An unmanned aerial vehicle intelligent fault detection system and method for inspection

Abstract

The application relates to an unmanned aerial vehicle (UAV) intelligent fault detection system and method for inspection, which comprises an UAV fault monitoring server, a communication network, ground fault detection terminals and random fault detection terminals. Each ground fault detection terminal forms a detection work group with at least one random fault detection terminal. The random fault detection terminals are connected with the ground fault detection terminals in the same detection work group through the communication network. The ground fault detection terminals are connected with the UAV fault monitoring server through the communication network. The detection method comprises three steps of system configuration, dynamic detection and ground detection. The application can effectively meet the needs of fault detection and troubleshooting of UAVs with different structures, and can effectively realize the cooperation of synchronous detection in the UAV operation process and ground static detection, so that the flexibility and convenience of UAV detection operation are greatly improved.

Description

Technical Field

[0001] This invention relates to an intelligent fault detection system and method for unmanned aerial vehicles (UAVs) used for inspection, belonging to the field of UAV inspection technology. Background Technology

[0002] To ensure the stable operation of unmanned aerial vehicles (UAVs), regular fault detection and synchronous monitoring of UAV operation are necessary. Currently, this is mainly achieved by installing fault detection circuits in the UAV's flight control system or by setting up independent external detection devices. While this meets the needs of UAV fault detection to some extent, current fault monitoring systems often rely on electronic circuitry for fault monitoring. However, the detection range is relatively limited, especially given the significant discrepancies between data detected through the UAV's flight control circuitry and the actual flight status of the UAV. Furthermore, it often fails to provide a direct visual assessment of the actual operational efficiency and status of the UAV's mechanical components. Consequently, current UAV fault detection data exhibits a certain lag and incompleteness in relation to the actual operational status of the UAV.

[0003] To address this issue, there is an urgent need to develop an intelligent fault detection system and method for unmanned aerial vehicles (UAVs) used for inspection, in order to meet the needs of practical work. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides an intelligent fault detection system and method for unmanned aerial vehicles (UAVs) used in inspection. This invention features a high degree of system integration, modularity, and automation. On the one hand, it can effectively meet the needs of fault detection and troubleshooting operations for various types of UAVs, greatly improving the efficiency and flexibility of fault detection operations. On the other hand, it enriches the detection methods, effectively combining synchronous detection during UAV operation with static ground detection, thereby greatly improving the flexibility, comprehensiveness, and timeliness of UAV detection operations, and effectively overcoming UAV operation accidents caused by operating with faults.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solution:

[0006] A drone intelligent fault detection system for inspection includes a drone fault monitoring server, a communication network, a ground fault detection terminal, and a random fault detection terminal. At least one ground fault detection terminal is provided, and each ground fault detection terminal forms a detection work group with at least one random fault detection terminal. Each random fault detection terminal in the same detection work group is connected to the same drone fuselage. The random fault detection terminals also establish data connections with the ground fault detection terminals in the same detection work group via the communication network. Furthermore, the ground fault detection terminals establish data connections with the drone fault monitoring server via the communication network.

[0007] Furthermore, the random fault detection terminal includes a carrier box, a three-axis gyroscope, a gimbal stabilizer, a force sensor, a load-bearing lever, a monitoring camera, a non-contact speed sensor, a counterweight, a multi-channel regulated power supply, a data processing circuit, a communication circuit, and terminal blocks. The carrier box is a closed cavity structure with an ellipsoidal cross-section. The carrier box is connected to the outer side of the drone fuselage to be tested via the gimbal stabilizer. The three-axis gyroscope, multi-channel regulated power supply, data processing circuit, and communication circuit are all located inside the carrier box. Several terminal blocks are embedded on the outer side of the carrier box, and these terminal blocks are electrically connected to the multi-channel regulated power supply and the communication circuit, respectively. The data processing circuit is connected to the three-axis gyroscope, the gimbal stabilizer, and the force sensor, respectively. The system includes an electrical connection between a monitoring camera, a non-contact speed sensor, a multi-channel regulated power supply, and a communication circuit. The bearing plate has a trapezoidal plate structure. The rear end of the bearing plate is located inside the bearing box and connected to at least one force-sensitive sensor. The front half of the bearing plate is located outside the bearing box. A monitoring camera and a non-contact speed sensor are provided on the front end of the bearing plate. The monitoring camera and the non-contact speed sensor are distributed along the axis of the bearing plate. The detection axes of the monitoring camera and the non-contact speed sensor are perpendicular to and intersect with the axis of the bearing plate. There are four bearing plates in total. Each bearing plate is evenly distributed around the center of the bearing box. At the same time, each bearing plate and the axis of the bearing box are distributed in the same plane. At least one counterweight is provided on the lower end face of the bearing plate.

[0008] Furthermore, the width of the rear end face of the bearing paddle is 30%-70% of the width of the front end face, and its cross-section is any one of spindle, ellipse and teardrop shape. The bearing paddle is provided with a guide groove distributed parallel to its axis, and the bearing paddle is connected to the counterweight through the guide groove. There is at least one counterweight, and each counterweight is evenly distributed along the axis of the bearing paddle.

[0009] Furthermore, the ground fault detection terminal includes drive rails, a flow hood, a jet fan, an air outlet, a winch, slings, a water tank, a spray pump, atomizing nozzles, a control panel, and control circuitry. There are two drive rails, parallel to each other and both parallel to the horizontal plane. The flow hood is a hyperboloid hollow tubular structure with its axis parallel to the horizontal plane. A winch is located at the top center of the flow hood and is connected to at least one sling. Several air outlets and atomizing nozzles are embedded within the flow hood and connected to the front and rear halves of the flow hood. The inner side is connected, and the air outlets and atomizing nozzles are evenly distributed around the axis of the flow hood. Each air outlet is connected to a jet fan and coaxially distributed. The jet fan is connected to the outer side of the flow hood. The atomizing nozzles are connected to the spray pumps through guide pipes. There are at least two spray pumps, which are symmetrically distributed in the front and rear halves of the flow hood and connected to the outer side of the flow hood. Each spray pump is connected to the water tank through guide pipes. The water tank and the control panel are both located outside the flow hood. The control circuit is located inside the control panel and is electrically connected to the drive rail, jet fan, winch and spray pump respectively.

[0010] Furthermore, the winch and the sling are connected by a lightweight traction rope, and the sling and the lightweight traction rope are connected by a tension sensor, which is electrically connected to the control circuit. At the same time, the winch is slidably connected to the shroud via a linear guide rail that is parallel to the axis of the shroud.

[0011] Furthermore, the hood is equipped with two wind speed and direction sensors, which are symmetrically distributed in front of and behind the winch. The wind speed and direction sensors are connected to the inner side of the hood via a support frame.

[0012] Furthermore, the support frame includes a support platform, spring sheets, connecting springs, and connecting stiffeners. The support platform is a circular tubular structure, coaxially distributed with the flow hood, and the wind speed and direction sensors are located inside the support platform, coaxially distributed with it, and connected by three connecting springs evenly distributed around the axis of the support platform. The outer side of the support platform is connected to the three connecting stiffeners through spring sheets, and connected to the inner side of the flow hood through the connecting stiffeners. The connecting stiffeners are evenly distributed around the axis of the support platform, and the connecting stiffeners and connecting springs are spaced apart from each other.

[0013] Furthermore, the data processing circuit is an FPGA-based circuit system, while the control circuit is a programmable controller-based circuit system, and the control circuit also has a control interface that is shared by any one or more of the following: a display, a keyboard, buttons, and potentiometers.

[0014] A detection method for an intelligent fault detection system for unmanned aerial vehicles (UAVs) used for inspection includes the following steps:

[0015] S1, System Configuration: First, a dedicated UAV fault monitoring site is set up, and at least one ground fault detection terminal is built at the UAV fault monitoring site. At the same time, at least one random fault detection terminal is matched with each ground fault detection terminal. Then, a communication network and a UAV fault monitoring server are built. Finally, on the one hand, a data connection is established between the ground fault detection terminal and the corresponding random fault detection terminal through the communication network; on the other hand, the communication network establishes a data connection between the ground fault detection terminal and the random fault detection terminal and the UAV fault monitoring server through the communication network, thus completing the system configuration.

[0016] S2, Dynamic Detection: After completing step S1, at least one random fault detection terminal is installed on the fuselage of the UAV under test. Simultaneously, the random fault detection terminal is electrically connected to the main control circuit system of the UAV under test, and data communication is established. Then, the UAV under test is driven to perform normal flight activities. During flight, the random fault detection terminal detects the control signal parameters acquired by the UAV under test, thus initially achieving the detection effect on the UAV flight control circuit system. On the other hand, it detects the actual flight attitude and flight parameters of the UAV under test, compares the detection results, and obtains the error between the actual flight attitude and the control parameters, thereby achieving the detection of the control accuracy and abnormal flight states of the UAV under test.

[0017] S3, Ground Inspection: Following step S2, the UAV under test is suspended in the ground fault detection terminal via a sling. First, water spraying is performed on the UAV without it being started. Then, the UAV is started so that its power system and control system are both operational. Finally, high-speed airflow and the mixture of high-speed airflow and water mist are fully utilized to simulate different flight conditions such as altitude, wind speed, air humidity, and rainfall during actual flight, to detect faults and performance in the UAV's power system, flight attitude control system, and airframe structural strength.

[0018] This invention features a high degree of system integration, modularity, and automation. On the one hand, it can effectively meet the needs of fault detection and troubleshooting operations for various types of UAVs with different structures, greatly improving the efficiency and flexibility of fault detection operations. On the other hand, it enriches the detection methods and effectively realizes the combination of synchronous detection during UAV operation and static ground detection, thereby greatly improving the flexibility, comprehensiveness, and timeliness of UAV detection operations, and effectively overcoming UAV operation accidents caused by operating with faults. Attached Figure Description

[0019] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments;

[0020] Figure 1This is a schematic diagram of the system structure of the present invention;

[0021] Figure 2 This is a partial cross-sectional structural diagram of the random fault detection terminal in the system of the present invention;

[0022] Figure 3 This is a partial structural schematic diagram of the cross-sectional view of the bearing lever in the system of the present invention;

[0023] Figure 4 This is a partial cross-sectional structural diagram of the ground fault detection terminal in the system of the present invention;

[0024] Figure 5 This is a schematic diagram of the support frame structure in the system of the present invention;

[0025] Figure 6 This is a schematic diagram of the method flow of the present invention. Detailed Implementation

[0026] To facilitate the implementation of the technical means, creative features, objectives, and effects of this invention, the invention will be further described below in conjunction with specific embodiments.

[0027] like Figures 1-5 As shown, an intelligent fault detection system for unmanned aerial vehicles (UAVs) used for inspection includes a UAV fault monitoring server 1, a communication network 2, a ground fault detection terminal 3, and a random fault detection terminal 4. At least one ground fault detection terminal 3 is provided, and each ground fault detection terminal 3 forms a detection work group with at least one random fault detection terminal 4. Each random fault detection terminal 4 in the same detection work group is connected to the same UAV fuselage to be inspected. The random fault detection terminal 4 also establishes a data connection with the ground fault detection terminal 3 in the same detection work group via the communication network 2. The ground fault detection terminal 3 also establishes a data connection with the UAV fault monitoring server 1 via the communication network 2.

[0028] In this embodiment, the random fault detection terminal 4 includes a carrier box 41, a three-axis gyroscope 42, a gimbal stabilizer 43, a force sensor 44, a bearing lever 45, a monitoring camera 46, a non-contact speed sensor 47, a counterweight 48, a multi-channel regulated power supply 49, a data processing circuit 40, a communication circuit 401, and terminal blocks 402. The carrier box 41 is a closed cavity structure with an ellipsoidal cross-section. The carrier box 41 is connected to the outer side of the drone under test via the gimbal stabilizer 43. The three-axis gyroscope 42, the multi-channel regulated power supply 49, the data processing circuit 40, and the communication circuit 401 are all located inside the carrier box 41. Several terminal blocks 402 are embedded on the outer side of the carrier box 41, and the terminal blocks 402 are electrically connected to the multi-channel regulated power supply 49 and the communication circuit 401, respectively. The data processing circuit 40 is connected to the three-axis gyroscope 42, the gimbal stabilizer 49, and the other components, respectively. 3. The force sensor 44, the monitoring camera 46, the non-contact speed sensor 47, the multi-channel regulated power supply 49, and the communication circuit 401 are electrically connected. The bearing plate 45 is a trapezoidal plate structure. The rear end face of the bearing plate 45 is located inside the bearing box 41 and is connected to at least one force sensor 44. The front half of the bearing plate 45 is located outside the bearing box 41. A monitoring camera 46 and a non-contact speed sensor 47 are provided on the front end face of the bearing plate 45. The monitoring camera 46 and the non-contact speed sensor 47 are distributed along the axis of the bearing plate 45. The detection axes of the monitoring camera and the non-contact speed sensor are perpendicular to and intersect with the axis of the bearing plate 45. There are four bearing plates 45 in total. Each bearing plate 45 is evenly distributed around the center of the bearing box 41. At the same time, each bearing plate 45 and the axis of the bearing box 41 are distributed in the same plane. At least one counterweight 48 is provided on the lower end face of the bearing plate 45.

[0029] The width of the rear end face of the bearing plate 45 is 30%-70% of the width of the front end face, and its cross-section is any one of spindle, ellipse and teardrop shape. The bearing plate 45 is provided with a guide groove 403 distributed parallel to its axis, and the bearing plate 403 is connected to the counterweight block 48 through the guide groove 403. There is at least one counterweight block 48, and each counterweight block 48 is evenly distributed along the axial direction of the bearing plate 45.

[0030] As specifically noted, the ground fault detection terminal 3 includes a drive rail 31, a flow guide hood 32, a jet fan 33, an air outlet 34, a winch 35, a sling 36, a water tank 37, a spray pump 38, atomizing nozzles 39, a control panel 30, and a control circuit 301. There are two drive rails 31, which are parallel to each other and both parallel to the horizontal plane. The flow guide hood 32 is a hyperboloid hollow tubular structure, and its axis is parallel to the horizontal plane. A winch 35 is located at the top of the center of the flow guide hood 32, and the winch 35 is connected to at least one sling 36. Several air outlets 34 and atomizing nozzles 39 are embedded in the flow guide hood 32 and are connected to the front and rear halves of the flow guide hood 32. The air outlets 34 and atomizing nozzles 39 are evenly distributed around the axis of the shroud 32. Each air outlet 34 is connected to a jet fan 33 and coaxially distributed. The jet fan 33 is connected to the outer side of the shroud 32. The atomizing nozzles 39 are connected to the spray pumps 38 through guide pipes. There are at least two spray pumps 38, which are symmetrically distributed in the front and rear halves of the shroud 32 and connected to the outer side of the shroud 32. Each spray pump 38 is connected to the water tank 37 through guide pipes. The water tank 37 and the control panel 30 are both located outside the shroud 32. The control circuit 301 is located inside the control panel 30 and is electrically connected to the drive rail 31, the jet fan 33, the winch 35, and the spray pumps 38, respectively.

[0031] The winch 35 is connected to the sling 36 by a lightweight traction rope 5, and the sling 36 is connected to the lightweight traction rope 5 by a tension sensor 6. The tension sensor 6 is electrically connected to the control circuit 301. Meanwhile, the winch 35 is slidably connected to the diversion shroud 32 by a linear guide rail 7 that is parallel to the axis of the diversion shroud 32.

[0032] In this embodiment, the flow hood 32 is equipped with two wind speed and direction sensors 8, which are symmetrically distributed in front of and behind the winch 35. The wind speed and direction sensors 8 are connected to the inner side of the flow hood 32 through the support frame 9.

[0033] Specifically, the support frame 9 includes a support platform 91, spring pieces 92, connecting springs 93, and connecting stiffeners 94. The support platform 91 is a circular tubular structure. The support platform 91 is coaxially distributed with the flow hood 32, and the wind speed and direction sensor 8 is located inside the support platform 91 and coaxially distributed with the support platform 91. It is connected by three connecting springs 93 evenly distributed around the axis of the support platform 91. The outer side of the support platform 91 is connected to the three connecting stiffeners 94 through the spring pieces 92, and is connected to the inner side of the flow hood 32 through the connecting stiffeners 94. The connecting stiffeners 94 are evenly distributed around the axis of the support platform 91, and the connecting stiffeners 94 and the connecting springs 93 are spaced apart from each other.

[0034] In this embodiment, the data processing circuit 40 is an FPGA-based circuit system, while the control circuit 301 is a programmable controller-based circuit system. The control circuit 301 is further provided with a control interface 302 that is shared by any one or more of the following: a display, a keyboard, buttons, and potentiometers.

[0035] like Figure 6 As shown, a detection method for an intelligent fault detection system for unmanned aerial vehicles (UAVs) used for inspection includes the following steps:

[0036] S1, System Configuration: First, a dedicated UAV fault monitoring site is set up, and at least one ground fault detection terminal is built at the UAV fault monitoring site. At the same time, at least one random fault detection terminal is matched with each ground fault detection terminal. Then, a communication network and a UAV fault monitoring server are built. Finally, on the one hand, a data connection is established between the ground fault detection terminal and the corresponding random fault detection terminal through the communication network; on the other hand, the communication network establishes a data connection between the ground fault detection terminal and the random fault detection terminal and the UAV fault monitoring server through the communication network, thus completing the system configuration.

[0037] S2, Dynamic Detection: After completing step S1, at least one random fault detection terminal is installed on the fuselage of the UAV under test. Simultaneously, the random fault detection terminal is electrically connected to the main control circuit system of the UAV under test, and data communication is established. Then, the UAV under test is driven to perform normal flight activities. During flight, the random fault detection terminal detects the control signal parameters acquired by the UAV under test, thus initially achieving the detection effect on the UAV flight control circuit system. On the other hand, it detects the actual flight attitude and flight parameters of the UAV under test, compares the detection results, and obtains the error between the actual flight attitude and the control parameters, thereby achieving the detection of the control accuracy and abnormal flight states of the UAV under test.

[0038] S3, Ground Inspection: Following step S2, the UAV under test is suspended in the ground fault detection terminal via a sling. First, water spraying is performed on the UAV without it being started. Then, the UAV is started so that its power system and control system are both operational. Finally, high-speed airflow and the mixture of high-speed airflow and water mist are fully utilized to simulate different flight conditions such as altitude, wind speed, air humidity, and rainfall during actual flight, to detect faults and performance in the UAV's power system, flight attitude control system, and airframe structural strength.

[0039] This invention features a high degree of system integration, modularity, and automation. On the one hand, it can effectively meet the needs of fault detection and troubleshooting operations for various types of UAVs with different structures, greatly improving the efficiency and flexibility of fault detection operations. On the other hand, it enriches the detection methods and effectively realizes the combination of synchronous detection during UAV operation and static ground detection, thereby greatly improving the flexibility and convenience of UAV detection operations and effectively overcoming UAV operation accidents caused by UAVs operating with faults.

[0040] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent fault detection system for unmanned aerial vehicles (UAVs) used for inspection, characterized in that, The intelligent fault detection system for UAVs used for inspection includes a UAV fault monitoring server, a communication network, a ground fault detection terminal, and a random fault detection terminal. The ground fault detection terminal is at least one, and each ground fault detection terminal forms a detection work group with at least one random fault detection terminal. Each random fault detection terminal in the same detection work group is connected to the same UAV fuselage to be tested. The random fault detection terminal also establishes a data connection with the ground fault detection terminal in the same detection work group through the communication network. At the same time, the ground fault detection terminal also establishes a data connection with the UAV fault monitoring server through the communication network. The random fault detection terminal includes a carrier box, a three-axis gyroscope, a gimbal stabilizer, a force sensor, a load-bearing lever, a monitoring camera, a non-contact speed sensor, a counterweight, a multi-channel regulated power supply, a data processing circuit, a communication circuit, and terminal blocks. The carrier box is a closed cavity structure with an ellipsoidal cross-section. The carrier box is connected to the outer side of the drone under test via the gimbal stabilizer. The three-axis gyroscope, multi-channel regulated power supply, data processing circuit, and communication circuit are all located inside the carrier box. Several terminal blocks are embedded on the outer side of the carrier box, and these terminal blocks are electrically connected to the multi-channel regulated power supply and the communication circuit, respectively. The data processing circuit is connected to the three-axis gyroscope, gimbal stabilizer, force sensor, load-bearing lever, monitoring camera, non-contact speed sensor, counterweight, multi-channel regulated power supply, data processing circuit, communication circuit, and terminal blocks. The system includes an electrical connection between a force-sensitive sensor, a monitoring camera, a non-contact speed sensor, a multi-channel regulated power supply, and a communication circuit. The bearing plate has a trapezoidal plate structure. The rear end face of the bearing plate is located inside the bearing box and connected to at least one force-sensitive sensor. The front half of the bearing plate is located outside the bearing box. A monitoring camera and a non-contact speed sensor are provided on the front end face of the bearing plate. The monitoring camera and the non-contact speed sensor are distributed along the axis of the bearing plate, and their detection axes are perpendicular to and intersect with the axis of the bearing plate. There are four bearing plates in total, and each bearing plate is evenly distributed around the center of the bearing box. At the same time, each bearing plate and the axis of the bearing box are distributed in the same plane. At least one counterweight is provided on the lower end face of the bearing plate. The ground fault detection terminal includes drive rails, a flow hood, a jet fan, an air outlet, a winch, slings, a water tank, a spray pump, atomizing nozzles, a control panel, and control circuitry. There are two drive rails, parallel to each other and both parallel to the horizontal plane. The flow hood is a hyperboloid hollow tubular structure with its axis parallel to the horizontal plane. A winch is located at the top center of the flow hood and is connected to at least one sling. Several air outlets and atomizing nozzles are embedded within the flow hood and are located on the inner sides of the front and rear halves of the flow hood. The air outlets and atomizing nozzles are evenly distributed around the axis of the hood, and each air outlet is connected to a jet fan and coaxially distributed. The jet fan is connected to the outer side of the hood. The atomizing nozzles are connected to the spray pumps through guide pipes. There are at least two spray pumps, which are symmetrically distributed in the front and rear halves of the hood and connected to the outer side of the hood. Each spray pump is connected to a water tank through a guide pipe. The water tank and the control panel are located outside the hood. The control circuit is located inside the control panel and is electrically connected to the drive rail, the jet fan, the winch, and the spray pumps, respectively.

2. The intelligent fault detection system for unmanned aerial vehicles (UAVs) used for inspection according to claim 1, characterized in that, The width of the rear end face of the bearing paddle is 30%-70% of the width of the front end face. Its cross-section is any one of spindle, ellipse and teardrop shape. The bearing paddle is provided with a guide groove distributed parallel to its axis. The bearing paddle is connected to the counterweight through the guide groove. There is at least one counterweight, and each counterweight is evenly distributed along the axis of the bearing paddle.

3. The intelligent fault detection system for unmanned aerial vehicles (UAVs) used for inspection according to claim 2, characterized in that, The winch and the sling are connected by a lightweight traction rope, and the sling and the lightweight traction rope are connected by a tension sensor, which is electrically connected to the control circuit. Meanwhile, the winch is slidably connected to the shroud via a linear guide rail that is parallel to the axis of the shroud.

4. The intelligent fault detection system for unmanned aerial vehicles (UAVs) used for inspection according to claim 1, characterized in that, The hood is equipped with two wind speed and direction sensors, which are symmetrically distributed in front of and behind the winch. The wind speed and direction sensors are connected to the inner side of the hood via a support frame.

5. The intelligent fault detection system for unmanned aerial vehicles (UAVs) used for inspection according to claim 4, characterized in that, The support frame includes a support platform, spring clips, connecting springs, and connecting stiffeners. The support platform is a circular tubular structure, coaxially distributed with the hood, and the wind speed and direction sensors are located inside the support platform, coaxially distributed with it, and connected by three connecting springs evenly distributed around the axis of the support platform. The outer side of the support platform is connected to the three connecting stiffeners through spring clips, and connected to the inner side of the hood through the connecting stiffeners. The connecting stiffeners are evenly distributed around the axis of the support platform, and the connecting stiffeners and connecting springs are spaced apart from each other.

6. The intelligent fault detection system for unmanned aerial vehicles (UAVs) used for inspection according to claim 1, characterized in that, The data processing circuit is an FPGA-based circuit system, while the control circuit is a programmable controller-based circuit system. The control circuit also includes, but is not limited to, any one or more of the following common control interfaces: display, keyboard, buttons, and potentiometers.

7. A detection method for an intelligent fault detection system for unmanned aerial vehicles (UAVs) used for inspection, as described in claim 1, characterized in that, The detection method of the intelligent fault detection system for unmanned aerial vehicles (UAVs) under inspection includes the following steps: S1, System Configuration: First, a dedicated UAV fault monitoring site is set up, and at least one ground fault detection terminal is built at the UAV fault monitoring site. At the same time, at least one random fault detection terminal is matched with each ground fault detection terminal. Then, a communication network and a UAV fault monitoring server are built. Finally, on the one hand, a data connection is established between the ground fault detection terminal and the corresponding random fault detection terminal through the communication network; on the other hand, the communication network establishes a data connection between the ground fault detection terminal and the random fault detection terminal and the UAV fault monitoring server through the communication network, thus completing the system configuration. S2, Dynamic Detection: After completing step S1, at least one random fault detection terminal is installed on the fuselage of the UAV under test. Simultaneously, the random fault detection terminal is electrically connected to the main control circuit system of the UAV under test, and data communication is established. Then, the UAV under test is driven to perform normal flight activities. During flight, the random fault detection terminal detects the control signal parameters acquired by the UAV under test, thus initially achieving the detection effect on the UAV flight control circuit system. On the other hand, it detects the actual flight attitude and flight parameters of the UAV under test, compares the detection results, and obtains the error between the actual flight attitude and the control parameters, thereby achieving the detection of the control accuracy and abnormal flight states of the UAV under test. S3, Ground Inspection: Following step S2, the UAV under test is suspended in the ground fault detection terminal via a sling. First, water spraying is performed on the UAV without it being started. Then, the UAV is started so that its power system and control system are both operational. Finally, high-speed airflow and the mixture of high-speed airflow and water mist are fully utilized to simulate different flight conditions such as altitude, wind speed, air humidity, and rainfall during actual flight, to detect faults and performance in the UAV's power system, flight attitude control system, and airframe structural strength.

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