A high-mobility intelligent equipment system based on grid inspection by drones

Abstract

The present invention provides a highly mobile intelligent equipment system based on grid inspection by drones, including a main server. It is characterized in that it further includes a data transmission module, a route planning module and an interaction module. The data transmission module is used to transmit the real-time inspection data of the drones to a receiving platform on the ground to achieve data collection and monitoring of inspection points; the route planning module is used to plan the inspection routes of the drones to achieve precise inspection of inspection locations; the interaction module is used to interact with each inspected drone to achieve collaborative interaction of the drone formation. Through the interaction module, each drone in the drone formation of the present invention can interact to achieve multi-point coordination and improve the inspection efficiency; at the same time, through the mutual cooperation of the path planning unit and the inspection guidance unit, the drones are guided to improve the precise guidance of the inspection routes.

Description

Technical Field

[0001] The present invention relates to the technical field of UAV inspection control, and particularly to a highly mobile intelligent equipment system based on UAV grid inspection. Background Art

[0002] Existing circuit inspections require personnel to climb, which is highly dangerous and inefficient; although some UAVs have joined the inspection team, the number is too small and the working effect of UAVs is not ideal in bad environments.

[0003] For example, the prior art of CN106125766A discloses a railway line inspection and monitoring system and inspection method based on UAVs. Railway line inspection is a basic task for the daily maintenance of railway lines. Common inspection methods include manual inspection, manned helicopter inspection, and UAV inspection. Although manual inspection is the most commonly used inspection method, it has always suffered from deficiencies such as slow efficiency and being restricted by climate and geographical environments. The machine inspection method is being widely studied and applied. In particular, UAV inspection has the characteristics of safety and high efficiency, and UAVs in the air of railway lines have increasing application value. Currently, most of the task planning for UAV inspection in the air of railway lines adopts the manual planning method. Although this method ensures the flight safety of UAVs, it is inefficient and cannot meet the needs of large-scale UAV inspections. At the same time, it is difficult to achieve optimal planning in a large area with the manual planning method.

[0004] Another typical example is the multi-rotor UAV intelligent inspection system disclosed in the prior art of CN111625017B. The UAVs using the technology currently on the market can achieve technologies such as GPS positioning, simple image processing, and image transmission. However, the transmission signals of UAVs are interfered by the magnetic fields of transmission lines and towers. Therefore, maintaining the height distance between the UAV and the transmission line can effectively reduce interference and promote the smooth progress of transmission line inspection work.

[0005] In order to solve the problems commonly existing in this field, such as complicated route planning, low intelligence level, low inspection efficiency, inability to perform multi-aircraft interaction, and poor inspection mobility, etc., the present invention is made. Summary of the Invention

[0006] The purpose of the present invention is to propose a highly mobile intelligent equipment system based on UAV grid inspection in view of the existing deficiencies.

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

[0008] A highly mobile intelligent equipment system based on UAV grid inspection includes a main server, a feedback module, a route planning module, and an interaction module.

[0009] The feedback module is used to transmit the real-time inspection data of the drone to the receiving platform on the ground, so as to realize the data collection and monitoring of the inspection points;

[0010] The route planning module is used to plan the inspection route of the drone, so as to realize the accurate inspection of the inspection positions;

[0011] The interaction module is used to interact with each inspected drone to realize the collaborative interaction of the drone formation;

[0012] The route planning module includes an inspection database, an inspection guidance unit, and a path planning unit. The inspection database stores inspection positions and topographic map data; the path planning unit plans the inspection path according to the inspection database and the key inspection point data; the inspection guidance unit guides the drone along the path based on the inspection database and the path planning unit; among them, the key inspection points are set by the operator;

[0013] The path planning unit plans the path as follows:

[0014] Obtain the inspection position and topographic map data, and determine the number D of drones participating in the inspection, the inspection distance, the turning radius, and the inspection height;

[0015] Among them, determine the number D of drones participating in the inspection, the inspection position, and the topographic map data to plan the inspection point sequence {P0, P1,..., P n-1 , P n}, where the inspection distance between each inspection point is:

[0016]

[0017] In the formula, l pi-1pi is the straight-line distance between inspection points P i-1 and P i ; i ∈ n, and n is the total number of inspection points;

[0018] Calculate the path evaluation coefficient G n for each path according to the inspection distance d d , then G d The path evaluation coefficient is calculated according to the following formula:

[0019]

[0020] In the formula, d min is the straight-line length between P0 and P n ;

[0021] Among them, determine the minimum turning radius r min, and calculate the turning radius adjustment coefficient G of the UAV r , then the turning radius adjustment coefficient G r is calculated according to the following formula:

[0022]

[0023] Among them, determine the maximum inspection height H of the UAV max , and calculate the maximum height adjustment coefficient G of the UAV inspection h , the maximum height adjustment coefficient G h is calculated according to the following formula:

[0024]

[0025] In the formula, h i is the height value of the UAV at the i-th point;

[0026] Calculate the path planning adjustment index F of the UAV according to the inspection distance, turning radius and inspection height. Then the path planning adjustment index F is calculated according to the following formula:

[0027] F = λ1·G obstacle + λ2·G d + λ3·G r + λ4·G h + λ5·G battery

[0028] λ1 + λ2 + λ3 + λ4 + λ5 = 1

[0029] In the formula, G obstacle is the obstacle adjustment coefficient, and its value is related to the maximum safe distance for the UAV to avoid obstacles; G d is the path evaluation coefficient; G r is the turning radius adjustment coefficient; G h is the maximum height adjustment coefficient; G battery is the battery life adjustment coefficient, and its value is related to the capacity of the UAV battery; λ1, λ2, λ3, λ4, λ5 are weights;

[0030] Among them, when the UAV performs path planning, it is necessary to satisfy:

[0031] Ensure that the path planning adjustment indication F of the UAV is the minimum value, so as to enable the UAV to perform inspections along the shortest inspection line,

[0032] and transmit the guiding azimuth angle and elevation angle corresponding to the inspection line to the inspection guiding unit to guide the UAV.

[0033] Optionally, the interaction module includes an interaction unit and an identity registration unit. The identity registration unit is used to register the identity of the drone; the interaction unit verifies based on the identity of the drone and, after successful verification, performs data interaction with the drone.

[0034] Among them, the interaction unit includes an identity recognizer, a code transmitter, and a data interactor. The identity recognizer is used to recognize the identity of the drone to verify the data of the drone; the code transmitter is used to send the code of the drone to adjacent drones for identity recognition; the data interactor is used to perform data interaction on the data collected from multiple connected drones after successful verification.

[0035] Optionally, the feedback module includes a receiving unit, a status detection unit, and a transmission unit. The status detection unit is used to detect the status of the drone transmission link; the receiving unit is used to receive the data transmitted by the drone; the transmission unit is used to transmit the data on the drone to the receiving unit.

[0036] Among them, the receiving unit is arranged on the receiving platform on the ground; the transmission unit is arranged on the drone.

[0037] Optionally, the receiving unit includes a signal booster and a data memory. The signal booster is used to enhance the signal strength of the connection between the drone and the receiving platform to cooperate with the data memory to receive the inspection data sent by the transmission unit; among them, the data memory is used to store the inspection data of the drone.

[0038] Optionally, the inspection guidance unit includes a position guidance component, a detector, and a transmitter. The transmitter is used to send control signals to the drone; the position guidance component is used to receive the real-time movement path of the drone and the guidance range of the inspection line to determine the guidance azimuth and elevation angle during the drone inspection; the detector is used to sense the identity and current position of the drone to cooperate with the position guidance component to guide the drone.

[0039] The position guidance component receives the data of the identity and current position of the drone captured by the detector, matches the data of the inspection line assigned to the drone by the path planning unit based on the identity data, and guides the drone according to the matched inspection line data.

[0040] Among them, when guiding the drone, the position guidance component transmits the control signal to the drone through the transmitter.

[0041] Optionally, the transmission unit includes a fluctuation detector and a fluctuation transmission strategy; the fluctuation detector is used to detect the data fluctuation of the UAV transmission; if the fluctuation detector detects that the data fluctuation exceeds the set monitoring threshold, the fluctuation transmission strategy is executed; wherein, the fluctuation transmission strategy includes reducing the flight altitude of the UAV and hovering in the set transmission area.

[0042] Optionally, the fluctuation detector collects the status data of the I / O ports of the sub-servers associated with the multiple data transmission links established between the UAV and the receiving unit and the inspection data of the UAV, and uses the status data of each I / O port and each queue collected to the receiving unit to generate storage status information for each path in the multiple data transmission links.

[0043] Wherein, the storage status information includes the model, transmission capacity and transmission time-consuming of the UAV.

[0044] The beneficial effects achieved by the present invention are:

[0045] 1. Through the interaction module, each UAV in the UAV formation can interact, realizing multi-point coordination and improving the inspection efficiency.

[0046] 2. Through the mutual cooperation of the path planning unit and the inspection guidance unit, the UAV can be guided to improve the precise guidance of the inspection line.

[0047] 3. By arranging the position guidance unit in the inspection line and guiding the UAVs that pass the verification, the grouped UAVs can cooperate with each other to improve the inspection efficiency.

[0048] 4. Through the mutual cooperation of the receiving unit and the transmission unit, the inspection data on the UAV can be timely transmitted back, enabling timely monitoring of the inspection points.

[0049] 5. By detecting the fluctuation in the transmission process through the fluctuation detector, the transmission unit and the receiving unit can be adjusted adaptively according to the size of the fluctuation index to improve the transmission efficiency and intelligence of the inspection data.

[0050] 6. Through the feedback module, the task completion situation of the UAV is fed back, so that after the UAV completes the established task during the inspection process, it can interact with adjacent UAVs to improve the inspection efficiency.

[0051] To further understand the features and technical content of the present invention, please refer to the following detailed description of the present invention and the attached drawings. However, the attached drawings are only for reference and illustration, and are not used to limit the present invention. Description of the Drawings

[0052] The present invention can be further understood from the following description in conjunction with the accompanying drawings. The components in the drawings are not necessarily drawn to scale, but the emphasis is on showing the principles of the embodiments. In different views, the same reference numerals designate corresponding parts.

[0053] Figure 1 It is a schematic overall block diagram of the present invention.

[0054] Figure 2 It is a schematic diagram of the application scenario of the feedback module of the present invention and the unmanned aerial vehicle.

[0055] Figure 3 It is a schematic structural diagram of the feedback module of the present invention.

[0056] Figure 4 It is a front view schematic diagram of the feedback module of the present invention.

[0057] Figure 5 It is a schematic structural diagram of the position guiding unit of the present invention.

[0058] Figure 6 It is a side view schematic diagram of the position guiding unit of the present invention.

[0059] Explanation of the reference numerals in the drawings: 1 - rotating member; 2 - detector; 3 - guiding rod; 4 - lifting rod; 5 - rotating seat; 6 - hinged rod; 7 - receiving unit; 8 - signal booster; 9 - support tripod; 10 - ground receiving platform; 11 - unmanned aerial vehicle. Specific embodiments

[0060] The following are specific embodiments to illustrate the implementation manners of the present invention. Those skilled in the art can understand the advantages and effects of the present invention from the content disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and various details in this specification can also be modified and changed based on different viewpoints and applications without departing from the spirit of the present invention. Additionally, the drawings of the present invention are only for simple schematic illustration and are not drawn according to actual dimensions, which is stated in advance. The following embodiments will further detail the related technical content of the present invention, but the disclosed content is not used to limit the protection scope of the present invention.

[0061] Embodiment 1.

[0062] According to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 As shown, this embodiment provides a highly mobile intelligent equipment system based on grid inspection of unmanned aerial vehicles, including a main server, a feedback module, a route planning module, and an interaction module.

[0063] The master server is respectively connected to the drone, the data transmission module, the route planning module, and the interaction module to achieve data synchronization and sharing of geographical locations and inspection routes;

[0064] The data transmission module is used to transmit the real-time inspection data of the drone to the receiving platform on the ground to achieve data collection and monitoring of the inspection points;

[0065] The route planning module is used to plan the inspection route of the drone to achieve precise inspection of the inspection positions;

[0066] The interaction module is used to interact with each inspected drone to achieve collaborative interaction of the drone formation;

[0067] The intelligent equipment system further includes a processor, and the processor is respectively connected to the data transmission module, the route planning module, and the interaction module for control, and is connected to the data transmission module, the route planning module, and the interaction module for control based on the processor;

[0068] Through the mutual cooperation of the route planning module and the data transmission module, the drone can collect data on the status of the inspection points during the inspection process, and cooperate with the data transmission module to transmit the collected data to the receiving platform on the ground;

[0069] In addition, through the interaction module, each drone in the drone formation can interact to achieve multi-point coordination and improve the inspection efficiency;

[0070] The route planning module includes an inspection database, an inspection guidance unit, and a path planning unit. The inspection database stores inspection positions and topographic map data; the path planning unit plans the inspection path according to the inspection database and the key inspection point data; the inspection guidance unit guides the drone along the path based on the inspection database and the path planning unit; among them, the key inspection points are set by the operator;

[0071] The path planning unit's planned path includes:

[0072] Obtain the inspection position and topographic map data, and determine the number D of drones participating in the inspection, the inspection distance, the turning radius, and the inspection altitude;

[0073] Among them, determine the number D of drones participating in the inspection, the inspection position, and the topographic map data to plan the inspection points {P0, P1,..., P n-1 , P n}, where the inspection distance between each inspection point is:

[0074]

[0075] where l pi-1pi is the straight-line distance between i-1 P i , P

[0076] According to the inspection distance d n calculate the path evaluation coefficient G of each path d , then G d The path evaluation coefficient is calculated according to the following formula:

[0077]

[0078] where d min is the straight-line length between P0 and P n .

[0079] Among them, determine the minimum turning radius r of the UAV inspection min , and calculate the turning radius adjustment coefficient G of the UAV r , then the turning radius adjustment coefficient G r is calculated according to the following formula:

[0080]

[0081] Among them, determine the maximum inspection height H of the UAV max , and calculate the maximum height adjustment coefficient G of the UAV inspection h , the maximum height adjustment coefficient G h is calculated according to the following formula:

[0082]

[0083] where h i is the height value of the UAV at the i-th point;

[0084] Calculate the path planning adjustment index F of the UAV according to the inspection distance, turning radius and inspection height, then the path planning adjustment index F is calculated according to the following formula:

[0085] F = λ1·G obstacle + λ2·G d + λ3·G r + λ4·G h + λ5·G battery

[0086] λ1 + λ2 + λ3 + λ4 + λ5 = 1

[0087] where G obstacle is the obstacle adjustment coefficient, and its value is related to the maximum safe distance for the UAV to avoid obstacles; G d is the path evaluation coefficient; Gr is the turning radius adjustment coefficient; G h is the maximum height adjustment coefficient; G battery is the battery life adjustment coefficient, and its value is related to the capacity of the drone battery; λ1, λ2, λ3, λ4, λ5 are weights;

[0088] Among them, when the drone performs path planning, it is necessary to ensure that the path planning adjustment instruction F of the drone is the minimum value, so as to enable the drone to perform inspection along the shortest inspection line, and transmit the inspection line data, as well as the corresponding guiding azimuth angle and elevation angle, to the inspection guiding unit to guide the drone, save the inspection battery loss of the drone, and improve the inspection efficiency; in this embodiment, the path is transmitted to the inspection guiding unit to guide the drone;

[0089] Through the cooperation of the path planning unit and the inspection guiding unit, the drone is guided to improve the precise guidance of the inspection line;

[0090] During the process of guiding the drone, the inspection guiding unit is placed on the inspection line of the drone and guides the drone;

[0091] Among them, the inspection guiding unit includes a position guiding component, a detector and a transmitter. The transmitter is used to send control signals to the drone; the position guiding component is used to receive the real-time movement path of the drone and the guiding range of the inspection line to determine the guiding azimuth angle and elevation angle when the drone performs inspection; the detector is used to sense the identity and current position of the drone to cooperate with the position guiding component to guide the drone; the position guiding component receives the data of the identity and current position of the drone captured by the detector, matches the data of the inspection line assigned to the drone by the path planning unit based on the identity data, and guides the drone according to the matched inspection line data; among them, when the position guiding component guides the drone, the control signal is transmitted to the drone through the transmitter; during the process of guiding the drone, the inspection guiding unit uses the detector to sense the position of the drone and cooperates with the position guiding component to guide the drone;

[0092] The position guiding component always calculates the lateral and vertical offsets of the current position of the drone relative to the inspection trajectory of the drone, the joining course and joining gradient of the drone joining the trajectory from the current position of the drone, and the planned inspection trajectory of the drone;

[0093] When the drone enters the recognition range of the inspection guidance unit, it is captured by the detector, and the drone is guided by the position guidance component; if the identity of the drone entering the recognition range does not conform, the identity of the drone is transmitted to the server, so that the processor can schedule the drone in a timely manner, enabling the inspection guidance unit to guide the drone with a specific identity;

[0094] The position guidance component includes a guiding rod and a guiding controller, and both the detector and the transmitter are arranged on the guiding rod; the guiding controller determines the inspection angle and guiding speed for guiding the drone according to the current position of the drone and the planned route of the path planning unit;

[0095] In this example, the position guidance unit is arranged at the guiding position and guides the drone with a specific identity, enabling the grouped drones to cooperate with each other and improving the inspection efficiency;

[0096] In addition, the position guidance unit further includes a steering component and a lifting component. The steering component is used to rotate the angle of the position guidance component; the lifting component is used to adjust the guiding angle of the guiding rod; wherein, the steering component and the lifting component cooperate to enable the guiding rod to accurately guide the drone; at the same time, the rotating component is used to adjust the angle in the horizontal direction; the lifting component is used to adjust the pitching angle of the guiding rod to cooperate with the guiding rod to accurately adjust the drone;

[0097] The lifting component includes a lifting rod, a height detection component, and a lifting driving mechanism. One end of the lifting rod is hinged to the rod wall of the guiding rod, and the other end is hinged to the rotating component. The lifting driving mechanism is drivingly connected to the lifting rod to adjust the extended length of the lifting rod; the height detection component is arranged on the lifting rod and is used to detect the lifting height of the lifting rod;

[0098] The rotating component includes an angle detection component, a rotating seat, and a rotating driving mechanism. The angle detection component is used to detect the rotating angle of the rotating seat; the rotating seat is hinged to the lifting component. At the same time, the rotating driving mechanism is drivingly connected to the rotating seat, enabling the rotating seat to rotate along the hinged position; wherein, one end of the guiding rod is hinged to the inner wall of the rotating seat through a hinged rod, and the other end extends towards the side away from the rotating seat; at the same time, one end of the lifting rod of the lifting component is hinged to the rod wall of the guiding rod, and the other end is hinged to the middle of the outer wall of the rotating seat; particularly, the lifting rod is set to be telescopic and realizes telescopic operation under the drive of the lifting driving mechanism;

[0099] Optionally, during the inspection of the inspection location, the drones in the drone formation interact to achieve the interaction of the drone data or tasks;

[0100] During the interaction of the drones, self-inspection needs to be carried out by the drones to verify the status of the drones; the status includes the battery endurance status, the task completion degree, the inspection angle, etc.;

[0101] If the battery status meets the condition of continuing to cruise and the established tasks have been completed, and other task interaction requests of the drone are received, then after the tasks are exchanged through task interaction, the drone can execute new tasks;

[0102] The interaction module includes an interaction unit and an identity registration unit. The identity registration unit is used to register the identity of the drone; the interaction unit verifies based on the identity of the drone and, after passing the verification, performs data interaction with the drone;

[0103] Among them, the interaction unit includes an identity recognizer, a code transmitter, and a data interactor. The identity recognizer is used to identify the identity of the drone to verify the identity data of the drone; the code transmitter is used to send the code of the drone to adjacent drones for identity recognition; the data interactor is used to interact the inspection data collected on multiple connected drones after the identity data of the drone passes the verification;

[0104] In addition, during the interaction process, the identity of the drone needs to be queried first to obtain data such as the tasks and cruise paths of the drone;

[0105] After passing the verification, the task completion status of the drone is further verified; if the drone task has been completed, the drone is set to an interactive state;

[0106] For drones in an interactive state, they can interact with the nearby drones to achieve task interaction to cooperate with other drones in the formation for inspection, improving the inspection efficiency of the entire drone formation;

[0107] The interaction module further includes a scheduling unit. The scheduling unit is used to reassign or reschedule the inspection tasks of the drones during the interaction process to achieve efficient inspection of the drones;

[0108] Among them, after the previous task of the drone in an interactive state is completed, the scheduling unit reassigns another task by the processor to achieve interaction with other drones in the formation;

[0109] During the task scheduling process, the scheduling unit starts a program for information exchange. When the program is completed, the control is returned to the processor and the path planning unit to reassign the inspection tasks. After the previous task of the UAV is completed, the task assignment right of the UAV that has completed the task is returned to the processor and the path planning unit. When the assignment right is returned to the processor and the path planning unit, it is verified that the task of the UAV has been completed, and the UAV is set to an interactive state. Through the processor and the path planning unit, the inspection tasks and inspection routes are reallocated, so that each inspection point on each inspection route can be accurately inspected, improving the inspection efficiency and further improving the inspection accuracy of the inspection location and inspection points.

[0110] In addition, the interaction unit interacts with the UAV to achieve the handover of UAV tasks and the interaction of inspection data, improving the data transmission between UAVs and the re-interaction and assignment of tasks.

[0111] At the same time, after verifying the task completion status of the UAV, the inspection data on the UAV is transmitted to the ground receiving platform through the feedback module, so that the previous inspection data of the UAV can be transmitted back to the ground receiving platform.

[0112] Optionally, the feedback module includes a receiving unit, a status detection unit, and a transmission unit. The status detection unit is used to detect the status of the UAV transmission link; the receiving unit is used to receive the data transmitted by the UAV; the transmission unit is used to transmit the data on the UAV to the receiving unit.

[0113] Among them, the receiving unit is arranged on the ground receiving platform; the transmission unit is arranged on the UAV.

[0114] The receiving unit and the transmission unit cooperate with each other to timely transmit the inspection data on the UAV, enabling timely monitoring of the inspection points.

[0115] Among them, the receiving unit includes a signal booster and a data memory. The signal booster is used to enhance the signal strength of the connection between the UAV and the receiving platform to cooperate with the data memory to receive the inspection data sent by the transmission unit. Among them, the data memory is used to store the inspection data of the UAV. In addition, the signal booster enhances the transmitted signal, making the transmitted signal more stable.

[0116] At the same time, when the UAV transmits the inspection data, the UAV is guided to the transmission area and cooperates with the transmission unit to transmit the inspection data on the UAV to the ground platform.

[0117] When the UAV enters the transmission area, it sends a transmission instruction to the receiving unit. After the receiving unit responds to the transmission instruction, it turns the signal booster into the working state to maintain the stability of the signal during the inspection data transmission process;

[0118] After the signal booster is turned into the working state, the receiving unit feeds back a transmission instruction to the transmission module, so that after the transmission unit responds to the transmission instruction, it transmits the inspection data on the UAV to the receiving unit; in this embodiment, the transmission unit and the receiving unit transmit the inspection data by wireless transmission;

[0119] Among them, the transmission unit includes a fluctuation detector and a fluctuation transmission strategy; the fluctuation detector is used to detect the data fluctuation of the UAV transmission; if the fluctuation detector detects that the data fluctuation exceeds the set monitoring threshold, the fluctuation transmission strategy is executed; among them, the fluctuation transmission strategy includes reducing the flight altitude of the UAV and hovering in the set transmission area;

[0120] The receiving unit further includes a support tripod, and the support tripod is used to support the signal booster to ensure that the signal booster is in an upright state; in this embodiment, the receiving unit is arranged in the transmission area;

[0121] At the same time, the transmission area is set within the signal coverage range of the receiving platform, and the UAV needs to be located in the transmission area to ensure the transmission efficiency of the inspection data of the UAV;

[0122] In this example, a number of sub-servers are provided on the ground receiving platform, and each sub-server is used to receive the data transmitted by the transmission unit; at the same time, after each sub-server receives the inspection data of the UAV, each sub-server transmits it to the main server to realize the collection of the inspection data of the UAV and ensure the monitoring of the inspection position;

[0123] Optionally, the fluctuation detector collects the I / O ports of the sub-servers associated with multiple data transmission links established between the UAV and the receiving unit and the status data in the inspection data of the UAV, and uses the status data of each I / O port and each queue of the receiving unit to generate storage status information for each path in the multiple data transmission links,

[0124] Among them, the storage status information includes the model of the UAV, the transmission capacity, and the time-consuming for transmitting the inspection data; among them, the fluctuation index B of the k-th communication channel in the transmission link of the sub-server is analyzed by analyzing the status data in the I / O port of the sub-server and the inspection data of the UAVk , where the fluctuation index B of the k-th communication channel of the sub-server k is calculated according to the following formula:

[0125]

[0126] τ1 + τ2 + τ3 = 1

[0127] In the formula, R is the fluctuation level base number, and its value is related to the fluctuation amplitude of the communication channel of the sub-server; τ1 is the fluctuation weight of the sub-server CPU; τ2 is the fluctuation weight of the sub-server memory; τ3 is the fluctuation weight of each I / O port of the sub-server; u k is the fluctuation of the sub-server CPU; v k is the fluctuation of the sub-server memory; w k is the fluctuation of each I / O port of the sub-server;

[0128] If the fluctuation index B k is less than the set allowable transmission setting threshold, the image and video data in the storage unit will be back-transmitted;

[0129] The fluctuation detector detects the fluctuation during the transmission process, so that the transmission unit and the receiving unit can be adaptively adjusted according to the fluctuation index B k to improve the transmission efficiency and intelligence of the inspection data.

[0130] Embodiment 2.

[0131] This embodiment should be understood as including at least all the features of any one of the foregoing embodiments, and is further improved on this basis. According to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 shown, it also lies in that the identity registration unit registers the identity of the drone, and after registration, verifies the identity of the drone through the position guidance unit and the interaction module;

[0132] Among them, the identity registration unit includes a registration manager, a drone identification code, a basic ID library, and an ID generation protocol. The registration manager generates an identity verification code according to the ID generation protocol, and compares the identity verification code with the basic ID library. If the comparison is successful, the identity of the drone can be verified; at the same time, the identity of the drone can be verified through the identity verification code in cooperation with the interaction module for data interaction; or the identity of the drone can be identified through the identity verification code;

[0133] The registration manager generates an identity verification code through the following formula:

[0134]

[0135] In the formula, Code v (u) is the value corresponding to the u-th character of the identity verification code of the v-th drone; γ is a pairing adjustment coefficient, and its value is related to the number of pairing times between the drone and the interaction module; S v (j) represents the value corresponding to the j-th character of the previous identity verification code of the v-th drone; P v (z) is the value corresponding to the z-th character of the drone identification code ID of the v-th drone, where each drone is provided with a drone identification code with a unique identity; at the same time, the drone identification code is 20 digits;

[0136] Before issuing a new identity verification code, the identity registration unit needs to ensure that the identity verification code of the old drone and the identity verification code of the new drone are different to be valid, so that the identity verification code has one-time validity;

[0137] The intelligent equipment system further includes a feedback module, and the feedback module is used to feedback on the task execution situation of the drone; the feedback module includes a feedback unit and a task detection unit, and the task detection unit is used to detect the task of the drone;

[0138] The feedback unit feeds back to the processor based on the signal strength of the signal detection unit; the task detection unit receives an instruction request for completing a task from the drone; when the drone executes the task, the task detection unit monitors the task execution situation; at the same time, the task detection unit determines the difference between the task executed by the drone and the inspection line task; among them, during the process of the task detection unit detecting the inspection task of the drone, it is necessary to call the guiding data of the position guiding unit to determine the task difference;

[0139] Among them, receiving an instruction request for completing a task from the drone includes: an instruction request for completing an inspection task and the capacity of obtaining inspection image data of an inspection point;

[0140] The feedback unit generates a task sequence according to the inspection line, where the task sequence is a series of inspection steps among a series of inspection points that the drone needs to execute to complete the inspection task; among them, determining the difference between the task executed by the drone and the task sequence further includes: interpreting task execution data, where the task execution data received from at least one monitoring device is interpreted; based on the interpretation of the task execution data, it is determined whether the deviation of the task executed by the route planning module compared with the task sequence exceeds a predetermined threshold; when it is determined that the deviation is higher than the predetermined threshold, the current task sequence of the drone is interrupted;

[0141] The feedback module feeds back the task completion status of the drone, enabling the drone to interact with adjacent drones after completing the established tasks during the inspection process, so as to improve the efficiency of the inspection.

[0142] The content disclosed above is only the preferred feasible embodiment of the present invention, and does not limit the protection scope of the present invention. Therefore, all equivalent technical changes made by using the content of the specification and drawings of the present invention are included in the protection scope of the present invention. In addition, with the development of technology, the elements therein can be updated.

Claims

1. A highly mobile intelligent equipment system based on grid inspection by drones, including a main server, characterized in that, It also includes a feedback module, a route planning module, and an interaction module. The feedback module is used to transmit the real-time inspection data of the drone to the receiving platform on the ground to achieve data collection and monitoring of the inspection points. The route planning module is used to plan the inspection route of the drone to achieve precise inspection of the inspection positions. The interaction module is used to interact with each inspected drone to achieve collaborative interaction of the drone formation. The route planning module includes an inspection database, an inspection guidance unit, and a path planning unit. The inspection database stores inspection positions and topographic map data. The path planning unit plans the inspection path according to the inspection database and the key inspection point data. The inspection guidance unit guides the drone based on the inspection database and the path planning unit. Among them, the key inspection points are set by the operator. The path planning carried out by the path planning unit includes: Obtaining the inspection position and topographic map data, and determining the number D of drones participating in the inspection, the inspection distance, the turning radius, and the inspection height. Among them, determine the number D of drones participating in the inspection, the inspection locations, and the topographic map data to plan the inspection point sequence {P0, P1, …, P n-1 , P n}, where the inspection distance between each inspection point is: In the formula, is the straight-line distance between i-1 and i of the inspection points; i ∈ n, where n is the total number of inspection points; According to the inspection distance d n Calculate the path evaluation coefficient G of each path d , then G d The path evaluation coefficient is calculated according to the following formula: where d min is the straight-line length between P0 and P n . Among them, determine the minimum turning radius r of the UAV inspection min , and calculate the turning radius adjustment coefficient G of the UAV r , then the turning radius adjustment coefficient G r is calculated according to the following formula: Among them, determine the maximum inspection height H of the drone max , and calculate the maximum height adjustment coefficient G for the drone inspection h , the maximum height adjustment coefficient G h is calculated according to the following formula: where h i is the altitude value of the UAV at the i-th point; Calculating the path planning adjustment index F of the drone according to the inspection distance, the turning radius, and the inspection height. The path planning adjustment index F is calculated according to the following formula: F = λ1·G obstacle + λ2·G d + λ3·G r + λ4·G h + λ5·G battery λ1 + λ2 + λ3 + λ4 + λ5 = 1 Where, G obstacle is the obstacle adjustment coefficient, and its value is related to the maximum safe distance for the UAV to avoid obstacles; G d is the path evaluation coefficient; G r is the turning radius adjustment coefficient; G h is the maximum height adjustment coefficient; G battery is the battery life adjustment coefficient, and its value is related to the capacity of the UAV battery; λ1, λ2, λ3, λ4, λ5 are weights; Among them, when the drone conducts path planning, it is necessary to ensure that the path planning adjustment indication F of the drone is the minimum value to enable the drone to conduct inspections along the shortest inspection route, and transmit the inspection route data, as well as the corresponding guiding azimuth and elevation angle, to the inspection guidance unit to achieve guidance of the drone.

2. The high-mobility intelligent equipment system based on drone grid inspection according to claim 1, characterized in that The interaction module includes an interaction unit and an identity registration unit. The identity registration unit is used to register the identity of the drone. The interaction unit conducts verification based on the identity of the drone and, after the verification is passed, conducts data interaction with the drone. Among them, the interaction unit includes an identity recognizer, a code transmitter, and a data interactor. The identity recognizer is used to identify the identity of the drone to verify the data of the drone. The code transmitter is used to send the code of the drone to the adjacent drones for identity recognition. The data interactor is used to conduct data interaction on the data collected by multiple connected drones after the verification is passed.

3. The high-mobility intelligent equipment system based on grid inspection by unmanned aerial vehicle according to claim 2, wherein, The feedback module includes a receiving unit, a status detection unit, and a transmission unit. The status detection unit is used to detect the status of the drone transmission link. The receiving unit is used to receive the data transmitted by the drone. The transmission unit is used to transmit the data on the drone to the receiving unit. Among them, the receiving unit is arranged on the receiving platform on the ground. The transmission unit is arranged on the drone.

4. The high-mobility intelligent equipment system based on grid inspection by unmanned aerial vehicle according to claim 3, characterized in that The receiving unit includes a signal booster and a data memory. The signal booster is used to enhance the signal strength of the connection between the drone and the receiving platform to cooperate with the data memory to receive the inspection data sent by the transmission unit. Among them, the data memory is used to store the inspection data of the drone.

5. The high-mobility intelligent equipment system based on grid inspection by drones according to claim 4, characterized in that, The inspection guidance unit includes a position guidance component, a detector, and a transmitter, and the transmitter is used to send control signals to the drone; The position guidance component is used to receive the real-time movement path of the drone and the guidance range of the inspection line to determine the guidance azimuth angle and elevation angle during the drone inspection; the detector is used to sense the identity and current position of the drone to cooperate with the position guidance component to guide the drone; The position guidance component receives the identity and current position data of the drone captured by the detector, matches the data of the inspection line assigned to the drone by the path planning unit based on the identity data, and guides the drone according to the matched inspection line data; Among them, when guiding the drone, the position guidance component transmits the control signal to the drone through the transmitter.

6. The high-mobility intelligent equipment system based on grid inspection by unmanned aerial vehicle according to claim 5, wherein, The transmission unit includes a fluctuation detector and a fluctuation transmission strategy; The fluctuation detector is used to detect the data fluctuation transmitted by the drone; If the fluctuation detector detects that the data fluctuation exceeds the set monitoring threshold, the fluctuation transmission strategy is executed; among them, the fluctuation transmission strategy includes reducing the flight altitude of the drone and hovering in the set transmission area.

7. The high-mobility intelligent equipment system based on grid inspection by UAV according to claim 6, characterized in that, The fluctuation detector collects the I / O ports of the sub-servers associated with the multiple data transmission links established between the drone and the receiving unit and the status data in the inspection data of the drone, and uses the status data of each I / O port and each queue collected by the receiving unit to generate storage status information for each path in the multiple data transmission links, Among them, the storage status information includes the model, transmission capacity, and transmission time-consuming of the drone.

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