Inspection device, method, drone, system and storage medium

Abstract

The present application relates to a patrol device, method, drone, system and storage medium. The patrol device is arranged on a drone, and includes: a wireless communication module for receiving error correction data sent by a Beidou positioning base station; a Beidou positioning module for receiving Beidou signal data sent by a Beidou satellite; a Qianxun location module for receiving Qianxun location data sent by a Qianxun location ground base station; a processor, respectively connected to the wireless communication module, the Beidou positioning module and the Qianxun location module, for determining the location of the drone based on the error correction data and the Beidou signal data when the patrol device is in the first mode; the processor is also used to determine the location of the drone based on the Qianxun location data when the patrol device is in the second mode; and send the location of the drone to the ground master station; the location of the drone is used to instruct the ground master station to feedback the drone patrol strategy. The use of this method can improve the safety of automatic drone patrol.

Description

Technical Field

[0001] The present application relates to the field of patrol inspection technology, and in particular to a patrol inspection device, method, drone, system and storage medium. Background Art

[0002] Transmission lines operate over a wide range and need to pass through various complex terrains such as hills, mountains, plains, mountains, and deserts. Transmission lines are also affected by natural factors such as wind and snow, lightning, strong winds, bird damage, and human factors during operation. During the operation of transmission lines, problems such as tower tilt, wire sagging, and insulator damage may occur, resulting in short circuits in transmission lines. In severe cases, fires may occur in the lines, affecting normal power supply. Therefore, in order to ensure the safe and orderly operation of transmission lines, it is necessary to patrol the lines regularly or irregularly to prevent line failures. Traditional manual patrol methods are costly and cannot achieve large-scale patrols. The use of drones in the inspection of power lines can break the limitations of traditional manual patrols affected by the terrain environment, improve the efficiency and quality of line inspections, and reduce the workload of patrol personnel.

[0003] However, current drone inspection methods or traditional methods have problems such as low safety of automatic inspection. Summary of the invention

[0004] Based on this, it is necessary to provide an inspection device, method, drone, system and storage medium that can improve the safety of automatic inspection in response to the above-mentioned technical problems.

[0005] In a first aspect, the present application provides a patrol inspection device. The patrol inspection device is arranged on a drone; the patrol inspection device comprises:

[0006] A wireless communication module, which is used to receive error correction data sent by a Beidou positioning base station;

[0007] Beidou positioning module, Beidou positioning module is used to receive Beidou signal data sent by Beidou satellite;

[0008] Qianxun location module, which is used to receive Qianxun location data sent by Qianxun location ground base station;

[0009] The processor is respectively connected to the wireless communication module, the Beidou positioning module and the Qianxun location module, and is used to determine the position of the UAV based on the error correction data and the Beidou signal data when the inspection device is in the first mode; the processor is also used to determine the position of the UAV based on the Qianxun location data when the inspection device is in the second mode; and is used to send the position of the UAV to the ground master station through the wireless communication module; the position of the UAV is used to instruct the ground master station to feedback the UAV inspection strategy.

[0010] In one embodiment, the error correction data includes differential signal data between the observed coordinate value of the Beidou positioning base station and the precise coordinate value of the Beidou positioning base station.

[0011] In one embodiment, the position of the drone includes the observed coordinate values ​​of the drone.

[0012] In one embodiment, the wireless communication module is a chip supporting a single-mode wireless communication protocol or a chip supporting a multi-mode wireless communication protocol; the processor is configured to carry an embedded operating system with a carrier phase differential RTK positioning program.

[0013] In a second aspect, the present application provides a patrol inspection method. The method is applied to a processor in the above-mentioned patrol inspection device; the method comprises:

[0014] When the inspection device is in the first mode, determining the position of the UAV based on the error correction data and the Beidou signal data;

[0015] When the inspection device is in the second mode, the position of the drone is determined based on the Qianxun position data;

[0016] The position of the UAV is sent to the ground master station; the position of the UAV is used to instruct the ground master station to feedback the UAV inspection strategy.

[0017] In a third aspect, the present application provides a drone. The drone includes the above-mentioned inspection device; the drone also includes an optoelectronic pod and a gimbal; the optoelectronic pod is connected to the gimbal and a processor to obtain drone inspection data.

[0018] In a fourth aspect, the present application provides an inspection system. The system includes the above-mentioned drone; the system also includes a ground master station; the ground master station is configured with:

[0019] The inspection control device is connected to the inspection device and is used to receive the position of the UAV and provide feedback on the inspection strategy of the UAV.

[0020] In one of the embodiments, the patrol control device is used to monitor the data transmission status between the wireless communication module and the Beidou positioning base station, and output corresponding mode instructions according to the data transmission status to instruct the patrol device to enter the first mode or the second mode.

[0021] In one of the embodiments, when the data transmission state is normal, the inspection control device outputs a mode instruction for instructing the inspection device to enter the first mode;

[0022] When the data transmission state is abnormal, the inspection control device outputs a mode instruction for instructing the inspection device to enter the second mode.

[0023] In a fifth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the above method when executed by a processor.

[0024] The above inspection device, method, drone, system and storage medium can realize drone positioning in the first mode through the wireless communication module and the Beidou positioning module, ensuring the positioning accuracy of the inspection drone; and can realize drone positioning in the second mode through the Qianxun positioning module. By combining Beidou positioning and Qianxun positioning, it is ensured that the drone can be positioned in real time even under harsh working conditions, improving the safety of drone inspections and ensuring the continuation of normal automatic inspection operations. By feeding back the drone inspection strategy through the ground master station, the ground constraints of the remote control are eliminated, greatly expanding the inspection operation radius of the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a structural block diagram of an inspection device in an embodiment;

[0026] Figure 2 1 is a flow chart of an inspection method in an embodiment;

[0027] Figure 3 FIG. 4 is a structural block diagram of an automatic inspection device in an embodiment. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0029] It should be noted that drone inspection is a new inspection method that uses visible light infrared thermal imagers, remote sensing equipment, digital cameras and other equipment inside drones to conduct inspections on power transmission lines. The drone inspection system consists of a drone subsystem, an integrated support system and a mission-carrying system. The drone subsystem consists of a drone pilot aircraft, a ground station and a communication system. Its main function is to issue remote control flight missions to drones to complete inspection requirements. The mission-carrying system collects, records and detects data information on power transmission lines along the line according to the purpose of the drone inspection. It is mainly composed of an optoelectronic pod, a gimbal, a ground control device, etc. The integrated support system is equivalent to a workstation of the drone system, which can provide power supply, power equipment and vehicle transportation for the drone. Due to the obvious advantages of drone inspections, rapid and safe inspections of power lines can be achieved by building a drone line inspection platform.

[0030] At present, in the case of signal loss or communication module failure, the existing drone inspection device is prone to cause the drone to lose communication connection and fail to accurately locate, affecting the normal inspection operation of the drone, and even causing the drone to lose control, resulting in economic losses. At the same time, the communication between the drone and the satellite positioning base station needs to rely on a handheld remote control on the ground side, so that the inspection range of the drone is limited by the remote control, reducing the effective operating radius. Therefore, the present application provides an inspection device, method, drone, system and storage medium that can improve the safety of automatic inspection.

[0031] In one embodiment, Figure 1 As shown, a patrol inspection device 10 is provided. The patrol inspection device 10 is arranged on a drone; the patrol inspection device 10 comprises:

[0032] A wireless communication module 110, the wireless communication module 110 is used to receive error correction data sent by a Beidou positioning base station;

[0033] Specifically, the Beidou positioning base station can be a Beidou positioning reference station. The inspection device 10 includes a wireless communication module 110 for communicating with the Beidou positioning base station. The wireless communication module 110 can select a chip that supports a single-mode or multi-mode wireless communication protocol to communicate with the Beidou positioning base station. In some examples, specific communication protocols such as 3G, 4G, 5G, NB-IoT (Narrow Band Internet of Things), LoRa (Long Range Radio), etc. can be selected according to the usage scenario. By setting a wireless communication module 110 on the drone, direct communication between the drone end and the Beidou positioning base station is achieved, getting rid of the limitations of the communication link between the remote control and the drone, and expanding the effective operating radius of the drone's automatic driving inspection.

[0034] It should be noted that the traditional satellite-based method of measuring the spatial position of an object causes errors in the satellite signal received when the satellite signal reaches the signal receiver due to satellite clock errors, orbits, atmosphere, etc. In order to reduce signal errors, a Beidou signal receiver, namely a Beidou positioning base station, is set on a radio station with a known actual spatial position. The Beidou positioning base station can calculate the position of the Beidou positioning base station based on the received Beidou signal data, and compare the calculated position information with its known actual spatial position information to find the difference between the position information of the two. The Beidou positioning base station transmits the generated error correction data to the wireless communication module 110 on the drone.

[0035] Beidou positioning module 120, Beidou positioning module 120 is used to receive Beidou signal data sent by Beidou satellite;

[0036] Specifically, since the satellite errors received by the Beidou positioning base station are dynamic data that are constantly changing, the Beidou positioning base station records these error data in real time to ensure that the wireless communication module 110 of the inspection device 10 can obtain the error correction data sent by the Beidou positioning base station in real time. Further, when the unmanned aerial vehicle is conducting an inspection, the Beidou signal data sent by the Beidou satellite is received through the Beidou positioning module 120, and the Beidou signal data may include the real-time position data of the unmanned aerial vehicle relative to the Beidou positioning base station obtained based on the Beidou satellite. In some examples, the real-time position data of the unmanned aerial vehicle relative to the Beidou positioning base station obtained based on the Beidou satellite may be the Beidou positioning observation coordinate value of the unmanned aerial vehicle. By setting the Beidou positioning module 120 on the unmanned aerial vehicle, the real-time position of the unmanned aerial vehicle relative to the Beidou positioning base station can be obtained, so as to facilitate the subsequent combination of the error correction data of the Beidou positioning base station and calibrate the Beidou signal data obtained by the Beidou positioning module 120.

[0037] Qianxun location module 130, Qianxun location module 130 is used to receive Qianxun location data sent by Qianxun location ground base station;

[0038] Specifically, the Qianxun location module 130 can be a positioning module provided by Qianxun Location. It should be noted that the original accuracy of Beidou navigation is 10 meters error. After the adjustment of more than 2,800 ground base stations of Qianxun Location as the reference coordinate system, the error of the information sent by the satellite is modified to make the positioning more accurate, and the centimeter-level precise positioning is achieved by cooperating with the satellite.

[0039] Processor 140, processor 140 is respectively connected to wireless communication module 110, Beidou positioning module 120 and Qianxun location module 130, and is used to determine the position of the UAV based on error correction data and Beidou signal data when the inspection device 10 is in the first mode; processor 140 is also used to determine the position of the UAV based on Qianxun location data when the inspection device 10 is in the second mode; and is used to send the position of the UAV to the ground master station through the wireless communication module 110; the position of the UAV is used to instruct the ground master station to feedback the UAV inspection strategy.

[0040] Specifically, the processor 140 can provide computing and control capabilities. The processor 140 collects the real-time position data of the drone relative to the positioning base station, and combines the correction data of the positioning base station and the real-time position data of the drone relative to the positioning base station to obtain the real-time spatial position data of the drone, that is, the processor 140 processes the Beidou signal data based on the error correction data to calibrate the Beidou signal data obtained by the Beidou positioning module 120 to determine the position of the drone. The processor 140 receives the error correction data from the Beidou positioning base station through the wireless communication module 110 data link, and at the same time collects the Beidou signal data of the Beidou satellite received by the Beidou positioning module 120, performs real-time data calculation and processing, and can quickly determine the position of the drone; the position of the drone is a centimeter-level positioning result.

[0041] Furthermore, the processor 140 adopts dual-mode positioning of the first mode and the second mode. Specifically, the first mode adopts the wireless communication module 110 and the Beidou positioning module 120 to achieve UAV positioning, that is, the RTK (Real Time Kinematic, real-time dynamic measurement) operation mode; the second mode adopts the Qianxun positioning module 130 to achieve UAV positioning.

[0042] Furthermore, the drone inspection strategy fed back by the ground master station may include power line inspection tasks; it should be noted that after the drone receives the power line inspection task from the ground master station, the drone performs the power line inspection task, collects drone inspection data in the designated area, and feeds the drone inspection data back to the ground master station; the data center of the ground master station collects and organizes these drone inspection data in order to make further instructions.

[0043] In some examples, drones can be regarded as nodes in a flying self-organizing network, and drones will also communicate within the group to perform path planning, task communication, etc. The information exchange between drones and ground master stations and drones constitutes a complex network topology. In RTK operation mode, the processor 140 can determine the three-dimensional positioning results of the drone in the specified coordinate system in real time and achieve centimeter-level accuracy. The inspection device 10 integrates the Beidou positioning module 120 and the Qianxun location module 130 to achieve dual-mode collaboration and further improve the safety of the drone. The drone can use the above-mentioned airborne inspection device 10 to perform power inspections, or it can use airborne as the main and remote control as the auxiliary to perform power inspections.

[0044] The embodiment of the present application can realize the positioning of the UAV in the first mode through the wireless communication module 110 and the Beidou positioning module 120, ensuring the positioning accuracy of the inspection UAV; the positioning of the UAV in the second mode can be realized through the Qianxun positioning module 130. By combining Beidou positioning and Qianxun positioning, it is ensured that the UAV can also be positioned in real time under harsh working conditions, improving the safety of UAV inspections and ensuring the continuation of normal automatic inspection operations. By feeding back the UAV inspection strategy through the ground master station, the ground constraints of the remote control are eliminated, greatly expanding the inspection operation radius of the UAV.

[0045] In one embodiment, the error correction data includes differential signal data between the observed coordinate value of the Beidou positioning base station and the precise coordinate value of the Beidou positioning base station.

[0046] Specifically, the Beidou positioning base station can calculate the position of the Beidou positioning base station according to the received Beidou signal data, and compare the calculated position information (for example, the observed coordinate value of the Beidou positioning base station) with its known actual spatial position information (for example, the precise coordinate value of the Beidou positioning base station), find out the difference between the position information of the two, and obtain error correction data; the processor 140 receives the differential signal data from the Beidou positioning base station through the wireless communication module 110 data link,

[0047] In some examples, in the RTK operation mode, the Beidou positioning base station collects error correction data to transmit the observed coordinate values ​​of the Beidou positioning base station and the precise coordinate values ​​of the Beidou positioning base station to the drone through the data link, and the drone's processor 140 can perform real-time carrier phase differential processing (in less than one second) on the collected Beidou signal data and the error correction data received in the data link to obtain centimeter-level positioning results.

[0048] In one embodiment, the position of the drone includes the observed coordinate values ​​of the drone.

[0049] Specifically, the observed coordinate value of the drone can be obtained based on the error correction data and Beidou signal data in the first mode; the observed coordinate value of the drone can also be obtained based on the Qianxun location data in the second mode.

[0050] In some examples, the processor 140 sends the observed coordinate values ​​of the drone to the ground master station through the wireless communication module 110; the observed coordinate values ​​of the drone are used to instruct the ground master station to feedback the drone inspection strategy.

[0051] In one embodiment, the wireless communication module 110 is a chip supporting a single-mode wireless communication protocol or a chip supporting a multi-mode wireless communication protocol; the processor 140 is configured to carry an embedded operating system with a carrier phase differential RTK positioning program.

[0052] Specifically, the wireless communication module 110 can select an XBee radio of a Digi communication chip; the processor 140 can be a chip equipped with a Nuttx embedded operating system, such as an MCU (Microcontroller Unit, MCU), and the RTK positioning program is integrated into the Nuttx embedded operating system.

[0053] In some examples, through configuration and programming, a pair of radio stations can complete data transmission between MCU and PC (Personal Computer), MCU and MCU, MCU and receiver, and the distance range can reach up to 45Km. The processor 140 can be selected as an STM32 chip (for example, an STM32F767IGT6 chip, using the Cortex-M7 in the ARM Cortex-M series as the core, with a main frequency of 216MHz, 512K memory and 1024K FLASH, system interface configuration, providing multiple USART interfaces and TIM timers).

[0054] In some examples, the inspection device further includes a storage module and a battery both connected to the processor 140. The storage module may include a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The storage module provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium.

[0055] In one embodiment, Figure 2 As shown, a patrol inspection method is provided. The method is applied to the processor 140 in the above-mentioned patrol inspection device 10; the method includes:

[0056] Step 210, when the inspection device 10 is in the first mode, determining the position of the UAV based on the error correction data and the Beidou signal data;

[0057] Step 220, when the inspection device 10 is in the second mode, determining the position of the drone based on the Qianxun position data;

[0058] Step 230, the position of the UAV is sent to the ground master station; the position of the UAV is used to instruct the ground master station to feedback the UAV inspection strategy.

[0059] Specifically, when the inspection device 10 is in the first mode, i.e., the RTK operation mode, based on the real-time position data of the UAV relative to the positioning base station, the correction data of the positioning base station and the real-time position data of the UAV relative to the positioning base station are combined to obtain the real-time spatial position data of the UAV, i.e., the Beidou signal data is processed based on the error correction data to calibrate the Beidou signal data and determine the position of the UAV. Real-time data calculation and processing of the error correction data and the Beidou signal data can quickly determine the position of the UAV; the position of the UAV is a centimeter-level positioning result. When the inspection device 10 is in the second mode, the position of the UAV is determined based on the Qianxun position data. The safety of the UAV can be further improved through the dual-mode collaboration of the first mode and the second mode.

[0060] In some examples, the position of the drone includes the observed coordinate value of the drone, which can be obtained based on the error correction data and Beidou signal data in the first mode, or based on the Qianxun position data in the second mode. The observed coordinate value of the drone is sent to the ground master station to instruct the ground master station to feedback the drone inspection strategy.

[0061] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0062] Based on the same inventive concept, the embodiment of the present application also provides an automatic inspection device for implementing the inspection method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more automatic inspection device embodiments provided below can refer to the limitations on the inspection method above, and will not be repeated here.

[0063] In one embodiment, Figure 3 As shown, an automatic inspection device is provided, including: a first positioning module 310, a second positioning module 320 and a position sending module 330, wherein:

[0064] A first positioning module 310, for determining the position of the UAV based on the error correction data and the Beidou signal data when the inspection device 10 is in the first mode;

[0065] The second positioning module 320 is used to determine the position of the drone based on the Qianxun position data when the inspection device 10 is in the second mode;

[0066] The position sending module 330 is used to send the position of the UAV to the ground master station; the position of the UAV is used to instruct the ground master station to feedback the UAV inspection strategy.

[0067] Each module in the above-mentioned automatic inspection device can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above-mentioned modules can be embedded in or independent of the processor 140 in the inspection device in the form of hardware, or can be stored in the memory in the inspection device in the form of software, so that the processor 140 can call and execute the operations corresponding to each of the above modules.

[0068] In one embodiment, a drone is provided, wherein the drone comprises the above-mentioned inspection device 10, and the drone further comprises an optoelectronic pod and a gimbal, wherein the optoelectronic pod is connected to the gimbal and a processor 140, and is used to obtain the inspection data of the drone.

[0069] In one embodiment, a patrol inspection system is provided. The system includes the above-mentioned drone; the system also includes a ground master station; the ground master station is configured with:

[0070] The inspection control device is connected to the inspection device 10 and is used to receive the position of the drone and provide feedback on the drone inspection strategy.

[0071] Specifically, the inspection device 10 sends the obtained position of the UAV (for example, the observation coordinate value of the UAV) to the inspection control device of the ground master station. After the ground master station determines the UAV inspection strategy, it feeds back the UAV inspection strategy through the inspection control device to control the inspection operation of the UAV.

[0072] In some examples, the inspection control device can send the coordinate information of the target inspection route (for example, the coordinates of the power pole tower) to the inspection device 10 by feeding back the drone inspection strategy, so as to control the drone to inspect the power line along the target inspection route.

[0073] In one embodiment, the inspection control device is used to monitor the data transmission status between the wireless communication module 110 and the Beidou positioning base station, and output a corresponding mode instruction according to the data transmission status to instruct the inspection device 10 to enter the first mode or the second mode.

[0074] In one of the embodiments, when the data transmission state is normal, the inspection control device outputs a mode instruction for instructing the inspection device 10 to enter the first mode;

[0075] When the data transmission state is abnormal, the inspection control device outputs a mode instruction for instructing the inspection device 10 to enter the second mode.

[0076] Specifically, during the drone inspection process, the first mode is preferentially used for drone positioning. The ground master station monitors the communication status between the inspection device 10 and the Beidou positioning base station in real time. When the error correction data sent by the Beidou positioning base station is missing (i.e., there is no data transmission between the inspection device 10 and the Beidou positioning base station), it is determined that the inspection device 10 has lost communication with the Beidou positioning base station. Thus, the ground master station remotely controls the inspection device 10 to switch to the second mode, and uses the Qianxun location module 130 for inspection positioning, thereby ensuring the safety of the drone's automatic driving inspection.

[0077] In some examples, if the inspection control device monitors the data transmission between the wireless communication module 110 and the Beidou positioning base station within a preset time, the data transmission status is judged to be normal; if the inspection control device does not monitor the data transmission between the wireless communication module 110 and the Beidou positioning base station within the preset time, the data transmission status is judged to be abnormal.

[0078] In one embodiment, a computer-readable storage medium is provided, wherein a computer program is stored thereon, and when the computer program is executed by the processor 140, the steps of the above method are implemented.

[0079] In one embodiment, a computer program product is provided. The computer program product includes a computer program, and when the computer program is executed by the processor 140, the steps of the above method are implemented.

[0080] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited thereto. The processor 140 involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited thereto.

[0081] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0082] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A patrol inspection device, characterized in that: The inspection device is arranged on the drone; The inspection device comprises: A wireless communication module, wherein the wireless communication module is used to receive error correction data sent by a Beidou positioning base station; A Beidou positioning module, wherein the Beidou positioning module is used to receive Beidou signal data sent by Beidou satellites; A Qianxun location module, the Qianxun location module is used to receive Qianxun location data sent by the Qianxun location ground base station; A processor, the processor is respectively connected to the wireless communication module, the Beidou positioning module and the Qianxun location module, and is used to determine the position of the UAV based on the error correction data and the Beidou signal data when the inspection device is in the first mode; the processor is also used to determine the position of the UAV based on the Qianxun location data when the inspection device is in the second mode; and is used to send the position of the UAV to a ground master station through the wireless communication module; the position of the UAV is used to instruct the ground master station to feedback the UAV inspection strategy; Among them, during the drone inspection process, the first mode is preferentially used for drone positioning; when there is no data transmission between the inspection device and the Beidou positioning base station, in response to the ground master station remotely controlling the inspection device to switch to the second mode, the Qianxun positioning module is used for inspection positioning.

2. The inspection device according to claim 1, characterized in that: The error correction data includes differential signal data between the observed coordinate value of the Beidou positioning base station and the precise coordinate value of the Beidou positioning base station.

3. The inspection device according to claim 1, characterized in that: The position of the drone includes the observed coordinate value of the drone.

4. The inspection device according to any one of claims 1 to 3, characterized in that: The wireless communication module is a chip supporting a single-mode wireless communication protocol or a chip supporting a multi-mode wireless communication protocol; the processor is configured to carry an embedded operating system with a carrier phase differential RTK positioning program.

5. A patrol inspection method, characterized in that: The method is applied to a processor in a patrol inspection device according to any one of claims 1 to 4; the method comprises: When the inspection device is in the first mode, determining the position of the UAV based on the error correction data and the Beidou signal data; When the inspection device is in the second mode, determining the position of the drone based on the Qianxun position data; The position of the UAV is sent to a ground master station; the position of the UAV is used to instruct the ground master station to feedback the UAV inspection strategy.

6. A drone, characterized in that: The drone comprises the inspection device according to any one of claims 1 to 4; the drone further comprises an optoelectronic pod and a gimbal; the optoelectronic pod is connected to the gimbal and the processor for acquiring drone inspection data.

7. A patrol inspection system, characterized in that: The system comprises the drone of claim 6; the system further comprises a ground master station; the ground master station is configured with: A patrol control device, wherein the patrol control device is connected to the patrol device and is used to receive the position of the drone and provide feedback on the drone patrol strategy.

8. The inspection system according to claim 7, characterized in that: The inspection control device is used to monitor the data transmission status between the wireless communication module and the Beidou positioning base station, and output a corresponding mode instruction according to the data transmission status to instruct the inspection device to enter the first mode or the second mode.

9. The inspection system according to claim 8, characterized in that: When the data transmission state is normal, the inspection control device outputs a mode instruction for instructing the inspection device to enter the first mode; When the data transmission state is abnormal, the patrol control device outputs a mode instruction for instructing the patrol device to enter the second mode.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to claim 5 are implemented.

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