Unmanned aerial vehicle multi-position cooperative high-altitude inspection control system

Abstract

The invention provides an unmanned aerial vehicle multi-position cooperative high-altitude inspection control system, belongs to the technical field of unmanned aerial vehicles, and solves the problems that an existing unmanned aerial vehicle is high in flying power consumption, cannot effectively guarantee endurance, is poor in multi-position cooperative effect and the like. Comprising a monitoring base station box, a cloud control center, a transportation unmanned aerial vehicle, four single-rotation unmanned aerial vehicles and a sealing flip mechanism, a main control power storage box, an unmanned aerial vehicle platform, a battery replacement mechanism and a charging mechanism are arranged in the monitoring base station box, a clamping charging and battery replacement mechanism is arranged in the transportation unmanned aerial vehicle, and a main control board and a platform storage battery are arranged in the main control power storage box; the main control board is provided with a communication module, a cooperative control module, an intelligent route planning module, a real-time monitoring and scheduling module, a data acquisition and analysis module, an anomaly detection and alarm module and a meteorological external connection module. The unmanned aerial vehicle can be carried for flight inspection, power consumption of the unmanned aerial vehicle is reduced, cooperative flight and effective inspection at multiple positions can be realized, and the unmanned aerial vehicle can be quickly charged or charged.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicles, and relates to an unmanned aerial vehicle control system, in particular to an unmanned aerial vehicle multi-position coordinated high-altitude inspection control system. Background Art

[0002] With the rapid development of industrialization and urbanization, the demand for inspection of infrastructure such as electricity, oil, and natural gas continues to increase. In the future, power drone inspection technology will continue to develop, and the capabilities in autonomous flight, sensor technology, data processing and analysis will continue to be improved. At the same time, the drone inspection system will also be more intelligent and automated, providing more efficient and safe guarantees for the inspection and maintenance work in the power industry. Traditional manual inspection methods have problems such as low efficiency, high cost, and high safety risks, and cannot meet the needs of modern inspection work. For large-scale and complex inspection tasks, a single drone is often difficult to complete. Through the multi-location collaborative high-altitude inspection control system, the collaborative operation of multiple drones can be realized to improve the inspection efficiency and coverage.

[0003] Based on this, we propose a multi-position collaborative high-altitude inspection control system for UAVs, which can carry large objects for small-scale flight inspections, reduce the power consumption of UAVs, enable collaborative flight and effective inspections at multiple locations, and quickly replace or charge UAVs. Summary of the invention

[0004] The purpose of the present invention is to address the above-mentioned problems existing in the existing technology and to propose a multi-position collaborative high-altitude inspection control system for unmanned aerial vehicles. The technical problem to be solved by the invention is: how to realize portable flight inspection, reduce the power consumption of unmanned aerial vehicles, enable collaborative flight and effective inspection at multiple positions, and quickly replace or charge the battery of the unmanned aerial vehicle.

[0005] The purpose of the present invention can be achieved by the following technical solutions: A multi-position cooperative high-altitude inspection control system for unmanned aerial vehicles comprises a monitoring base station box, a cloud control center, a transport unmanned aerial vehicle and four single-rotating unmanned aerial vehicles and a sealed flip cover mechanism arranged on the monitoring base station box; a main control battery box, an unmanned aerial vehicle platform, a battery replacement mechanism and a charging mechanism are arranged inside the monitoring base station box; the battery replacement mechanism and the charging mechanism are symmetrically distributed on both sides of the unmanned aerial vehicle platform; a clamping charging and replacement mechanism is arranged inside the transport unmanned aerial vehicle; a main control board and a platform battery are arranged inside the main control battery box; a communication module, a cooperative control module, an intelligent route planning module, a real-time monitoring and scheduling module, a data acquisition and analysis module, an abnormality detection and alarm module and a meteorological external connection module are arranged on the main control board; a negative pressure suction pump is also arranged inside the monitoring base station box.

[0006] The working principle of the present invention is as follows: on the route that needs to be inspected, a number of inspection monitoring points are set, and each inspection monitoring point is provided with a monitoring base station box, which is connected to an external power supply to charge the platform battery to ensure sufficient power and meet the endurance requirements. The clamping and charging mechanism inside the transport drone clamps four single-rotation drones and moves them to the position that needs to be inspected. The transport drone stays on the ground, and the clamping and charging mechanism releases the four single-rotation drones, which fly up, and the transport drone flies up at the same time to carry out multi-drone and multi-position coordinated high-altitude inspections. The monitoring base station box sends and receives command information through the communication module, and the coordinated control module adopts a coordinated control algorithm to realize the coordinated flight and inspection of the transport drone and the four single-rotation drones at multiple positions, so as to avoid mutual interference and improve the inspection efficiency. The intelligent route planning module can automatically plan the optimal flight route according to the requirements of the inspection task. During the flight, The flight route can be adjusted according to the real-time situation to deal with emergencies; the real-time monitoring and dispatching module can monitor the flight status and information of the transport drone and four single-rotor drones in real time, including but not limited to position, speed and altitude. Based on this information, the transport drone and four single-rotor drones can be remotely dispatched, obstacle-avoided and controlled; the data acquisition and analysis module will collect information about the target area in real time during the flight of the transport drone and four single-rotor drones; the anomaly detection and alarm module can automatically identify abnormal situations during the inspection process, including but not limited to equipment failures and safety hazards, and issue alarm information, so that users can discover and deal with problems in time to ensure the safety and smooth progress of the inspection task; the meteorological outreach module is connected to the local meteorological bureau to collect local weather conditions in real time, which can enhance the environmental adaptability and stability design of the transport drone and four single-rotor drones. If rain affects the inspection, the transport drone and four single-rotor drones will be put away; After the transport drone is monitored, the sealed flap mechanism opens and flies back to the drone platform in the monitoring base station box. The transport drone sends its power information to the monitoring base station box. When the transport drone's transport aircraft battery is low in power, the battery replacement mechanism removes the transport drone's transport aircraft battery and replaces it with a fully charged transport aircraft battery to ensure transportation endurance. The replaced transport aircraft battery is charged through the monitoring base station box. When the transport drone's transport aircraft battery is high in power, the charging mechanism charges the transport drone's transport aircraft battery. At this time, the four single-rotating drones continue to conduct inspections and monitoring, and send the monitoring information to the monitoring base station box, which sends the information to the cloud control center. After the inspection and monitoring point is completed, the transport drone flies to the ground, the single-rotor drone flies to the position designated by the transport drone, the clamping and charging and swapping mechanism clamps the single-rotor drone, and the single-rotor drone sends its power information to the transport drone. When the single-rotor battery of the single-rotor drone is low, the clamping and charging and swapping mechanism removes the single-rotor battery of the single-rotor drone and replaces it with a fully charged single-rotor battery on the transport drone to ensure the inspection endurance. The replaced single-rotor battery is inserted into the transport drone for charging. When the single-rotor battery of the single-rotor drone is high, the clamping and charging and swapping mechanism charges the single-rotor battery of the single-rotor drone.

[0007] The four lower corners of the monitoring base station box are provided with transfer universal wheels and supporting feet, the front and rear sides of the monitoring base station box are provided with ventilation holes, the inner side of the ventilation holes is fixed with a filter sealing plate, two fan mounting frames are fixed inside the monitoring base station box, fans are fixed on the fan mounting frames, the fans are directly opposite to the filter sealing plate on the same side, a sealed door is provided on the left side of the monitoring base station box, an emergency stop switch and a display screen are provided on the right side of the monitoring base station box, lifting slots are provided on the four outer corner end faces of the monitoring base station box, a wiring head is provided on one of the outer corner end faces of the monitoring base station box, and the fan and the wiring head are electrically connected to the main control battery box.

[0008] With the above structure, the lifting slot is convenient for carrying the monitoring base station box to the designated inspection and monitoring point. The universal wheel is used to drive the monitoring base station box to move and adjust the position of the monitoring base station box. The supporting foot cup is extended and pressed against the ground to limit the position of the monitoring base station box. The terminal head is connected to the external power supply to charge the platform battery. The main control battery box controls the fan to draw external air into the monitoring base station box through the ventilation holes. The filter plate filters the moisture and dust in the external air to obtain dry and clean air, which enters the monitoring base station box for ventilation, which can effectively cool and dehumidify. The sealed door is easy to open to install and repair the equipment and objects inside the monitoring base station box. The emergency stop switch is used to emergency stop and shut down the device. The display screen is used to display various information such as power level, drone position, etc.

[0009] The UAV platform includes a parking frame, which is fixed inside the monitoring base station box. A helipad is fixed inside the monitoring base station box, and the parking frame and the helipad are flush with the upper end of the monitoring base station box. The parking frame is located above the main control power box, and a number of photoelectric sensors are fixed on the helipad. Two battery charging heads are fixed on the parking frame, and the two battery charging heads and the number of photoelectric sensors are electrically connected to the main control power box.

[0010] With the above structure, the helipad is used for the transport drone to land, which is convenient for the transport drone to return home. Several photoelectric sensors are used to detect whether the transport drone has landed stably, and two battery charging heads are used to charge the transport drone batteries.

[0011] The charging mechanism includes a mounting vertical plate, which is fixed on the inner front side of the monitoring base station box. A horizontally arranged charging push rod is fixed on the mounting vertical plate. A charging plug 1 is fixed on the telescopic end of the charging push rod. Both the charging push rod and the charging plug 1 are electrically connected to the main control battery box.

[0012] With the above structure, when the battery power of the transport drone is high, after the transport drone lands on the apron, the main control battery box controls the telescopic end of the charging push rod to extend, driving the charging plug to contact the transport drone, and the main control battery box controls the platform battery to charge the internal power to the transport drone battery through the charging plug.

[0013] The sealing flip cover mechanism comprises four upright poles, four photoelectric sensors 1 and a flip cover motor. The four upright poles are respectively fixed at the four corners of the inner lower end of the monitoring base station box. The four photoelectric sensors 1 and the flip cover motor are fixed at the inner lower end of the monitoring base station box. A rotating shaft is rotatably provided between the two upright poles on the same side. Two sensor sheets are fixed on the rotating shaft. The photoelectric sensor 1 is located below the sensor sheet at the corresponding position. A direction-changing shaft is rotatably provided on one of the upright poles. A gear pair is provided between the direction-changing shaft and the rotating shaft on the same side. A pulley pair is provided between the direction-changing shaft and the rotating shaft on the other side and the output shaft of the flip cover motor. A first flip rod is fixed at both ends of the rotating shaft. A second flip rod is rotatably provided on the four upright poles. A sealing cover is rotatably provided between the two first flip rods and the two second flip rods on the same side. A sealing ring is provided on the outer edge of the sealing cover. Ventilation holes are provided on the outer sides of the two sealing covers. A filter sealing plate is fixed on the inner side of the ventilation holes. The photoelectric sensor 1 and the flip cover motor are electrically connected to the main control battery box.

[0014] By adopting the above structure, the output shaft of the main control battery box controls the flip cover motor to rotate in the same direction by driving one of the rotating shafts and the changing shaft of the pulley pair, and the changing shaft drives the other rotating shaft to rotate in the opposite direction through the gear pair, that is, the two rotating shafts rotate synchronously and in the opposite direction, and the rotating shaft cooperates with the two first flip rods and the two second flip rods on the same side to drive the two sealing covers to open synchronously and in the opposite direction. After the rotating shaft rotates to the specified position, the photoelectric sensor detects that the sensor piece at the corresponding position rotates to the specified position, and transmits the information to the main control battery box. The main control battery box controls the flip cover motor to stop working, and the two sealing covers open. Conversely, the main control battery box controls the output shaft of the flip cover motor to work in the opposite direction, driving the two sealing covers to close. The outer sealing rings of the two sealing covers conflict with each other, and the outer sealing rings of the two sealing covers conflict with the monitoring base station box for sealing treatment, which can effectively seal and isolate water. The filter sealing plate on the inner side of the ventilation hole cooperates for ventilation treatment, which can effectively cool and dehumidify.

[0015] The power exchange mechanism includes a bottom frame mounting seat, which is concave, and an electric lifting frame is provided in the middle of the bottom frame mounting seat. A feeding platform is fixed on the upper end of the electric lifting frame, and a horizontal conveying motor and two horizontal conveying rails are fixed on the feeding platform. Two horizontal conveying seats are slidably provided on the two horizontal conveying rails, and a horizontal conveying screw rod is fixed on the output shaft of the horizontal conveying motor. The horizontal conveying screw rod is transmission-connected to the horizontal conveying seat, and a motor mounting frame is fixed at the lower end of the two horizontal conveying seats, and a primary conveying motor is fixed on the motor mounting frame. Two primary conveying motors are fixed on the output shaft of the primary conveying motor. A secondary conveying gear, a transverse conveying frame is slidably provided on the upper end of the horizontal conveying seat, a primary conveying rack is fixed at the lower end of the transverse conveying frame, and the primary conveying gear is meshed with the primary conveying rack at the corresponding position, a primary conveying U-shaped frame is fixed on the upper end of the two horizontal conveying seats, and secondary conveying racks are fixed on both sides of the interior of the primary conveying U-shaped frame, and a secondary conveying suction cup frame is slidably provided inside the primary conveying U-shaped frame, and secondary conveying motors are fixed on both sides of the secondary conveying suction cup frame, and a secondary conveying gear is fixed on the output shaft of the secondary conveying motor, and the secondary conveying gear is meshed with the secondary conveying rack on the same side. The upper end of the primary conveying U-shaped frame is provided with a plurality of groups of evenly distributed conveying balls, the upper end of the secondary conveying suction cup frame is fixed with a T-shaped frame, two supporting guide wheels are rotatably provided on the T-shaped frame, the supporting guide wheels abut against the upper end of the primary conveying U-shaped frame, a transport electric clamp and a plurality of transport suction cups are provided on the T-shaped frame, the transport suction cups are connected to the negative pressure suction pump through an air pipe, and the plurality of transport suction cups are located on the inner side of the transport electric clamp; side frames are provided on both sides of the bottom frame mounting seat, electric conveying rollers and a plurality of lifting push rods are fixed on the side frames, the plurality of lifting push rods are located below the electric conveying rollers, and the telescopic ends of the plurality of lifting push rods are Both are equipped with a rotating guide wheel, which is located between the roller body intervals of the electric conveying roller; an electric suction cup frame is provided on the upper end of the side frame, and the electric suction cup frame is provided with a side electric clamp and a plurality of side suction cups, the side suction cups are connected to the negative pressure suction pump through an air pipe, and the plurality of side suction cups are located on the inner side of the side electric clamp; two battery charging heads are respectively located above the electric conveying rollers on the same side; the electric lifting frame, the primary conveying motor, the horizontal conveying motor, the lifting push rod, the electric conveying roller, the side electric clamp, the electric suction cup frame, the transport electric clamp and the secondary conveying motor are all electrically connected to the main control battery box.

[0016] With the above structure, the main control battery box controls the operation of the electric lifting frame, lifts the feeding platform upward, drives the secondary conveying suction cup frame, the transport electric clamp and the transport suction cup above to rise, and reaches the position opposite to the transport battery on the transport drone; the output shaft of the primary conveying motor drives the two primary conveying gears to rotate, and the primary conveying gears are meshed with the primary conveying racks at the corresponding positions, driving the transverse conveying frame to slide outward on the upper end of the horizontal conveying seat, thereby driving the secondary conveying suction cup frame, the transport electric clamp and the transport suction cup above to extend outward once; the output shaft of the secondary conveying motor drives the secondary conveying gear to rotate, and the secondary conveying gear is meshed with the secondary conveying rack on the same side, driving the secondary conveying suction cup frame, the transport electric clamp and the transport suction cup to extend outward twice The secondary conveying suction cup frame, the transport electric clamp and the transport suction cup are stable. The transport suction cup is adsorbed on the end face of the conveyor battery, and the transport electric clamp is clamped on both sides of the conveyor battery. The output shaft of the secondary conveying motor drives the secondary conveying gear to rotate in the opposite direction to pull out the conveyor battery. The conveyor battery is placed on several groups of evenly distributed conveying balls and pulled out to the upper end of the primary conveying U-shaped frame. The output shaft of the primary conveying motor drives the two primary conveying gears to rotate in the opposite direction, driving the transverse conveying frame to slide inward and reset on the upper end of the horizontal conveying seat; the main control battery box controls the electric lifting frame to work, pulls the feeding platform back downward, drives the upper end of the primary conveying U-shaped frame above to be higher than the electric conveying roller, and the transport suction cup is adsorbed on the end face of the conveyor battery, and the transport electric clamp is clamped on both sides of the conveyor battery. The tray releases the adsorption of the conveyor battery, and the transport electric clamp releases the clamping of the conveyor battery; the telescopic ends of several lifting push rods rise, driving the guide wheel to be higher than the electric conveyor roller and lower than the primary conveying U-shaped frame, the electric suction cup frame moves toward the conveyor battery, the side suction cup contacts and adsorbs on the side of the conveyor battery, the side electric clamp clamps on the conveyor battery, the electric suction cup frame pulls the conveyor battery inward to move, the conveyor battery is pulled from the conveying ball to the guide wheel, and then all the conveyor batteries are pulled onto the guide wheel, the telescopic ends of several lifting push rods are retracted, the conveyor battery falls on the electric conveyor roller, the side suction cup contacts the adsorption of the conveyor battery, the side electric clamp releases the clamping of the conveyor battery, and the electric conveyor roller drives the conveyor battery The battery charging head contacts the corresponding position to charge the conveyor battery for later use; the main control battery box controls the electric lifting frame to pull the feeding platform back downward, driving the upper end of the primary conveying U-shaped frame above to be lower than the electric conveying roller, and the electric conveying roller on the other side drives the fully charged conveyor battery above it to move away from the battery charging head at the corresponding position, and move to the opposite side of the electric suction cup frame on this side, and the telescopic ends of several lifting push rods rise, driving the guide wheel to be higher than the electric conveying roller, and the guide wheel contacts the lower side of the conveyor battery, and the electric suction cup frame drives the side suction cup to contact and adsorb on the side of the conveyor battery, and the side electric clamps clamp on the conveyor battery, and the electric suction cup frame pushes the conveyor battery outward to move from a number of conveying balls;The side suction cup on the other side contacts the conveyor battery and resets, and the side electric clamp releases the clamp on the conveyor battery and resets; the output shaft of the secondary conveying motor drives the secondary conveying gear to rotate, and the secondary conveying gear meshes with the secondary conveying rack on the same side, driving the secondary conveying suction cup frame, the transport electric clamp and the transport suction cup to extend outward for a second time, and the transport suction cup is adsorbed on the end face of the conveyor battery, and the transport electric clamp is clamped on both sides of the conveyor battery; the main control battery box controls the electric lifting frame to lift the feeding platform upward, driving the upper secondary conveying suction cup frame, the transport electric clamp and the transport suction cup to rise, and arrive at the transport battery on the UAV. Position; the output shaft of the primary conveying motor drives the two primary conveying gears to rotate, and the primary conveying gears mesh with the primary conveying racks at the corresponding positions, driving the transverse conveying frame to slide outward on the upper end of the horizontal conveying seat, thereby driving the secondary conveying suction cup frame, the transport electric clamp and the transport suction cup above to extend outward for the first time; the output shaft of the secondary conveying motor drives the secondary conveying gear to rotate, and the secondary conveying gear meshes with the secondary conveying racks on the same side, driving the secondary conveying suction cup frame, the transport electric clamp and the transport suction cup to extend outward for the second time, supporting the guide wheel to roll on the upper end of the primary conveying U-shaped frame; insert the transporter battery into the transport drone, complete the battery replacement, and reset all electrical components. ;

[0017] The transport drone comprises a transport drone body, a plurality of circumferentially evenly distributed power blades are arranged around the upper end of the transport drone body, an electric control chassis is arranged on the transport drone body, an infrared thermal imager and a laser radar are arranged on the electric control chassis, four circumferentially evenly distributed double-slot charging boxes are arranged on the inner lower end of the transport drone body, four circumferentially evenly distributed visual cameras and eight shock-absorbing legs are arranged on the lower end of the transport drone body, every two shock-absorbing legs form a group, the four groups of shock-absorbing legs are evenly distributed around the circumference, the visual cameras are located on the inner side of a group of shock-absorbing legs at the same position, the transport drone body is electrically connected to the main control battery box, and the circumferentially distributed power blades, the double-slot charging box, the electric control chassis and the visual cameras are electrically connected to the transport drone body.

[0018] With the above structure, several circumferentially evenly distributed power blades drive the transport drone to fly and move. The transport drone battery is inserted into the electronic control chassis to provide power and facilitate battery replacement. The double-slot charging box is used to place and charge the single-rotation battery. The electronic control chassis and the visual camera are used in conjunction for high-altitude inspections. The eight shock-absorbing legs are used for landing shock absorption.

[0019] The clamping charging and swapping mechanism includes a cross frame, which is fixed at the lower end of the transport drone body, a positioning electric push rod is fixed in the middle of the lower end of the cross frame, the telescopic end of the positioning electric push rod is fixed with an electric rotating seat, the lower end of the electric rotating seat is fixed with a number of circumferentially evenly distributed shock-absorbing supports, four groups of circumferentially evenly distributed adjusting electric push rods are fixed on the electric rotating seat, the number of adjusting electric push rods in each group is two, the telescopic end of one adjusting electric push rod in each group is fixed with a power-swapping electric clamp, the telescopic end of another adjusting electric push rod in each group is provided with a charging plug 2, and clamping electric push rods are fixed at the lower ends of the four ends of the cross frame, and the telescopic end of the clamping electric push rod is provided with a carrying electric clamp, and the clamping electric push rod, the carrying electric clamp, the positioning electric push rod, the electric rotating seat, the power-swapping electric clamp, the adjusting electric push rod and the charging plug 2 are all electrically connected to the main control battery box.

[0020] With the above structure, the telescopic end of the positioning electric push rod drives the electric rotating seat to rise and fall, so that the height of the adjusting electric push rod is just opposite to the single-rotation UAV, and the electric rotating seat drives four groups of circumferentially evenly distributed adjusting electric push rods to rotate, thereby driving the battery-changing electric clamp to replace the single-rotation battery, or driving the charging plug 2 to charge the single-rotation battery, and the clamping electric push rods at the lower ends of the four ends of the cross frame drive the carrying electric clamp to rise and fall, and the carrying electric clamp clamps the single-rotation UAV, which is convenient for driving the single-rotation UAV to move, and the shock-absorbing support is used for shock absorption.

[0021] The single-rotation UAV comprises a spherical detachable frame, an installation cross rod is arranged inside the spherical detachable frame, a single-rotation electric control box is fixed on the installation cross rod, an infrared thermal imager and a laser radar are arranged on the single-rotation electric control box, a single-rotation power blade is arranged on the upper end of the single-rotation electric control box, a single-rotation battery is arranged inside one side of the single-rotation electric control box, a charging seat is arranged on the other side of the single-rotation electric control box, and three circumferentially evenly distributed steering motors are arranged at the lower end of the single-rotation electric control box, and steering blades are fixed on the output shafts of the steering motors.

[0022] With the above structure, the spherical disassembly frame can effectively ensure the structural stability of the single-rotation UAV and effectively prevent collisions. The single-rotation power blades drive the single-rotation UAV to fly and move, and the output shaft of the steering motor drives the steering blades to rotate a certain angle to meet the single-rotation UAV's take-off, landing, oblique flight, and lateral movement. Infrared thermal imagers and laser radars are used for high-altitude inspections.

[0023] The communication module is responsible for real-time data transmission and command reception between the transport drone and the four single-rotor drones and the cloud control center, and is responsible for real-time data transmission and command reception between the transport drone and the four single-rotor drones. Through communication technology, the cloud control center can grasp the flight status and information of the drone in real time, and remotely dispatch and control it; the collaborative control module adopts a collaborative control algorithm to realize the collaborative flight and inspection of the transport drone and the four single-rotor drones at multiple locations, avoid mutual interference, and improve inspection efficiency. The collaborative control algorithm includes but is not limited to linear algebra, differential equations and optimal control; the intelligent route planning module can automatically plan the optimal flight route according to the requirements of the inspection task. During the flight, the route can also be adjusted according to the real-time situation to deal with emergencies; the real-time monitoring and scheduling module can monitor the flight of the transport drone and the four single-rotor drones in real time. The status and information, including but not limited to position, speed and altitude, are collected by the transport UAV and four single-rotor UAVs through remote scheduling, obstacle avoidance and control based on this information to ensure the smooth progress of the inspection mission. The data acquisition and analysis module collects information about the target area in real time during the flight of the transport UAV and four single-rotor UAVs, including but not limited to images, videos and infrared thermal imaging, processes and analyzes these data, and generates detailed inspection reports to help users understand the status of the target area. The anomaly detection and alarm module can automatically identify abnormal situations during the inspection process, including but not limited to equipment failures and safety hazards, and issue alarm information so that users can discover and deal with problems in a timely manner to ensure the safety and smooth progress of the inspection mission. The meteorological outreach module is connected to the local meteorological bureau to collect local weather conditions in real time, which can enhance the environmental adaptability and stability design of the transport UAV and four single-rotor UAVs.

[0024] Compared with the existing technology, the multi-position collaborative high-altitude inspection control system of the UAV has the following advantages: through the cooperation between the monitoring base station box and the sealing flap mechanism, effective sealing is achieved to ensure the integrity of the monitoring base station box and the sealing flap mechanism to avoid water ingress, and the monitoring base station box is ventilated through the cooperation of the ventilation holes and the fan, which can effectively cool and dehumidify; through the cooperation of the power exchange mechanism and the charging mechanism with the transport drone respectively, the battery of the transport drone can be replaced or directly charged to ensure the effective transportation endurance of the transport drone; the transport drone can drive the single-rotor drone to move to the inspection position, reducing the power consumption of the single-rotor drone, and through the transport drone and the single-rotor drone The cooperation of drones can realize coordinated flight and inspection at multiple locations, thereby improving inspection efficiency. By transporting drones and single-rotor drones and cooperating with clamping charging and swapping mechanisms, the battery of single-rotor drones can be replaced or directly charged to ensure the effective endurance of single-rotor drones. Through communication modules, collaborative control modules, intelligent route planning modules, real-time monitoring and scheduling modules, data collection and analysis modules, anomaly detection and alarm modules and meteorological external liaison modules, stable communication, collaboration, route planning, real-time monitoring and scheduling, data collection and analysis, anomaly detection and alarm and real-time collection of weather conditions can be achieved to meet the coordinated high-altitude inspection control of multiple drones and multiple locations. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a system block diagram of the present invention.

[0026] Figure 2 It is a schematic diagram of the left three-dimensional structure of the hardware device in the present invention.

[0027] Figure 3 It is a schematic diagram of the right three-dimensional structure of the hardware device in the present invention.

[0028] Figure 4 It is a schematic diagram of the internal display structure of the hardware device in the present invention.

[0029] Figure 5 It is a structural schematic diagram of the UAV platform and the sealing flip cover mechanism in the present invention.

[0030] Figure 6 It is a three-dimensional structural schematic diagram of the power exchange mechanism in the present invention.

[0031] Figure 7 It is a schematic diagram showing the internal structure of the battery replacement mechanism in the present invention.

[0032] Figure 8 It is a schematic diagram of the upper three-dimensional structure of the single-rotating UAV and the transport UAV and the clamping charging and swapping mechanism in the present invention.

[0033] Fig. 9It is a schematic diagram of the lower three-dimensional structure of the single-rotating UAV and the transport UAV and the clamping charging and swapping mechanism in the present invention.

[0034] Fig.10 It is a structural schematic diagram of the clamping charging and swapping mechanism in the present invention.

[0035] Fig.11 It is a structural schematic diagram of the single-rotation UAV in the present invention.

[0036] In the figure, 1. Monitoring base station box; 2. Transfer universal wheel; 3. Support foot cup; 4. Ventilation hole; 5. Sealing flip cover mechanism; 6. Emergency stop switch; 7. Display screen; 8. Lifting card slot; 9. Sealing door; 10. Wiring head; 11. Stop frame; 12. Charging push rod; 13. Charging plug 1; 14. Transport drone; 15. Battery replacement mechanism; 16. Transport aircraft battery; 17. Clamping charging and battery replacement mechanism; 18. Single-rotation drone; 19. First flip rod; 20. Second flip rod; 21. Vertical pole; 22. Photoelectric Sensor 1; 23, rotating shaft; 24, sensor sheet; 25, fan mounting frame; 26, fan; 27, filter seal plate; 28, main control battery box; 29, photoelectric sensor 2; 30, apron; 31, pulley pair; 32, flip cover motor; 33, bottom frame mounting seat; 34, electric lifting frame; 35, feeding platform; 36, motor mounting frame; 37, primary conveying motor; 38, horizontal conveying rail; 39, horizontal conveying seat; 40, transverse conveying frame; 41, support guide wheel; 42, primary conveying rack; 4 3. Horizontal conveying screw rod; 44. Horizontal conveying motor; 45. Lifting push rod; 46. Side frame; 47. Electric conveying roller; 48. Side electric gripper; 49. Side suction cup; 50. Electric suction cup frame; 51. Primary conveying U-shaped frame; 52. Transport electric gripper; 53. Secondary conveying suction cup frame; 54. Conveying ball; 55. Transport suction cup; 56. Secondary conveying motor; 57. Secondary conveying rack; 58. Secondary conveying gear; 59. Peripheral power blades; 60. Transport drone body; 61. Shock absorber support Leg; 62. Double-slot charging box; 63. Electronic control box; 64. Visual camera; 65. Clamping electric push rod; 66. Carrying electric gripper; 67. Adjusting electric push rod; 68. Electric rotating seat; 69. Battery-changing electric gripper; 70. Shock-absorbing support; 71. Adjusting electric push rod; 72. Charging plug 2; 73. Cross rack; 74. Ball-shaped disassembly and assembly frame; 75. Single-rotation power blade; 76. Install cross rod; 77. Single-rotation electric control box; 78. Single-rotation battery; 79. Adjusting blade; 80. Adjusting motor. DETAILED DESCRIPTION

[0037] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0038] like Figure 1-Figure 11As shown, the present UAV multi-position collaborative high-altitude inspection control system includes a monitoring base station box 1, a cloud control center, a transport UAV 14 and four single-rotating UAVs 18 and a sealed flip cover mechanism 5 arranged on the monitoring base station box 1. The monitoring base station box 1 is provided with a main control battery box 28, a UAV platform, a battery replacement mechanism 15 and a charging mechanism. The positions of the battery replacement mechanism 15 and the charging mechanism are symmetrically distributed on both sides of the UAV platform. The transport UAV 14 is provided with a clamping charging and replacement mechanism 17. The main control battery box 28 is provided with a main control board and a platform battery; the main control board is provided with a communication module, a collaborative control module, an intelligent route planning module, a real-time monitoring and scheduling module, a data acquisition and analysis module, an abnormality detection and alarm module and a meteorological external liaison module, and the monitoring base station box 1 is also provided with a negative pressure suction pump. On the route that needs to be inspected, several inspection and monitoring points are set up, and a monitoring base station box 1 is set up at each inspection and monitoring point. The monitoring base station box 1 is connected to an external power supply to charge the platform battery to ensure that the power is sufficient to meet the endurance. The clamping and charging mechanism 17 inside the transport drone 14 clamps four single-rotation drones 18 and moves to the position that needs to be inspected. The transport drone 14 stays on the ground, and the clamping and charging mechanism 17 releases the four single-rotation drones 18, and the four single-rotation drones 18 fly up. At the same time, the transport drone 14 flies up to carry out multi-drone and multi-position coordinated high-altitude inspection. The monitoring base station box 1 sends and receives command information through the communication module, and the collaborative control module adopts a collaborative control algorithm to realize the coordinated flight and inspection of the transport drone 14 and the four single-rotation drones 18 at multiple positions, so as to avoid mutual interference and improve the inspection efficiency; the intelligent route planning module can automatically plan the optimal flight route according to the requirements of the inspection task, and can also The real-time monitoring and dispatching module can monitor the flight status and information of the transport drone 14 and the four single-rotor drones 18 in real time, including but not limited to position, speed and altitude. Based on this information, the transport drone 14 and the four single-rotor drones 18 can be remotely dispatched, avoided obstacles and controlled; the data acquisition and analysis module will collect information about the target area in real time during the flight of the transport drone 14 and the four single-rotor drones 18; the abnormal detection and alarm module can automatically identify abnormal situations during the inspection process, including but not limited to equipment failures and safety hazards, and issue alarm information, so that users can discover and deal with problems in time to ensure the safety and smooth progress of the inspection task; the meteorological outreach module is connected to the local meteorological bureau to collect local weather conditions in real time, which can enhance the environmental adaptability and stability design of the transport drone 14 and the four single-rotor drones 18. If rain affects the inspection, the transport drone 14 and the four single-rotor drones 18 will be put away;After the transport drone 14 is monitored, the sealed flip cover mechanism 5 opens and flies back to the top of the drone platform in the monitoring base station box 1. The transport drone 14 sends its power information to the monitoring base station box 1. When the transport battery 16 of the transport drone 14 is low in power, the battery replacement mechanism 15 removes the transport battery 16 of the transport drone 14 and replaces it with a fully charged transport battery 16 to ensure transportation endurance. The replaced transport battery 16 is charged through the monitoring base station box 1. When the transport battery 16 of the transport drone 14 is high in power, the charging mechanism charges the transport battery 16 of the transport drone 14. At this time, the four single-rotating drones 18 continue to conduct inspections and monitoring, and send the monitoring information to the monitoring base station box 1. The monitoring base station box 1 sends the information to Cloud control center; after the inspection and monitoring point is monitored, the transport drone 14 flies to the ground, the single-rotation drone 18 flies to the position specified by the transport drone 14, and the clamping charging and swapping mechanism 17 clamps the single-rotation drone 18, and the single-rotation drone 18 sends its power information to the transport drone 14. When the single-rotation battery 78 of the single-rotation drone 18 is low in power, the clamping charging and swapping mechanism 17 removes the single-rotation battery 78 of the single-rotation drone 18 and replaces it with a fully charged single-rotation battery 78 on the transport drone 14 to ensure the inspection endurance. The replaced single-rotation battery 78 is inserted into the transport drone 14 for charging. When the single-rotation battery 78 of the single-rotation drone 18 is high in power, the clamping charging and swapping mechanism 17 charges the single-rotation battery 78 of the single-rotation drone 18. ;

[0039] The four corners of the lower end of the monitoring base station box 1 are provided with transfer universal wheels 2 and supporting foot cups 3. Ventilation holes 4 are opened on the front and back sides of the monitoring base station box 1. A filter sealing plate 27 is fixed on the inner side of the ventilation hole 4. Two fan mounting frames 25 are fixed inside the monitoring base station box 1. Fans 26 are fixed on the fan mounting frames 25. The fans 26 are directly opposite to the filter sealing plates 27 on the same side. A sealing door 9 is provided on the left side of the monitoring base station box 1, and an emergency stop switch 6 and a display screen 7 are provided on the right side of the monitoring base station box 1. Lifting slots 8 are provided on the four corner end faces of the outer side of the monitoring base station box 1, and a wiring head 10 is provided on one of the corner end faces of the outer side of the monitoring base station box 1. The fan 26 and the wiring head 10 are both electrically connected to the main control battery box 28. The hoisting card slot 8 is convenient for carrying the monitoring base station box 1 to the designated inspection and monitoring point. The universal wheel 2 is transferred to drive the monitoring base station box 1 to move and adjust the position of the monitoring base station box 1. The supporting foot cup 3 is extended and the supporting foot cup 3 is pressed against the ground to limit the position of the monitoring base station box 1. The terminal head 10 is connected to an external power supply to charge the platform battery. The main control battery box 28 controls the fan 26 to draw external air into the monitoring base station box 1 through the ventilation hole 4. The filter plate 27 filters the moisture and dust in the external air to obtain dry and clean air, which enters the monitoring base station box 1 for ventilation, which can effectively cool and dehumidify. The sealed door 9 is easy to open to install and repair the equipment and objects inside the monitoring base station box 1. The emergency stop switch 6 is used to shut down the device in an emergency. The display screen 7 displays various information such as power level, drone position, etc.

[0040] The drone platform includes a parking frame 11, which is fixed inside the monitoring base station box 1. A helipad 30 is fixed inside the monitoring base station box 1, and the parking frame 11 and the helipad 30 are flush with the upper end of the monitoring base station box 1. The parking frame 11 is located above the main control power storage box 28. A plurality of photoelectric sensors 29 are fixed on the helipad 30. Two battery charging heads are fixed on the parking frame 11. The two battery charging heads and the plurality of photoelectric sensors 29 are electrically connected to the main control power storage box 28. The helipad 30 is used for the transport drone 14 to land and facilitate the transport drone 14 to return home. The plurality of photoelectric sensors 29 are used to detect that the transport drone 14 has landed stably, and the two battery charging heads are used to charge the transport battery 16.

[0041] The charging mechanism includes a mounting vertical plate, which is fixed to the inner front side of the monitoring base station box 1, and a horizontally arranged charging push rod 12 is fixed on the mounting vertical plate, and a charging plug 13 is fixed to the telescopic end of the charging push rod 12, and the charging push rod 12 and the charging plug 13 are both electrically connected to the main control battery box 28. When the power of the transport aircraft battery 16 of the transport drone 14 is high, after the transport drone 14 lands on the apron 30, the main control battery box 28 controls the telescopic end of the charging push rod 12 to extend, driving the charging plug 13 to contact the transport drone 14, and the main control battery box 28 controls the platform battery to charge the transport aircraft battery 16 through the charging plug 13 with the internal power.

[0042] The sealing flip cover mechanism 5 includes four vertical poles 21, four photoelectric sensors 22, and a flip cover motor 32. The four vertical poles 21 are respectively fixed at the four corners of the lower end of the monitoring base station box 1. The four photoelectric sensors 22 and the flip cover motor 32 are fixed at the lower end of the monitoring base station box 1. A rotating shaft 23 is rotatably provided between the two vertical poles 21 on the same side. Two sensor sheets 24 are fixed on the rotating shaft 23. The photoelectric sensor 22 is located below the sensor sheet 24 at the corresponding position. A direction-changing shaft is rotatably provided on one of the vertical poles 21. A direction-changing shaft is provided between the direction-changing shaft and the rotating shaft 23 on the same side. A pulley pair 31 is provided between the gear pair, the direction-changing shaft and the rotating shaft 23 on the other side and the output shaft of the flip motor 32. First flip rods 19 are fixed at both ends of the rotating shaft 23. Second flip rods 20 are rotatably provided on the four vertical rods 21. Sealing covers are rotatably provided between the two first flip rods 19 and the two second flip rods 20 on the same side. Sealing rings are provided on the outer edges of the sealing covers. Ventilation holes 4 are opened on the outer sides of the two sealing covers. A filter sealing plate 27 is fixed on the inner side of the ventilation hole 4. The photoelectric sensor 22 and the flip motor 32 are electrically connected to the main control battery box 28. The output shaft of the flip cover motor 32 is controlled by the main control battery box 28 to drive one of the rotating shafts 23 and the direction-changing shaft of the pulley pair 31 to rotate in the same direction. The direction-changing shaft drives the other rotating shaft 23 to rotate in the opposite direction through the gear pair. That is, the two rotating shafts 23 rotate synchronously and in the opposite direction. The rotating shaft 23 cooperates with the two first flip rods 19 and the two second flip rods 20 on the same side to drive the two sealing covers to open synchronously and in the opposite direction. After the rotating shaft 23 rotates to the specified position, the photoelectric sensor 22 detects that the sensor sheet 24 at the corresponding position rotates to the specified position. After positioning, the information is transmitted to the main control battery box 28, and the main control battery box 28 controls the flip motor 32 to stop working, and the two sealing covers are opened. Conversely, the main control battery box 28 controls the output shaft of the flip motor 32 to work in the opposite direction, driving the two sealing covers to close, and the outer sealing rings of the two sealing covers are in conflict with each other, and the outer sealing rings of the two sealing covers are in conflict with the monitoring base station box 1, and the sealing treatment is performed, which can effectively seal and isolate water. The filter sealing plate 27 on the inner side of the ventilation hole 4 cooperates to perform ventilation treatment, which can effectively cool down and dehumidify.

[0043] The power exchange mechanism 15 includes a bottom frame mounting seat 33, the bottom frame mounting seat 33 is concave, and an electric lifting frame 34 is provided in the middle of the bottom frame mounting seat 33. A feeding platform 35 is fixed to the upper end of the electric lifting frame 34, and a horizontal conveying motor 44 and two horizontal conveying rails 38 are fixed to the feeding platform 35. Two horizontal conveying seats 39 are slidably provided on the two horizontal conveying rails 38. A horizontal conveying screw rod 43 is fixed to the output shaft of the horizontal conveying motor 44, and the horizontal conveying screw rod 43 is transmission-connected to the horizontal conveying seat 39. A motor mounting frame 36 is fixed to the lower end of the two horizontal conveying seats 39, and a primary conveying motor 37 is fixed to the motor mounting frame 36. A Two primary conveying gears, a lateral conveying frame 40 is slidably provided on the upper end of the horizontal conveying seat 39, and a primary conveying rack 42 is fixed at the lower end of the lateral conveying frame 40, and the primary conveying gear is meshed with the primary conveying rack 42 at the corresponding position, and a primary conveying U-shaped frame 51 is fixed on the upper end of the two horizontal conveying seats 39, and secondary conveying racks 57 are fixed on both sides of the interior of the primary conveying U-shaped frame 51, and a secondary conveying suction cup frame 53 is slidably provided inside the primary conveying U-shaped frame 51, and secondary conveying motors 56 are fixed on both sides of the secondary conveying suction cup frame 53, and a secondary conveying gear 58 is fixed on the output shaft of the secondary conveying motor 56, and the secondary conveying gear 58 is meshed with the secondary conveying rack 57 on the same side. , the upper end of the primary conveying U-shaped frame 51 is provided with a plurality of groups of uniformly distributed conveying balls 54, the upper end of the secondary conveying suction cup frame 53 is fixed with a T-shaped frame, two supporting guide wheels 41 are rotatably provided on the T-shaped frame, the supporting guide wheels 41 abut against the upper end of the primary conveying U-shaped frame 51, and a transport electric clamp 52 and a plurality of transport suction cups 55 are provided on the T-shaped frame, the transport suction cups 55 are connected to the negative pressure suction pump through an air pipe, and the plurality of transport suction cups are located on the inner side of the transport electric clamp 52; side frames 46 are provided on both sides of the bottom frame mounting seat 33, and electric conveying rollers 47 and a plurality of lifting push rods 45 are fixed on the side frames 46, and the plurality of lifting push rods 45 are located below the electric conveying rollers 47, and the telescopic ends of the plurality of lifting push rods 45 are all rotatable A guide wheel is provided, which is located between the roller body intervals of the electric conveying roller 47. An electric suction cup frame 50 is provided at the upper end of the side frame 46. The electric suction cup frame 50 is provided with a side electric clamp 48 and a plurality of side suction cups 49. The side suction cup 49 is connected to the negative pressure suction pump through an air pipe. The plurality of side suction cups 49 are located on the inner side of the side electric clamp 48; two battery charging heads are respectively located above the electric conveying roller 47 on the same side; the electric lifting frame 34, the primary conveying motor 37, the horizontal conveying motor 44, the lifting push rod 45, the electric conveying roller 47, the side electric clamp 48, the electric suction cup frame 50, the transport electric clamp 52 and the secondary conveying motor 56 are all electrically connected to the main control battery box 28.

[0044] The main control battery box 28 controls the operation of the electric lifting frame 34, lifts the feeding platform 35 upward, drives the secondary conveying suction cup frame 53, the transport electric clamp 52 and the transport suction cup 55 above to rise, and reaches the position opposite to the transport battery 16 on the transport drone 14; the output shaft of the primary conveying motor 37 drives the two primary conveying gears to rotate, and the primary conveying gears are engaged with the primary conveying racks 42 at the corresponding positions, driving the transverse conveying frame 40 to slide outward at the upper end of the horizontal conveying seat 39, thereby driving the secondary conveying suction cup frame 53, the transport electric clamp 52 and the transport suction cup 55 above to extend outward once; the output shaft of the secondary conveying motor 56 drives the secondary conveying gear 58 to rotate The secondary conveying gear 58 is meshed with the secondary conveying rack 57 on the same side, driving the secondary conveying suction cup frame 53, the transport electric clamp 52 and the transport suction cup 55 to extend outward for a second time, and the support guide wheel 41 rolls on the upper end of the primary conveying U-shaped frame 51 to ensure that the secondary conveying suction cup frame 53, the transport electric clamp 52 and the transport suction cup 55 are stable. The transport suction cup 55 is adsorbed on the end surface of the conveyor battery 16, and the transport electric clamp 52 is clamped on both sides of the conveyor battery 16. The output shaft of the secondary conveying motor 56 drives the secondary conveying gear 58 to rotate in the opposite direction to pull out the conveyor battery 16. The conveyor battery 16 is placed on a plurality of groups of evenly distributed conveying balls 54 and pulled outward to the primary conveying U-shaped frame. At the upper end of the frame 51, the output shaft of the primary conveying motor 37 drives the two primary conveying gears to rotate in the opposite direction, driving the transverse conveying frame 40 to slide inward and reset at the upper end of the horizontal conveying seat 39; the main control storage box 28 controls the electric lifting frame 34 to work, pulls the feeding platform 35 back downward, drives the upper end of the primary conveying U-shaped frame 51 above to be higher than the electric conveying roller 47, and the transport suction cup 55 releases the adsorption of the conveyor battery 16, and the transport electric clamp 52 releases the clamping of the conveyor battery 16; the telescopic ends of the plurality of lifting push rods 45 rise, driving the guide wheel to be higher than the electric conveying roller 47 and lower than the primary conveying U-shaped frame 51, the electric suction cup frame 50 moves toward the conveyor battery 16, and the side suction cup 49 contacts and adsorbs on the side of the conveyor battery 16, the side electric clamp 48 clamps on the conveyor battery 16, the electric suction cup frame 50 pulls the conveyor battery 16 inward to move, the conveyor battery 16 is pulled from the conveying ball 54 to the guide wheel, and then the conveyor battery 16 is pulled all to the guide wheel, the telescopic ends of the plurality of jacking push rods 45 are retracted, the conveyor battery 16 falls on the electric conveyor roller 4, the side suction cup 49 contacts the adsorption of the conveyor battery 16, the side electric clamp 48 releases the clamping of the conveyor battery 16, and the electric conveyor roller 4 drives the conveyor battery 16 to contact the battery charging head at the corresponding position to charge the conveyor battery 16 for later use;The main control battery box 28 controls the electric lifting frame 34 to work, pulls back the feeding platform 35 downward, drives the upper end of the primary conveying U-shaped frame 51 above to be lower than the electric conveying roller 47, and the electric conveying roller 4 on the other side drives the fully charged conveyor battery 16 above it to move away from the battery charging head at the corresponding position, and move to the opposite side of the electric suction cup frame 50 on this side, and the telescopic ends of the plurality of lifting push rods 45 rise, driving the guide wheel to be higher than the electric conveying roller 47, and the guide wheel contacts the lower side of the conveyor battery 16, and the electric suction cup frame 50 drives the side suction cup 49 to contact and adsorb on the conveyor battery 16, the side electric clamp 48 is clamped on the conveyor battery 16, and the electric suction cup frame 50 pushes the conveyor battery 16 outward to move from a plurality of conveying balls 54; the side suction cup 49 on the other side contacts the adsorption of the conveyor battery 16 and resets, and the side electric clamp 48 releases the clamping of the conveyor battery 16 and resets; the output shaft of the secondary conveying motor 56 drives the secondary conveying gear 58 to rotate, and the secondary conveying gear 58 is meshed with the secondary conveying rack 57 on the same side, driving the secondary conveying suction cup frame 53, the conveying electric clamp 52 and the conveying suction cup 55 to extend outward for the second time The transport suction cup 55 is adsorbed on the end surface of the transport battery 16, and the transport electric clamp 52 is clamped on both sides of the transport battery 16; the main control storage box 28 controls the electric lifting frame 34 to work, lift the feeding platform 35 upward, drive the secondary transport suction cup frame 53, the transport electric clamp 52 and the transport suction cup 55 above to rise, and arrive at the position opposite to the transport battery 16 on the transport drone 14; the output shaft of the primary transport motor 37 drives the two primary transport gears to rotate, and the primary transport gears are meshed with the primary transport rack 42 at the corresponding position, driving the lateral movement of the transport frame 40 Slide outward on the upper end of the horizontal conveying seat 39, thereby driving the secondary conveying suction cup frame 53, the transport electric clamp 52 and the transport suction cup 55 above to extend outward once; the output shaft of the secondary conveying motor 56 drives the secondary conveying gear 58 to rotate, and the secondary conveying gear 58 meshes with the secondary conveying rack 57 on the same side, driving the secondary conveying suction cup frame 53, the transport electric clamp 52 and the transport suction cup 55 to extend outward twice, and supporting the guide wheel 41 to roll on the upper end of the primary conveying U-shaped frame 51; insert the transporter battery 16 into the transport drone 14, complete the power replacement, and reset all electrical components. ;

[0045] The transport drone 14 includes a transport drone body 60, and a plurality of circumferentially evenly distributed power blades 59 are arranged around the upper end of the transport drone body 60. An electric control chassis 63 is arranged on the transport drone body 60, and an infrared thermal imager and a laser radar are arranged on the electric control chassis 63. Four circumferentially evenly distributed double-slot charging boxes 62 are arranged at the inner lower end of the transport drone body 60. Four circumferentially evenly distributed visual cameras 64 and eight shock-absorbing legs 61 are arranged at the lower end of the transport drone body 60. Every two shock-absorbing legs 61 form a group, and the four groups of shock-absorbing legs 61 are evenly distributed. The visual camera 64 is located on the inner side of a group of shock-absorbing legs 61 at the same position. The transport drone body 60 is electrically connected to the main control battery box 28, and the circumferentially distributed power blades 59, the double-slot charging box 62, the electric control chassis 63 and the visual camera 64 are all electrically connected to the transport drone body 60. A number of circumferentially evenly distributed power blades 59 drive the transport drone 14 to fly and move. The transport aircraft battery 16 is inserted into the electronic control chassis 63 to provide power and facilitate battery replacement. The double-slot charging box 62 is used to place and charge the single-rotation battery 78. The electronic control chassis 63 and the visual camera 64 are used for high-altitude inspections. The eight shock-absorbing legs 61 are used for landing shock absorption.

[0046] The clamping charging and swapping mechanism 17 includes a cross frame 73, which is fixed to the lower end of the transport drone body 60, and a position-adjusting electric push rod 67 is fixed to the middle of the lower end of the cross frame 73, and an electric rotating seat 68 is fixed to the telescopic end of the position-adjusting electric push rod 67, and a plurality of circumferentially evenly distributed shock-absorbing supports 70 are fixed to the lower end of the electric rotating seat 68, and four groups of circumferentially evenly distributed adjusting electric push rods 71 ​​are fixed on the electric rotating seat 68, and the number of each group of adjusting electric push rods 71 ​​is two, and one of the adjusting electric push rods in each group is fixed to the lower end of the electric rotating seat 68. A battery-changing electric clamp 69 is fixed to the telescopic end of the rod 71, and a charging plug 2 72 is provided at the telescopic end of another adjusting electric push rod 71 in each group. A clamping electric push rod 65 is fixed to the lower end of the four ends of the cross frame 73, and a carrying electric clamp 66 is provided at the telescopic end of the clamping electric push rod 65. The clamping electric push rod 65, the carrying electric clamp 66, the positioning electric push rod 67, the electric rotating seat 68, the battery-changing electric clamp 69, the adjusting electric push rod 71 and the charging plug 2 72 are all electrically connected to the main control battery box 28. The telescopic end of the positioning electric push rod 67 drives the electric rotating seat 68 to rise and fall, so that the height of the adjusting electric push rod 71 is just opposite to the single-rotation UAV 18. The electric rotating seat 68 drives four groups of circumferentially evenly distributed adjusting electric push rods 71 ​​to rotate, thereby driving the battery-changing electric clamp 6 to replace the single-rotation battery 78, or driving the charging plug 2 72 to charge the single-rotation battery 78. The clamping electric push rod 65 at the lower end of the four ends of the cross frame 73 drives the carrying electric clamp 66 to rise and fall. The carrying electric clamp 66 clamps the single-rotation UAV 18 to facilitate the movement of the single-rotation UAV 18. The shock-absorbing support 70 is used for shock absorption.

[0047] The single-rotation UAV 18 includes a spherical disassembly frame 74, the interior of which is provided with a mounting cross bar 76, a single-rotation electric control box 77 is fixed on the mounting cross bar 76, an infrared thermal imager and a laser radar are arranged on the single-rotation electric control box 77, a single-rotation power blade 75 is arranged on the upper end of the single-rotation electric control box 77, a single-rotation battery 78 is arranged inside one side of the single-rotation electric control box 77, a charging seat is arranged on the other side of the single-rotation electric control box 77, and three circumferentially evenly distributed steering motors 80 are arranged on the lower end of the single-rotation electric control box 77, and steering blades 79 are fixed on the output shafts of the steering motors 80. The spherical disassembly frame 74 can effectively ensure the structural stability of the single-rotation UAV 18 and effectively prevent collisions. The single-rotation power blade 75 drives the single-rotation UAV 18 to fly and move, and the output shaft of the steering motor 80 drives the steering blade 79 to rotate a certain angle to meet the single-rotation UAV 18 to perform take-off, landing, oblique flight, lateral movement and other actions. The infrared thermal imager and the laser radar are used for high-altitude inspections.

[0048] The communication module is responsible for real-time data transmission and command reception between the transport drone 14 and the four single-rotor drones 18 and the cloud control center, and is responsible for real-time data transmission and command reception between the transport drone 14 and the four single-rotor drones 18. Through communication technology, the cloud control center can grasp the flight status and information of the drones in real time, and remotely dispatch and control them; the collaborative control module adopts a collaborative control algorithm to realize the collaborative flight and inspection of the transport drone 14 and the four single-rotor drones 18 at multiple locations to avoid mutual interference and improve the inspection efficiency. The collaborative control algorithm includes but is not limited to linear algebra, differential equations and optimal control; the intelligent route planning module can automatically plan the optimal flight route according to the requirements of the inspection task. During the flight, the route can also be adjusted according to the real-time situation to deal with emergencies; the real-time monitoring and scheduling module can monitor the flight status of the transport drone 14 and the four single-rotor drones 18 in real time. The flight status and information, including but not limited to position, speed and altitude, are collected by the transport UAV 14 and the four single-rotor UAVs 18 based on this information to remotely dispatch, avoid obstacles and control them, ensuring the smooth progress of the inspection mission; the data acquisition and analysis module collects information about the target area in real time during the flight of the transport UAV 14 and the four single-rotor UAVs 18, including but not limited to images, videos and infrared thermal imaging, processes and analyzes these data, and generates a detailed inspection report to help users understand the status of the target area; the anomaly detection and alarm module can automatically identify abnormal situations during the inspection process, including but not limited to equipment failures and safety hazards, and issue alarm information, so that users can discover and deal with problems in a timely manner to ensure the safety and smooth progress of the inspection mission; the meteorological outreach module is connected to the local meteorological bureau to collect local weather conditions in real time, which can enhance the environmental adaptability and stability design of the transport UAV 14 and the four single-rotor UAVs 18.

[0049] The working principle of the present invention is as follows: on the route that needs to be inspected, a number of inspection and monitoring points are set up, and a monitoring base station box 1 is set up at each inspection and monitoring point. The lifting card slot 8 is convenient for carrying the monitoring base station box 1, and it is carried to the designated inspection and monitoring point. The universal wheel 2 is used to drive the monitoring base station box 1 to move, so as to adjust the position of the monitoring base station box 1, extend the supporting foot cup 3, and make the supporting foot cup 3 contact the ground to limit the position of the monitoring base station box 1. The terminal head 10 is connected to an external power supply to charge the platform battery to ensure sufficient power and meet the endurance. The clamping charging and swapping mechanism 17 inside the transport drone 14 clamps four single-rotating drones 18, and a number of circumferentially evenly distributed power blades are arranged around the circumference. 59 drives the transport drone 14 to fly and move, and the transport drone 14 moves to the position where inspection is required. The transport drone 14 stays on the ground, and the carrying electric clamp 66 releases the clamping of the single-rotation drone 18, and the four single-rotation drones 18 fly up, that is, the single-rotation power blade 75 drives the single-rotation drone 18 to fly and move, and the output shaft of the steering motor 80 drives the steering blade 79 to rotate a certain angle to meet the single-rotation drone 18 to perform take-off, landing, oblique flight, lateral movement and other actions. At the same time, the transport drone 14 flies up, and multi-drone multi-position coordinated high-altitude inspection is carried out, that is, the electronic control box 63 and the visual camera 64 cooperate, and the infrared thermal imager and the laser radar cooperate for high-altitude inspection; The communication module is responsible for real-time data transmission and command reception between the transport drone 14 and the four single-rotor drones 18 and the cloud control center, and is responsible for real-time data transmission and command reception between the transport drone 14 and the four single-rotor drones 18. Through communication technology, the cloud control center can grasp the flight status and information of the drones in real time, and remotely dispatch and control them; the collaborative control module adopts a collaborative control algorithm to realize the collaborative flight and inspection of the transport drone 14 and the four single-rotor drones 18 at multiple locations to avoid mutual interference and improve the inspection efficiency. The collaborative control algorithm includes but is not limited to linear algebra, differential equations and optimal control; the intelligent route planning module can automatically plan the optimal flight route according to the requirements of the inspection task. During the flight, the route can also be adjusted according to the real-time situation to deal with emergencies; the real-time monitoring and scheduling module can monitor the flight status and information of the transport drone 14 and the four single-rotor drones 18 in real time, including but not limited to the position, Speed ​​and altitude, based on this information, the transport drone 14 and the four single-rotor drones 18 are remotely dispatched, obstacle-avoided and controlled to ensure the smooth progress of the inspection task; the data acquisition and analysis module will collect information about the target area in real time during the flight of the transport drone 14 and the four single-rotor drones 18, including but not limited to images, videos and infrared thermal imaging, process and analyze these data, and generate a detailed inspection report to help users understand the status of the target area; the abnormal detection and alarm module can automatically identify abnormal situations during the inspection process, including but not limited to equipment failures and safety hazards, and issue alarm information, so that users can discover and deal with problems in time to ensure the safety and smooth progress of the inspection task; the meteorological outreach module is connected to the local meteorological bureau to collect local weather conditions in real time, which can enhance the environmental adaptability and stability design of the transport drone 14 and the four single-rotor drones 18. If the inspection is affected by rain or other weather, the transport drone 14 and the four single-rotor drones 18 will be folded; After the transport drone 14 is monitored, the main control battery box 28 controls the output shaft of the flip cover motor 32 to drive one of the rotating shafts 23 and the change-direction shaft of the pulley pair 31 to rotate in the same direction, and the change-direction shaft drives the other rotating shaft 23 to rotate in the opposite direction through the gear pair, that is, the two rotating shafts 23 rotate synchronously and in the opposite direction, and the rotating shaft 23 cooperates with the two first flip rods 19 and the two second flip rods 20 on the same side to drive the two sealing covers to open synchronously and in the opposite direction. After the rotating shaft 23 rotates to the specified position, the photoelectric sensor 22 detects that the sensor sheet 24 at the corresponding position has rotated to the specified position, and transmits the information to the main control battery box 28. The main control battery box 2 8 controls the flap motor 32 to stop working, the two sealing covers are opened, and the drone 14 flies back to the top of the helipad 30 in the monitoring base station box 1. The transport drone 14 sends its power information to the main control board. When the battery 16 of the transport drone 14 is low in power, the battery replacement mechanism 15 removes the battery 16 of the transport drone 14 and replaces it with a fully charged battery 16. The main control storage box 28 controls the electric lifting frame 34 to work, lift the feeding platform 35 upward, and drive the secondary conveying suction cup frame 53, the carrying electric gripper 52 and the carrying suction cup 55 above to rise to a position opposite to the battery 16 of the transport drone 14. The output shaft of the primary conveying motor 37 drives the two primary conveying gears to rotate, and the primary conveying gears mesh with the primary conveying racks 42 at the corresponding positions, driving the transverse conveying frame 40 to slide outward on the upper end of the horizontal conveying seat 39, thereby driving the secondary conveying suction cup frame 53, the transport electric clamp 52 and the transport suction cup 55 above to extend outward once; the output shaft of the secondary conveying motor 56 drives the secondary conveying gear 58 to rotate, and the secondary conveying gear 58 meshes with the secondary conveying rack 57 on the same side, driving the secondary conveying suction cup frame 53, the transport electric clamp 52 and the transport suction cup 55 to extend outward twice, and the support guide wheel 41 is on the primary conveying U-shaped frame 5 1 The upper end rolls to ensure the stability of the secondary conveying suction cup frame 53, the transport electric clamp 52 and the transport suction cup 55. The transport suction cup 55 is adsorbed on the end surface of the conveyor battery 16, and the transport electric clamp 52 is clamped on both sides of the conveyor battery 16. The output shaft of the secondary conveying motor 56 drives the secondary conveying gear 58 to rotate in the opposite direction to pull out the conveyor battery 16. The conveyor battery 16 is placed on a plurality of groups of evenly distributed conveying balls 54 and pulled outward to the upper end of the primary conveying U-shaped frame 51. The output shaft of the primary conveying motor 37 drives the two primary conveying gears to rotate in the opposite direction, driving the transverse conveying frame 40 to slide inward and reset at the upper end of the horizontal conveying seat 39; The main control storage box 28 controls the electric lifting frame 34 to work, pulls the feeding platform 35 back downward, drives the upper end of the primary conveying U-shaped frame 51 above to be higher than the electric conveying roller 47, and the transport suction cup 55 releases the adsorption of the conveyor battery 16, and the transport electric clamp 52 releases the clamping of the conveyor battery 16; the telescopic ends of the plurality of lifting push rods 45 rise, driving the guide wheel to be higher than the electric conveying roller 47 and lower than the primary conveying U-shaped frame 51, and the electric suction cup frame 50 moves toward the conveyor battery 16, and the side suction cups 49 contact and adsorb on The side electric clamp 48 clamps the conveyor battery 16, and the electric suction cup frame 50 pulls the conveyor battery 16 inward to move. The conveyor battery 16 is pulled from the conveying ball 54 to the guide wheel, and then the conveyor battery 16 is pulled all over the guide wheel. The telescopic ends of the lifting push rods 45 are retracted, and the conveyor battery 16 falls on the electric conveyor roller 4. The side suction cup 49 contacts the conveyor battery 16, and the side electric clamp 48 releases the clamping of the conveyor battery 16. The roller 4 drives the conveyor battery 16 to contact the battery charging head at the corresponding position, and the conveyor battery 16 is charged for later use; the main control storage box 28 controls the electric lifting frame 34 to work, pulls the feeding platform 35 back downward, drives the upper end of the primary conveying U-shaped frame 51 above to be lower than the electric conveying roller 47, and the electric conveying roller 4 on the other side drives the fully charged conveyor battery 16 above it to move away from the battery charging head at the corresponding position, and move to the opposite side of the electric suction cup frame 50 on this side, and the extension and contraction of several lifting push rods 45 The lifting of the end drives the guide wheel to be higher than the electric conveying roller 47, and the guide wheel contacts the lower side of the conveyor battery 16. The electric suction cup frame 50 drives the side suction cup 49 to contact and adsorb on the side of the conveyor battery 16, and the side electric clamping claw 48 clamps on the conveyor battery 16. The electric suction cup frame 50 pushes the conveyor battery 16 outward to move from a plurality of conveying balls 54; the side suction cup 49 on the other side contacts the conveyor battery 16 and resets, and the side electric clamping claw 48 releases the clamping of the conveyor battery 16 and resets; The output shaft of the secondary conveying motor 56 drives the secondary conveying gear 58 to rotate, and the secondary conveying gear 58 meshes with the secondary conveying rack 57 on the same side, driving the secondary conveying suction cup frame 53, the transport electric clamp 52 and the transport suction cup 55 to extend outward for a second time, and the transport suction cup 55 is adsorbed on the end surface of the transport machine battery 16, and the transport electric clamp 52 is clamped on both sides of the transport machine battery 16; the main control storage box 28 controls the electric lifting frame 34 to work, lift the feeding platform 35 upward, and drive the upper secondary conveying suction cup frame 53, the transport electric clamp 52 and the transport suction cup 55 to rise to a position opposite to the transport machine battery 16 on the transport drone 14; the output shaft of the primary conveying motor 37 drives the two primary conveying gears to rotate, and the primary conveying gear meshes with the primary conveying rack 42 at the corresponding position, driving the transverse conveying frame 40 to slide outward at the upper end of the horizontal conveying seat 39, thereby driving the upper secondary conveying suction cup frame 53, the transport electric clamp 52 and the transport suction cup 55 to extend outward once; The output shaft of the secondary conveying motor 56 drives the secondary conveying gear 58 to rotate, and the secondary conveying gear 58 is meshed with the secondary conveying rack 57 on the same side, driving the secondary conveying suction cup frame 53, the transport electric clamp 52 and the transport suction cup 55 to extend outward for the second time, and the support guide wheel 41 rolls on the upper end of the primary conveying U-shaped frame 51; the transport aircraft battery 16 is inserted into the interior of the transport drone 14, the power replacement is completed, and the electrical components are reset; when the transport aircraft battery 16 of the transport drone 14 has a high power, the charging mechanism charges the transport aircraft battery 16 of the transport drone 14, that is, the main control battery box 28 controls the extension of the telescopic end of the charging push rod 12, driving the charging plug 13 to contact the charging place on the other end face of the electric control box 63, and the main control battery box 28 controls the platform battery to charge the transport aircraft battery 16 with the internal power through the charging plug 13; at this time, the four single-rotation drones 18 continue to perform inspection and monitoring, and send the monitoring information to the main control board, and the main control board sends the information to the cloud control center; After the inspection and monitoring point is completed, the transport drone 14 flies to the ground, the single-rotation drone 18 flies to the position specified by the transport drone 14, and the single-rotation electric control box 77 sends its power information to the electric control box 63 of the transport drone 14. When the power of the single-rotation battery 78 of the single-rotation drone 18 is low, the side of the single-rotation drone 18 equipped with the single-rotation battery 78 faces inward, and the clamping charging and swapping mechanism 17 clamps the single-rotation drone 18, that is, the clamping electric push rod 65 at the lower end of the four ends of the cross frame 73 drives the carrying electric clamp 66 to rise and fall, and the carrying electric clamp 66 clamps the spherical disassembly frame 74 of the single-rotation drone 18; The clamping charging and replacing mechanism 17 removes the single-rotation battery 78 of the single-rotation UAV 18 and replaces it with the fully charged single-rotation battery 78 on the transport UAV 14, that is, the telescopic end of the adjustment electric push rod 67 drives the electric rotating seat 68 to rise and fall, so that the height of the adjustment electric push rod 71 is directly opposite to the single-rotation battery 78 of the single-rotation UAV 18, and the electric rotating seat 68 drives four groups of circumferentially evenly distributed adjustment electric push rods 71 ​​to rotate, so that the adjustment electric push rod 71 drives the battery replacement electric clamp 69 to move, clamp the single-rotation battery 78, and then pull the single-rotation battery 78 out of the single-rotation electric control box 77. The electric rotating seat 68 drives the clamping single-rotation battery 78 to rotate a certain angle, and the single-rotation battery 78 is directly opposite to one of the slots of the double-slot charging box 62, and the electric adjustment The push rod 71 drives the battery-changing electric clamp 69 to move and insert the single-rotation battery 78 into one of the slots for charging. Then the rotating seat 68 drives the clamped single-rotation battery 78 to rotate a certain angle, and the single-rotation battery 78 is facing the other slot of the double-slot charging box 62. The other slot has a fully charged single-rotation battery 78 inserted. The electric push rod 71 is adjusted to drive the battery-changing electric clamp 69 to move and pull the fully charged single-rotation battery 78 out of the other slot. The electric rotating seat 68 drives the clamped single-rotation battery 78 to rotate in the opposite direction by a certain angle, and the single-rotation battery 78 is facing the single-rotation electric control box 77. The electric push rod 71 is adjusted to drive the battery-changing electric clamp 69 to move and insert the single-rotation battery 78 into the single-rotation electric control box 77 to complete the battery replacement. The single-rotation electric control box 77 sends its power information to the electric control box 63 of the transport UAV 14. When the power of the single-rotation battery 78 of the single-rotation UAV 18 is low, the side of the single-rotation UAV 18 with the charging seat faces inward, and the carrying electric clamp 66 clamps the spherical disassembly frame 74 of the single-rotation UAV 18; the electric rotating seat 68 drives four groups of circumferentially evenly distributed adjusting electric push rods 71 ​​to rotate, so that another adjusting electric push rod 71 is facing the charging seat, and the other adjusting electric push rod 71 drives the charging plug 2 72 to extend, and the charging plug 2 72 contacts the charging seat to charge the single-rotation battery 78.

[0050] In summary, by cooperating with the sealing flap mechanism 5, effective sealing is achieved to ensure the integrity of the monitoring base station box 1 and the sealing flap mechanism 5 to avoid water ingress, and the ventilation holes 4 and the fan 26 are used to ventilate the monitoring base station box 1, which can effectively cool and dehumidify; the battery replacement mechanism 15 and the charging mechanism are respectively coordinated with the transport drone 14 to achieve battery replacement or direct charging of the transport drone 14 to ensure the effective transportation endurance of the transport drone 14; the transport drone 14 can drive the single-rotation drone 18 to move to the inspection position, reduce the power consumption of the single-rotation drone 18, and by cooperating with the transport drone 14 and the single-rotation drone 18, the Now, coordinated flight and inspection are carried out at multiple locations to improve inspection efficiency; by transporting the UAV 14 and the single-rotation UAV 18 and cooperating with the clamping charging and swapping mechanism 17, the battery of the single-rotation UAV 18 can be replaced or directly charged to ensure the effective endurance of the single-rotation UAV 18; through the communication module, collaborative control module, intelligent route planning module, real-time monitoring and scheduling module, data collection and analysis module, anomaly detection and alarm module and meteorological external connection module, stable communication, coordination, route planning, real-time monitoring and scheduling, data collection and analysis, anomaly detection and alarm and real-time collection of weather conditions are achieved to meet the coordinated high-altitude inspection control of multiple UAVs and multiple locations.

[0051] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. A drone multi-position coordinated high-altitude inspection control system, comprising a monitoring base station box (1), a cloud control center, a transport drone (14), four single-rotating drones (18), and a sealing flip cover mechanism (5) arranged on the monitoring base station box (1), characterized in that The monitoring base station box (1) is provided with a main control battery box (28), an unmanned aerial vehicle platform, a battery replacement mechanism (15) and a charging mechanism. The battery replacement mechanism (15) and the charging mechanism are symmetrically distributed on both sides of the unmanned aerial vehicle platform. The transport unmanned aerial vehicle (14) is provided with a clamping charging and replacement mechanism (17). The main control battery box (28) is provided with a main control board and a platform battery. The main control board is provided with a communication module, a collaborative control module, an intelligent route planning module, a real-time monitoring and scheduling module, a data collection and analysis module, an abnormality detection and alarm module and a meteorological external connection module. The monitoring base station box (1) is also provided with a negative pressure suction pump.

2. The multi-position coordinated high-altitude inspection control system of an unmanned aerial vehicle according to claim 1 is characterized in that: The four corners of the lower end of the monitoring base station box (1) are provided with transfer universal wheels (2) and support feet (3). The front and rear sides of the monitoring base station box (1) are provided with ventilation holes (4). The inner side of the ventilation holes (4) is fixed with a filter sealing plate (27). Two fan mounting frames (25) are fixed inside the monitoring base station box (1). Fans (26) are fixed on the fan mounting frames (25). The fans (26) are directly opposite to the filter sealing plates (27) on the same side. A sealing door (9) is provided on the left side of the monitoring base station box (1). An emergency stop switch (6) and a display screen (7) are provided on the right side of the monitoring base station box (1). The four outer corner end surfaces of the monitoring base station box (1) are provided with lifting card slots (8). One of the outer corner end surfaces of the monitoring base station box (1) is provided with a wiring head (10). The fan (26) and the wiring head (10) are both electrically connected to the main control storage box (28).

3. The multi-position coordinated high-altitude inspection control system of an unmanned aerial vehicle according to claim 2 is characterized in that: The unmanned aerial vehicle platform comprises a parking frame (11), the parking frame (11) is fixed inside the monitoring base station box (1), a parking apron (30) is fixed inside the monitoring base station box (1), and the parking frame (11) and the parking apron (30) are both flush with the upper end of the monitoring base station box (1), the parking frame (11) is located above the main control power storage box (28), a plurality of photoelectric sensors (29) are fixed on the parking apron (30), and two battery charging heads are fixed on the parking frame (11), and the two battery charging heads and the plurality of photoelectric sensors (29) are all electrically connected to the main control power storage box (28).

4. The multi-position coordinated high-altitude inspection control system of an unmanned aerial vehicle according to claim 3 is characterized in that: The charging mechanism comprises a mounting vertical plate, the mounting vertical plate being fixed to the inner front side of the monitoring base station box (1), a horizontally arranged charging push rod (12) being fixed to the mounting vertical plate, a charging plug 1 (13) being fixed to the telescopic end of the charging push rod (12), and both the charging push rod (12) and the charging plug 1 (13) being electrically connected to a main control power storage box (28).

5. The multi-position coordinated high-altitude inspection control system of an unmanned aerial vehicle according to claim 4 is characterized in that: The sealing flip cover mechanism (5) comprises four vertical poles (21), four photoelectric sensors (22), and a flip cover motor (32). The four vertical poles (21) are respectively fixed at the four corners of the lower end of the monitoring base station box (1). The four photoelectric sensors (22) and the flip cover motor (32) are fixed at the lower end of the monitoring base station box (1). A rotating shaft (23) is rotatably provided between two vertical poles (21) on the same side. Two sensor sheets (24) are fixed on the rotating shaft (23). The photoelectric sensor (22) is located below the sensor sheet (24) at the corresponding position. A direction-changing shaft is rotatably provided on one of the vertical poles (21). The direction-changing shaft is connected to the rotating shaft (23) on the same side. A gear pair is provided between the direction-changing shaft and the rotating shaft (23) on the other side and the output shaft of the flip motor (32). A first flip rod (19) is fixed at both ends of the rotating shaft (23). Second flip rods (20) are rotatably provided on the four vertical rods (21). A sealing cover is rotatably provided between the two first flip rods (19) and the two second flip rods (20) on the same side. The outer edges of the sealing covers are provided with sealing rings. Ventilation holes (4) are provided on the outer sides of the two sealing covers. A filter sealing plate (27) is fixed on the inner sides of the ventilation holes (4). The photoelectric sensor 1 (22) and the flip motor (32) are electrically connected to the main control battery box (28).

6. The multi-position coordinated high-altitude inspection control system of an unmanned aerial vehicle according to claim 5 is characterized in that: The power exchange mechanism (15) comprises a bottom frame mounting seat (33), the bottom frame mounting seat (33) is concave, an electric lifting frame (34) is provided in the middle of the bottom frame mounting seat (33), a feeding platform (35) is fixed at the upper end of the electric lifting frame (34), a horizontal conveying motor (44) and two horizontal conveying rails (38) are fixed on the feeding platform (35), two horizontal conveying seats (39) are slidably provided on the two horizontal conveying rails (38), a horizontal conveying screw rod (43) is fixed on the output shaft of the horizontal conveying motor (44), the horizontal conveying screw rod (43) is transmission-connected to the horizontal conveying seat (39), a motor mounting frame (36) is fixed at the lower end of the two horizontal conveying seats (39), and the motor mounting frame (36) A primary conveying motor (37) is fixed on the upper part, and two primary conveying gears are fixed on the output shaft of the primary conveying motor (37). A transverse conveying frame (40) is slidably provided on the upper end of the horizontal conveying seat (39), and a primary conveying rack (42) is fixed at the lower end of each transverse conveying frame (40). The primary conveying gear meshes with the primary conveying rack (42) at a corresponding position. A primary conveying U-shaped frame (51) is fixed on the upper ends of the two horizontal conveying seats (39), and secondary conveying racks (57) are fixed on both sides of the interior of the primary conveying U-shaped frame (51). A secondary conveying suction cup frame (53) is slidably provided inside the primary conveying U-shaped frame (51), and a secondary conveying motor (56) is fixed on both sides of the secondary conveying suction cup frame (53). A secondary conveying gear (58) is fixed on the output shaft of the secondary conveying motor (56), and the secondary conveying gear (58) meshes with the secondary conveying rack (57) on the same side. A plurality of groups of uniformly distributed conveying balls (54) are provided at the upper end of the primary conveying U-shaped frame (51), and a T-shaped frame is fixed at the upper end of the secondary conveying suction cup frame (53). Two supporting guide wheels (41) are rotatably provided on the T-shaped frame, and the supporting guide wheels (41) abut against the upper end of the primary conveying U-shaped frame (51). A transport electric clamp (52) and a plurality of transport suction cups (55) are provided on the T-shaped frame. The transport suction cups (55) are connected to the negative pressure suction pump via an air pipe, and the plurality of transport suction cups are located on the inner side of the transport electric clamp (52); the two side portions of the bottom frame mounting seat (33) A side frame (46) is provided, on which an electric conveying roller (47) and a plurality of lifting push rods (45) are fixed, the plurality of lifting push rods (45) are located below the electric conveying roller (47), the telescopic ends of the plurality of lifting push rods (45) are rotatably provided with guide wheels, the guide wheels are located between the roller body intervals of the electric conveying roller (47), an electric suction cup frame (50) is provided at the upper end of the side frame (46), the electric suction cup frame (50) is provided with a side electric clamp (48) and a plurality of side suction cups (49), the side suction cup (49) is connected to a negative pressure suction pump via an air pipe, and the plurality of side suction cups (49) are located on the inner side of the side electric clamp (48); two battery charging heads are respectively located above the electric conveying roller (47) on the same side;The electric lifting frame (34), the primary conveying motor (37), the horizontal conveying motor (44), the lifting push rod (45), the electric conveying roller (47), the side electric clamping claw (48), the electric suction cup frame (50), the transport electric clamping claw (52) and the secondary conveying motor (56) are all electrically connected to the main control storage box (28).

7. The multi-position coordinated high-altitude inspection control system of an unmanned aerial vehicle according to claim 6 is characterized in that: The transport drone (14) comprises a transport drone body (60), a plurality of circumferentially evenly distributed power blades (59) are arranged around the upper end of the transport drone body (60), an electric control box (63) is arranged on the transport drone body (60), an infrared thermal imager and a laser radar are arranged on the electric control box (63), four circumferentially evenly distributed double-slot charging boxes (62) are arranged on the inner lower end of the transport drone body (60), and four circumferentially evenly distributed double-slot charging boxes (62) are arranged on the lower end of the transport drone body (60). The transport drone body (60) is provided with a visual camera (64) and eight shock-absorbing legs (61), wherein two shock-absorbing legs (61) form a group, and the four groups of shock-absorbing legs (61) are evenly distributed around the circumference, and the visual camera (64) is located on the inner side of a group of shock-absorbing legs (61) at the same position. The transport drone body (60) is electrically connected to the main control battery box (28), and the circumferential power blades (59), the dual-slot charging box (62), the electric control chassis (63) and the visual camera (64) are electrically connected to the transport drone body (60).

8. The multi-position coordinated high-altitude inspection control system of an unmanned aerial vehicle according to claim 7 is characterized in that: The clamping charging and swapping mechanism (17) comprises a cross frame (73), the cross frame (73) being fixed to the lower end of the transport drone body (60), a position-adjusting electric push rod (67) being fixed to the middle of the lower end of the cross frame (73), an electric rotating seat (68) being fixed to the telescopic end of the position-adjusting electric push rod (67), a plurality of circumferentially evenly distributed shock-absorbing supports (70) being fixed to the lower end of the electric rotating seat (68), and four groups of circumferentially evenly distributed adjusting electric push rods (71) being fixed to the electric rotating seat (68), each group of adjusting electric push rods (71) having two adjusting electric push rods, and one adjusting electric push rod (71) in each group ( A battery-changing electric clamp (69) is fixed at the telescopic end of the adjusting electric push rod (71), a charging plug No. 2 (72) is provided at the telescopic end of another adjusting electric push rod (71) of each group, a clamping electric push rod (65) is fixed at the lower end of each of the four ends of the cross frame (73), a transporting electric clamp (66) is provided at the telescopic end of the clamping electric push rod (65), and the clamping electric push rod (65), the transporting electric clamp (66), the adjusting electric push rod (67), the electric rotating seat (68), the battery-changing electric clamp (69), the adjusting electric push rod (71) and the charging plug No. 2 (72) are all electrically connected to the main control battery box (28).

9. The multi-position coordinated high-altitude inspection control system of an unmanned aerial vehicle according to claim 8 is characterized in that: The single-rotation UAV (18) comprises a spherical detachable frame (74), a mounting cross rod (76) is provided inside the spherical detachable frame (74), a single-rotation electric control box (77) is fixed on the mounting cross rod (76), an infrared thermal imager and a laser radar are provided on the single-rotation electric control box (77), a single-rotation power blade (75) is provided at the upper end of the single-rotation electric control box (77), a single-rotation battery (78) is provided inside one side of the single-rotation electric control box (77), a charging seat is provided on the other side of the single-rotation electric control box (77), and three circumferentially evenly distributed steering motors (80) are provided at the lower end of the single-rotation electric control box (77), and steering blades (79) are fixed on the output shafts of the steering motors (80).

10. The multi-position coordinated high-altitude inspection control system of an unmanned aerial vehicle according to claim 9 is characterized in that: The communication module is responsible for real-time data transmission and command reception between the transport drone (14) and the four single-rotating drones (18) and the cloud control center, and is responsible for real-time data transmission and command reception between the transport drone (14) and the four single-rotating drones (18). Through communication technology, the cloud control center can grasp the flight status and information of the drones in real time, and remotely dispatch and control them; The collaborative control module adopts a collaborative control algorithm to realize the collaborative flight and inspection of the transport drone (14) and the four single-rotating drones (18) at multiple locations to avoid mutual interference and improve the inspection efficiency. The collaborative control algorithm includes but is not limited to linear algebra, differential equations and optimal control; The intelligent route planning module can automatically plan the optimal flight route according to the requirements of the inspection task. During the flight, the route can also be adjusted according to the real-time situation to deal with emergencies; The real-time monitoring and dispatching module is capable of monitoring the flight status and information of the transport drone (14) and the four single-rotating drones (18) in real time, including but not limited to the position, speed and altitude. Based on this information, the transport drone (14) and the four single-rotating drones (18) are remotely dispatched, obstacle-avoided and controlled to ensure the smooth progress of the inspection task; The data collection and analysis module collects information of the target area in real time during the flight of the transport drone (14) and the four single-rotating drones (18), including but not limited to images, videos and infrared thermal imaging, processes and analyzes the data, and generates a detailed inspection report to help users understand the status of the target area; The abnormality detection and alarm module can automatically identify abnormal situations during the inspection process, including but not limited to equipment failures and safety hazards, and issue alarm information, so that users can find and deal with problems in time to ensure the safety and smooth progress of the inspection task; The meteorological outreach module is connected to the local meteorological bureau to collect local weather conditions in real time, which can enhance the environmental adaptability and stability design of the transport drone (14) and the four single-rotating drones (18).

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