone control base station in real time. Once the battery power of the drones in the first drone formation is lower than the preset value, the first drone formation will be controlled to return. The drone control base station determines the next observation point based on the coordinates, and controls the second drone formation to go directly to the next observation point to continue the inspection task.

[0074] Example 2

[0075] In a second aspect of the present application, a photovoltaic module fire warning system is provided in combination with the above-mentioned embodiment 1, such as Figure 4 As shown, the system mainly includes: photovoltaic components to be monitored 1, long-stalling UAV formation A and long-stalling UAV formation B, multi-UAV automatic charging nest 2, wireless communication system 3, data storage and processing analysis computer system 4, and alarm system 5.

[0076] Long-altitude UAV formations A and B are composed of multiple UAVs that can autonomously position and fly, automatically charge, and carry comprehensive monitoring gimbal pods for long-range wireless communications. The above-mentioned groups can automatically perform tasks in the form of formations through the mission planning of ground UAV control base stations.

[0077] The above-mentioned drone formation includes a comprehensive monitoring gimbal pod equipped with a variety of telemetry sensors (including visible light, infrared, audio, smoke, GPS sensors) and communication systems. The comprehensive monitoring gimbal pod is provided with multiple hanging points. Through the above-mentioned hanging points, multiple drones can simultaneously mount the comprehensive monitoring gimbal pod, so that it can collect data in a suspended state and transmit it back to the ground control base station in real time.

[0078] The drone ground control base station is composed of a multi-drone automatic charging nest, an industrial computer, a communication system, and a UPS power supply system. It can organize multiple drones into a formation and automatically perform the mounting and unloading tasks of the comprehensive monitoring PTZ pod, thereby realizing the formation's rotational mounting of the comprehensive monitoring PTZ pod to achieve the purpose of long-term fixed-point hovering monitoring, and can also further mount the comprehensive monitoring PTZ pod to perform formation inspection tasks. In addition, the above-mentioned drone nest can also perform operations such as charging or battery replacement, data collection, and fault detection and repair for the returning drones, realizing automatic operation and maintenance of drones.

[0079] The comprehensive monitoring gimbal pod can realize long-duration monitoring through the rotation of drone formation mounting. When drone formation A is low on power, an early warning will be issued to the drone ground control base station in advance. The drone ground control base station will send a task to control drone formation B to take off and automatically replace drone formation A to mount the comprehensive monitoring gimbal pod. After completing the above tasks, the drone ground control base station will send a command to control drone formation A to automatically return and land on the multi-drone automatic charging nest. After landing, the nest will automatically connect to the drone and perform its charging, battery replacement, automatic fault detection, data communication and other tasks.

[0080] The real-time monitoring data collected by the UAV formation, the integrated monitoring gimbal pod, and the UAV ground control base station will be transmitted to the background server by the wireless communication system. The server will store, analyze, and count the above data, and further generate early warning signals based on historical data information and current thermal imaging, visible light image processing information, and multi-sensor data fusion processing information.

[0081] The above-mentioned early warning signals are prompted by the integrated alarm system to prompt users to pay attention and solve them in time. The processing plan can be preset in the alarm system and automatically sent to the PV modules. The PV modules will perform automatic circuit breaking, current limiting and other protection actions according to the processing plan.

[0082] See also Figure 5 and Figure 6 The integrated monitoring PTZ pod is provided with a PTZ pod bracket, which is used to connect and fix the UAV. In order to minimize the impact of UAV failure on normal operation during the UAV formation and ensure the balance of the flight attitude of the integrated monitoring PTZ pod, the shape of the bracket is as follows: Figure 5 and Figure 6As shown, they are straight and star-shaped, respectively, and the star-shaped is divided into three-machine star-shaped and four-machine star-shaped. If only one drone is set on each side, it will be difficult to maintain balance if a drone fails on either side. Therefore, two drones are set on the left and right sides respectively. If one drone fails on either side, the other drone can increase its output power to ensure the balance of the left and right sides. Similarly, on the three-machine star-shaped bracket, it is best to set two or more drones on each side to ensure the balance of the bracket. In the four-machine star-shaped bracket, only one drone can be set on each side, because even if a drone on one side fails, the drones on the other three sides can adjust the flight power to ensure the balance of the comprehensive monitoring gimbal pod. Users can select the appropriate number of drones in the drone formation according to the weight of the remote telemetry equipment that the comprehensive monitoring gimbal pod actually needs to carry, and select the bracket shape with the least impact of drone failure according to the number of drones.

[0083] Based on the above embodiments, the benefits of this application are:

[0084] The photovoltaic module fire warning system collects data in real time through a comprehensive monitoring gimbal pod mounted on a drone group. After transmission via a wireless network, the data processing server remotely analyzes and issues warnings. The monitoring data is more detailed and comprehensive, and the warning information is more reliable.

[0085] The integrated monitoring gimbal pod in the above system is mounted by drone formations, thus having a higher load capacity, and the number of drones in a single formation can be reasonably adjusted according to the load weight.

[0086] The drone formation in the above system can automatically rotate the mounting of the comprehensive monitoring gimbal pod according to the power level, so that the comprehensive monitoring gimbal pod can stay in the air for a long time and monitor the ground photovoltaic components uninterruptedly.

[0087] The UAV ground control base station in the above system can implement formation control, rotation mounting control, and formation inspection control on the UAV group, thereby ensuring that the UAV group performs tasks in the form of formation. It can automatically perform charging, communication, fault detection and other operations and maintenance for the UAV to ensure the working status of the UAV.

[0088] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A photovoltaic module fire warning system, It is characterized in that The system includes a first UAV group, a second UAV group, a comprehensive monitoring pod and a UAV ground control base station; the UAV ground control base station includes a UAV automatic charging nest, a communication device and a control device; The first UAV formation is used to mount the integrated monitoring gimbal pod; The integrated monitoring PTZ pod is used to carry telemetry sensing equipment, which is used to collect fire warning data of ground photovoltaic power stations and transmit the fire warning data to the communication device of the ground control base station of the UAV; The drone automatic charging nest is used to store the second drone group and to charge and / or repair the drones in the second drone group; The communication device is connected to the first drone group in a wireless manner to obtain the power and fault status of the drones in the first drone group; The control device is used to control the second drone group to arrive at the location of the integrated monitoring gimbal pod to replace the first drone group, and control the first drone group to return to the drone automatic charging nest for charging and / or maintenance when the power and fault status indicate that the power of the drones in the first drone group is lower than a first preset value or the drones fail. The system also includes an integrated warning system, which is connected to a communication device of the UAV ground control base station, and the communication device is connected to the telemetry sensing device by wireless means; the communication device is also used to obtain monitoring data of the telemetry sensing device carried by the integrated monitoring gimbal pod; the integrated warning system is used to obtain the monitoring data from the communication device and generate an early warning signal according to the monitoring data; the integrated warning system is also connected to the photovoltaic module in communication; Used to notify the photovoltaic assembly to perform a protection action through a preset processing scheme; The first drone formation and the second drone formation include at least two drones; The integrated monitoring PTZ pod includes a PTZ pod bracket, a first mounting device and a second mounting device are provided on the PTZ pod bracket, the first UAV group is connected to the first mounting device to mount the integrated monitoring PTZ pod, when the UAV of the first UAV group is low on power or fails, after the second UAV group is connected to the second mounting device, the first UAV group is disconnected from the first mounting device to replace the integrated monitoring PTZ pod; wherein the PTZ pod bracket is in a straight line or star shape, the first mounting device and the second mounting device both include M mounting points, and the number of UAVs of the first UAV group and the second UAV group is also M; the integrated monitoring PTZ pod also includes a battery assembly for supplying power to the telemetry sensing device; The communication device is further used to obtain the power information of the battery assembly; the control device is further used to control the second drone group to mount the second integrated monitoring gimbal pod to replace the first drone group and the first integrated monitoring gimbal pod mounted thereon, and control the first drone group to return to the drone automatic charging nest when the power of the battery assembly is lower than a second preset value; The system also includes a charging device for charging the first integrated monitoring PTZ pod.

2. A photovoltaic module fire warning method, It is characterized in that The method is applied to the photovoltaic module fire warning system according to claim 1, and the method comprises the following steps: The UAV ground control base station controls the first UAV group mounted with the first integrated monitoring gimbal pod to fly to the first observation point; The UAV ground control base station receives the UAV power and operation status fed back by the first UAV formation; When the drone power reported by the first drone group is lower than a first preset value or the operation state is abnormal, the drone ground control base station controls the second drone group in the drone automatic charging nest to arrive at the observation point, and makes the second drone group replace the first drone group to mount the integrated monitoring gimbal pod; The UAV ground control base station controls the first UAV group to enter the UAV automatic charging nest for charging and / or maintenance.

3. A photovoltaic module fire warning method as claimed in claim 2, It is characterized in that The integrated monitoring PTZ pod includes a PTZ pod bracket, the PTZ pod bracket is provided with a first mounting device and a second mounting device, and the first UAV group is connected to the first mounting device; The second UAV group replaces the first UAV group and mounts the first integrated monitoring gimbal pod, including: The UAV ground control base station controls the second UAV formation to match and connect with the second mounting device; When the second UAV formation is successfully connected to the second mounting device, the UAV ground control base station controls the first UAV formation to disconnect from the first mounting device.

4. A photovoltaic module fire warning method according to any one of claims 2 to 3, It is characterized in that The method further comprises the following steps: The UAV ground control base station obtains monitoring data of the telemetry sensor equipment carried by the first integrated monitoring gimbal pod; The UAV ground control base station sends the monitoring data to the integrated warning system; The integrated alarm system generates an early warning signal according to the monitoring data, and sends a processing plan to the photovoltaic module according to the early warning signal; The photovoltaic assembly performs a protection action according to the processing scheme.

5. A photovoltaic module fire warning method as claimed in claim 4, It is characterized in that The first integrated monitoring PTZ pod is provided with a battery assembly for supplying power to the telemetry sensing device, and the method further comprises the following steps: The UAV ground control base station obtains first power information of the battery assembly of the first integrated monitoring gimbal pod; When the first power information indicates that the power of the battery assembly is lower than a preset value, the UAV ground control base station controls a second UAV formation mounted with another integrated monitoring gimbal pod to fly to the observation point; The UAV ground control base station controls the first UAV group mounted with the first integrated monitoring gimbal pod to enter the UAV automatic charging nest, and the UAV automatic charging nest is provided with a charging component for charging the battery component.

6. A photovoltaic module fire warning method as claimed in claim 5, It is characterized in that The method further comprises the following steps: The UAV ground control base station controls the first UAV formation to mount the first integrated monitoring gimbal pod and fly from the first observation point to the second observation point.

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