Digital monitoring and early warning device for station

Abstract

The invention discloses a digital monitoring and early warning device for a power station, which is used for carrying out digital inspection and monitoring on the safety state of the power station and comprises a base station which is arranged at the central position of the power station and is shielded by covering objects within a range of at least 50 meters above the power station, and a control module and a wireless communication module are arranged in the base station. A communication antenna of which a signal covers the power station is arranged outside the base station; the inspection unmanned aerial vehicle and the inspection unmanned vehicle are controlled by the base station to conduct regular inspection on the electric power station, the inspection unmanned aerial vehicle and the inspection unmanned vehicle are each provided with a camera module, and the base station controls the inspection unmanned aerial vehicle and the inspection unmanned vehicle to conduct inspection on the electric power station independently through the inspection period and route set by the control module. The system is simple in structure, and meets the requirements of tour inspection of old stations and unmanned aerial vehicle monitoring protection.

Description

Technical Field

[0001] The invention belongs to the technical field of electronic monitoring, and in particular relates to a digital monitoring and early warning device for a station. Background Art

[0002] As a key component of the power system, power stations play an important role in transforming voltage, receiving and distributing electric energy, controlling the flow of electricity, and adjusting voltage. It usually includes various power generation facilities (such as thermal power plants, hydropower plants, nuclear power plants, wind power plants, and solar power plants) as well as power transmission and distribution facilities such as substations and transformer substations. In terms of equipment, power stations are equipped with a variety of complex equipment systems to ensure the stable production and efficient transmission of electric energy. First, power generation equipment such as coal-fired boilers, gas turbines, water turbines, wind turbines, and solar panels are responsible for converting primary energy into electric energy. Secondly, the transformer in the substation plays the role of raising and lowering the voltage, so that electric energy can be transmitted and distributed at different voltage levels. In addition, power stations also include various auxiliary equipment, such as cooling systems, sealing systems, transmission systems, and control systems, which work together to ensure the stable operation of power stations. Existing power stations face a variety of potential safety risks. On the one hand, equipment failure may cause power outages or voltage instability, which in turn affects the overall operation of the power grid. For example, transformer failure, generator failure, or transmission line failure may cause power outages. On the other hand, human factors may also cause accidents in power stations, such as operating errors, improper maintenance or malicious damage. In addition, natural environmental factors such as extreme weather conditions (such as lightning, heavy rain, strong winds, blizzards and high temperatures) may also pose a threat to the safe operation of power stations. For example, lightning may cause equipment damage, heavy rain may cause floods, and strong winds and blizzards may affect the stability and safety of transmission lines.

[0003] In order to deal with these potential safety risks, during the management of power stations, personnel are generally arranged to regularly maintain and inspect equipment to promptly detect and deal with potential fault hazards. In order to improve efficiency, especially to meet the inspection needs of remote areas, unmanned inspection systems are set up in power stations to replace manual inspections, so as to achieve efficient inspection operations and avoid man-made accidents. However, in dealing with extreme weather conditions, especially thunderstorms, the damage to power stations is relatively large. Some power stations in remote areas cannot rely on local weather forecasts to achieve accurate estimates. At the same time, with the development of unmanned equipment such as drones, such unmanned equipment may have a huge impact on the damage of the station, and it is not easy to detect, especially for unmanned power stations. It is impossible to know in the first time that the damage caused by the unmanned equipment has caused problems in the entire station. Summary of the invention

[0004] In order to solve the problems existing in the prior art, the present invention provides an integrated digital monitoring and early warning device for transmission stations (especially power stations), which can be directly set up and debugged for existing old-style stations to meet the needs of inspection and monitoring of unmanned equipment intrusion.

[0005] The technical solution adopted by the present invention is:

[0006] In a first aspect, the present invention discloses a digital monitoring and early warning device for a power station, which is used for digital inspection and monitoring of the safety status of a power station, and comprises a base station which is arranged at the center of the power station and is covered by objects within a range of at least fifty meters above the power station, wherein a control module and a wireless communication module are arranged in the base station, and a communication antenna whose signal covers the power station is arranged outside the base station;

[0007] It also includes a patrol drone and a patrol unmanned vehicle that are controlled by the base station to conduct regular patrols of the power station. The patrol drone and the patrol unmanned vehicle are both provided with a camera module. The base station controls the patrol drone and the patrol unmanned vehicle to independently patrol the power station through the patrol cycle and route set by the control module; the base station is also provided with a Ku-band drone radar for monitoring intrusive drones, and a first monitoring range and a second monitoring range are preset by the control module;

[0008] When the drone radar detects that a target that matches the drone reflection signal enters the first monitoring range, it sends a warning message, and uses the inspection drone to obtain the target through the camera module in the determined movement direction and track and monitor it;

[0009] When the target being tracked and monitored enters the second monitoring range, the inspection unmanned vehicle is controlled to approach the target in a determined direction for ground countermeasures.

[0010] In combination with the first aspect, the present invention provides a first implementation manner of the first aspect, wherein the base station includes a drone base station and a vehicle base station, and the drone base station and the vehicle base station are detachably connected to the base station, and the base station is connected to an external power supply to power the drone base station and the vehicle base station.

[0011] In combination with the first embodiment of the first aspect, the present invention provides a second embodiment of the first aspect, wherein the drone base station is an independent box structure, a cover door that is controlled to rotate and open by an electric hinge is provided on the top, and a bracket for placing the inspection drone is provided in the box;

[0012] A metal strip is arranged on the bracket, a support frame is arranged at the bottom of the inspection drone, and a contact point conductively connected to the metal strip is arranged at the bottom of the support frame.

[0013] In combination with the second embodiment of the first aspect, the present invention provides a third embodiment of the first aspect, wherein the base station includes a vertical cabinet, the cabinet includes an external partition and an internal frame, and a plurality of mounting holes arranged on the frame are exposed on the top of the cabinet, and the bottom of the drone base station is fixed to the top of the cabinet by bolts.

[0014] In combination with the third embodiment of the first aspect, the present invention provides a fourth embodiment of the first aspect, wherein a trolley base station is provided at the bottom of one side of the cabinet, the trolley base station includes a docking frame, the docking frame includes an expansion guide portion and a limiting portion, the expansion guide portion includes two guide arms forming a V-shaped opening, the limiting portion is a clamp arranged on the inner side of the V-shaped opening, and the inspection unmanned vehicle is guided by the guide arms to the inner side of the V-shaped opening and is clamped and fixed by the clamp.

[0015] In combination with the fourth implementation of the first aspect, the present invention provides a fifth implementation of the first aspect, wherein the unmanned inspection vehicle comprises a chassis and a roller frame arranged at the lower part of the chassis, a battery is arranged in the middle part of the chassis, and a camera module and a mechanical arm are arranged at the upper part of the chassis;

[0016] An accessory placement area is also provided at the trolley base station, in which an interference directional antenna and a clamping claw detachably connected to the movable end of the mechanical arm are provided.

[0017] In combination with the first aspect or several embodiments of the first aspect, the present invention provides a sixth embodiment of the first aspect, wherein a lifting rod is provided at the base station, a mast is provided at the end of the lifting rod, and a weather radar and a UAV radar are provided on the mast.

[0018] In combination with the sixth implementation of the first aspect, the present invention provides a seventh implementation of the first aspect, wherein the meteorological radar includes a K-band atmospheric electric field radar and a C-band Doppler weather radar, and the UAV radar is a Ku-band mechanical scanning radar.

[0019] In combination with the fifth embodiment of the first aspect, the present invention provides an eighth embodiment of the first aspect, wherein the inspection drone includes a main body, a support frame is provided at the lower part of the main body, a scanning antenna is provided in the middle part of the support frame, a battery is provided inside the main body, and a radar module is provided at the upper part of the main body.

[0020] In combination with the fifth implementation of the first aspect, the present invention provides a ninth implementation of the first aspect, wherein the inspection drone and the inspection unmanned vehicle are both communicatively connected to the base station via a 2.4 GHz wireless module.

[0021] The beneficial effects of the present invention are:

[0022] (1) The present invention, through the integrated base station structure, can set a corresponding number of inspection equipment according to demand, and plan and debug the inspection route according to the road conditions in the station, so as to meet the functional requirements of realizing unmanned monitoring and inspection of a single station (especially an old-style station);

[0023] (2) The present invention can monitor unmanned equipment within a certain range around the power station through the drone radar installed at the base station. It can quickly obtain location information and issue an early warning for the sudden invasion of the power station by unauthorized drones. At the same time, it can autonomously implement the approaching monitoring of drones according to the set first and second early warning ranges, thereby determining their specific location information and the video images of the scene, so that the back-end control center connected to the base station can confirm the invasion of drones in real time.

[0024] (3) The present invention provides a scanning antenna and a radar module on the inspection drone, and can also quickly approach the drone according to the initial position and predicted trajectory determined by the base station when the drone intrudes, and form a higher-precision scanning signal coverage area above it, so as to form data interaction with the base station radar to determine its accurate position, and provide direction guidance for the inspection drone with the interference directional antenna, so as to realize the function of unmanned interference disposal;

[0025] (4) The present invention also monitors sudden extreme weather events through the provided meteorological radar, especially by combining the electric field radar and the rain cloud radar, thereby superimposing the data and being able to accurately warn of extreme weather events within a certain range, especially around power stations. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is an overall plan view of a digital monitoring and early warning device according to an embodiment of the present invention;

[0027] Figure 2 1 is a first overall axonometric schematic diagram of a digital monitoring and early warning device in an embodiment of the present invention;

[0028] Figure 3 2 is a second overall isometric schematic diagram of the digital monitoring and early warning device in an embodiment of the present invention;

[0029] Figure 4 is a plan view of an inspection drone according to an embodiment of the present invention;

[0030] Figure 5 It is a schematic diagram of handling an invading drone by using a patrol drone and a patrol unmanned vehicle in conjunction with each other in an embodiment of the present invention.

[0031] In the figure: 1-cabinet, 2-inspection drone, 3-inspection unmanned vehicle, 4-drone base station, 5-car base station, 6-lifting rod, 7-weather radar, 8-drone radar, 9-interference directional antenna, 10-radar module, 11-support frame, 12-scanning antenna. DETAILED DESCRIPTION

[0032] The present invention will be further explained below in conjunction with the accompanying drawings and specific embodiments.

[0033] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0034] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0035] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0036] In the description of this application, it should be noted that if the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the product of the application is usually placed when in use. It is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on this application. In addition, if the terms "first", "second", etc. appear in the description of this application, they are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0037] In addition, if the terms "horizontal" or "vertical" appear in the description of this application, it does not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0038] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0039] Embodiment 1:

[0040] The present embodiment discloses a digital monitoring and early warning device for a station, which is mainly used in power stations, and can also be applied to other production and transmission stations, such as oil and gas stations, water supply stations, etc., especially for old power stations with no unmanned inspection plan and in remote locations that are difficult to reach by manpower.

[0041] Specifically, the monitoring and early warning device in this embodiment is an integrated device, including a base station. The base station is built at the center of the station. Through a separate cable connection, the existing power supply and communication infrastructure of the station can be used to meet the communication and power supply needs. A control module and a communication module are arranged in the base station, and a signal interface is arranged outside, or an interactive device that can realize the debugging operation is additionally arranged. The signal interface is connected to the external terminal device for debugging and control, and the external terminal device can also be directly connected wirelessly through the communication module for debugging. For the base stations of several power stations, data interaction can be realized through the control center set up at the back end, and a control center will perform inspection planning and fault monitoring for several power stations in a certain area. The data connection between the base station and the back-end control center can be connected using the original dedicated communication network of the electric field, or according to the actual situation of the station, a communication line can be specially set up to ensure its safety.

[0042] Furthermore, in order to meet the needs of unmanned inspection, an inspection drone 2 and an inspection unmanned vehicle 3 are provided in the base station.

[0043] In order to avoid interference between the inspection drone 2 and the equipment and cables in the power station, a setting area is determined within 20 meters of the center of the power station, and there is no obstruction or interference within a height range of 50 meters at the top of the area.

[0044] The inspection drone 2 and the base station realize data exchange through wireless communication, generally in the communication frequency band of 2.4GHz or 5.8GHz. This communication frequency band is suitable for stable wireless communication within a range of 5-10 kilometers, with high transmission rate and low cost, which can meet the high-quality image transmission requirements of the inspection drone 2, and also meet the low power consumption requirements of the inspection drone 2.

[0045] Inspection UAV 2 is a separately set inspection route. Since it adopts a high-altitude inspection and monitoring method, identification marks can be set on the ground around the base station for calibration and calibration. Then, identification marks with location information are set on the ground at various locations in the power station, such as the four corners of the power station and on the ground at various equipment.

[0046] During debugging, an external terminal device will first be used to connect to the base station to operate the inspection drone 2. The control module of the base station is preset with map data of the entire power station within the inspection coverage of the inspection drone 2. After setting up the ground identification marks in the power station, the inspection drone 2 is first controlled to reach the sky above the identification marks at the four corners of the power station in turn, and the inspection drone 2 uses the camera component of the inspection drone 2 to shoot images from a bird's-eye view angle for position calibration and identification. Then, it goes to each device that needs to be inspected in turn, lowers to the corresponding height, and shoots the identification mark for positioning. In actual debugging, the identification mark can be set at the corresponding position of the equipment according to the equipment type, so as to facilitate the positioning of the equipment by the inspection drone 2.

[0047] It should be noted that the identification mark is a reference for the inspection drone 2 to calibrate and locate the position in the picture taken by the camera component. It is generally a special graphic, that is, a plane graphic with a circle and an arrow, which can be distinguished by the direction or shape of the graphic. The meaning of each side of the graphic is edited during debugging and preset in the control module of the base station. In actual inspections, the inspection drone 2 can locate and judge the equipment through image recognition, so there is no need to refer to the identification mark for positioning in general inspection operations.

[0048] It should also be noted that the inspection frequency of the inspection drone 2 is lower than that of the inspection unmanned vehicle 3. Due to the balance between its power consumption and battery capacity, the cruising time of a general inspection drone 2 is generally less than 30 minutes. Therefore, for power stations with larger areas, several inspection drones 2 can be set up to inspect in turn or in different areas to meet the inspection requirements. The inspection drone 2 is generally a supplement to the aerial monitoring perspective of equipment that cannot be approached from the ground or is blocked from sight. The inspection mainly relies on the inspection unmanned vehicle 3.

[0049] Furthermore, the inspection unmanned vehicle 3 in this embodiment has a fixed inspection route, and after reaching the inspection position of each device, it will leave the inspection route and approach the device for inspection. The inspection unmanned vehicle 3 is provided with visual obstacle avoidance components, generally TOF laser radar, binocular camera and other components, which can not only obtain real-time image data, but also avoid obstacles, and can also obtain old-fashioned instrument panel readings in image data through training, thereby meeting inspection needs.

[0050] Furthermore, in addition to the basic inspection function, the detection and early warning device in this embodiment is mainly aimed at monitoring and early warning of the intrusion of drones or other unmanned equipment within a certain range around the power station. Therefore, a Ku-band drone radar 8 is also provided at the base station. The drone radar 8 is a linear frequency modulation pulse system with a mechanically controlled 360-degree machine scanning antenna, and the pitch angle can also be mechanically controlled or covered by frequency scanning. Generally, the pitch coverage range is 0-40 degrees.

[0051] The coverage range of the UAV radar 8 is about 5 kilometers, but according to the needs of the power station, it can be adjusted to 10 kilometers or even larger. For a larger monitoring range, a gradient radar module can be set, that is, different monitoring ranges are set, and radars of different bands and powers are set to achieve accurate coverage. The radar power used in this embodiment is about 160w in the Ku band, and a 300w pulse Doppler array radar in the C band can be additionally added.

[0052] Regarding the monitoring range, the control module of the base station in this embodiment is preset with a first monitoring range and a second monitoring range; when the drone radar 8 detects that a target that meets the drone reflection signal enters the first monitoring range, it sends a warning message, and obtains the target and tracks and monitors it through the inspection drone 2 through the camera module in a determined direction of movement; when the tracked and monitored target enters the second monitoring range, the inspection unmanned vehicle 3 is controlled in a determined direction to approach the target for ground countermeasures.

[0053] Furthermore, the first and second monitoring ranges are set up as gradient measures to deal with invading drones. When the invading drone does not leave the first monitoring range after entering it and is about to enter the second monitoring range, the setting mechanism determines that it meets the disposal conditions, and the inspection drone 2 takes off quickly and synchronizes the monitoring position information of the base station. The inspection drone 2 is additionally provided with a scanning antenna 12 and a radar module 10, and the millimeter-wave radar after approaching can achieve rapid positioning within a certain range.

[0054] Specifically, the millimeter wave radar component on the inspection drone 2 can meet the signal coverage within 500m. When the base station determines that the unknown drone has a movement trend to enter the second monitoring range and is expected to enter the second monitoring range within the set handling time, the inspection drone 2 is immediately started to take off and fly to the invading drone target.

[0055] The base station monitors the height of the target in real time and sets the flight altitude of the inspection drone 2 higher than the drone. When the inspection drone 2 reaches the disposal area, it first uses the camera component to perform visual detection based on the position of the target drone synchronized in real time with the base station. After the target is visually detected, it is quickly located through the onboard millimeter-wave radar, and the camera component and millimeter-wave radar component merged positioning information are sent to the base station, which determines its specific position.

[0056] It should be noted that the device is mainly used for monitoring and early warning. However, since the entire power station is unmanned and the manpower is limited in time, in order to meet the disposal needs, in some embodiments, disposal measures relying on the inspection drone 2 are set, as follows:

[0057] When the base station sends the first warning information to the back-end control center, the personnel of the control center will check the location information of the invading drone in real time, operate the inspection drone 2 in the base station to take off and operate it remotely, and the base station only transmits data at this time.

[0058] After the operator operates the inspection drone 2 to reach the corresponding position, it searches for and identifies the target drone. At this time, since it enters the second monitoring range, the power station will issue a warning through a loudspeaker or other warning device. If the drone still maintains the intrusion state after the warning is driven away, the remote operator can operate the inspection drone 2 to directly collide with the target drone, and break the wings of the target drone by relying on the support frame 11 set at the bottom of the inspection drone 2, thereby achieving the disposal purpose. In addition, other disposal mechanisms can also be set up in a targeted manner, such as a larger capture net, a collision rod, or an additional FPV drone for disposal.

[0059] In another embodiment, no human operation is required. When the base station determines the real-time position of the inspection drone 2, it controls the inspection drone 2 to directly hit the invading drone from above and adjusts its running path in real time through the millimeter wave radar, which can also achieve the corresponding disposal effect.

[0060] In order to achieve better treatment effect and reduce treatment cost, this embodiment also provides an implementation method, which is as follows:

[0061] Reference Figure 1-Figure 5 This embodiment provides an integrated digital monitoring and early warning device for a station. As can be seen in the figure, the base station is an integrated cabinet structure, including a cabinet 1. The cabinet 1 is a vertical structure, and a frame composed of metal profiles is arranged inside it. A partition is arranged outside the frame to achieve shielding, and a certain space is formed inside.

[0062] Some partitions are provided with hollow areas for setting up external structures, or reserved openings for connecting internal equipment of the cabinet 1 with external equipment and lines. The frame is provided with a plurality of mounting positions or mounting holes, which are exposed through the openings reserved by the partitions.

[0063] A lifting rod 6 is provided at one side of the cabinet 1, and a mast is provided at the end of the lifting rod 6. The mast is provided with a weather radar 7 and a UAV radar 8. The weather radar 7 includes a K-band atmospheric electric field radar and a C-band Doppler weather radar, and the UAV radar 8 is a Ku-band machine-scanning radar.

[0064] Reference Figure 2 and Figure 4 The inspection drone 2 includes a main body, a support frame 11 is provided at the lower part of the main body, a scanning antenna 12 is provided in the middle of the support frame 11, a battery is provided inside the main body, and a radar module 10 is provided at the upper part of the main body. Two independent and detachable drone base stations 4 are provided on the top of the cabinet 1. The so-called drone base station 4 is an independent sealed box structure, the bottom of which is fixed to the mounting hole exposed at the top of the cabinet 1 by bolts, and is connected to the circuit in the cabinet 1 through cables to realize power supply and signal transmission. The drone base station 4 has a bracket to provide support for the inspection drone 2. At the same time, a metal strip is provided on the bracket, and a corresponding metal contact is provided at the lower part of the support frame 11 of the inspection drone 2. When the inspection drone 2 is in the drone base station 4, a metal strip with a sufficiently large contact area is provided to fit the metal contact, thereby realizing a relatively stable electrical connection state, and charging is realized by connecting the drone base station 4 to the power module in the cabinet 1. The general charging current is 12V / 5A.

[0065] The top of the drone base station 4 is provided with a cover door which is controlled to open and close by electric hinges arranged on both sides. Figure 2 The box covers of the two UAV base stations 4 are designed to be split, which can be opened quickly when needed without blocking the takeoff of the inspection UAV 2.

[0066] Furthermore, a trolley base station 5 is provided at the bottom of one side of the cabinet 1, and the trolley base station 5 includes a docking frame, and the docking frame includes an expansion guide part and a limit part. The expansion guide part includes two guide arms forming a V-shaped opening, and the limit part is a clamp arranged on the inner side of the V-shaped opening. The inspection unmanned vehicle 3 is guided by the guide arm to the inner side of the V-shaped opening and is clamped and fixed by the clamp.

[0067] In this embodiment, the disposal measures of the inspection vehicle are added. Specifically, the inspection unmanned vehicle 3 includes a chassis and a roller frame arranged at the lower part of the chassis, a battery is arranged in the middle part of the chassis, and a camera module and a mechanical arm are arranged at the upper part of the chassis; an accessory placement area is also arranged at the vehicle base station 5, and an interference directional antenna 9 line and a clamping claw detachably connected to the movable end of the mechanical arm are arranged in the accessory placement area.

[0068] During the normal inspection process of the inspection unmanned vehicle 3, the movable end of the robotic arm is generally a clamp, that is, the inspection unmanned vehicle 3 can not only read the instruments of the equipment, but also approach the equipment to perform more operations through the clamp, such as clearing some debris, plugging and unplugging plugs, combing cables, etc.

[0069] When it is necessary to deal with the invading drone, the robotic arm of the inspection unmanned vehicle 3 will control the pairing with the interference directional antenna 9 fixed in the accessory placement area, so that in the effective area below the invading drone, through the joint positioning of the base station and the inspection drone 2, the direction of the robotic arm is adjusted, and the invading drone is blocked by the interference directional antenna 9.

[0070] There are many implementation methods for the setting of the accessory placement area, one of which is that a vertical or horizontal mounting rack is provided at a fixed position in the trolley base station 5 provided outside the cabinet 1, and the interference directional antenna 9 line and the clamp can be placed separately on the mounting rack. The interference directional antenna 9 line and the end of the clamp are provided with an identical connection part, and the connection part includes a variety of setting methods, such as threaded matching or block matching. When the unmanned inspection vehicle 3 enters the station, the limit fixation is achieved through the docking frame. The height of the docking frame is lower than the rotation plane of the mechanical arm, so that the mechanical arm can still rotate in all directions when the unmanned inspection vehicle 3 is limited and fixed. After the unmanned inspection vehicle 3 enters the station, the mechanical arm will enter in a fixed posture according to the specifications, and then move the mechanical arm so that the clamp or the interference directional antenna 9 line connected to its end is limited to the corresponding position of the mounting rack. At this time, the clamp or the interference directional antenna 9 line is limited by the mounting frame to keep it fixed in a certain reverse direction, and then the mechanical arm rotates or releases the block, so that the mechanical arm is disconnected from the clamp or the interference directional antenna 9 line, and the clamp or the interference directional antenna 9 line is fixed by the mounting frame.

[0071] In another embodiment, the accessory placement area is a recessed portion of the cabinet 1 itself, and the clamping claw and the interference directional antenna 9 are provided with corresponding insertion slots. The robotic arm only needs to align the movable end with the opening of the insertion slot to achieve a detachable connection with the clamping claw or the interference directional antenna 9 through the rotation or clamping operation of the robotic arm.

[0072] Reference Figure 5 When the base station determines that the intruding drone has entered the second monitoring range, it immediately starts the inspection drone 2 and the inspection vehicle 3 to move in the direction where the intruding drone has entered. The moving route is the fastest route temporarily planned and may not overlap with the inspection route, as long as it is ensured that it will not be blocked by the equipment.

[0073] The inspection drone 2 first reaches the corresponding position and accurately locates the invading target drone from above. When the inspection unmanned vehicle 3 equipped with the interference directional antenna 9 arrives, the interference directional antenna 9 on the inspection unmanned vehicle 3 is controlled to face the target drone and perform continuous tracking and interference until the target drone is successfully interfered and lands, completing the interference operation.

[0074] It should be noted that the interference antenna in this embodiment is a fixed-line gain antenna. Since the inspection unmanned vehicle 3 platform has a greater load capacity, a higher-power interference device is provided on the inspection unmanned vehicle 3 to meet the demand. The general operating frequency of the 9-line interference directional antenna is between 433MHz-1500MHz, the average output power is 40dBm, and the interference distance is 500-1400m.

[0075] It should also be noted that the corresponding drawings in this embodiment are for illustration only, and the specific structural design, size and type of unmanned equipment are not limited, and the corresponding size and quantity can be set according to the actual site size.

[0076] The present invention is not limited to the above optional implementations, and anyone can derive other various forms of products under the enlightenment of the present invention. The above specific implementations should not be understood as limiting the scope of protection of the present invention. The scope of protection of the present invention should be based on the definition in the claims, and the description can be used to interpret the claims.

Claims

1. The digital monitoring and early warning device for power stations is used for digital inspection and monitoring of the safety status of power stations, and is characterized by: It includes a base station which is arranged at the center of the power station and is at least 50 meters above the ground and is covered by objects. The base station is provided with a control module and a wireless communication module, and a communication antenna with signal coverage of the power station is arranged outside the base station. The system also includes an inspection drone (2) and an inspection unmanned vehicle (3) which are controlled by a base station to regularly inspect the power station. The inspection drone (2) and the inspection unmanned vehicle (3) are both provided with a camera module. The base station controls the inspection drone (2) and the inspection unmanned vehicle (3) to independently inspect the power station through the inspection cycle and route set by the control module. The base station is also provided with a Ku-band drone radar (8) for monitoring intrusive drones. A first monitoring range and a second monitoring range are preset by the control module. When the drone radar (8) detects that a target that matches the drone reflection signal enters the first monitoring range, it sends a warning message, and uses the inspection drone (2) to obtain the target through the camera module in the determined movement direction and track and monitor it; When the target being tracked and monitored enters the second monitoring range, the inspection unmanned vehicle (3) is controlled in a determined direction to approach the target for ground countermeasures.

2. The digital monitoring and early warning device for a station according to claim 1 is characterized in that: The base station comprises an unmanned aerial vehicle base station (4) and a trolley base station (5), wherein the unmanned aerial vehicle base station (4) and the trolley base station (5) are detachably connected to the base station, and the base station is connected to an external power source to supply power to the unmanned aerial vehicle base station (4) and the trolley base station (5).

3. The digital monitoring and early warning device for a station according to claim 2 is characterized in that: The drone base station (4) is an independent box structure, with a cover door on the top that is controlled to open and close by an electric hinge, and a bracket for placing the inspection drone (2) is provided in the box; A metal strip is provided on the bracket, a support frame (11) is provided at the bottom of the inspection drone (2), and a contact point conductively connected to the metal strip is provided at the bottom of the support frame (11).

4. The digital monitoring and early warning device for a station according to claim 3 is characterized in that: The base station comprises a vertical cabinet (1), the cabinet comprising an external partition and an internal frame, a plurality of mounting holes arranged on the frame are exposed on the top of the cabinet (1), and the bottom of the drone base station (4) is fixed to the top of the cabinet (1) by bolts.

5. The digital monitoring and early warning device for a station according to claim 4 is characterized in that: A trolley base station (5) is provided at the bottom of one side of the cabinet (1), and the trolley base station (5) includes a docking frame, and the docking frame includes an expansion guide portion and a limit portion, and the expansion guide portion includes two guide arms forming a V-shaped opening, and the limit portion is a clamp arranged on the inner side of the V-shaped opening, and the inspection unmanned vehicle (3) is guided by the guide arms to approach the inner side of the V-shaped opening and is clamped and fixed by the clamp.

6. The digital monitoring and early warning device for a station according to claim 5 is characterized by: The inspection unmanned vehicle (3) comprises a chassis and a roller frame arranged at the bottom of the chassis, a battery is arranged in the middle of the chassis, and a camera module and a mechanical arm are arranged at the top of the chassis; An accessory placement area is also provided at the trolley base station (5), and an interference directional antenna (9) and a clamping claw detachably connected to the movable end of the mechanical arm are provided in the accessory placement area.

7. The digital monitoring and early warning device for a station according to any one of claims 1 to 6, characterized in that: A lifting rod (6) is provided at the base station, a mast is provided at the end of the lifting rod (6), and a weather radar (7) and a drone radar (8) are provided on the mast.

8. The digital monitoring and early warning device for a station according to claim 7 is characterized in that: The weather radar (7) comprises a K-band atmospheric electric field radar and a C-band Doppler weather radar, and the drone radar (8) is a Ku-band machine-scanning radar.

9. The digital monitoring and early warning device for a station according to claim 6 is characterized by: The inspection drone (2) comprises a main body, a support frame (11) is provided at the lower part of the main body, a scanning antenna (12) is provided in the middle part of the support frame (11), a battery is provided inside the main body, and a radar module (10) is provided at the upper part of the main body.

10. The digital monitoring and early warning device for a station according to claim 6 is characterized in that: The inspection drone (2) and the inspection unmanned vehicle (3) are both connected to the base station for communication via a 2.4 GHz wireless module.

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