An intelligent driving transmission system for drone inspection data

Abstract

The present invention provides an intelligent driven transmission system for inspection data of unmanned aerial vehicles, including a main server, several unmanned aerial vehicles, a transmission module, an interaction module, and a receiving module. The transmission module is used to transmit the inspection data on the unmanned aerial vehicle to the receiving module on the ground to realize the real-time feedback of the inspection data; the interaction module is used to interact between the grouped unmanned aerial vehicles to realize the interactive sharing of inspection tasks and inspection data; the receiving module is used to cooperate with the inspection data of the transmission module to receive and improve the intelligent transmission of inspection data. The present invention enables data sharing between two or more unmanned aerial vehicles through the interaction module, so as to concentrate the inspection data on multiple unmanned aerial vehicles on a certain unmanned aerial vehicle, so as to release the waiting time for the transmission of inspection data by other unmanned aerial vehicles, so that the unmanned aerial vehicles can continue the inspection and improve the inspection efficiency of the unmanned aerial vehicles.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle inspection data transmission, and in particular to an unmanned aerial vehicle inspection data intelligent drive transmission system. Background Art

[0002] A drone is an unmanned aerial vehicle that is controlled by a radio remote control device and a self-contained program control device. It has been widely used in industries such as urban management, agriculture, geology, meteorology, electricity, disaster relief, and video shooting.

[0003] For example, CN112770272B discloses a prior art. Currently, the data transmission of drones on the market generally relies on wireless communication between the remote controller and the drone image transmission, and the data transmission relies on the data copy of the SD card carried by the drone. Therefore, the current drones have the problem that the flight control information and the gimbal camera information cannot be connected to the Internet, and the drone cannot interact with multiple platforms.

[0004] Another typical prior art disclosed in CN110769364B is a UAV flight data and image transmission device and system. Since the flight trajectory of the UAV is untraceable, the signal transmission direction of the UAV is fixed in terms of the connection signal with the ground. Therefore, the controllable range of the UAV is small, resulting in that the flight data and images collected by the UAV cannot be completely sent to the ground remote control after a certain range.

[0005] The present invention is made to solve the common problems in the field, such as easy signal interference, slow data transmission, inability to perform multi-machine interaction and high data return delay. Summary of the invention

[0006] The purpose of the present invention is to propose an intelligent driving transmission system for UAV inspection data in response to the existing deficiencies.

[0007] The present invention adopts the following technical solution:

[0008] An intelligent driving transmission system for drone inspection data includes a main server, several drones, a transmission module, an interaction module, and a receiving module.

[0009] The transmission module is used to transmit the inspection data on the drone to the receiving module on the ground to realize the real-time feedback of the inspection data;

[0010] The interaction module is used to interact between the grouped drones to achieve interactive sharing of inspection tasks and inspection data;

[0011] The receiving module is used to cooperate with the transmission module to receive the inspection data, thereby improving the intelligent transmission of the inspection data;

[0012] The transmission module includes a transmission unit and a path planning unit, wherein the transmission unit is used to transmit the inspection data to the receiving module; the path planning unit is used to plan the moving path of the drone to cooperate with the transmission unit to transmit the inspection data;

[0013] The transmission unit is arranged on the UAV; wherein the transmission unit comprises a transmission fluctuation monitor and a signal detector, wherein the transmission fluctuation monitor is used to monitor the fluctuation of the link during the transmission process; and the signal detector is used to detect the signal strength between the UAV and the transmission module;

[0014] The signal detector obtains the signal strength between the receiving module and the drone for detection; obtains the current position (x, y, z) of the drone, and the transmission distance of the transmission link is:

[0015]

[0016] In the formula, (x i ,y i , z i ) is the coordinate of the receiving module,

[0017] The signal strength index Signal between the drone and the receiving module is determined according to the transmission distance, wherein the signal strength index Signal is calculated according to the following formula:

[0018] Signal=P·|d connet | -τ

[0019] Where P is the transmission power of the signal on the UAV; τ is the influence coefficient of the environment near the UAV, and its value is related to the density of the surrounding environment and the flight altitude of the UAV:

[0020] The fluctuation detector is used to detect the fluctuation amplitude of the transmission link to obtain the fluctuation data when the UAV transmits to the receiving module;

[0021] The fluctuation detector measures the node fluctuation index value Fluctuations of each transmission link of the transmission unit during the transmission of the inspection data of the drone. i Polling is performed to verify the fluctuation of each transmission link; wherein the fluctuation detector calculates the node fluctuation index value Fluctuations according to the following formula i Perform the calculation:

[0022]

[0023] Where Pi is the fluctuation detection value of node i; G i The fluctuation adjustment base value is related to the average transmission load in the inspection data transmission queue and satisfies:

[0024]

[0025] Among them, Q i is the transmission queue of the inspection data; i is the load data value each time the inspection data is transmitted; t is the number of polling times in a cycle; T is the cycle;

[0026] When the UAV sends the inspection data to the receiving module, if the data transmission conditions are met at the same time, it triggers the sending of the inspection data to the receiving module;

[0027] The data transmission conditions include:

[0028] 1) Fluctuations i <Monitoring threshold;

[0029] 2) The signal strength index Signal>signal theoretical threshold.

[0030] Optionally, the path planning unit includes a geographic database and a path guiding component, the geographic database is used to store geographic data of inspection locations to form an environmental inspection route; the path guiding component guides the drone according to the inspection location and inspection direction of the environmental inspection route.

[0031] Optionally, the interaction module includes an interaction unit and an identity verification unit, wherein the identity verification unit verifies the identity of the drone; the interaction unit triggers interaction with other drones according to the verification result of the identity verification unit to realize relay transmission of inspection data;

[0032] The identity verification unit includes a request detector and a pass verification code. The request detector is used to verify the identification code of the drone and grant the pass verification code after the verification is passed.

[0033] Optionally, the receiving module includes a receiving unit and a signal transmitting unit, the signal transmitting unit sends a connection signal to the drone to establish a data transmission link with the drone; the receiving unit receives the inspection data sent by the drone according to the established data transmission link; wherein the signal transmitting unit is electrically connected to the receiving unit;

[0034] The receiving unit includes a receiver, a memory and a plurality of sub-servers, and the plurality of sub-servers are used to transmit the inspection data received by the receiver to the server to realize real-time transmission of the inspection data;

[0035] The receiver receives the inspection data sent by the transmission module to the receiver; and the memory is used to cooperate with the receiver to store the inspection data.

[0036] Optionally, the interaction unit includes an interactor, a relay buffer, and two antennas, the two antennas are used to receive and send signals respectively; the interactor is used to interact with other neighboring drones; the relay buffer is used to buffer the inspection data when the drone interacts, so as to concentrate the data recorded in the drone, and after meeting the data transmission conditions, centrally transmit it back to the receiving module on the ground.

[0037] Optionally, the signal transmitting unit comprises a connecting seat, a fuselage body and a supporting leg, wherein the connecting seat is used to connect the fuselage body with the supporting leg; the supporting leg is used to support the fuselage body and the connecting seat so as to be used in different terrains; wherein the fuselage body and the supporting leg are detachably connected;

[0038] A signal transmitter is provided in the fuselage body and is connected with the UAV for communication signals so as to cooperate with the receiving unit to receive the inspection data of the UAV.

[0039] Optionally, during the process of guiding the UAV, the path guidance component receives the guidance range of the real-time moving path and flight path of the UAV to determine the guidance azimuth and elevation of the UAV, and compares them with the environmental inspection route to determine the current deviation of the UAV.

[0040] The beneficial effects achieved by the present invention are:

[0041] 1. Through the interactive module, two or more drones can share data back to concentrate the inspection data on multiple drones on one drone, so as to release the waiting time for other drones to transmit inspection data back, so that drones can continue to inspect and improve the inspection efficiency of drones;

[0042] 2. By determining the signal strength index and fluctuation index, the drone can adaptively move to the receiving area according to different situations, and transmit the collected inspection data to the receiving module on the ground, which improves the convenience and intelligence of the entire inspection data return and also promotes the timely return of inspection data;

[0043] 3. The receiving unit and the signal transmitting unit cooperate with each other so that the inspection data on the drone can be transmitted back, so that the inspection data can be fed back to the central control center in a timely manner;

[0044] 4. The interactive module is set on the drone to interact with adjacent drones, so as to achieve collaborative interaction between drones and improve the inspection coordination and inspection collaboration of the drone formation;

[0045] 5. The feedback module is used to determine the priority of the drone’s task completion status and status data, and select the drone with the lowest status priority to perform the relay task, so as to transmit the inspection data back to the receiving module, thereby increasing the efficiency of the inspection data transmission and taking into account the efficient inspection of the drone, thereby improving the intelligent driving capability of the entire system.

[0046] To further understand the features and technical contents of the present invention, please refer to the following detailed description and drawings of the present invention. However, the drawings provided are only for reference and description and are not intended to limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The present invention can be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily drawn to scale, but the emphasis is placed on illustrating the principles of the embodiments. In different views, the same reference numerals designate corresponding parts.

[0048] Figure 1 It is an overall block diagram of the present invention.

[0049] Figure 2 It is a control flow diagram of the receiving module of the present invention.

[0050] Figure 3 It is a schematic diagram of the application scenario of the UAV formation and the receiving module of the present invention.

[0051] Figure 4 It is a schematic structural diagram of the UAV of the present invention.

[0052] Figure 5 It is a structural schematic diagram of the receiving unit of the present invention.

[0053] Description of the accompanying figures: 1-UAV; 2-flight control unit; 3-collection unit; 4-support leg; 5-receiving unit. DETAILED DESCRIPTION

[0054] The following is an explanation of the embodiments of the present invention through specific embodiments. Those skilled in the art can understand the advantages and effects of the present invention from the contents disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and the details in this specification can also be modified and changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. In addition, the drawings of the present invention are only simple schematic illustrations and are not depicted according to actual sizes. It is stated in advance. The following embodiments will further explain the relevant technical contents of the present invention in detail, but the disclosed contents are not intended to limit the scope of protection of the present invention.

[0055] Embodiment 1.

[0056] according to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 This embodiment provides a drone inspection data intelligent drive transmission system, including a main server, a plurality of drones, a transmission module, an interaction module, and a receiving module.

[0057] The main server is connected to the transmission module, the interaction module and the receiving module respectively, and transmits their data to the server for storage;

[0058] The transmission module is used to transmit the inspection data on the drone to the receiving module on the ground to realize the real-time feedback of the inspection data;

[0059] The interaction module is used to interact between the grouped drones to achieve interactive sharing of inspection tasks and inspection data;

[0060] The receiving module is used to cooperate with the inspection data of the transmission module to receive and improve the intelligent transmission of the inspection data; wherein, the receiving module is arranged at the starting end or the end end of the inspection route or the inspection position to collect the inspection data collected by each drone;

[0061] The drive transmission system further includes a processor, which is respectively connected to the transmission module, the interaction module, and the receiving module, and centrally controls the transmission module, the interaction module, and the receiving module based on the processor to improve the efficiency of data transmission;

[0062] Among them, through the cooperation between the transmission module and the receiving module, the inspection data of the drone can be intelligently sent to the receiving module on the ground, so that the data can be returned in time;

[0063] Through the interaction module and the transmission module, data interaction, data sharing or relaying can be performed between the multiple drones, thereby improving the efficiency of inspection data return. At the same time, the interaction module can be used to share data between two or more drones, so that the inspection data on multiple drones can be concentrated on a certain drone, thereby releasing the waiting time for other drones to transmit the inspection data, so that the drones can continue to inspect, thereby improving the inspection efficiency of the drones.

[0064] The transmission module includes a transmission unit and a path planning unit, wherein the transmission unit is used to transmit the inspection data to the receiving module; the path planning unit is used to plan the moving path of the drone to cooperate with the transmission unit to transmit the inspection data;

[0065] In this embodiment, the path planning unit generates an inspection route by calling the data stored on the server and the inspection position set by the operator, and transmits the inspection route to the drone, so that the drone performs inspections according to the inspection points on the inspection route;

[0066] Optionally, the path planning unit includes a geographic database and a path guiding component, the geographic database is used to store geographic data of inspection positions to form an environmental inspection route; the path guiding component guides the drone according to the inspection position and inspection direction of the environmental inspection route;

[0067] Optionally, during the process of guiding the UAV, the path guiding component receives the guidance range of the real-time moving path and flight path of the UAV to determine the guidance azimuth and elevation of the UAV, and compares them with the environmental inspection route to determine the current deviation of the UAV; if there is a position deviation, the UAV is returned to a normal inspection track by adjusting the flight posture and flight angle of the UAV; in this embodiment, the path guiding component includes a radar, which is used to guide the UAV so that the UAV can be accurately guided to improve the inspection efficiency of the UAV; wherein, how to guide the UAV by radar is a technical means well known to technicians in this field, and technicians in this field can consult relevant technical manuals to learn about the technology, so it will not be described one by one in this embodiment.

[0068] The path planning unit is arranged in the control center, and the inspection route is sent to the drone through the server or the communicator; at the same time, the inspection route can be set according to the actual needs of the operator, and the actual needs include inspection points of key concern, positions that are prone to errors and omissions, etc. The specific inspection points are not described one by one in this embodiment;

[0069] It is particularly noted that the drone includes a microprocessor, a flight control unit and a collection unit, the collection unit is used to collect image or video data of the inspection position to form inspection data; the flight control unit provides lift for the drone to fly, so that the drone can fly according to the inspection route to cooperate with the collection unit to collect image or video data of the inspection point; the microprocessor is connected to the flight control unit and the collection unit respectively;

[0070] The transmission unit is arranged on the UAV; wherein the transmission unit comprises a transmission fluctuation monitor and a signal detector, wherein the transmission fluctuation monitor is used to monitor the fluctuation of the link during the transmission process; and the signal detector is used to detect the signal strength between the UAV and the transmission module;

[0071] The signal detector obtains the signal strength between the receiving module and the drone for detection; obtains the current position (x, y, z) of the drone, and the transmission distance of the transmission link is:

[0072]

[0073] In the formula, (x i ,y i , z i ) is the coordinate of the receiving module,

[0074] The signal strength index Signal between the drone and the receiving module is determined according to the transmission distance, wherein the signal strength index Signal is calculated according to the following formula:

[0075] Signal=P·|d connet | -τ

[0076] Where P is the transmission power of the signal on the UAV; τ is the influence coefficient of the environment near the UAV, and its value is related to the density of the surrounding environment and the flight altitude of the UAV, satisfying:

[0077]

[0078] Wherein, b0 is the basic value of environmental impact, and its value is related to the inspection environment; according to the empirical method, the value of b0 includes the following cases: if the inspection environment is suburban, then b0 = 0.43; if the inspection environment is urban, then b0 = 0.16; if the inspection environment is densely populated urban, then b0 = 0.11; if the inspection environment is high-rise building urban, then b0 = 0.08; θ is the communication angle of the UAV, which is related to the angle at which the UAV hovers for communication. Its value can be set manually, but after setting, the hovering posture of the UAV needs to be controlled by the microprocessor to maintain the posture of the UAV during communication; h is the flight altitude of the UAV; d0 is the maximum effective distance of signal transmission;

[0079] The fluctuation detector is used to detect the fluctuation amplitude of the transmission link to obtain the fluctuation data when the UAV transmits to the receiving module;

[0080] The fluctuation detector measures the node fluctuation index value Fluctuations of each transmission link of the transmission unit during the transmission of the inspection data of the drone. i Polling is performed to verify the fluctuation of each transmission link; wherein the fluctuation detector calculates the node fluctuation index value Fluctuations according to the following formula i Perform the calculation:

[0081]

[0082] Where P i is the fluctuation detection value of node i, and its value is determined according to the transmission efficiency per unit time; G i The fluctuation adjustment base value is related to the average transmission load in the inspection data transmission queue and satisfies:

[0083]

[0084] Among them, Q i is the transmission queue of the inspection data; i is the load data value each time the inspection data is transmitted; t is the number of polling times in a cycle; T is the cycle;

[0085] When the UAV sends the inspection data to the receiving module, if the data transmission conditions are met at the same time, it triggers the sending of the inspection data to the receiving module, wherein the data transmission conditions include:

[0086] 1) Fluctuations i <Monitoring threshold;

[0087] 2) the signal strength index Signal>signal theoretical threshold;

[0088] In this embodiment, when the drone transmits the collected inspection data to the receiving module, the drone is moved to the set receiving area China, and an evaluation is performed based on the signal strength index between the drone and the receiving module and the fluctuation index value during the transmission process. If both conditions are met, the efficient transmission of the inspection data on the drone is triggered, which improves the transmission efficiency and further shortens the transmission waiting time.

[0089] In addition, by determining the signal strength index and the fluctuation index, the drone can adaptively move to the receiving area according to different situations, and transmit the collected inspection data to the receiving module on the ground, thereby improving the convenience and intelligence of the entire inspection data return and facilitating the timely return of the inspection data;

[0090] Optionally, the interaction module is provided on the drone to interact with adjacent drones, so as to realize collaborative interaction between the drones and enhance the inspection coordination and inspection collaboration of the drone formation; wherein the interaction module includes an interaction unit and an identity verification unit, and the identity verification unit verifies the identity of the drone; the interaction unit triggers interaction with other drones according to the verification result of the identity verification unit, so as to realize the relay transmission of the inspection data;

[0091] The identity verification unit includes a request detector and a pass verification code, wherein the request detector is used to verify the identification code of the drone and grant the pass verification code after the verification is passed;

[0092] In this embodiment, the verification code will become invalid after use to ensure that the pass verification code has one-time validity; the identity verification unit also includes a verification code management terminal, which is used to generate a pass verification code:

[0093] The verification code management terminal generates the pass verification code by the following formula:

[0094]

[0095] Wherein, Pass(w) represents the value corresponding to the wth character of the previous identification code, and Pass'(w) represents the value corresponding to the wth character of the identification code of the accessed terminal device; τ is a random code, and its value is related to the failure rate of the pass verification code; n is the number of times the pass code is generated; in this embodiment, the drone identification code is 20 bits;

[0096] Before issuing a new pass verification code, the verification code management terminal needs to ensure that the pass verification code of the old drone and the pass verification code of the new drone are not consistent, so that the pass verification code has one-time validity; if there is a same pass verification code, it will be regenerated by the verification management terminal;

[0097] Optionally, the interaction unit includes an interactor, a relay buffer, and two antennas, the two antennas are used to receive and send signals respectively; the interactor is used to interact with other adjacent drones; the relay buffer is used to buffer the inspection data when the drone interacts, so as to centralize the data recorded in the drone, and after the data transmission conditions are met, centrally transmit it back to the receiving module on the ground;

[0098] When the transmission signal between the interaction unit and the receiving module does not meet the set monitoring threshold, the relay interaction between the drones is triggered; during the relay interaction, the inspection data collected by the drones are concentrated on a certain drone to control the drone to enter the transmission range of the collection module and receive the data back with the receiving module;

[0099] In addition, when the relay interaction is performed, the interactive inspection data is centrally stored in the relay memory;

[0100] In particular, the drone that performs relay interaction is set as a relay drone, wherein the relay drone obtains the inspection data of other drones in the formation through the interaction unit and transmits the inspection data to the relay drone; in addition, during the inspection process, when the signal recognition range is met, the relay interaction is performed while the inspection is performed, and after the relay interaction is completed, the relay drone returns to the transmission area or transmission range to transmit data back to the receiving module;

[0101] Optionally, the receiving module is arranged on the ground, and forms a transmission area or transmission range centered on the receiving module; when the UAV is in the transmission area or transmission range, the inspection data is transmitted back to the receiving module on the ground; wherein the receiving module includes a receiving unit and a signal transmitting unit, and the signal transmitting unit sends a connection signal to the UAV to establish a data transmission link with the UAV; the receiving unit receives the inspection data sent by the UAV according to the established data transmission link; wherein the signal transmitting unit is electrically connected to the receiving unit;

[0102] The receiving unit includes a receiver, a memory and a plurality of sub-servers, and the plurality of sub-servers are used to transmit the inspection data received by the receiver to the server to realize real-time transmission of the inspection data;

[0103] The receiver receives the inspection data sent by the transmission module to the receiver; the memory is used to cooperate with the receiver to store the inspection data;

[0104] Each of the sub-servers is connected to the main server, and after receiving the feedback from the drone, the sub-server immediately transmits it to the main server, and then transmits it to the central control center through the main server, and displays the inspection data of the drone in the central control center to prompt the operator to monitor the inspection process;

[0105] Optionally, the signal transmitting unit comprises a connecting seat, a fuselage body and a supporting leg, wherein the connecting seat is used to connect the fuselage body with the supporting leg; the supporting leg is used to support the fuselage body and the connecting seat so as to be used in different terrains; wherein the fuselage body and the supporting leg are detachably connected;

[0106] A signal transmitter is provided in the fuselage body, and is connected with the UAV for communication signals, so as to cooperate with the receiving unit to receive the inspection data of the UAV;

[0107] The receiving unit cooperates with the signal transmitting unit so that the inspection data on the drone can be transmitted back, thereby improving the timely feedback of the inspection data to the central control center and further improving the intelligent driving capability of the inspection data.

[0108] Embodiment 2.

[0109] This embodiment should be understood to include at least all the features of any of the above embodiments, and further improve upon them. Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , further, the transmission system further comprises a feedback module, wherein the feedback module is used to provide feedback on the mission completion status of the UAV;

[0110] The feedback module includes a task management unit and a status monitoring unit, wherein the task management unit is used to monitor the task completion status of the drone; and the status monitoring unit is used to monitor the current status of the drone;

[0111] In the process of monitoring the completion status of the tasks of each UAV, the task management unit needs to compare the status of the assigned task with the completion status of the current task to determine the completion status of the inspection task;

[0112] The state monitoring unit determines the state parameters of the drone, wherein the state parameters include the inspection position S v , Inspection distance Dv , Inspection points L of the inspection route v , the number of drones used to inspect power lines Q v 、UAV power load (capacity) v , Inspection time T v and task completion status Task v , the above-mentioned state parameters are all determined by the data fed back by the state monitoring unit to the central control center;

[0113] In addition, since the state parameter interference of the drone performing relay interaction is the least, the power of the drone performing relay interaction is the least and cannot meet the needs of continuing inspection, the drone performing relay interaction has the lowest priority; in the process of determining the priority of the drone, it is necessary to master the current state parameters of the drone;

[0114] The priority determination may be performed by integrating the state parameters and calculating according to the following formula:

[0115]

[0116] Among them, Ability v is the priority, v is the number of times, v takes a positive integer value; λ u is the weight coefficient of each state parameter, u=1, 2, 3, 4, 5, 6; for S v , D v , L v , Q v , U v 、T v and Task v The specific data value of , where v is the priority evaluation number, which is set according to the specific situation during the inspection process, and the corresponding weight coefficient is assigned to the above-mentioned state parameters, and the weight coefficient can be assigned in sequence according to the task completion status, the power load (capacity) of the UAV, the inspection time, the inspection distance, the inspection location, the inspection points of the inspection route, and the number of UAVs inspecting the power lines;

[0117] Prioritize the drones that relay the interaction v The determination process is as follows:

[0118] Step 1: According to experience, the weight coefficient λ of each state parameter u Make settings;

[0119] Step 2: Based on step 1, determine the specific data of the state parameter according to the specific situation, that is, determine the inspection position S v , Inspection distance D v , Inspection points L of the inspection routev , the number of drones used to inspect power lines Q v 、UAV power load (capacity) v , Inspection time W v and task completion status Task v , the specific value can be determined according to the real-time drone data fed back to the central control center by the drone, and will not be described in detail here;

[0120] Step 3: Based on step 2, calculate the priority Ability of the requirement v ;

[0121] Step 4: Based on step 3, v Sort from large to small, the larger the value, the higher the priority;

[0122] In this embodiment, by selecting the priority Ability v The lowest drone is set as a relay drone, and the relay drone performs relay interaction and hovers in the transmission area or transmission range to transmit all inspection data on the relay drone back to the receiving module on the ground;

[0123] The feedback module is used to determine the priority of the drone's task completion status and status data, and select the drone with the lowest status priority to perform the relay task, so as to transmit the inspection data back to the receiving module, thereby improving the efficiency of the inspection data feedback and taking into account the efficient inspection of the drone, thereby enhancing the intelligent driving capability of the entire system.

[0124] The contents disclosed above are only preferred feasible embodiments of the present invention, and do not limit the protection scope of the present invention. Therefore, all equivalent technical changes made using the contents of the present invention specification and drawings are included in the protection scope of the present invention. In addition, the elements therein can be updated as technology develops.

Claims

1. An intelligent driving transmission system for drone inspection data, comprising a main server and several drones, characterized in that: It also includes a transmission module, an interaction module, and a receiving module. The transmission module is used to transmit the inspection data on the drone to the receiving module on the ground to achieve real-time feedback of the inspection data; The interaction module is used to interact between the grouped drones to achieve interactive sharing of inspection tasks and inspection data; The receiving module is used to cooperate with the transmission module to receive the inspection data, thereby improving the intelligent transmission of the inspection data; The transmission module includes a transmission unit and a path planning unit, and the transmission unit is used to transmit the inspection data to the receiving module; The path planning unit is used to plan the moving path of the UAV to cooperate with the transmission unit to transmit the inspection data; The transmission unit is arranged on the UAV; wherein the transmission unit comprises a transmission fluctuation monitor and a signal detector, wherein the transmission fluctuation monitor is used to monitor the fluctuation of the link during the transmission process; and the signal detector is used to detect the signal strength between the UAV and the transmission module; The signal detector obtains the signal strength between the receiving module and the drone for detection; obtains the current position (x, y, z) of the drone, and the transmission distance of the transmission link is: ； In the formula, (x i ,y i , z i ) is the coordinate of the receiving module, The signal strength index Signal between the drone and the receiving module is determined according to the transmission distance, wherein the signal strength index Signal is calculated according to the following formula: ； Where P is the transmission power of the signal on the UAV; τ is the influence coefficient of the environment near the UAV, and its value is related to the density of the surrounding environment and the flight altitude of the UAV: The transmission fluctuation monitor is used to detect the fluctuation amplitude of the transmission link to obtain the fluctuation data when the UAV transmits to the receiving module; The transmission fluctuation monitor measures the node fluctuation index value Fluctuations of each transmission link of the transmission unit during the transmission of the inspection data of the UAV. i Polling is performed to verify the fluctuation of each transmission link; wherein the transmission fluctuation monitor calculates the node fluctuation index value Fluctuations according to the following formula i Perform the calculation: ； Where P i is the fluctuation detection value of node i; G i The fluctuation adjustment base value is related to the average transmission load in the inspection data transmission queue and satisfies: ； Among them, Q i is the transmission queue of the inspection data; i is the load data value each time the inspection data is transmitted; t is the number of polling times in a cycle; T is the cycle; When the UAV sends the inspection data to the receiving module, if the data transmission conditions are met at the same time, it triggers the sending of the inspection data to the receiving module; The data transmission conditions include: 1) Fluctuations i <Monitoring threshold; 2) The signal strength index Signal>signal theoretical threshold.

2. The intelligent driving transmission system for UAV inspection data according to claim 1 is characterized in that: The path planning unit includes a geographic database and a path guiding component, wherein the geographic database is used to store geographic data of inspection locations to form an environmental inspection route; The path guiding component guides the UAV according to the inspection position and inspection direction of the environmental inspection route.

3. The intelligent driving transmission system for UAV inspection data according to claim 2 is characterized in that: The interaction module includes an interaction unit and an identity verification unit, wherein the identity verification unit verifies the identity of the drone; the interaction unit triggers interaction with other drones according to the verification result of the identity verification unit to realize relay transmission of inspection data; The identity verification unit includes a request detector and a pass verification code. The request detector is used to verify the identification code of the drone and grant the pass verification code after the verification is passed.

4. The intelligent driving transmission system for UAV inspection data according to claim 3 is characterized in that: The receiving module includes a receiving unit and a signal transmitting unit, wherein the signal transmitting unit sends a connection signal to the drone to establish a data transmission link with the drone; the receiving unit receives the inspection data sent by the drone according to the established data transmission link; wherein the signal transmitting unit is electrically connected to the receiving unit; The receiving unit includes a receiver, a memory and a plurality of sub-servers, and the plurality of sub-servers are used to transmit the inspection data received by the receiver to the main server to realize real-time transmission of the inspection data; The receiver receives the inspection data sent by the transmission module to the receiver; and the memory is used to cooperate with the receiver to store the inspection data.

5. The intelligent driving transmission system for UAV inspection data according to claim 4 is characterized in that: The interaction unit includes an interactor, a relay buffer, and two antennas, the two antennas are used to receive and send signals respectively; the interactor is used to interact with other neighboring drones; the relay buffer is used to buffer the inspection data when the drone interacts, so as to concentrate the data recorded in the drone, and after meeting the data transmission conditions, centrally transmit it back to the receiving module on the ground.

6. The intelligent driving transmission system for UAV inspection data according to claim 5 is characterized in that: The signal transmitting unit comprises a connection seat, a fuselage body and a support leg, wherein the connection seat is used to connect the fuselage body with the support leg; the support leg is used to support the fuselage body and the connection seat so as to be used in different terrains; wherein the fuselage body and the support leg are detachably connected; A signal transmitter is provided in the fuselage body and is connected with the UAV for communication signals so as to cooperate with the receiving unit to receive the inspection data of the UAV.

7. The intelligent driving transmission system for UAV inspection data according to claim 6 is characterized in that: In the process of guiding the UAV, the path guiding component receives the guidance range of the real-time moving path and flight path of the UAV to determine the guidance azimuth and elevation of the UAV, and compares them with the environmental inspection route to determine the current deviation of the UAV.

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