Hydrogen power unmanned aerial vehicle inspection system and method

Abstract

The invention discloses a hydrogen-powered unmanned aerial vehicle inspection system and method. The system comprises a hydrogen-powered unmanned aerial vehicle flight subsystem, an inspection task subsystem and a cloud artificial intelligence subsystem. The hydrogen-powered unmanned aerial vehicle flight subsystem comprises an unmanned aerial vehicle platform, a route planning device, a ground control device and a communication device; the unmanned aerial vehicle platform comprises a flight control device, an energy device and a navigation device; the energy device adopts hydrogen-lithium hybrid power to supply power to the unmanned aerial vehicle platform and the inspection task subsystem, and is used for performing energy distribution on a lithium battery and a hydrogen fuel cell, performing low-temperature self-starting and temperature and humidity control on the hydrogen fuel cell, and performing thermal management control on the environment of the hydrogen fuel cell; the inspection task subsystem comprises a front-end computing power module and a partial discharge detection module, and the front-end computing power module is used for performing target detection on an inspection image and correcting the deviation of a holder to enable a target to move to the center of a visual field; and the cloud artificial intelligence subsystem comprises a remote monitoring module, a data storage module and a defect identification module.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a hydrogen-powered unmanned aerial vehicle inspection system and method. Background Art

[0002] Unmanned aerial vehicles (UAVs) are a new concept of aircraft that is developing rapidly. They are flexible, responsive, unmanned, and require low operation. UAVs can achieve real-time image transmission and high-risk area detection by carrying multiple types of sensors, and are a powerful supplement to satellite remote sensing and traditional aerial remote sensing. At present, the use of UAVs has expanded to the three major fields of military, scientific research, and civil use. Specifically, they are widely used in the fields of communications, meteorology, agriculture, ocean, exploration, photography, rescue, disaster prevention and reduction, crop yield estimation, drug control and anti-smuggling, border patrol, and public security and anti-terrorism.

[0003] However, in related technologies, drones still need to be improved in terms of energy utilization, inspection efficiency, stability, etc. Summary of the invention

[0004] The present invention provides a hydrogen-powered UAV inspection system and method to improve the performance and stability of the UAV.

[0005] According to one aspect of the present invention, there is provided a hydrogen-powered drone inspection system, comprising a hydrogen-powered drone flight subsystem, an inspection task subsystem, and a cloud-based artificial intelligence subsystem;

[0006] The hydrogen-powered UAV flight subsystem includes a UAV platform, a route planning device, a ground control device, and a communication device;

[0007] The UAV platform includes a flight control device, an energy device and a navigation device; the flight control device is used to control the UAV to respond to route instructions to perform flight missions, and to execute at least one of the safe return strategies of one-key return, loss of connection return, and low-power return. The safe return strategy is used to estimate the remaining energy of the UAV according to the remaining air pressure of the hydrogen storage bottle in the energy device, and to issue a return alarm according to the remaining energy, remaining cruising range information and the current position information of the UAV; the energy device uses hydrogen-lithium hybrid power to power the UAV platform and the inspection task subsystem, and is used to distribute energy to the lithium battery and hydrogen fuel cell in the hydrogen-lithium hybrid power, perform low-temperature self-start and temperature and humidity control on the hydrogen fuel cell, and perform thermal management control on the environment of the hydrogen fuel cell;

[0008] The route planning device is used to plan a cruise route according to the type of functional pod mounted on the UAV platform, the information of the inspected equipment and the endurance of the UAV; the ground control device is used to obtain the planned cruise route from the route planning device and transmit it to the UAV platform through the communication device, and the UAV platform executes the cruise route flight; the communication device includes an airborne end and a ground end; the ground end is provided with a ground station antenna control device to make the UAV within the coverage of the ground station digital image transmission antenna;

[0009] The inspection task subsystem is an execution unit of the inspection task, including a front-end computing module and a partial discharge detection module; the front-end computing module is used to use an integrated target detection algorithm to perform target detection on the images collected during the inspection, and to correct the gimbal according to the target detection result so that the target moves to the center of the field of view; the partial discharge detection module is used to perform noise reduction processing on the collected real-time sound signals to reduce the sound interference generated by the propellers in the drone, and use the noise-reduced sound signals to perform discharge detection on the power equipment;

[0010] The cloud-based artificial intelligence subsystem includes a remote monitoring module, a data storage module and a defect recognition module. The remote monitoring module and the data storage module are used to remotely monitor and store the execution data of the inspection task; the defect recognition module is used to use a multimodal diagnostic model to perform multimodal defect recognition on the inspection images and text description information in the execution data of the inspection task; the defect recognition module is also used to perform cross-modal discharge mutual inspection on the discharge information; wherein the discharge information is obtained by performing temperature detection on the infrared thermal imaging data collected by the infrared thermal imaging detection module, and by performing local discharge detection by the local discharge detection module.

[0011] According to another aspect of the present invention, a hydrogen-powered drone inspection method is also provided, which is performed by the hydrogen-powered drone inspection system provided by any embodiment of the present invention, and the method includes:

[0012] The route planning device plans a cruise route according to the type of functional pod mounted on the UAV platform, the information of the inspected equipment and the endurance of the UAV, and transmits the route to the UAV platform through the communication device;

[0013] The flight control device in the UAV platform performs the flight mission according to the cruise route; and the functional pod mounted on the UAV platform performs the inspection mission to obtain the execution data of the inspection mission, and transmits the execution data of the inspection mission to the cloud artificial intelligence subsystem; wherein the functional pod is one or more task modules; the execution data of the inspection mission includes the flight data of the UAV, the images collected by the inspection or the real-time sound signals;

[0014] The execution data of the inspection task is remotely monitored and stored through the remote monitoring module and the data storage module in the cloud artificial intelligence subsystem, and the inspection image and text description information in the execution data of the inspection task are multimodally identified by the defect recognition module in the cloud artificial intelligence subsystem using a multimodal diagnosis model; the defect recognition module is also used to perform cross-modal discharge mutual inspection on the discharge information; wherein the discharge information is obtained by performing temperature detection on the infrared thermal imaging data collected by the infrared thermal imaging detection module, and by performing local discharge detection by the local discharge detection module;

[0015] Furthermore, the flight control device estimates the remaining energy of the drone based on the remaining air pressure of the hydrogen storage bottle in the energy device, and issues a return alarm based on the remaining energy, remaining cruising range information and the current position information of the drone.

[0016] The embodiments of the present invention distribute and control the power supply of lithium batteries and hydrogen fuel cells through the energy device in the drone platform, perform low-temperature self-starting, temperature and humidity control, and thermal management on the hydrogen fuel cell, thereby improving the energy utilization rate of the hydrogen-powered drone, and realize internal recycling or external discharge of the self-produced water and heat of the hydrogen fuel cell through temperature and humidity management, exhaust management and thermal management structure to improve the environmental adaptability and endurance of the hydrogen-powered drone; plan the cruise route according to the type of functional pod mounted on the drone platform, the information of the inspected equipment and the endurance of the drone through the route planning device, improve the inspection efficiency and resource utilization, and ensure the inspection safety; adjust the yaw angle of the digital image transmission antenna through the ground station antenna control device and pitch angle, so that the UAV is within the coverage of the ground station's digital image transmission antenna, increasing the antenna gain; the front-end computing power module connected to the visual pod is used to perform angle correction control on the UAV gimbal to improve visual processing efficiency and shooting quality; partial discharge detection is performed on power equipment and noise reduction processing is performed on the collected real-time sound signals to reduce the sound interference generated by the propellers in the UAV, thereby improving the accuracy of partial discharge detection; and multi-modal defect recognition is performed on inspection images and text description information, and cross-modal discharge mutual inspection is performed on the discharge information obtained by temperature detection based on infrared thermal imaging and the partial discharge information detected by the partial discharge detection module, thereby improving the accuracy of defect recognition.

[0017] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 It is a structural schematic diagram of a hydrogen-powered UAV inspection system provided according to an embodiment of the present invention;

[0020] Figure 2 is a schematic structural diagram of a hydrogen-lithium hybrid UAV provided by an embodiment of the present invention;

[0021] Figure 3 Schematic diagram of the positional relationship between the first air hole, the second air hole and the diverter plate in the hydrogen-lithium hybrid UAV provided by an embodiment of the present invention;

[0022] Figure 4 is a schematic diagram of the structure of an energy device in a UAV platform provided by an embodiment of the present invention;

[0023] Figure 5 The structure of the hydrogen fuel cell temperature and humidity control module in the energy device provided by the embodiment of the present invention is shown in FIG. Figure 1 ;

[0024] Figure 6 The structure of the hydrogen fuel cell temperature and humidity control module in the energy device provided by the embodiment of the present invention is shown in FIG. Figure 2 .

[0025] Figure 7 It is a structural schematic diagram of a ground station antenna control device provided according to an embodiment of the present invention. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first" and "second" and the like in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] In the technical solutions of the embodiments of the present invention, the acquisition, storage and application of real-time location and flight data, etc., all comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0029] refer to Figure 1 , an embodiment of the present invention provides a hydrogen-powered UAV inspection system, including a hydrogen-powered UAV flight subsystem, an inspection task subsystem, and a cloud-based artificial intelligence subsystem;

[0030] The hydrogen-powered UAV flight subsystem includes a UAV platform, a route planning device, a ground control device, and a communication device;

[0031] The UAV platform includes a flight control device, an energy device and a navigation device; the flight control device is the core of the UAV platform, and is used to obtain remote control instructions such as route instructions from the communication device, control the UAV to respond to the route instructions to perform flight missions, and execute at least one safe return strategy among one-key return, loss of connection return, and low-power return. The safe return strategy is used to estimate the remaining energy of the UAV according to the remaining air pressure of the hydrogen storage bottle in the energy device, and to issue a return alarm according to the remaining energy, remaining cruising range information and the current position information of the UAV, and control the UAV to return safely, so as to ensure the safe return of the UAV to the take-off position, thereby improving the safety and intelligence of the UAV. Energy level; the energy device adopts hydrogen-lithium hybrid power to power the UAV platform and inspection task subsystem, and is used to distribute energy between the lithium battery and hydrogen fuel cell in the hydrogen-lithium hybrid power to solve the problem of poor transient performance of the hydrogen fuel cell, improve endurance, and perform low-temperature self-starting and temperature and humidity control on the hydrogen fuel cell, as well as thermal management control on the environment of the hydrogen fuel cell to improve the energy utilization rate and environmental adaptability of the hydrogen fuel cell; the navigation device provides precise positioning for the UAV to ensure that the UAV completes the route mission. The UAV supports differential positioning and single-point positioning at the same time, and supports Beidou single navigation positioning, which improves the positioning accuracy and navigation system stability.

[0032] The route planning device is used to plan a cruise route according to the type of functional pod mounted on the UAV platform, the information of the inspected equipment and the endurance of the UAV, so as to effectively improve the inspection efficiency and ensure the safety of the inspection return; the ground control device is used to obtain the planned cruise route from the route planning device, and transmit it to the UAV platform through the communication device, and the UAV platform executes the cruise route flight; the communication device includes an airborne end and a ground end; the ground end is provided with a ground station antenna control device to make the UAV within the coverage range of the ground station digital image transmission antenna, and can also reduce the path loss of the long-flight UAV during long-distance flight, overcome the path loss problem of the long-flight UAV during long-distance flight, improve the stability of the UAV communication link, and improve the quality of long-distance communication;

[0033] The inspection task subsystem is the execution unit of the inspection task, including a front-end computing module and a partial discharge detection module; the front-end computing module is used to use an integrated target detection algorithm to perform target detection on the images collected during the inspection, and correct the gimbal according to the target detection result to move the target to the center of the field of view, and then autonomously adjust the exposure and zoom so that the target image with better image quality can be captured during the inspection process; the partial discharge detection module is used to perform noise reduction processing on the collected real-time sound signals to reduce the sound interference generated by the propellers in the drone, and use the noise-reduced sound signals to perform discharge detection on the power equipment, thereby reducing the noise impact of hydrogen-powered drones on partial discharge equipment and improving the accuracy of partial discharge detection. The partial discharge detection module can be mounted to the pod interface in the drone platform to form a partial discharge pod. Reference Figure 1 The inspection task subsystem may also include the following task modules: visible light detection module, infrared thermal imaging detection module, laser ranging module and ultraviolet imager module; at least one or more task modules are mounted on the pod interface of the UAV platform to form a visual pod. The inspection data collected by the inspection task subsystem can also be transmitted back to the ground station through the UAV platform and communication device.

[0034] The cloud-based artificial intelligence subsystem includes a remote monitoring module, a data storage module and a defect recognition module. The remote monitoring module and the data storage module are used to remotely monitor and store the execution data of the inspection task. For example, the image information in the SD (Secure Digital) card in the drone platform can be read, and the data can be transmitted back to the cloud-based artificial intelligence subsystem using wireless communication technologies such as 4G / 5G; the defect recognition module is used to perform defect detection on the inspected equipment, effectively assisting the power inspection work. For example, the defect recognition module is used to use a multimodal diagnostic model to perform multimodal defect recognition on the inspection image and text description information in the execution data of the inspection task; wherein, the inspection image can be a visible light image collected by a visible light detection module, an infrared thermal image collected by an infrared thermal imaging detection module, and an ultraviolet image collected by an ultraviolet imaging module; the text description information can be the naming text of the inspection image, for example, it can include kilowatts, the name of the line to which it belongs, the name of the power component, etc. The multimodal diagnosis model integrates the semantic recognition of text and the feature processing of images, and also constructs a multimodal knowledge graph for power equipment defects, realizing efficient application and complementarity of data, effectively improving the detection performance of small target defects, quickly and accurately locating the image defect area, and using deep learning technology, it can extract deep features from the power equipment image, overcome the limitations of traditional image recognition algorithms, and improve the generalization ability and type coverage of high recognition. Exemplarily, the defect recognition module is also used to perform cross-modal discharge mutual inspection on discharge information; wherein, the discharge information is obtained by temperature detection of infrared thermal imaging data collected by the infrared thermal imaging detection module, and by local discharge detection by the local discharge detection module. The accuracy of local discharge detection is further improved by performing cross-modal discharge mutual inspection on the discharge information obtained by temperature detection of infrared thermal imaging and the local discharge information detected by the local discharge detection module. The cloud-based artificial intelligence subsystem can also issue task instructions to the inspection task subsystem to further improve the flexibility of inspection.

[0035] In the process of performing power pole inspection tasks, the functional pod (partial discharge pod or visual pod) to be used can be determined according to the task requirements, and the inspection waypoints and cruise routes can be generated according to the characteristics of the functional pod, three-dimensional point cloud data, and safe flight distance. When the drone is not started, the functional pod is mounted on the hydrogen-powered drone flight platform, the hydrogen storage bottle and lithium battery are assembled on the drone, and the flight platform power button is turned on. The lithium battery is used to start the platform avionics system and power the fuel cell control system and the communication device, and the ground control device is turned on. The hydrogen fuel cell is turned on through the ground control device. After the hydrogen fuel cell is started, the hydrogen fuel cell powers the drone system, and then the cruise route is uploaded to the drone platform through the ground station. The drone flight platform carries the functional pod to complete channel inspection, refined inspection, discharge detection and other operations. In the refined inspection operation, the front-end computing module can control the rotation of the visual pod to move the target to the center of the field of view and perform reasonable zoom viewing. The partial discharge detection module can also assist in improving the partial discharge detection effect and the accuracy of partial discharge detection through partial discharge damping control. When encountering large maneuvers during flight, the drone is powered by both hydrogen fuel cells and lithium batteries. When there is surplus hydrogen fuel cells, the hydrogen power can be used to charge the lithium battery to ensure that the lithium battery is always fully charged, achieving long flight time. At the same time, it ensures the stability of the system power supply and the power supply of the emergency lithium battery, supporting the drone inspection system to complete inspection tasks.

[0036] The embodiment of the present invention distributes and controls the power supply of lithium batteries and hydrogen fuel cells through the energy device in the drone platform, performs low-temperature self-starting, temperature and humidity control, and thermal management on the hydrogen fuel cell, thereby improving the energy utilization rate of the drone platform, and realizes internal recycling or discharge to the external environment of the self-produced water and heat of the hydrogen fuel cell through temperature and humidity management, exhaust management and thermal management structure, thereby improving the environmental adaptability and endurance of the hydrogen-powered drone; plans the cruise route through the route planning device according to the type of functional pod mounted on the drone platform, the information of the inspected equipment and the endurance of the drone, thereby improving the inspection efficiency and resource utilization rate and ensuring the inspection safety; adjusts the yaw of the digital image transmission antenna through the antenna control device of the ground station The angle and pitch angle are adjusted to place the UAV within the coverage of the ground station’s digital image transmission antenna, thereby increasing the antenna gain; the angle correction control of the UAV gimbal is performed through the front-end computing power module connected to the visual pod to improve the visual processing efficiency and shooting quality; partial discharge detection is performed on power equipment, and the collected real-time sound signals are processed for noise reduction to reduce the sound interference generated by the propellers in the UAV, thereby improving the accuracy of partial discharge detection; and multi-modal defect recognition is performed on inspection images and text description information, and cross-modal discharge mutual inspection is performed on the discharge information obtained by temperature detection of infrared thermal imaging and the partial discharge information detected by the partial discharge detection module, thereby improving the accuracy of defect recognition.

[0037] Combination Figure 2-Figure 3 As shown, a hydrogen fuel cell 200 and a lithium battery are sequentially arranged in the fuselage 100 of a hydrogen-lithium hybrid UAV (hereinafter referred to as a UAV). In this embodiment, an air-cooled hydrogen fuel cell 200 is taken as an example. Two hydrogen fuel cells 200 are arranged on both sides of a hydrogen storage bottle 400. A heat dissipation space is provided between the hydrogen fuel cell 200 and a bottom plate 101 of the fuselage 100. A heat dissipation fan 500 is arranged in the heat dissipation space. The air inlet of the heat dissipation fan 500 faces the hydrogen fuel cell 200, and the air outlet faces the bottom plate 101. At least a first air hole is provided on the bottom plate 101. 102 is used to provide air to the hydrogen fuel cell 200; a propeller and a landing gear 600 are provided on the fuselage 100, and the landing gear 600 is hinged on the fuselage 100. The landing gear 600 includes a laterally arranged support rod 602 and a vertically arranged connecting rod 601 of an integrated structure, and the connecting rod 601 is hinged to the bottom of the fuselage 100, and the connecting rod 601 is arranged as a telescopic rod, and the telescopic movable part of the telescopic rod is fixed by a sleeve compression, and a rubber protective pad is provided on the upper sleeve of the crossbar. The landing gear 600 can use carbon fiber material to reduce weight as a whole.

[0038] refer to Figure 4The energy device in the UAV platform includes a power control module 2, an environmental thermal management module 3, a hydrogen fuel cell temperature and humidity control module 4 and a main control module 1, wherein the power control module 2 is used to perform energy management control on the lithium battery 300 and the hydrogen fuel cell 200 according to the first power of the lithium battery 300 and the second power of the hydrogen fuel cell 200; the environmental thermal management module 3 is used to perform thermal management control on the external environmental temperature of the hydrogen fuel cell 200 according to the ambient temperature in the heat dissipation space; the hydrogen fuel cell temperature and humidity control module 4 is used to control the cathode of the hydrogen fuel cell 200 according to the core temperature and humidity of the hydrogen fuel cell 200 The temperature and humidity of the intake air on the polar side are controlled, and the exhaust of the hydrogen fuel cell 200 is controlled and the exhaust is thermally managed; the main control module 1 is used to collect the hydrogen pressure of the hydrogen storage bottle 400, the ambient temperature and the core temperature and humidity of the hydrogen fuel cell 200, and the main control module 1 is connected to the power control module 2, the environmental thermal management module 3 and the hydrogen fuel cell temperature and humidity control module 4, and the hydrogen pressure, ambient temperature and the core temperature and humidity of the hydrogen storage bottle 400 are sent to the power control module 2, the environmental thermal management module 3 and the hydrogen fuel cell temperature and humidity control module 4 respectively, and the lithium battery 300 and the hydrogen fuel cell 200 are controlled by the battery management. Among them, the main control module 1 controls the start-up of the hydrogen fuel cell 200 according to the hydrogen pressure of the hydrogen storage bottle 400, and the main control module 1 is used to centrally collect the relevant thermal management parameter information of the lithium battery 300 and the hydrogen fuel cell 200, including the ambient temperature and the core temperature and humidity, as well as the temperature and humidity of the air, the temperature and humidity of the exhaust gas, and the collected thermal management parameter data are sent to the corresponding control modules respectively to perform the thermal management control of the hydrogen fuel cell 200. It should be noted that the above thermal management parameters are realized by setting corresponding temperature and humidity sensors, among which the hydrogen pressure can be collected and flow controlled by setting a solenoid valve. The main control module 1 is set to realize the collection of thermal management parameters, and the power control module 2, the environmental thermal management module 3 and the hydrogen fuel cell temperature and humidity control module 4 are connected by communication to realize battery management and control of the lithium battery 300 and the hydrogen fuel cell 200, realize the battery energy management of the hydrogen-lithium hybrid drone and the thermal management of the hydrogen fuel cell 200, which is conducive to improving the environmental adaptability of the air-cooled hydrogen fuel cell 200.

[0039] In some embodiments, the power control module 2 collects a first charge of the lithium battery 300 and determines whether the first charge of the lithium battery 300 meets the starting power requirement of the drone. If not, the lithium battery 300 is charged or replaced until the starting power requirement is met, and the lithium battery 300 supplies power to the drone for starting. The main control module 1 sends an instruction to start the hydrogen fuel cell 200 to the power control module 2 according to the collected hydrogen pressure, and the power control module 2 starts the hydrogen fuel cell 200 and performs energy management control on the lithium battery 300 and the hydrogen fuel cell 200.

[0040] like Figure 4 As shown, the power control module 2 collects the first power of the lithium battery 300 and the second power of the hydrogen fuel cell 200, the main control module 1 collects the first power and the second power provided by the power control module 2, the main control module 1 collects the hydrogen pressure of the hydrogen storage bottle 400, determines the start of the hydrogen fuel cell 200 according to the hydrogen pressure, and sends a start instruction to the power control module 2 to start the hydrogen fuel cell 200. The main control module 1 sends a lithium battery 300 start instruction, a replacement instruction, or a charging instruction to the power control module 2 in combination with the current state of the drone. It can be understood that the power module is an execution unit for directly controlling the alternating or simultaneous operation of the lithium battery 300 and the hydrogen fuel cell 200.

[0041] Correspondingly, the power control module 2 executes a battery energy management method according to the first and second electric charges, specifically: collecting the first electric charge of the lithium battery 300, and determining whether the first electric charge of the lithium battery 300 meets the starting power requirement of the UAV, if not, charging the lithium battery 300 or replacing the lithium battery 300 until the starting power requirement is met, and then the lithium battery 300 supplies power to the UAV for starting; the main control module 1 collects the hydrogen pressure, and determines whether the hydrogen pressure meets the starting and working requirements of the hydrogen fuel cell 200, if so, directly starting the hydrogen fuel cell 200; if the hydrogen pressure does not meet the requirements, the hydrogen storage bottle 400 is replenished with hydrogen and then the hydrogen fuel cell 200 is started; after the hydrogen fuel cell 200 is started, the main control module 1 controls the hydrogen pressure to meet the power requirement of the hydrogen fuel cell 200.

[0042] During the flight of the drone, the power control module 2 collects the second power of the hydrogen fuel cell 200 and the first power of the lithium battery 3003 in real time. If the second power of the hydrogen fuel cell 200 is less than the power required for the stable operation of the drone, the power supply of the hydrogen fuel cell 200 is increased. If it is not increased or is still less than the power required for the stable operation of the drone after the increase, the mixed power supply of the hydrogen fuel cell 200 and the lithium battery 300 is started; if the second power of the hydrogen fuel cell 200 is greater than the power required for the stable operation of the drone, the hydrogen fuel cell 200 is used to supply power alone. At the same time, if the first power of the lithium battery 300 is not fully charged, the hydrogen fuel cell 200 can charge the lithium battery 300 until the lithium battery 300 is fully charged. When the first power of the lithium battery 300 is lower than the warning power value, a warning is issued and a prompt to return; when the hydrogen pressure is lower than the minimum pressure value, the main control module 1 issues a warning and prompts to return.

[0043] In some embodiments, reference Figure 4The energy device in the UAV platform also includes a DC-DC converter 5. The input end of the DC-DC converter 5 is connected to the power supply output end of the hydrogen fuel cell 200 and the lithium battery 300. The DC-DC converter 5 is used to convert the power supply of the hydrogen fuel cell 200 and / or the power supply of the lithium battery 300 into output power and then send it to the power system to drive the UAV to start or fly. The hydrogen fuel cell 200 can charge the lithium battery 300 through the DC-DC converter 5, so that the electricity generated by the hydrogen fuel cell 200 can store the excess electricity in the lithium battery 300 while ensuring the normal operation of the UAV, avoiding the waste of electricity and ensuring that the lithium battery 300 is in a healthy state to cope with emergencies. By setting up the DC-DC converter 5, the lithium battery 300 or the hydrogen fuel cell 200 can supply power to the main control module 1, the power control module 2, the environmental thermal management module 3 and the hydrogen fuel cell temperature and humidity control module 4.

[0044] In some embodiments, in combination Figure 3 and Figure 4 The environmental thermal management module 3 includes a temperature sensor, an air flow channel control mechanism and a main control module 1. The temperature sensor is arranged in the fuselage 100 and is used to detect the ambient temperature of the hydrogen fuel cell 200. A second air hole 103 is arranged on the bottom plate 101 of the fuselage 100 to form a second air flow channel. The air flow channel control mechanism is used to selectively open or close the second air flow channel. The main control module 1 is communicatively connected to the temperature sensor and the air flow channel control mechanism. The main control module 1 controls the air flow channel control mechanism to open or close the second air flow channel according to the ambient temperature.

[0045] Combination Figure 2 and Figure 3, a plurality of first air holes 102 are arranged at intervals and dispersedly on the bottom plate 101 of the fuselage 100 to form a first air flow channel, and the hydrogen fuel cell 200 arranged in the fuselage 100 is connected to the outside air through the first air flow channel to obtain oxygen and dissipate heat. The first air hole 102 is in a normally open state, and the first air hole 102 is realized by hollowing out the bottom plate 101 of the shell structure of the fuselage 100. The first air hole 102 is used to provide air (oxygen) to the hydrogen fuel cell 200 for electrochemical reaction. At the same time, the outside air and the hydrogen fuel cell 200 can be in contact to achieve heat exchange; taking the air-cooled hydrogen fuel cell 200 as an example, the hydrogen fuel cell 200 is provided with hydrogen by the hydrogen storage bottle 400, and the first air flow channel formed by the first air hole 102 provides oxygen. The air and fuel (hydrogen) react electrochemically in the hydrogen fuel cell 200 to generate electricity and supply the power system of the drone. Among them, the hydrogen storage bottle 400 is arranged between the two hydrogen fuel cells 200 to reasonably arrange the internal space of the fuselage 100. The hydrogen fuel cell 200 obtains oxygen and dissipates heat through the first air hole 102 on the fuselage 100. The outside air enters the fuselage 100 through the first air hole 102, which can ensure that the hydrogen fuel cell 200 in the fuselage 100 has sufficient air intake, and increase the heat exchange between the surface of the hydrogen fuel cell 200 and the outside air to achieve heat dissipation. An air flow channel control mechanism is provided at the second air hole 103, and the main control module 1 and the temperature sensor are arranged inside the fuselage 100. By arranging the second air hole 103 on the fuselage 100 and arranging the temperature sensor in the fuselage 100 to collect the ambient temperature and send it to the main control module 1, the main control module 1 can control the air flow channel control mechanism to selectively open and close the second air flow channel according to the ambient temperature, so as to increase or reduce the heat dissipation of the hydrogen fuel cell 200, realize the automatic control of the ambient temperature of the hydrogen fuel cell 200, solve the problem of poor heat dissipation effect of the hydrogen fuel cell 200 in the fuselage 100, and improve the working stability and environmental adaptability of the hydrogen fuel cell 200.

[0046] In some embodiments, two second air holes 103 are provided, and the two second air holes 103 are respectively arranged opposite to the two hydrogen fuel cells 200, so as to flexibly control the corresponding second air holes 103 to be opened or closed according to the ambient temperature of the hydrogen fuel cell 200. It can be understood that the arrangement of the second air holes 103 is conducive to the outside air entering the interior of the fuselage 100 and directly impacting the hydrogen fuel cell 200 so that the cold air can hit the outside of the hydrogen fuel cell 200 and carry the heat of the hydrogen fuel cell 200 to discharge and realize heat exchange, heat dissipation and cooling.

[0047] In some embodiments, the air flow channel control mechanism includes a diverter plate 104 and a driving mechanism 105 disposed at the second air hole 103, the driving mechanism 105 is communicatively connected to the main control module 1, the output end of the driving mechanism 105 is connected to the diverter plate 104, and the driving mechanism 105 is used to drive the diverter plate 104 to open or close the second air flow channel.

[0048] Figure 3 The left side of the middle bottom plate 101 is shown as the second air hole 103 (without the diverter plate 104), and the right side of the bottom plate 101 is the diverter plate 104 set on the second air hole 103. The diverter plate 104 is set to rotate to open and close the second air hole 103, which is conducive to the main control module 1 to control the opening and closing of the second air flow channel, and realize the automatic control and management of the ambient temperature of the hydrogen fuel cell 200. In this embodiment, the diverter plate 104 is rotatably connected to the bottom plate 101 through the hinge 1041, which has a simple structure, is easy to connect, and has a small weight. By setting a driving mechanism 105 to drive the diverter plate 104 to rotate, the main control module 1 can realize the automatic drive control of the diverter plate 104. The main control module 1 controls the driving mechanism 105 according to the ambient temperature of the hydrogen fuel cell 200, thereby realizing the selective opening or closing of the second air flow channel for adjustment according to the ambient temperature. When the second air flow channel is opened, the contact area between the outside air and the hydrogen fuel cell 200 increases, the heat exchange effect is enhanced, and it is conducive to the rapid cooling of the hydrogen fuel cell 200. When the ambient temperature of the hydrogen fuel cell 200 is low, the hydrogen fuel cell 200 only takes in air and dissipates heat through the first air hole 102, which is beneficial to the circulation of heat of the hydrogen fuel cell 200 in the heat dissipation space to maintain or increase the ambient temperature of the hydrogen fuel cell 200 as soon as possible.

[0049] In some embodiments, the driving mechanism 105 is fixedly disposed on the fuselage 100. The driving mechanism 105 drives the diverter plate 104 to rotate toward the inside of the fuselage 100 to open the second air flow channel. The driving mechanism 105 drives the diverter plate 104 to rotate from the inside of the fuselage 100 toward the second air hole 103 to close the second air flow channel.

[0050] Among them, the driving mechanism 105 can adopt a linear driving structure such as a cylinder, or a rotating driving mechanism 105 such as a rotating motor. Taking the linear driving mechanism 105 as an example, the output end of the driving mechanism 105 is hinged with the diverter plate 104, and the driving mechanism 105 is connected to the main control module 1 for communication. The main control module 1 controls the driving mechanism 105 to drive the diverter plate 104 to rotate to open or close the second air flow channel, thereby realizing automatic control of the diverter plate 104, and it is easy to control the rotation angle of the diverter plate 104, and accurately control the air flow rate and airflow direction. It should be noted that the movement of the diverter plate 104 is a rotation into the fuselage 100, so when the diverter plate 104 rotates to open the second air flow channel, it does not affect the appearance of the fuselage 100.

[0051] In some embodiments, the second air holes 103 are disposed on both sides of the plurality of first air holes 102 , and the splitter plate 104 is rotatably disposed on one side of the second air holes 103 close to the first air holes 102 .

[0052] like Figure 3 , two driving mechanisms 105 are respectively arranged on both sides of the first air hole 102 on the bottom plate 101, and the output end of the driving mechanism 105 extends toward the diverter plate 104 and is hinged with the diverter plate 104, wherein the driving mechanism 105 and the hinge 1041 of the diverter plate 104 are arranged at intervals to facilitate rotation control. The plane where the second air hole 103 is located and the plane where the first air hole 102 is located are respectively arranged at a certain angle on the bottom plate 101 to adapt to the shape of the fuselage 1, and when the two driving mechanisms 105 simultaneously control the two diverter plates 104 to flip inward, there will be no position interference.

[0053] In some embodiments, the environmental thermal management module 3 also includes a cooling fan 500 , which is disposed inside the fuselage 100 , with an air inlet of the cooling fan 500 facing the hydrogen fuel cell 200 and an air outlet of the cooling fan 500 facing the outside of the fuselage 100 .

[0054] Preferably, a cooling fan 500 is provided under each hydrogen fuel cell 200. The cooling fan 500 can increase the air disturbance in the cooling space, thereby increasing the air flow and heat dissipation, and can quickly discharge the heat on the surface of the hydrogen fuel cell 200. When the diverter plate 104 rotates toward the inside of the fuselage 100 to open the second air hole 103, the cooling fan 500 can discharge the hot air on the surface of the hydrogen fuel cell 200 to the second air hole 103, thereby facilitating the rapid discharge of hot air in the fuselage 100 and reducing heat accumulation. At the same time, after the diverter plate 104 rotates to open the second air hole 103, the space between the two diverter plates 104 where the first air hole 102 is located continues to provide air; the part of the two diverter plates 104 away from the first air hole 102 is connected to the outside air by the second air hole 103 to form a second air flow channel, and the gas flow exchange in the second air flow channel realizes heat dissipation. By providing the cooling fan 500, the heat of the hydrogen fuel cell 200 can be discharged to the outside air faster, and the rapid heat dissipation and cooling of the hydrogen fuel cell 200 can be achieved.

[0055] According to the ambient temperature T, when the ambient temperature T is greater than the first set temperature T1, the main control module 1 detects the state of the second air flow channel. If the second air flow channel is in a closed state, the second air flow channel is opened through the air flow channel control mechanism, otherwise the current state of the diverter plate 104 is maintained, and the second air flow channel is in an open state; when the ambient temperature T is less than the second set temperature T2, the main control module 1 detects the state of the second air flow channel. If the second air flow channel is in a closed state, the current state of the diverter plate 104 is maintained, and the closed state of the second air flow channel is maintained, otherwise the second air flow channel is closed through the air flow channel control mechanism. The above can ensure that the hydrogen fuel cell 200 always operates at a suitable temperature between the second set temperature T2 and the first set temperature T1.

[0056] In some embodiments, reference Figure 5 The hydrogen fuel cell temperature and humidity control module 4 includes a hot and cold air mixing chamber 41, an exhaust treatment chamber 42 and a first control valve 43. The hot and cold air mixing chamber 41 is provided with a cold air inlet 411, a hot air inlet 412 and a mixed gas outlet 413. The cold air inlet 411 is connected to the outside air. The hydrogen fuel cell 200 is provided with an oxygen inlet 201 and an exhaust port 202. The mixed gas outlet 413 is connected to the oxygen inlet 201 and provides a mixed gas for the hydrogen fuel cell 200. The exhaust port 202 is provided with an exhaust pipe 203. The end of the exhaust pipe 203 away from the exhaust port 202 is connected to the hot air inlet 412; the exhaust treatment chamber 42 is provided on the exhaust pipe 203, and the exhaust treatment chamber 42 is used to send the exhaust gas of the hydrogen fuel cell 200 into the hot and cold air mixing chamber 41 after temperature and humidity treatment; the first control valve 43 is provided on the exhaust pipe 203 to adjust the flow rate of the distributed exhaust gas entering the hot and cold air mixing chamber 41.

[0057] In this embodiment, the outside air is the source of cold air and also the source of oxygen raw material for the hydrogen fuel cell 200. The hydrogen fuel cell 200 is also provided with an oxygen inlet 201 and an exhaust port 202. The mixed gas outlet 413 is connected to the oxygen inlet 201 to provide mixed gas for the hydrogen fuel cell 200. The exhaust port 202 is provided with an exhaust pipe 203. The end of the exhaust pipe 203 away from the exhaust port 202 is connected to the hot air inlet 412. The exhaust gas discharged from the exhaust port 202 here is the source of hot air. The mixed gas is a mixed gas of the cold air and the hot air mentioned above. By adjusting the ratio of the cold air and the hot air, the temperature of the mixed gas can be adjusted. The exhaust treatment chamber 42 is arranged on the exhaust pipe 203. The exhaust treatment chamber 42 is used to send the exhaust gas of the hydrogen fuel cell 200 into the cold and hot air mixing chamber 41 after subjecting it to temperature and humidity treatment. The treatment here includes dehumidification and moisturizing, as well as cooling and other treatments; the first control valve 43 is arranged on the exhaust pipe 203 to control the gas flow entering the hot air inlet 412 in the exhaust pipe 203, so as to adjust the flow ratio of cold air and hot air; one port of the first control valve 43 is for leakage, which can directly discharge excess exhaust gas.

[0058] In some embodiments, the exhaust treatment chamber 42 is disposed on the exhaust pipe 203, and the exhaust treatment chamber 42 includes a second control valve 423, a gas drying chamber 421 and a humidity holding chamber 422. The first port of the second control valve 423 is connected to the exhaust pipe 203, and the second port and the third port are respectively connected to the gas drying chamber 421 and the humidity holding chamber 422. The exhaust gas of the gas drying chamber 421 and the humidity holding chamber 422 are mixed and enter the hot and cold air mixing chamber 41 through the exhaust pipe 203. The second control valve 423 adjusts the gas flow of the exhaust gas entering the gas drying chamber 421 and the humidity holding chamber 422 according to the temperature and humidity of the exhaust gas. The first control valve 43 is disposed at the front end of the hot and cold air mixing chamber 41.

[0059] like Figure 5, the dotted line is the communication connection line, the communication signal includes gas pressure and temperature and humidity signals, the solid line is the gas circulation pipeline, in this embodiment, the gas drying chamber 421 is used to dry and dehumidify the exhaust gas, so as to reduce the gas humidity of the oxygen inlet 201 of the hydrogen fuel cell 200; the humidity holding chamber 422 is used to moisturize the exhaust gas. When the gas humidity is low, it affects the normal use of the proton exchange membrane of the hydrogen fuel cell 200, so it is necessary to adjust the humidity of the gas. The second control valve 423 is used to adjust the ratio of the exhaust gas entering the gas drying chamber 421 and the humidity holding chamber 422, and after mixing in the hot gas mixing chamber 427, it enters the cold and hot air mixing chamber 41 through the exhaust pipe 203 and mixes with the cold air to obtain the intake side mixed gas with suitable temperature and humidity. During the startup phase of the hydrogen fuel cell 200, when the ambient temperature, i.e., the cold air temperature, is low, the temperature of the oxygen inlet 201 is generally low, and the discharge volume of the first control valve 43 is reduced, increasing the hot air circulation volume, and reducing the rotation speed of the blower 414 and the cooling fan 500 at the cold air inlet, thereby increasing the intake temperature of the cold and hot air mixing chamber 41 on the intake side of the hydrogen fuel cell 200 and reducing the heat carried away by the exhaust gas; when the temperature is high, the exhaust gas is directly discharged through the first control valve 43. When the humidity is high, the flow rate entering the gas drying chamber 421 can be increased, and the flow rate entering the humidity holding chamber 422 can be reduced; when the humidity is low, the flow rate entering the gas drying chamber 421 can be reduced, and the flow rate entering the humidity holding chamber 422 can be increased; the cold air and the hot exhaust gas are mixed in the hot gas mixing chamber 427 and then enter the exhaust pipe 203 to heat the mixed gas, thereby increasing the gas temperature at the oxygen inlet 201, which is conducive to quickly improving the temperature and humidity on the intake side of the hydrogen fuel cell 200. Compared with the prior art, there is no need to increase parasitic power consumption or weight, and the temperature of the oxygen inlet 201 can be increased and the humidity can be adjusted, thereby achieving energy saving by reusing high-temperature gas. In the above embodiment, a hot mixing chamber 427 is provided so that the exhaust gas is mixed in the hot mixing chamber 427 after passing through the gas drying chamber 421 and the humidity maintaining chamber 422, and then connected to the exhaust pipe 203 through the hot mixing chamber 427 and enters the hot and cold air mixing chamber 41 through the first control valve 43, which is beneficial for re-detecting the temperature and humidity of the exhaust gas treated by the exhaust treatment chamber 42, and then the flow rate of the hot gas entering the hot and cold air mixing chamber 41 can be further adjusted by the opening degree and leakage effect of the first control valve 43, so as to realize the precise control of the temperature and humidity of the gas on the intake side of the hydrogen fuel cell 200.

[0060] In some embodiments, the exhaust treatment chamber 42 is disposed on the exhaust pipe 203, and the exhaust treatment chamber 42 includes a condensate collection device 424 and a branch pipe 425. The branch pipe 425 is disposed on the exhaust pipe 203 between the condensate collection device 424 and the exhaust port 202. The branch pipe 425 is provided with a heating device 700. The exhaust passing through the branch pipe 425 has its temperature reduced after heat exchange in the heating device 700 and enters the condensate collection device 424 for condensate collection. The first control valve 43 is disposed on the exhaust pipe 203 between the condensate collection device 424 and the hot and cold air mixing chamber 41.

[0061] like Figure 6 It can be understood that after the hydrogen fuel cell 200 is started and begins to work normally, the hydrogen fuel cell 200 generates a large amount of heat. By setting up a branch pipeline 425, the high-temperature exhaust gas can be heated to the heating device 700 through the branch pipeline 425. The heating method is such as heat exchange through a heat exchange plate or a heat exchanger to achieve cooling of the high-temperature exhaust gas. The water content in the exhaust gas after cooling decreases. The moisture in the low-temperature exhaust gas is collected through the condensate collection device 424 to achieve dehumidification of the low-temperature exhaust gas. The condensate collection device 424 is provided with a drain valve for regularly draining the condensate. The drain valve can also be connected to the main control module 1 through communication to achieve automatic drainage. It can be understood that a temperature and humidity sensor can be provided at the outlet of the condensate collection device 424 to detect the humidity of the low-temperature exhaust gas. If the humidity is too high, the gas flow entering the gas drying chamber 421 is increased. If the humidity is insufficient and the temperature is too low, the opening and closing of the branch pipeline 425 can be adjusted to control the temperature and humidity of the exhaust gas and increase the gas flow entering the humidity maintaining chamber 422. If the humidity is appropriate and the temperature is high, the gas flow entering the branch pipeline 425 for heat exchange with the heating equipment 700 is increased. The control is specifically carried out through the temperature and humidity data collected by the main control module 1.

[0062] In some embodiments, a plurality of branch pipelines 425 and a heating device 700 are respectively provided and arranged in one-to-one correspondence, and each branch pipeline 425 is selectively connected to the exhaust pipe 203 through the third control valve 426 .

[0063] like Figure 6 As shown, two branch pipelines 425 are provided on the exhaust pipe 203 for heat exchange heating of at least two devices to be heated 700. The third control valve 426 is communicatively connected to the main control module 1, and can realize automatic switching control of the branch pipeline 425. Among them, the third control valve 426 is an electric valve with adjustable flow. In the above embodiment, the exhaust pipe 203 can also be connected to the main heat cycle line of the drone, and the device to be heated 700 can be connected to the main heat cycle line through the third control valve 426, which is more convenient to control the exhaust direction in the exhaust pipe 203.

[0064] In some embodiments, the hydrogen fuel cell temperature and humidity control module 4 further includes a discharge valve 44 , which is disposed on one end of the exhaust pipe 203 of the hydrogen fuel cell 200 close to the exhaust port 202 .

[0065] In this embodiment, when the exhaust temperature is high, the exhaust can be directly discharged through the discharge valve 44 to increase the rapid heat dissipation of the hydrogen fuel cell 200 and avoid the temperature being too high for a short time. Figure 5 and Figure 6 As shown, the first control valve 43 is a three-port valve, one of which also has a discharge function. The temperature and humidity of the mixed gas are adjusted according to the flow ratio of the temperature and humidity of the gas discharged from the exhaust treatment chamber 42 and the temperature and humidity of the outside air. The flow of the hot gas entering the cold and hot air mixing chamber 41 is adjusted by adjusting the discharge amount of the first control valve 43.

[0066] It should be noted that, in the above-mentioned embodiment, the temperature, humidity and gas pressure are measured by a plurality of temperature sensors, humidity sensors and electromagnetic pressure relief valves or pressure sensors, and sent to the main control module 1, so that the main control module 1 can control the opening of the first control valve 43, the second control valve 423, the third control valve 426 and the relief valve 44, so as to achieve flow regulation, thereby controlling the temperature and humidity, and providing suitable environmental conditions for the normal operation of the hydrogen fuel cell 200. Among them, an air filter 415 is also provided at the cold air inlet 411 of the cold and hot air mixing chamber 41 for filtering the outside air; a blower 414 is provided for adjusting the air intake flow rate of the air; and a temperature and humidity sensor is provided for detecting the temperature and humidity of the air.

[0067] In some embodiments, the flight control device is specifically used to improve the safety of the drone's return flight through the following process:

[0068] A. Obtain at least one candidate return type of the drone and the location of the return path point associated with each candidate return type, the real-time location and flight data of the drone, the gas data of hydrogen in the drone's hydrogen storage bottle, and the power sampling data of the battery in the drone.

[0069] Among them, the candidate return type may refer to the return type that the drone can perform, and may include but is not limited to at least one of the set path return type and the straight line return type. The set path return type may refer to returning along the set path; the straight line return type may be a straight line return pointing to the take-off position of the drone. The return path point may be the path point that the drone passes through during the return process. Flight data may be data of the drone during the flight process, and may include but is not limited to flight duration, flight speed, and flight altitude. Gas data may include but is not limited to the temperature and pressure of hydrogen. Power sampling data may include but is not limited to the current and voltage of the battery collected at each sampling time.

[0070] B. Calculate the real-time cruising range of the drone based on flight data, gas data, and power sampling data.

[0071] Among them, the real-time cruising distance may refer to the real-time distance that the drone can continue to fly. Specifically, a certain algorithm is used to calculate the real-time cruising distance of the drone based on flight data, gas data and power sampling data. Optionally, the flight data includes the flight duration and the average flight speed in the current time period; the power sampling data includes the power data corresponding to each sampling moment in the flight duration; the real-time cruising distance of the drone is calculated based on the flight data, gas data and power sampling data, including: determining the remaining available power of the drone based on the gas data and the power data corresponding to each sampling moment in the flight duration; determining the power consumption of the drone in the current time period according to the power data corresponding to each sampling moment in the current time period and the sampling interval of the power data; determining the real-time cruising duration of the drone based on the remaining available power and the power consumption in the current time period; calculating the real-time cruising distance of the drone based on the average flight speed and the real-time cruising duration of the drone.

[0072] Among them, the flight data may include but are not limited to the flight duration and the average flight speed in the current time period; the power sampling data may include but are not limited to the power data corresponding to each sampling moment in the flight duration. The flight duration may be the flight duration of the drone since takeoff; the length of the current time period may be independently set by the technicians according to actual needs or practical experience, and the present invention does not limit this. The sampling interval duration may be the duration between adjacent sampling moments. The power consumption of the drone during the current time period of flight may be the amount of power consumed by the drone during the current time period of flight.

[0073] Specifically, a certain algorithm can be used to determine the remaining available power of the drone based on the gas data and the power data corresponding to each sampling moment during the flight duration; for each sampling moment in the current time period, the power consumption within the sampling interval is determined based on the current, voltage and sampling interval duration at the sampling moment; the power consumption corresponding to each sampling moment in the current time period is accumulated to obtain the power consumption of the drone during the current flight time period. Exemplarily, the power consumption of the drone during the current flight time period can be determined by the following formula:

[0074]

[0075] Among them, Q a Indicates the power consumption of the drone during the current flight period; M indicates the number of sampling moments in the current time period; U rtj represents the voltage corresponding to the jth sampling moment; I rtjrepresents the current corresponding to the jth sampling moment; T represents the sampling interval length;

[0076] Determine the ratio between the remaining available power and the power consumption in the current time period; determine the product of the determined ratio and the duration of the current time period as the real-time endurance of the drone; illustratively, the real-time endurance can be determined by the following formula:

[0077]

[0078] Among them, t left Indicates the real-time endurance; T1 indicates the duration of the current time period; Q left Indicates the remaining available power of the drone; Q a Indicates the power consumption of the drone during the current flight period;

[0079] The product of the average flight speed and the real-time endurance duration is determined as the real-time endurance distance of the drone. For example, the real-time endurance distance of the drone can be calculated by the following formula:

[0080] L left =V rt ×t left ;

[0081] Among them, L left Indicates the real-time cruising distance; V rt represents the average flight speed; t left Indicates the real-time battery life.

[0082] It can be understood that the above technical solution is used to determine the remaining available power of the UAV and the power consumption of the UAV in the current flight time period; the real-time flight time of the UAV is determined based on the remaining available power and the power consumption in the current time period; the real-time flight distance of the UAV is calculated based on the average flight speed and the real-time flight time of the UAV, thereby improving the accuracy of the determined real-time flight distance.

[0083] Optionally, the gas data includes real-time gas data, initial gas data and limit gas data; the initial gas data is the gas data when the UAV is started; the limit gas data is the gas data when the hydrogen storage bottle cannot output hydrogen; the remaining available power of the UAV is determined according to the gas data and the power data corresponding to each sampling moment during the flight duration, including: determining the hydrogen consumption of the UAV during the flight duration according to the initial gas data, the real-time gas data and the volume of the hydrogen storage bottle; determining the remaining available hydrogen of the UAV according to the real-time gas data, the limit gas data and the volume of the hydrogen storage bottle; determining the electric energy consumption of the UAV during the flight duration according to the power data corresponding to each sampling moment during the flight duration; determining the remaining available power of the UAV according to the hydrogen consumption and electric energy consumption of the UAV during the flight duration, and the remaining available hydrogen of the UAV.

[0084] Among them, gas data may include but are not limited to air pressure and temperature. Hydrogen can only be input into the hydrogen storage bottle in the drone when the air pressure is greater than or equal to the limit air pressure; the limit gas data may include but are not limited to the limit air pressure when hydrogen can be output, and the limit temperature of hydrogen corresponding to the limit air pressure. Real-time gas data may include but are not limited to the real-time temperature and real-time air pressure of hydrogen; initial gas data may include but are not limited to the air pressure and temperature of hydrogen when the drone is started, that is, the initial air pressure and initial temperature of the drone at the moment of take-off. The remaining available hydrogen amount may refer to the amount of hydrogen that can be output by the hydrogen storage bottle. The power sampling data may include but are not limited to the current and voltage at each sampling moment during the flight duration, as well as the sampling interval duration.

[0085] Specifically, the amount of hydrogen at the take-off time of the drone is determined according to the initial temperature, initial pressure and volume of the hydrogen storage bottle; illustratively, the amount of hydrogen at the take-off time of the drone can be determined by the following formula:

[0086]

[0087] Among them, P0 represents the initial air pressure; V represents the volume of the hydrogen storage bottle; n0 represents the amount of hydrogen in the drone at the time of take-off; R represents the ideal gas constant; T0 represents the initial temperature;

[0088] According to the real-time temperature, real-time pressure and volume of the hydrogen storage bottle, the real-time hydrogen volume of the drone is determined; for example, the real-time hydrogen volume of the drone can be determined by the following formula:

[0089]

[0090] Among them, P rt Indicates the real-time gas pressure; V indicates the volume of the hydrogen storage bottle; n rt represents the real-time hydrogen volume of the drone; R represents the ideal gas constant; T rtIndicates real-time temperature;

[0091] The difference between the real-time hydrogen volume and the hydrogen volume of the drone at the time of take-off is determined as the hydrogen consumption of the drone during the flight time; illustratively, the hydrogen consumption of the drone can be determined by the following formula:

[0092] n use =n0-n rt ;

[0093] Among them, n use Indicates the hydrogen consumption of the drone; n rt Indicates the real-time hydrogen volume of the drone; n0 indicates the hydrogen volume of the drone at the moment of takeoff;

[0094] According to the limit air pressure, limit temperature and volume of the hydrogen storage bottle, determine the minimum hydrogen volume when the hydrogen storage bottle of the drone cannot output hydrogen; illustratively, the minimum hydrogen volume of the drone can be determined by the following formula;

[0095]

[0096] Among them, P min represents the ultimate gas pressure; V represents the volume of the hydrogen storage bottle; n min represents the minimum amount of hydrogen in the drone; R represents the ideal gas constant; T min Indicates the extreme temperature;

[0097] The difference between the real-time hydrogen amount determined according to the real-time gas data and the volume of the hydrogen storage bottle and the minimum hydrogen amount is determined as the remaining available hydrogen amount of the drone; illustratively, the remaining available hydrogen amount of the drone can be determined by the following formula:

[0098] n le f t =n rt -n min ;

[0099] Among them, n left Indicates the remaining available hydrogen amount of the drone; n rt Indicates the real-time hydrogen volume of the drone; n min Indicates the minimum amount of hydrogen for the drone;

[0100] According to the current and voltage of the battery collected at each sampling time during the flight time, the power consumption of the drone during the flight time is determined; for example, the power consumption of the drone during the flight time can be determined by the following formula:

[0101]

[0102] Among them, Q rtrepresents the power consumption of the drone during the flight time; N represents the number of sampling moments; U rti Represents the voltage at the i-th sampling moment; I rti represents the current at the i-th sampling moment; T represents the sampling interval;

[0103] The ratio between the hydrogen consumption and the electric energy consumption of the drone during the flight time is determined as the hydrogen power generation coefficient of the drone; the product of the hydrogen power generation coefficient and the remaining available hydrogen amount is determined as the remaining available power of the drone; illustratively, the remaining available power of the drone can be determined by the following formula:

[0104]

[0105] Among them, Q left Indicates the remaining available power of the drone; n use Indicates the hydrogen consumption of the drone; n left Indicates the remaining available hydrogen amount of the drone; Q rt Indicates the power consumption of the drone during flight time.

[0106] The above technical solution can be used to determine the hydrogen consumption of the UAV during the flight time and the remaining available hydrogen of the UAV; determine the electric energy consumption of the UAV during the flight time based on the power data corresponding to each sampling moment during the flight time; determine the remaining available power of the UAV based on the hydrogen consumption and electric energy consumption of the UAV during the flight time, as well as the remaining available hydrogen of the UAV, thereby improving the accuracy of the remaining available power.

[0107] C. For each candidate return type, calculate the real-time return distance corresponding to the candidate return route type based on the real-time position and the position of the return path point associated with the candidate return type.

[0108] The real-time return distance may refer to the real-time distance that the drone needs to fly to return. Specifically, a certain algorithm is used to calculate the real-time return distance corresponding to each candidate return type according to the real-time position and the position of the return path point associated with the candidate return type.

[0109] D. Determine the target return type from each candidate return type based on the real-time endurance distance and each real-time return distance.

[0110] The target return type may refer to a candidate return type that the drone can complete. Specifically, a certain algorithm is used to determine the target return type from each candidate return type according to the real-time endurance distance and each real-time return distance. Optionally, the candidate return type whose corresponding real-time return distance is less than the real-time endurance distance is determined as the target return type.

[0111] E. Generate a return warning message based on the target return type to prompt the technician to instruct the drone to return.

[0112] The return warning information can be used to prompt the technician to instruct the drone to return. Specifically, a return warning information including a target return type is generated and sent to the technician to prompt the technician to instruct the drone to return.

[0113] The above-mentioned flight control device implements a safe return strategy for long-flight UAV inspections, and calculates the real-time endurance distance of the UAV by acquiring the flight data of the UAV, the gas data of hydrogen in the UAV, and the power sampling data of the battery; calculates the real-time return distance corresponding to each candidate return route type based on the real-time position and the position of the return path point associated with each candidate return type; determines the target return type for the UAV to successfully complete the return from each candidate return type based on each real-time endurance distance and each real-time return distance; generates return alarm information based on the target return type to prompt the technician to instruct the UAV to return, thereby ensuring the smooth return of the UAV and improving the safety of the UAV's return.

[0114] In some embodiments, the route generation device is specifically used to plan a cruise route through the following process:

[0115] A. Obtain the three-dimensional point cloud data of the tower to be tested.

[0116] Specifically, a 3D point cloud is a data structure used to represent an object in a 3D space (i.e., a tower to be measured). 3D point cloud data can be understood as a collection of multiple 3D coordinate points of the object. These points can be obtained by discrete sampling of the surface of an actual object or scene. 3D point cloud data can be regarded as a discrete representation of the tower to be measured in a given coordinate system, which can be obtained by laser radar or stereo vision.

[0117] B. Determine the latitude, longitude and altitude of multiple target points based on the three-dimensional point cloud data.

[0118] Specifically, there are multiple target points that need to be observed on the tower to be measured. These target points may be distributed at different positions of the tower head, top frame, tower body, tower legs, cable hanging points, etc. The positions of different target points can be described by using longitude and latitude coordinates and altitude coordinates. For example, the lowest target point at the bottom of the tower to be measured can be the intersection of the tower leg and the ground or base, which can be used as the first target point, and its longitude and latitude coordinates and altitude coordinates are determined as (lat target1 ,lon target1 ,h target1 ); The highest target point is usually the tower head (i.e. the highest point in the center of the tower to be measured), and its latitude and longitude coordinates and altitude coordinates are expressed as (lathead ,lon head ,h head ); The latitude and longitude coordinates and the altitude coordinates of each target point can be further determined according to the lowest target point and the highest target point. Exemplarily, the target points are scattered at different altitudes, and the altitude intervals can be equal.

[0119] C. Determine the inspection waypoints based on the latitude and longitude, altitude and drone pod parameters of each target point.

[0120] D. Plan a cruise route based on the inspection waypoints.

[0121] In this embodiment, a drone equipped with a pod is used to inspect the tower to be measured. The inspection waypoint can be understood as the position where the drone should reach or stay when observing the target point of the tower to be measured, which is represented by latitude and longitude coordinates and altitude coordinates. Different types of pods can be equipped according to different inspection tasks. The pod types mainly include visual pods (also called optical pods) and partial discharge pods. The target points, inspection waypoints and selection methods selected by different types of pods may be different. The safe flight distance can refer to the horizontal distance that should be maintained at least between the drone and the tower to be measured. The pitch direction measurement range is used to describe the angle range that the drone can reach in the pitch direction when equipped with a pod. Based on this, combined with the horizontal distance between the tower to be measured, the highest target point and the lowest target point that can be observed on the tower to be measured can be calculated. On this basis, the inspection waypoints are mainly determined for the target points at different heights of the tower to be measured, without considering the horizontal measurement range, and there is no need to determine the inspection waypoints for the target points at different positions in the same horizontal plane.

[0122] In addition, the pod selection should follow the following functional pod adaptation rules: the total weight of at least one pod equipped shall not exceed the maximum allowable payload weight of the fuel cell drone, that is, Among them, m i is the weight of the i-th pod, M is the maximum allowable payload weight; the payload effective working distance must cover the minimum safe operating distance of the drone, that is: d min <d safemin <d ma , where d min ~d max is the effective working distance range of the load, d safemin It is the minimum safe operating distance for UAVs; the visual pod for refined inspection of power channels should have an optical zoom function to achieve small target recognition and magnification at a longer distance.

[0123] For example, for the power channel inspection task, combined with the functional pod adaptation rules, an optical vision pod weighing less than 2kg and supporting 10x optical zoom is selected; for the channel abnormal discharge detection (partial discharge inspection) task, a partial discharge pod weighing less than or equal to 1.4kg and with an effective working distance range of about 5-12m is selected.

[0124] Based on the three-dimensional point cloud data, the latitude, longitude and altitude of multiple target points are determined. On this basis, combined with the parameters of the drone pod, the inspection waypoints can be determined for the target points at different heights of the tower to be tested. Taking the visual pod (power channel inspection task) as an example, the process of determining the inspection waypoint mainly includes: determining the latitude and longitude coordinates and altitude coordinates (lat head ,lon head ,h head ), the latitude and longitude coordinates and altitude coordinates of the lowest target point (lat target ,lon target ,h target ), and determine the latitude and longitude coordinates and altitude coordinates of each target point based on this; determine the safe flight distance d for drone inspection safe (d max ≥d safe ≥d safemin ); Determine the measurement range: horizontal measurement angle range of the vision pod (α1, α2), pitch measurement angle range (θ1, θ2); horizontal measurement angle range of the partial discharge pod (α3, α4), pitch measurement angle range (θ3, θ4); The inspection waypoints can be determined based on the longitude and latitude coordinates and altitude coordinates of each target point, the safe flight distance, and the pod pitch measurement range. Taking the partial discharge pod (partial discharge inspection task) as an example, the process of determining the inspection waypoints mainly includes: determining the longitude and latitude coordinates and altitude coordinates of two cable hanging points at different heights on either side of the tower to be tested; judging whether the two cable hanging points can correspond to the same inspection waypoint; if so, determining the longitude and latitude and altitude coordinates of the inspection waypoint based on the longitude and latitude and altitude coordinates of the two cable hanging points and the drone pod parameters; otherwise, for each cable hanging point, use its longitude and latitude and altitude coordinates and the drone pod parameters to determine the longitude and latitude and altitude coordinates of the corresponding inspection waypoint.

[0125] The above-mentioned route generating device can plan inspection waypoints for different inspection tasks according to the type of pod equipped by the UAV, thereby improving the flexibility of waypoint planning and being applicable to a variety of practical application scenarios; and the safe flight distance and the pitch direction measurement range of the pod are taken into consideration when planning waypoints, which is conducive to improving inspection efficiency and resource utilization and ensuring inspection safety.

[0126] In some embodiments, reference Figure 7The above-mentioned ground station antenna control device may include a digital image transmission antenna and a control pan-tilt; wherein the digital image transmission antenna is connected to the control pan-tilt; the digital image transmission antenna includes a feed antenna and a reflector; the feed antenna is aligned with the center of the reflective array of the reflector; the digital image transmission antenna is a directional antenna; the electromagnetic wave emitted by the feed antenna to the reflective array is phase compensated by the reflector to convert the spherical electromagnetic wave emitted by the feed antenna into a planar electromagnetic wave; in response to the received angle adjustment instruction, the yaw angle and pitch angle of the digital image transmission antenna are adjusted according to the rotation angle to be compensated carried by the angle adjustment instruction.

[0127] In some examples, the ground station antenna control device is an independent device that can establish a connection with the ground station via a wired connection. In an embodiment, the reflector uses the reflection of electromagnetic waves to perform phase compensation on the electromagnetic waves emitted by the feed antenna to the reflection array and then reflect them out. Since the feed antenna is a spherical wave before reflection, the reflection array can perform phase compensation on the spherical wave, thereby converting the spherical wave into a plane wave to improve energy efficiency.

[0128] Among them, the angle adjustment instruction is used to characterize that the drone is about to leave the coverage of the digital image transmission antenna of the ground station. In the actual communication process, the digital image transmission antenna is a directional antenna, and the radiation direction of the electromagnetic wave is only in one direction, while the drone is moving in the sky. Correspondingly, the radiation direction of the digital image transmission antenna needs to be adjusted. Specifically, after the control gimbal receives the angle adjustment instruction, the yaw angle and pitch angle of the digital image transmission antenna need to be adjusted to ensure that the drone is always within the coverage of the digital image transmission antenna of the ground station. The digital image transmission antenna can also be called the radio frequency antenna of the ground station. When the ground station is used as the transmitting end, electromagnetic waves can be transmitted through the digital image transmission antenna; when the ground station is used as the receiving end, electromagnetic waves can be received through the digital image transmission antenna. In an embodiment, the control gimbal does not participate in the communication between the ground station and the drone, but the pitch angle and yaw angle of the digital image transmission antenna can be adjusted by adjusting the rotation direction of the control gimbal. Among them, the pitch angle refers to the angle between the normal of the reflection array and the horizontal plane; the yaw angle refers to the angle between the reflection array and the position of a triangular mark pre-configured in the control gimbal. The upper limit of the adjustable pitch angle is 90 degrees; the position at the pre-configured triangle mark is 0 degrees, and when the gimbal is adjusted to rotate clockwise, the degree of yaw angle increases continuously.

[0129] After each time the ground station is turned on, the ground station antenna control device in the ground station returns to the initial position, where the initial position can be a pitch angle of 90 degrees and a yaw angle of 0 degrees, to ensure that the ground station can receive the frequency request information of the drone in the air when it is not connected to the drone.

[0130] The above-mentioned ground station antenna control device corrects the phase of the electromagnetic wave emitted by the feed antenna to the reflection array surface of the reflection array and then reflects it out. Since the feed antenna is a spherical wave before reflection, the reflection array surface can perform phase compensation on the spherical wave, thereby converting the spherical wave into a plane wave, thereby improving energy efficiency; and fixing the relative position between the feed antenna and the reflection array to ensure that the feed antenna and the reflection array surface center are aligned to avoid the situation where the radiation efficiency is reduced due to changes in the focal length and incident angle between the feed antenna and the reflection array; when receiving the angle adjustment instruction, the yaw angle and pitch angle of the digital image transmission antenna are adjusted according to the rotation angle to be compensated carried by the angle adjustment instruction, so as to ensure that the feed antenna and the reflection array rotate with the drone, and ensure that the drone is always within the coverage range of the ground station digital image transmission antenna; the digital image transmission antenna adopts the form of a reflection array antenna, which increases the antenna gain and thus compensates for the path loss.

[0131] In some embodiments, the front-end computing module connected to the vision pod is used to perform angle correction control on the drone gimbal through the following process:

[0132] A, determining at least two candidate inspection objects in the power grid transmission and distribution line image; wherein the power grid transmission and distribution line image is obtained by collecting images of the power grid transmission and distribution line at the new inspection point when the inspection task is performed and the new inspection point is reached on the power grid transmission and distribution line;

[0133] B. determining a target inspection object from the at least two candidate inspection objects;

[0134] C. Determine the rotation angle of the drone gimbal according to the offset between the target inspection object and the center point of the power grid transmission and distribution line image; the camera is fixed on the drone gimbal;

[0135] D. After adjusting the drone gimbal according to the rotation angle, an image of the target inspection object is collected.

[0136] Among them, the camera is fixed on the gimbal of the drone. The inspection objects are the devices, equipment, parts and other objects on the power transmission and distribution lines that need to be inspected. Specifically, the drone ground station parses the route file to generate the inspection task, and sends the inspection task to the drone. The drone performs the inspection task and inspects the power transmission and distribution lines of the power grid along the route specified by the inspection task. The route consists of multiple inspection points. Every time the drone arrives at an inspection point, it needs to inspect the inspection point and return the image collected at the inspection point to the ground station. When the drone arrives at a new inspection point that has not been inspected before, the camera fixed on the drone gimbal, that is, the visual pod, collects a complete image of the power transmission and distribution line of the power grid, that is, the image of the power transmission and distribution line of the power grid. The front-end computing power module uses image recognition technology to determine the various inspection objects existing in the image of the power transmission and distribution line of the power grid, and selects an inspection object from them as the target inspection object. Considering that the target inspection object is usually not exactly in the center of the power grid transmission and distribution line image, the front-end computing module needs to determine the rotation angle of the camera aimed at the target inspection object based on the offset of the target inspection object in the power grid transmission and distribution line image from the center point of the power grid transmission and distribution line image. The drone controls the gimbal to rotate according to the rotation angle. After the rotation is completed, the camera is aimed at the target inspection object. At this time, the image captured by the camera is the target inspection object image with the inspection object located in the center of the image.

[0137] In some embodiments, the partial discharge detection module is used to reduce propeller noise interference in the drone through the following process:

[0138] A. Obtain the configuration information and historical propeller noise signals of the UAV;

[0139] The configuration information may include but is not limited to the software configuration information and hardware configuration information of the drone; the software configuration information may be, for example, the firmware type and firmware version of the drone; the hardware configuration information may be, for example, the model of each hardware deployed in the drone, the number of hardware installed, and the installation location. The historical propeller noise signal may be the sound signal of the drone propeller noise at a historical moment. The historical moment may refer to a moment before the real local real time. The device to be detected may be an electrical device to be subjected to partial discharge detection.

[0140] B. generating a real-time noise reduction signal according to the configuration information and the historical propeller noise signal;

[0141] Among them, the real-time noise reduction signal can be a real-time sound signal used to offset the propeller noise signal. Optionally, before playing the sound corresponding to the real-time noise reduction signal, it also includes: obtaining the propeller speed of the drone in the hovering state; filtering the real-time noise reduction signal according to the propeller speed to obtain a filtered signal; updating the real-time noise reduction signal according to the filtered signal. Specifically, the propeller speed of the drone in the hovering state is obtained; using a certain algorithm, the real-time noise reduction signal is filtered according to the propeller speed to obtain a filtered signal; and the real-time noise reduction signal is updated to the filtered signal. By filtering the real-time noise reduction signal according to the propeller speed to obtain a filtered signal; updating the real-time noise reduction signal according to the filtered signal, it is possible to further filter the real-time noise reduction signal according to the propeller speed on the basis of obtaining the real-time noise reduction signal, thereby further improving the noise reduction effect of the real-time noise reduction signal and improving the accuracy of partial discharge detection.

[0142] Optionally, the real-time noise reduction signal is filtered according to the propeller speed to obtain a filtered signal, including: determining the frequency of the historical propeller noise signal according to the propeller speed; determining the low-frequency cutoff frequency and the high-frequency cutoff frequency according to the frequency of the historical propeller noise signal; filtering the real-time noise reduction signal according to the low-frequency cutoff frequency and the high-frequency cutoff frequency to obtain a filtered signal.

[0143] Specifically, taking unit minutes as a period, the ratio between the propeller speed and the duration per unit minute is determined as the frequency of the historical propeller noise signal; taking the frequency of the historical propeller noise signal as the center frequency, the low-frequency cutoff frequency is determined according to a preset low-frequency frequency ratio and the center frequency, and the high-frequency cutoff frequency is determined according to a preset high-frequency frequency ratio and the center frequency; and filtering out the part of the real-time noise reduction signal whose frequency is lower than the low-frequency cutoff frequency and the part of the real-time noise reduction signal whose frequency is higher than the high-frequency cutoff frequency to obtain a filtered signal.

[0144] Through the above processing, the low-frequency cutoff frequency and the high-frequency cutoff frequency can be determined according to the propeller speed of the drone in the hovering state, so as to retain the part of the real-time noise reduction signal used to offset the propeller noise by removing the part of the real-time noise reduction signal with a frequency lower than the low-frequency cutoff frequency and the part of the real-time noise reduction signal with a frequency higher than the high-frequency cutoff frequency, and remove the influence of irrelevant signals on offsetting the propeller noise, thereby improving the noise reduction effect of the real-time noise reduction signal.

[0145] C. Acquire a real-time signal of the device sound of the device to be detected that cancels out the propeller noise by playing the sound corresponding to the real-time noise reduction signal;

[0146] Among them, the real-time device sound signal can be a device sound signal obtained in real time, which cancels out the propeller noise signal; the device sound signal can be a sound signal emitted by the device to be detected. Specifically, a drone deployed with the partial discharge detection method provided by an embodiment of the present invention can be configured with a first device for playing the sound corresponding to the real-time noise reduction signal and a second device for collecting device sound signals; the first device can be controlled to play the sound corresponding to the real-time noise reduction signal according to the real-time noise reduction signal, so that the device sound emitted by the device to be detected can be canceled out by the sound corresponding to the anti-propeller noise in the real physical space, so that the second device can collect the real-time device sound signal that cancels out the propeller noise signal.

[0147] D. Performing partial discharge detection on the device to be detected according to the real-time signal to obtain a partial discharge detection result of the device to be detected.

[0148] The partial discharge detection result may include but is not limited to two results: the presence of a partial discharge fault and the absence of a partial discharge fault. If the partial discharge detection result is that a partial discharge fault exists, the device image of the device to be detected is obtained; based on the real-time device sound signal and the device image that offset the propeller noise signal, the partial discharge position in the device to be detected and the partial discharge type of the device to be detected are determined. The device image may be an image of the device to be detected taken in real time. The partial discharge position may refer to the position where the partial discharge fault occurs in the device to be detected. The partial discharge type may include but is not limited to suspended discharge, surface discharge, tip discharge and internal discharge.

[0149] Optionally, the drone can be configured with an image acquisition device. When the local discharge detection result is that a local discharge fault exists, the real-time device image of the device to be detected can be collected by the image acquisition device configured in the drone; a beamforming algorithm is used to determine the location of the local discharge fault based on the real-time device sound signal that cancels the propeller noise signal; target detection is performed on the device image to obtain the area where the discharge component is located in the device image; PRPD (Phase Resolved Partial Discharge) spectrum data is extracted from the real-time device sound signal that cancels the propeller noise signal; a node list is constructed based on the PRPD spectrum data and the area where the discharge component is located in the device image; wherein the behavior local discharge type in the node list is listed as PRPD spectrum data; the node information, edge information and global information in the constructed node list are input into the GNN (Graphic Nuaral Network) layer in the type prediction model to obtain the output image of the GNN layer; the output image is flattened and input into the fully connected layer of the type prediction model to obtain the local discharge type of the device to be detected.

[0150] If the partial discharge detection result shows that there is no partial discharge fault, the drone can be controlled to go to the next inspection point where the equipment to be inspected is located according to the drone's inspection path, so that the drone can perform partial discharge detection on the power equipment at the next inspection point.

[0151] By adopting the above technical scheme, when it is determined that the partial discharge detection result is the presence of a partial discharge fault, the partial discharge position and the partial discharge type can be determined, thereby avoiding the invalid determination of the partial discharge position and the partial discharge type when there is no partial discharge fault, thereby saving computing power resources and power resources; and according to the real-time equipment sound signal and equipment image that offset the propeller noise signal, the partial discharge position in the equipment to be detected and the partial discharge type of the equipment to be detected can be determined, so that the technicians can perform targeted maintenance on the equipment to be detected according to the determined partial discharge position and partial discharge type, thereby improving the maintenance efficiency of the equipment to be detected.

[0152] In addition, an embodiment of the present invention further provides a hydrogen-powered UAV inspection method, which can be performed by the hydrogen-powered UAV inspection system provided by any embodiment of the present invention, and the method includes:

[0153] The route planning device plans a cruise route according to the type of functional pod mounted on the UAV platform, the information of the inspected equipment and the endurance of the UAV, and transmits the route to the UAV platform through the communication device;

[0154] The flight control device in the UAV platform performs the flight mission according to the cruise route; and the functional pod mounted on the UAV platform performs the inspection mission to obtain the execution data of the inspection mission, and transmits the execution data of the inspection mission to the cloud artificial intelligence subsystem; wherein the functional pod is one or more task modules; the execution data of the inspection mission includes the flight data of the UAV, the images collected by the inspection or the real-time sound signals;

[0155] The execution data of the inspection task is remotely monitored and stored through the remote monitoring module and the data storage module in the cloud artificial intelligence subsystem, and the inspection image and text description information in the execution data of the inspection task are multimodally identified by the defect recognition module in the cloud artificial intelligence subsystem using a multimodal diagnosis model; the defect recognition module is also used to perform cross-modal discharge mutual inspection on the discharge information; wherein the discharge information is obtained by performing temperature detection on the infrared thermal imaging data collected by the infrared thermal imaging detection module, and by performing local discharge detection by the local discharge detection module;

[0156] Furthermore, the flight control device estimates the remaining energy of the drone based on the remaining air pressure of the hydrogen storage bottle in the energy device, and issues a return alarm based on the remaining energy, remaining cruising range information and the current position information of the drone.

[0157] In some embodiments, the route planning device plans a cruise route according to the type of functional pod mounted on the drone platform, the information of the inspected equipment, and the endurance of the drone, including:

[0158] Determine the longitude, latitude and altitude of multiple target points according to the three-dimensional point cloud data of the tower to be measured by the route planning device;

[0159] Determine the inspection waypoints by the route planning device according to the latitude and longitude, altitude and drone pod parameters of each target point, wherein the drone pod parameters include the functional pod type, safe flight distance and pitch direction measurement range, and the functional pod type is a visual pod or a partial discharge pod;

[0160] The route planning device plans a cruise route according to the inspection waypoints.

[0161] In some embodiments, the flight control device estimates the remaining energy of the drone according to the remaining air pressure of the hydrogen storage bottle in the energy device, and issues a return alarm according to the remaining energy, the remaining cruising range information and the current position information of the drone, including:

[0162] Acquire, through the flight control device, at least one candidate return type of the drone and the position of the return path point associated with each candidate return type, the real-time position and flight data of the drone, the gas data of the hydrogen in the hydrogen storage bottle, and the power sampling data of the battery in the drone;

[0163] Calculating the real-time cruising distance of the UAV by the flight control device according to the flight data, the gas data and the power sampling data;

[0164] Calculating, by the flight control device, for each candidate return type, a real-time return distance corresponding to the candidate return route type according to the real-time position and the position of the return path point associated with the candidate return type;

[0165] Determining a target return type from each of the candidate return types by the flight control device according to the real-time endurance distance and each of the real-time return distances;

[0166] The flight control device generates a return warning message according to the target return type to prompt the technician to instruct the drone to return.

[0167] In terms of technical originality, the embodiments of the present invention include the following: 1. A management method for a hydrogen-lithium hybrid power system for a hydrogen-powered UAV is proposed, and a related system is developed to solve the problems of long start-up time, slow instantaneous power response speed, poor adaptability to low-temperature environments, and work efficiency being greatly affected by its own temperature and humidity. The temperature and humidity management of the fuel cell, the cabin environment temperature management, and the energy distribution of lithium batteries and hydrogen fuel cells are realized, and finally the application of hydrogen fuel cells in UAVs is realized, the working efficiency and environmental adaptability of the fuel cell are improved, the stability of the power supply system is improved, and the stability and endurance of the hydrogen-powered UAV are improved.

[0168] 2. A route planning and safety inspection method based on the UAV's endurance is proposed, and a related system is developed to solve the problems of redundant route waypoints, low inspection efficiency, insufficient safety distance of existing routes, and insufficient remaining energy during the inspection process, which prevents the UAV from safely returning to the take-off position. This achieves coverage of all inspection targets at fewer points and safe return alarms during the inspection process, thereby improving the intelligence of inspections and improving inspection efficiency and safety.

[0169] 3. A method for adaptive communication and directional control of ground stations was proposed, and related systems were developed to solve the path loss problem of long-flight UAVs during long-distance flight. The ground-end feed antenna and reflector array automatically rotate with the UAV and the image transmission link switch when the UAV crosses the ground station, thereby improving the antenna gain and the stability of the UAV communication link and enhancing the communication quality.

[0170] 4. A delay compensation noise reduction method for partial discharge pod is proposed, and related equipment is developed to solve the interference of UAV blade noise on partial discharge acquisition signals, realize algorithm noise reduction of partial discharge detection signals, and improve the accuracy of partial discharge detection.

[0171] 5. A gimbal correction method based on the internal parameters of the gimbal camera is proposed, which solves the problems of unclear, uncentered and incomplete shooting targets, realizes the automatic correction function of inspection targets, and improves the shooting quality of UAV inspection targets.

[0172] 6. A multimodal and cross-modal defect recognition method for power equipment is proposed, which solves the problems of missed detection or unusable single-modal target defect recognition and identification errors. It realizes target defect identification through multimodal defect recognition to assist power inspection, and realizes defect recognition mutual inspection through cross-modality, thereby improving the defect detection rate and accuracy.

[0173] In terms of technical advantages, the embodiments of the present invention include the following: 1. A management method for a hydrogen-lithium hybrid power system for a hydrogen-powered UAV is proposed, and a related system is developed. By formulating a hydrogen-lithium hybrid energy distribution strategy, the continuous and stable energy output is controlled, and the fan speed and drainage frequency are adjusted according to the monitoring of the inlet air temperature and humidity and the calculation of the power generation and water production. The waste heat of the battery stack is fully utilized and a dynamic air flow channel structure is designed to adjust the interaction area with the external gas in real time according to the cabin temperature. The problems of long start-up time, slow instantaneous power response speed, poor adaptability to low-temperature environments, and work efficiency being greatly affected by its own temperature and humidity are solved. The temperature and humidity management of the fuel cell, the cabin environment temperature management, and the energy distribution of the lithium battery and the hydrogen fuel cell are realized. Finally, the application of hydrogen fuel cells in UAVs is realized, the working efficiency and environmental adaptability of the fuel cell are improved, the stability of the power supply system is improved, and the stability and endurance of the hydrogen-powered UAV are improved.

[0174] 2. Propose a route planning and safety inspection method based on the UAV's endurance, develop a related system, optimize the number of inspection points through the three-dimensional point cloud data of the tower to be tested, the pod type, the safe flight distance, the pitch direction measurement range and other information, and obtain the safe route length according to the UAV's remaining endurance or judge whether the UAV can return safely during the route mission, and perform intelligent safe return alarm, which solves the problems of redundant route waypoints, low inspection efficiency, insufficient safety distance of existing routes, and insufficient remaining energy during the inspection process, making it impossible for the UAV to return safely to the take-off position. It achieves the coverage of all inspection targets with fewer points and the safe return alarm during the inspection, which improves the intelligence of the inspection and improves the inspection efficiency and safety.

[0175] 3. An adaptive communication and directional control method for ground stations was proposed, and related systems were developed. Artificial electromagnetic metamaterial reflection units were designed and combined into an array to adjust the phase of the incident wave of the feed antenna. The feed antenna and the reflector array antenna were fixed by a supporting device, and the degrees of freedom of the reflector array antenna in the pitch and yaw angles were increased by a rotating shaft and a turntable. The deflection angle of the reflector array antenna was determined according to the relative position of the UAV and the ground station and the strength of the digital image transmission signal sent by the UAV. This solved the problem of path loss during long-distance flight of long-flight UAVs, realized the automatic rotation of the ground-end feed antenna and reflector array with the UAV, and the switching of the image transmission link when the UAV crossed the ground station, thereby improving the antenna gain and the stability of the UAV communication link and the communication quality.

[0176] 4. A delay compensation noise reduction method for partial discharge pod is proposed, and relevant equipment is developed. By obtaining the configuration information and historical propeller noise signals of the UAV, a real-time noise reduction signal is generated according to the configuration information and historical propeller noise signals, the equipment sound signal is denoised, and the noise-reduced signal is subjected to partial discharge processing to resolve the interference of UAV blade noise on the partial discharge acquisition signal, realize algorithmic noise reduction of the partial discharge detection signal, and improve the accuracy of partial discharge detection.

[0177] 5. A gimbal correction method based on the gimbal camera internal parameters is proposed. The distortion parameters are calculated by the camera internal parameter matrix to correct the coordinate system and find the target object with intelligent recognition technology. This solves the problems of unclear, off-center and incomplete shooting of the target object, realizes the automatic correction function of the inspection target, and improves the shooting quality of the UAV inspection target.

[0178] 6. A multimodal and cross-modal defect recognition method for power equipment is proposed. By combining multiple different data sources or features such as visual signals, sound signals, temperature information, etc., through machine learning model training and feature matching, defect recognition or defect mutual inspection is performed, which solves the problems of single-modal target defect recognition information limitations, insufficient recognition accuracy, poor adaptability and lack of redundancy. It realizes target defect identification through multimodal defect recognition to assist power inspection, and realizes defect recognition mutual inspection through cross-modality, thereby improving the defect detection rate and accuracy.

[0179] The above-mentioned hydrogen-powered UAV inspection method and the hydrogen-powered UAV inspection system provided in the embodiment of the present invention are based on the same inventive concept and have corresponding technical effects.

[0180] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0181] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A hydrogen-powered drone inspection system, characterized in that: It includes hydrogen-powered drone flight subsystem, inspection mission subsystem and cloud-based artificial intelligence subsystem; The hydrogen-powered UAV flight subsystem includes a UAV platform, a route planning device, a ground control device, and a communication device; The UAV platform includes a flight control device, an energy device and a navigation device; the flight control device is used to control the UAV to respond to route instructions to perform flight missions, and to execute at least one of the safe return strategies of one-key return, loss of connection return, and low-power return. The safe return strategy is used to estimate the remaining energy of the UAV according to the remaining air pressure of the hydrogen storage bottle in the energy device, and to issue a return alarm according to the remaining energy, remaining cruising range information and the current position information of the UAV; the energy device uses hydrogen-lithium hybrid power to power the UAV platform and the inspection task subsystem, and is used to distribute energy to the lithium battery and hydrogen fuel cell in the hydrogen-lithium hybrid power, perform low-temperature self-start and temperature and humidity control on the hydrogen fuel cell, and perform thermal management control on the environment of the hydrogen fuel cell; The route planning device is used to plan a cruise route according to the type of functional pod mounted on the UAV platform, the information of the inspected equipment and the endurance of the UAV; the ground control device is used to obtain the planned cruise route from the route planning device and transmit it to the UAV platform through the communication device, and the UAV platform executes the cruise route flight; the communication device includes an airborne end and a ground end; the ground end is provided with a ground station antenna control device to ensure that the UAV is within the coverage of the ground station digital image transmission antenna; The inspection task subsystem is an execution unit of the inspection task, including a front-end computing module and a partial discharge detection module; the front-end computing module is used to use an integrated target detection algorithm to perform target detection on the images collected during the inspection, and to correct the PTZ according to the target detection result so that the target moves to the center of the field of view; The partial discharge detection module is used to perform noise reduction processing on the collected real-time sound signal to reduce the sound interference generated by the propeller in the drone, and use the noise-reduced sound signal to perform discharge detection on the power equipment; The cloud-based artificial intelligence subsystem includes a remote monitoring module, a data storage module and a defect recognition module. The remote monitoring module and the data storage module are used to remotely monitor and store the execution data of the inspection task; the defect recognition module is used to use a multimodal diagnostic model to perform multimodal defect recognition on the inspection images and text description information in the execution data of the inspection task; the defect recognition module is also used to perform cross-modal discharge mutual inspection on the discharge information; wherein the discharge information is obtained by performing temperature detection on the infrared thermal imaging data collected by the infrared thermal imaging detection module, and by performing local discharge detection by the local discharge detection module.

2. The hydrogen-powered UAV inspection system according to claim 1, characterized in that: The energy device comprises: A power control module (2), the power control module (2) being used to collect a first amount of electricity of the lithium battery (300) and a second amount of electricity of the hydrogen fuel cell (200), and to perform energy management control on the lithium battery (300) and the hydrogen fuel cell (200); An environmental thermal management module (3), the environmental thermal management module (3) being used to perform thermal management control on the external environmental temperature of the hydrogen fuel cell (200) according to the environmental temperature in the heat dissipation space; A hydrogen fuel cell temperature and humidity control module (4), the hydrogen fuel cell temperature and humidity control module (4) being used to control the temperature and humidity of the intake air on the cathode side of the hydrogen fuel cell (200) according to the core temperature and humidity of the hydrogen fuel cell (200), and to control the exhaust of the hydrogen fuel cell (200) and perform thermal management on the exhaust; A main control module (1), the main control module (1) is used to collect the hydrogen pressure of the hydrogen storage bottle (400), the ambient temperature of the hydrogen fuel cell (200) and the core temperature and humidity, the main control module (1) is communicatively connected to the power control module (2), the environmental thermal management module (3) and the hydrogen fuel cell temperature and humidity control module (4), and sends the hydrogen pressure of the hydrogen storage bottle (400), the ambient temperature and the core temperature and humidity to the power control module (2), the environmental thermal management module (3) and the hydrogen fuel cell temperature and humidity control module (4) respectively, so as to perform battery management control on the lithium battery (300) and the hydrogen fuel cell (200).

3. The hydrogen-powered UAV inspection system according to claim 2 is characterized in that: The power control module (2) collects a first electric quantity of the lithium battery (300), and determines whether the first electric quantity of the lithium battery (300) meets the starting power requirement of the drone; if not, the lithium battery (300) is charged or replaced until the starting power requirement is met, and the lithium battery (300) supplies power to the drone for starting; the main control module (1) sends an instruction to start the hydrogen fuel cell (200) to the power control module (2) according to the collected hydrogen pressure, and the power control module (2) starts the hydrogen fuel cell (200), and performs energy management control on the lithium battery (300) and the hydrogen fuel cell (200).

4. The hydrogen-powered UAV inspection system according to claim 3 is characterized in that: The energy device further comprises a DC-DC converter (5), the input end of the DC-DC converter (5) being connected to the power supply output ends of the hydrogen fuel cell (200) and the lithium battery (300), the DC-DC converter (5) being used to convert the power supply of the hydrogen fuel cell (200) and / or the power supply of the lithium battery (300) into output power and then send it to the power system to drive the unmanned aerial vehicle to start or fly, and the hydrogen fuel cell (200) can charge the lithium battery (300) through the DC-DC converter (5).

5. The hydrogen-powered UAV inspection system according to claim 2, characterized in that: The environmental thermal management module (3) comprises: A temperature sensor, disposed in the body (100), for detecting the ambient temperature of the hydrogen fuel cell (200); An air flow channel control mechanism, wherein a second air hole (103) is provided on the bottom plate (101) of the fuselage (100) to form a second air flow channel, and the air flow channel control mechanism is used to selectively open or close the second air flow channel; A main control module, wherein the main control module is communicatively connected to the temperature sensor and the air flow channel control mechanism, and the main control module controls the air flow channel control mechanism to open or close the second air flow channel according to the ambient temperature.

6. The hydrogen-powered UAV inspection system according to claim 5, characterized in that: The air flow channel control mechanism comprises a diverter plate (104) and a driving mechanism (105) arranged at the second air hole (103); the driving mechanism (105) is communicatively connected to the main control module; an output end of the driving mechanism (105) is connected to the diverter plate (104); and the driving mechanism (105) is used to drive the diverter plate (104) to open or close the second air flow channel.

7. The hydrogen-powered UAV inspection system according to claim 6, characterized in that: The driving mechanism (105) is fixedly arranged on the fuselage (100), and the driving mechanism (105) drives the diverter plate (104) to rotate toward the inside of the fuselage (100) to open the second air flow channel, and the driving mechanism (105) drives the diverter plate (104) to rotate from the inside of the fuselage (100) toward the second air hole (103) to close the second air flow channel.

8. The hydrogen-powered UAV inspection system according to claim 7, characterized in that: Two second air holes (103) are provided, and the two second air holes (103) are respectively arranged opposite to the two hydrogen fuel cells (200).

9. The hydrogen-powered UAV inspection system according to claim 8, characterized in that: A plurality of first air holes (102) are arranged at intervals and dispersedly on the bottom plate (101) of the fuselage (100) to form a first air flow channel, and the hydrogen fuel cell (200) arranged in the fuselage (100) is connected to the outside air through the first air flow channel to obtain oxygen and dissipate heat.

10. The hydrogen-powered UAV inspection system according to claim 9, characterized in that: The second air holes (103) are arranged on both sides of the plurality of first air holes (102), and the splitter plate (104) is rotatably arranged on a side of the second air holes (103) close to the first air holes (102).

11. The hydrogen-powered UAV inspection system according to claim 2, characterized in that: The hydrogen fuel cell temperature and humidity control module (4) comprises: a cold and hot air mixing chamber (41), the cold and hot air mixing chamber (41) being provided with a cold air inlet (411), a hot air inlet (412) and a mixed gas outlet (413), the cold air inlet (411) being connected to the outside air, the hydrogen fuel cell (200) being provided with an oxygen inlet (201) and an exhaust port (202), the mixed gas outlet (413) being connected to the oxygen inlet (201) and providing mixed gas to the hydrogen fuel cell (200), the exhaust port (202) being provided with an exhaust pipe (203), the end of the exhaust pipe (203) facing away from the exhaust port (202) being connected to the hot air inlet (412); An exhaust treatment chamber (42), the exhaust treatment chamber (42) being arranged on the exhaust pipe (203), the exhaust treatment chamber (42) being used to treat the temperature and humidity of the exhaust gas of the hydrogen fuel cell (200) and then send the exhaust gas into the cold and hot air mixing chamber (41); A first control valve (43), the first control valve (43) is arranged on the exhaust pipe (203) to adjust the flow rate of the exhaust gas entering the cold and hot air mixing chamber (41).

12. The hydrogen-powered UAV inspection system according to claim 11, characterized in that: The exhaust treatment chamber (42) is arranged on the exhaust pipe (203), and the exhaust treatment chamber (42) comprises a second control valve (423), a gas drying chamber (421) and a humidity holding chamber (422). The first port of the second control valve (423) is connected to the exhaust pipe (203), and the second port and the third port are respectively connected to the gas drying chamber (421) and the humidity holding chamber (422). The gas drying chamber (421) and the humidity holding chamber (422) respectively process and discharge the exhaust gas, and then mix the exhaust gas and enter the hot and cold air mixing chamber (41) through the exhaust pipe (203). The second control valve (423) adjusts the gas flow of the exhaust gas entering the gas drying chamber (421) and the humidity holding chamber (422) according to the temperature and humidity of the exhaust gas. The first control valve (43) is arranged at the front end of the hot and cold air mixing chamber (41).

13. The hydrogen-powered UAV inspection system according to claim 12, characterized in that: The exhaust treatment chamber (42) is arranged on the exhaust pipe (203), and the exhaust treatment chamber (42) comprises a condensate collecting device (424) and a branch pipeline (425). The branch pipeline (425) is arranged on the exhaust pipe (203) between the condensate collecting device (424) and the exhaust port (202). The branch pipeline (425) is provided with a device to be heated (700). The exhaust gas passing through the branch pipeline (425) is cooled down after heat exchange in the device to be heated (700) and enters the condensate collecting device (424) for condensate collection. The first control valve (43) is arranged on the exhaust pipe (203) between the condensate collecting device (424) and the cold and hot air mixing chamber (41).

14. The hydrogen-powered UAV inspection system according to claim 13, characterized in that: The branch pipelines (425) and the equipment to be heated (700) are respectively provided in plurality and arranged in one-to-one correspondence, and each branch pipeline (425) selectively conducts to the exhaust pipe (203) via a third control valve (426).

15. The hydrogen-powered UAV inspection system according to claim 11, characterized in that: The hydrogen fuel cell temperature and humidity control module (4) further comprises a discharge valve (44), wherein the discharge valve (44) is arranged on one end of the exhaust pipe (203) of the hydrogen fuel cell (200) close to the exhaust port (202).

16. The hydrogen-powered UAV inspection system according to claim 1, characterized in that: The flight control device is specifically used for: Obtaining at least one candidate return type of the drone and the position of the return path point associated with each candidate return type, the real-time position and flight data of the drone, the gas data of the hydrogen in the hydrogen storage bottle, and the power sampling data of the battery in the drone; Calculate the real-time cruising distance of the UAV according to the flight data, the gas data and the power sampling data; For each candidate return type, calculating the real-time return distance corresponding to the candidate return route type according to the real-time position and the position of the return path point associated with the candidate return type; Determine a target return type from each of the candidate return types according to the real-time endurance distance and each of the real-time return distances; A return warning message is generated according to the target return type to prompt the technician to instruct the drone to return.

17. The hydrogen-powered UAV inspection system according to claim 1, characterized in that: The route generating device is specifically used for: Determine the latitude, longitude and height of multiple target points based on the three-dimensional point cloud data of the tower to be tested; Determine the inspection waypoints according to the latitude and longitude, altitude and drone pod parameters of each target point, wherein the drone pod parameters include pod type, safe flight distance and pitch direction measurement range, and the pod type is a visual pod or a partial discharge pod; Plan a cruise route based on the inspection waypoints.

18. The hydrogen-powered UAV inspection system according to claim 1, characterized in that: The ground station antenna control device includes a digital image transmission antenna and a control platform; wherein the digital image transmission antenna is connected to the control platform; the digital image transmission antenna includes a feed antenna and a reflector; the feed antenna is aligned with the center of the reflective array of the reflector; the digital image transmission antenna is a directional antenna; the electromagnetic waves emitted by the feed antenna to the reflective array are phase compensated by the reflector to convert the spherical electromagnetic waves emitted by the feed antenna into planar electromagnetic waves; in response to the received angle adjustment instruction, the yaw angle and pitch angle of the digital image transmission antenna are adjusted according to the rotation angle to be compensated carried by the angle adjustment instruction.

19. The hydrogen-powered UAV inspection system according to claim 1, characterized in that: The front-end computing power module is specifically used for: Determine at least two candidate inspection objects in the power grid transmission and distribution line image; wherein, when the power grid transmission and distribution line image arrives at a new inspection point on the power grid transmission and distribution line during the inspection task, the power grid transmission and distribution line image is obtained by collecting images of the power grid transmission and distribution line at the new inspection point; Determine a target inspection object from the at least two candidate inspection objects; Determine the rotation angle of the drone gimbal according to the offset between the target inspection object and the center point of the power grid transmission and distribution line image; a camera is fixed on the drone gimbal; After adjusting the drone gimbal according to the rotation angle, an image of the target inspection object is collected.

20. The hydrogen-powered UAV inspection system according to claim 1, characterized in that: The partial discharge detection module is specifically used to perform the following: Get the configuration information and historical propeller noise signals of the drone; generating a real-time noise reduction signal according to the configuration information and the historical propeller noise signal; By playing the sound corresponding to the real-time noise reduction signal, a real-time signal of the device sound of the device to be detected, which cancels out the propeller noise, is obtained; According to the real-time signal, a partial discharge detection is performed on the device to be detected to obtain a partial discharge detection result of the device to be detected.

21. A hydrogen-powered drone inspection method, characterized in that: The method is performed by the hydrogen-powered UAV inspection system according to any one of claims 1 to 20, and comprises: The route planning device plans a cruise route according to the type of functional pod mounted on the UAV platform, the information of the inspected equipment and the endurance of the UAV, and transmits the route to the UAV platform through the communication device; The flight control device in the UAV platform performs the flight mission according to the cruise route; and the functional pod mounted on the UAV platform performs the inspection mission to obtain the execution data of the inspection mission, and transmits the execution data of the inspection mission to the cloud artificial intelligence subsystem; wherein the functional pod is one or more task modules; the execution data of the inspection mission includes the flight data of the UAV, the images collected by the inspection or the real-time sound signals; The execution data of the inspection task is remotely monitored and stored through the remote monitoring module and the data storage module in the cloud artificial intelligence subsystem, and the inspection image and text description information in the execution data of the inspection task are multimodally identified by the defect recognition module in the cloud artificial intelligence subsystem using a multimodal diagnosis model; the defect recognition module is also used to perform cross-modal discharge mutual inspection on the discharge information; wherein the discharge information is obtained by performing temperature detection on the infrared thermal imaging data collected by the infrared thermal imaging detection module, and by performing local discharge detection by the local discharge detection module; Furthermore, the flight control device estimates the remaining energy of the drone based on the remaining air pressure of the hydrogen storage bottle in the energy device, and issues a return alarm based on the remaining energy, remaining cruising range information and the current position information of the drone.

22. The method according to claim 21, characterized in that The route planning device plans the cruise route according to the type of functional pod mounted on the UAV platform, the information of the inspected equipment and the endurance of the UAV, including: Determine the longitude, latitude and altitude of multiple target points according to the three-dimensional point cloud data of the tower to be measured by the route planning device; Determine the inspection waypoints by the route planning device according to the latitude and longitude, altitude and drone pod parameters of each target point, wherein the drone pod parameters include the functional pod type, safe flight distance and pitch direction measurement range, and the functional pod type is a visual pod or a partial discharge pod; The route planning device plans a cruise route according to the inspection waypoints.

23. The method according to claim 21, characterized in that The flight control device estimates the remaining energy of the drone according to the remaining air pressure of the hydrogen storage bottle in the energy device, and issues a return alarm according to the remaining energy, remaining cruising range information and the current location information of the drone, including: Acquire, through the flight control device, at least one candidate return type of the drone and the position of the return path point associated with each candidate return type, the real-time position and flight data of the drone, the gas data of the hydrogen in the hydrogen storage bottle, and the power sampling data of the battery in the drone; Calculating the real-time cruising distance of the UAV by the flight control device according to the flight data, the gas data and the power sampling data; Calculating, by the flight control device, for each candidate return type, a real-time return distance corresponding to the candidate return route type according to the real-time position and the position of the return path point associated with the candidate return type; Determining a target return type from each of the candidate return types by the flight control device according to the real-time endurance distance and each of the real-time return distances; The flight control device generates a return warning message according to the target return type to prompt the technician to instruct the drone to return.

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