Unmanned aerial vehicle auxiliary patrol control method and system combined with illumination perception

Abstract

The invention discloses an unmanned aerial vehicle cooperative patrol control method and system combined with illumination perception, and relates to the technical field of unmanned aerial vehicle control, and the system comprises an illumination perception end, a detection search end and an endurance supplement end. The illumination sensing end is used for setting different unmanned aerial vehicle inspection modes in daytime and at night through a selectable unmanned aerial vehicle auxiliary inspection mode, and detecting the light intensity on a passing route in the unmanned aerial vehicle auxiliary inspection process in real time; the detection search end is used for adjusting a detection search area of the unmanned aerial vehicle during night inspection in real time according to the illumination sensing result; and the endurance supplement end is used for receiving light energy and wind energy on the path of the unmanned aerial vehicle in real time. According to the unmanned aerial vehicle cooperative patrol control method and system combined with illumination perception, the illumination brightness and the illumination range of the detection area of the unmanned aerial vehicle can be controlled in real time according to the illumination condition in the travel path, the limitation of the area of the detection area of the unmanned aerial vehicle in power grid patrol can be further reduced, and the endurance stability of the unmanned aerial vehicle can be ensured in real time.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle control, and in particular to a method and system for controlling unmanned aerial vehicle patrolling in combination with lighting perception. Background Art

[0002] Drone assisted patrol control is an advanced technology that completes specific tasks by coordinating multiple drones. Drone assisted patrol control involves using multiple drones to work together to perform complex tasks. Through collaborative control, drone swarms can cover wide areas more efficiently while improving the quality and accuracy of data collection. Formation control in drone assisted patrol control is to ensure that the drone swarm can maintain a specific formation and relative position, which is essential for performing coordinated tasks.

[0003] At present, there are some shortcomings in drone assisted patrol control: 1. Since drone assisted patrol control occurs both during the day and at night, especially when working at night, the drone cannot control the drone's detection area in real time according to the lighting conditions in the path, resulting in limitations in lighting perception for drones in power grid inspections; 2. When patrolling at night, drones automatically adjust the detection search area, which is prone to detection blind spots. At the same time, they cannot adjust the route in real time according to obstacles on the route, resulting in a relatively small detection area for drones in power grid inspections. This also makes it impossible for drones to conduct efficient inspections in a wide area; 3. Domestic drones generally have the problem of insufficient battery life, and are unable to combine light or wind energy in real time to achieve real-time replenishment of battery life, which affects the convenience of using drone assisted patrols and cannot guarantee the stability of drone battery life.

[0004] Therefore, a UAV patrol control method and system combined with lighting perception is proposed to solve the above problems. Summary of the invention

[0005] The main purpose of the present invention is to provide a UAV assisted patrol control method and system combined with lighting perception to solve the problems raised in the above background.

[0006] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a method and system for controlling a UAV patrolling in combination with lighting perception, including a lighting perception terminal, a detection and search terminal, and a battery life supplement terminal; The lighting sensing end is used to set different drone inspection modes during the day and night through the selectable drone patrol mode, and detect the light intensity on the route during the drone patrol in real time, calculate the difference between the drone lighting system and the detected light intensity in real time according to the light intensity, and automatically adjust the drone inspection lighting brightness and the corresponding lighting area according to the difference; The detection and search end is used to adjust the detection and search area of ​​the drone during night inspections in real time according to the lighting perception results, and detect whether there are obstacles on the drone's route in real time according to the camera. If there are obstacles, the route is adjusted in real time, and the search area and inspection lighting intensity detected by the drone during night inspections are automatically adjusted according to the obstacles; The endurance supplement terminal is used to receive light energy and wind energy on the route of the UAV in real time, and convert the light energy and wind energy into supplementary electric energy in real time through the wind energy receiver and the light energy receiver, so as to charge and store energy for the endurance of the UAV in real time, and predict the endurance of the UAV according to the endurance electric energy of the UAV at the current moment.

[0007] The lighting sensing end includes a mode selection module, a light intensity module and a difference adjustment module; The mode selection module includes a daytime working unit and a nighttime working unit; The daytime working unit is used to set the drone inspection mode, which includes a daytime mode and a night mode. The daytime mode is used to execute the daytime inspection mode through the daytime working unit; The night working unit is used to execute a night inspection mode according to a night mode.

[0008] The light intensity module includes an intensity detection unit and a standard data unit; The intensity detection unit is used to detect the light intensity on the route of the drone in real time through a light sensor and record it in real time through a data recorder; The standard data unit is used to set the standard light intensity on the route of the drone and to set different parameters of the standard light intensity.

[0009] The difference adjustment module includes an intensity difference unit, an illumination adjustment unit and a real-time tracking unit; The intensity difference unit is used to compare the intensity of the light captured in real time with the standard light intensity, and calculate the difference between the light intensity and the standard light intensity. The calculation formula X=X1-X2 can be used, where X1 is the standard light intensity and X2 is the light intensity captured in real time. If the result X≥0, it is judged that the lighting perception intensity is abnormal, and the reporting system is fed back to the drone lighting system to increase the lighting brightness. If the result X<0, it is judged that the lighting perception intensity is normal; The lighting adjustment unit is used to adjust the lighting brightness of the UAV lighting system according to the difference between the light intensity and the standard light intensity, and adjust the standard light intensity according to different parameters one by one until the standard light intensity of the UAV lighting system is greater than the light intensity captured in real time; The real-time tracking unit is used to track the lighting system of the UAV in real time through a data tracker.

[0010] The detection and search end includes a search adjustment module, an obstacle detection module and an angle adjustment module; The search adjustment module includes an illumination receiving unit and a search range unit; The lighting receiving unit is used to receive the light intensity captured in front of the UAV lighting system in real time through a data receiver; The search range unit is used to adjust the lighting range of the UAV lighting system in real time according to the lighting adjustment unit, and different lighting ranges are set according to different parameters of standard light intensity.

[0011] The obstacle detection module includes an obstacle capture unit and an angle calculation unit; The obstacle capture unit is used to capture the image in front of the UAV's route in real time through a camera, automatically generate image information, set the standard route sign on the corresponding route, and compare the repetition rate of the image information and the standard route sign in real time. The calculation formula is as follows: ; in, To compare the repetition rate of the image information with the standard route sign, is the repetition rate of the image information compared at the jth moment, is the repetition rate of the standard path landmark at the jth moment; like If it is equal to 0, it means there is no obstacle ahead of the drone’s route. If it is not equal to 0, it means there is an obstacle ahead of the drone’s route; The angle calculation unit is used to calculate the angle deviation between the obstacle in front of the drone's path and the drone's path in real time. The calculation method is as follows: Step 1: Set the obstacle point on the drone's path as the center origin, establish a coordinate system, and calculate the angle deviation difference of the drone's path using the calculation formula: ; ; in, is the angle between the UAV's path and the positive direction of the X-axis. is the angle between the UAV's path and the positive direction of the Y axis. is the vector of the drone’s path in the X-axis direction, is the vector of the UAV's path in the Y-axis direction; Step 2: Move the calculated angle of the drone's path and Compare with the optimal combustion position point, the value of the optimal combustion position point is set as O and M. -O ≥ 1 or -M≥1, the angle of the drone's path is judged to be normal. If not, the angle of the drone's path is judged to be abnormal, and the reporting system is used to adjust the path in real time.

[0012] The angle adjustment module includes an angle adjustment unit and an angle tracking unit; The angle adjustment unit is used to adjust the deviation values ​​of the drone's path in the X-axis direction and the Y-axis direction in real time according to the calculated angle deviation difference of the drone's path; The angle tracking unit is used to detect the angle deviation difference between the drone's path and obstacles in real time through a data tracker and a data detector, and in case of abnormality, timely feedback to the system to adjust the drone's path.

[0013] The battery life supplement terminal includes a battery detection module, a battery life prediction module, a battery life supplement module and a battery life tracking module; The battery detection module is used to monitor the battery life power of the drone in real time through a voltage sensor and a current sensor; The battery life prediction module includes a standard battery life unit and a battery life prediction unit; The standard endurance unit is used to set the standard endurance duration according to the battery capacity set in the drone; The endurance prediction unit is used to predict the battery life of the drone in real time according to the remaining capacity of the electric field set in the drone detected in real time. The prediction formula is as follows: T = 60 / (m / qUη) Among them, T represents the flight time of the drone battery life for endurance prediction, m is the weight of the drone, q is the battery capacity of the drone, U is the voltage, and η is the efficiency coefficient of the power system.

[0014] The battery life supplement module is used to set the light energy converter and the wind energy converter, and receive the light energy and wind energy in the operation process of the drone in real time through the light energy converter and the wind energy converter, convert them into supplementary energy for the battery life of the drone in real time, and connect the energy storage battery with the drone battery to realize the continuous supply of power connection; The battery life tracking module is used to track the predicted flight time of the drone battery life energy in real time through a data tracker, and set an alarm threshold. The calculated T is calculated with the alarm threshold. If the difference is greater than 30 minutes, the reporting system sends a battery shortage warning signal, and opens the connection port between the energy storage battery and the drone battery to achieve drone battery life replenishment. If the difference is less than or equal to 30 minutes, the drone is used normally for inspection.

[0015] A method for controlling a UAV patrolling in combination with lighting perception comprises the following steps: Step 1: Configure the IP address information of the drone patrol remote control area server; Step 2: Enter the lighting sensing terminal, select the drone patrol mode, and detect the light intensity of the drone patrol in real time. According to the light intensity, the detection area of ​​the drone is controlled in real time, and the difference between the drone lighting system and the detection intensity is compared in real time, and automatically adjusted according to the difference. Step 3: Enter the detection and search terminal, adjust the detection and search area of ​​the drone in real time during night inspections based on the lighting perception results, and adjust the route in real time according to obstacles on the route; Step 4: Enter the endurance supplement terminal, receive the light energy and wind energy along the route of the drone in real time, and convert the light energy and wind energy into supplementary electric energy in real time to ensure the endurance stability of the drone.

[0016] The present invention has the following beneficial effects: 1. In the present invention, by setting a lighting sensing end, when combining the UAV assisted patrol control with lighting sensing, the light intensity on the route of the UAV assisted patrol is detected in real time, and the difference between the UAV lighting system and the detected light intensity is calculated in real time according to the light intensity. Especially when working at night, the UAV can control the lighting brightness and lighting range of the detection area of ​​the UAV in real time according to the lighting conditions in the path, ensuring that the UAV can respond and adjust in time when encountering strong light during the inspection process, thereby reducing the blind spots of the UAV inspection.

[0017] 2. In the present invention, by setting a detection and search end, when combining the UAV assisted patrol control with lighting perception, the camera is used to detect in real time whether there are obstacles on the UAV's route, and the search area detected by the UAV during night inspections is automatically adjusted according to the obstacles, thereby reducing the detection blind spots of obstacles blocking the UAV inspection. At the same time, the travel route is adjusted in real time according to the obstacles on the route, which can further reduce the limitations of the detection area of ​​the UAV in the power grid inspection, so that the UAV can achieve efficient inspection in a wide area.

[0018] 3. In the present invention, by setting a battery life supplement terminal, when the UAV patrol assistance control is combined with lighting perception, the light energy and wind energy are converted into supplementary electric energy in real time through the wind energy receiver and the light energy receiver. The supplementary electric energy is used to charge and store energy for the battery life of the UAV in time, which can ensure the battery life stability of the UAV in real time, so that the UAV can combine light energy or wind energy to achieve real-time supplement of the battery life when patrolling, increase the convenience of using the UAV patrol assistance, and ensure the continuity of the UAV battery life. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of the process architecture of a UAV patrol control method combined with lighting perception according to the present invention; Figure 2 This is a schematic diagram of the architecture of a lighting sensing terminal of a UAV patrol control system combined with lighting sensing according to the present invention; Figure 3 This is a schematic diagram of the structure of a detection and search end of a UAV patrol control system combined with lighting perception according to the present invention; Figure 4 The present invention is a schematic diagram of the architecture of a cruising range supplement terminal of a UAV patrol control system combined with lighting perception. DETAILED DESCRIPTION

[0020] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0021] Embodiment 1 Please refer to Figure 1 to Figure 2 As shown: A UAV patrol control method and system combined with lighting perception, including a lighting perception end, a detection and search end, and a cruising range supplement end; The lighting sensing end is used to set different drone inspection modes during the day and night through the selectable drone patrol mode, and detect the light intensity on the route during the drone patrol in real time. According to the light intensity, the difference between the drone lighting system and the detected light intensity is calculated in real time, and the drone inspection lighting brightness and the corresponding lighting area are automatically adjusted according to the difference; The detection and search end is used to adjust the detection and search area of ​​the drone during night inspections in real time based on the lighting perception results, and to detect in real time whether there are obstacles on the drone's route based on the camera. If there are obstacles, the route is adjusted in real time, and the search area and inspection lighting intensity of the drone during night inspections are automatically adjusted according to the obstacles; The endurance supplement terminal is used to receive light energy and wind energy on the route of the UAV in real time, and convert the light energy and wind energy into supplementary electrical energy in real time through wind energy receivers and light energy receivers, so as to charge and store energy for the UAV's endurance in real time, and predict the UAV's endurance duration based on the UAV's current endurance electrical energy.

[0022] The lighting sensing end includes a mode selection module, a light intensity module, and a difference adjustment module; The mode selection module includes a daytime working unit and a nighttime working unit; The daytime working unit is used to set the drone inspection mode. The drone inspection mode includes daytime mode and night mode. The daytime mode is used to execute the daytime inspection mode through the daytime working unit. The night working unit is used to execute the night inspection mode according to the night mode.

[0023] The light intensity module includes an intensity detection unit and a standard data unit; The intensity detection unit is used to detect the light intensity on the route of the drone in real time through the light sensor and record it in real time through the data recorder; The standard data unit is used to set the standard light intensity on the drone's route and set different parameters of the standard light intensity. It detects the light intensity on the route during the drone's patrol in real time, calculates the difference between the drone's lighting system and the detected light intensity in real time based on the light intensity, and automatically adjusts the drone's inspection lighting brightness and the corresponding lighting area based on the difference.

[0024] The difference adjustment module includes an intensity difference unit, an illumination adjustment unit and a real-time tracking unit; The intensity difference unit is used to compare the intensity of the light captured in real time with the standard light intensity, and calculate the difference between the light intensity and the standard light intensity. The calculation formula X=X1-X2 can be used, where X1 is the standard light intensity and X2 is the light intensity captured in real time. If the result X≥0, it is judged that the lighting perception intensity is abnormal, and the reporting system is fed back to the drone lighting system to increase the lighting brightness. If the result X<0, it is judged that the lighting perception intensity is normal; The lighting adjustment unit is used to adjust the lighting brightness of the UAV lighting system according to the difference between the light intensity and the standard light intensity, and adjust the standard light intensity according to different parameters one by one until the standard light intensity of the UAV lighting system is greater than the light intensity captured in real time; The real-time tracking unit is used to track the lighting system of the drone in real time through a data tracker. When working at night, the drone can control the lighting brightness and lighting range of the drone's detection area in real time according to the lighting conditions in the path of travel, reducing the lighting perception limitations of the drone in power grid inspections, ensuring that the drone can respond and adjust in time when encountering strong light during the inspection process, and reducing the blind spots of the drone inspection.

[0025] Embodiment 2 Please refer to Figure 3 As shown: Based on the first embodiment, the detection search end includes a search adjustment module, an obstacle detection module and an angle adjustment module; The search adjustment module includes an illumination receiving unit and a search range unit; The lighting receiving unit is used to receive the light intensity captured in front of the lighting system of the drone in real time through a data receiver; The search range unit is used to adjust the lighting range of the UAV lighting system in real time according to the lighting adjustment unit, and different lighting ranges are set according to different parameters of standard light intensity.

[0026] The obstacle detection module includes an obstacle capture unit and an angle calculation unit; The obstacle capture unit is used to capture the image in front of the drone's route in real time through a camera, automatically generate image information, and set the standard route sign on the corresponding route. The repetition rate of the image information and the standard route sign is compared in real time. The calculation formula is as follows: ; in, To compare the repetition rate of the image information with the standard route sign, is the repetition rate of the image information compared at the jth moment, is the repetition rate of the standard path landmark at the jth moment; like If it is equal to 0, it means there is no obstacle ahead of the drone’s route. If it is not equal to 0, it means there is an obstacle ahead of the drone’s route; The angle calculation unit is used to calculate the angle deviation between the obstacle in front of the drone's path and the drone's path in real time. The calculation method is as follows: Step 1: Set the obstacle point on the drone's path as the center origin, establish a coordinate system, and calculate the angle deviation difference of the drone's path using the calculation formula: ; ; in, is the angle between the UAV's path and the positive direction of the X-axis. is the angle between the UAV's path and the positive direction of the Y axis. is the vector of the drone’s path in the X-axis direction, is the vector of the UAV's path in the Y-axis direction; Step 2: Move the calculated angle of the drone's path and Compare with the optimal combustion position point, the value of the optimal combustion position point is set as O and M. -O ≥ 1 or -M≥1, the angle of the drone's path is normal. If not, the angle of the drone's path is abnormal, and the reporting system adjusts the path in real time. The search area of ​​the drone during night inspections is automatically adjusted according to obstacles to reduce the blind spots of drone inspections caused by obstacles.

[0027] The angle adjustment module includes an angle adjustment unit and an angle tracking unit; The angle adjustment unit is used to adjust the deviation values ​​of the UAV path in the X-axis direction and the Y-axis direction in real time according to the calculated angle deviation difference of the UAV path; The angle tracking unit is used to detect the angle deviation difference between the drone's path and obstacles in real time through a data tracker and a data detector, and in case of abnormality, promptly feedback the system to adjust the drone's path, and adjust the light intensity in real time according to the detected obstacles. By setting a light sensor on the drone's lighting system and setting a light standard value, if the light sensor detects that the light brightness of the drone is lower than the light standard value, the illumination detection area of ​​the drone's lighting system is automatically increased to achieve brightness adjustment of the drone's lighting system, ensuring that the drone can achieve efficient inspections in dark environments and reduce blind spots during drone inspections. At the same time, the route is adjusted in real time according to the obstacles on the route, which can further reduce the limitations of the detection area of ​​drones in power grid inspections, allowing drones to achieve efficient inspections in a wide area.

[0028] Embodiment 3 Please refer to Figure 4 As shown: Based on the first embodiment, the battery life supplement terminal includes a battery detection module, a battery life prediction module, a battery life supplement module and a battery life tracking module; The battery detection module is used to monitor the battery life and power consumption of the drone in real time through voltage sensors and current sensors. The battery life prediction module includes a standard battery life unit and a battery life prediction unit; The standard endurance unit is used to set the standard endurance according to the battery capacity set in the drone; The endurance prediction unit is used to predict the battery life of the drone in real time based on the remaining capacity of the electric field set in the drone. The prediction formula is as follows: T = 60 / (m / qUη) Among them, T represents the flight time of the drone's battery life for endurance prediction, m is the weight of the drone, q is the battery capacity of the drone, U is the voltage, and η is the efficiency coefficient of the power system. The wind energy receiver and the light energy receiver can convert light energy and wind energy into supplementary electric energy in real time. The supplementary electric energy can charge and store energy for the drone's endurance in time, which can ensure the stability of the drone's endurance in real time.

[0029] The battery life supplement module is used to set the light energy converter and the wind energy converter, and receive the light energy and wind energy in the operation process of the drone in real time through the light energy converter and the wind energy converter, convert them into supplementary energy for the battery life of the drone in real time, and connect the energy storage battery with the drone battery to realize the continuous supply of power connection; The battery life tracking module is used to track the predicted flight time of the drone's battery life energy in real time through a data tracker, and set an alarm threshold. The calculated T is calculated and the alarm threshold is calculated. If the difference is greater than 30 minutes, the reporting system will send a battery shortage warning signal, and open the connection port between the energy storage battery and the drone battery to achieve battery life replenishment of the drone. If the difference is less than or equal to 30 minutes, the drone will be used normally for inspection. The drone's battery life is predicted based on its current battery life energy, so that the drone can be combined with light energy or wind energy to achieve real-time replenishment of the battery life during inspection, increasing the convenience of drone patrol and ensuring the continuity of drone battery life.

[0030] In the present invention, a method and system for controlling unmanned aerial vehicle patrol assistance combined with lighting perception is provided. When the system is in operation, the IP address information of the remote control area server of the unmanned aerial vehicle patrol assistance is first configured; when entering the lighting perception end, the unmanned aerial vehicle patrol assistance mode is selected, and the light intensity during the unmanned aerial vehicle patrol assistance process is detected in real time, the detection area of ​​the unmanned aerial vehicle is controlled in real time according to the light intensity, and the difference between the unmanned aerial vehicle lighting system and the detection intensity is compared in real time, and automatically adjusted according to the difference. Through the selectable unmanned aerial vehicle patrol assistance mode, different unmanned aerial vehicle inspection modes are set during the day and night, and the light intensity on the route passed by the unmanned aerial vehicle patrol assistance process is detected in real time. According to the light intensity, the difference between the unmanned aerial vehicle lighting system and the detected light intensity is calculated in real time, and the unmanned aerial vehicle inspection lighting brightness and the corresponding lighting area are automatically adjusted according to the difference, especially when working at night, so that the unmanned aerial vehicle can control the lighting brightness and lighting range of the unmanned aerial vehicle detection area according to the lighting conditions in the path in real time, reduce the lighting perception limitations of the unmanned aerial vehicle in the power grid inspection, ensure that the unmanned aerial vehicle can respond to and adjust in time when encountering strong light during the inspection process, and reduce the unmanned aerial vehicle inspection blind area; enter the detection search end, adjust the detection search area of ​​the unmanned aerial vehicle during the night inspection in real time according to the lighting perception result, and adjust in real time according to the obstacles on the route. The route of action is to adjust the detection and search area of ​​the drone during night inspections in real time through the lighting perception results, and to detect whether there are obstacles on the route of the drone in real time according to the camera. If there are obstacles, the route of action is adjusted in real time, and the search area detected by the drone during night inspections is automatically adjusted according to the obstacles, reducing the detection blind area of ​​obstacles blocking the drone inspection. At the same time, the route of action is adjusted in real time according to the obstacles on the route, which can further reduce the limitations of the detection area of ​​the drone in the power grid inspection, so that the drone can achieve efficient inspection in a wide area; enter the end of endurance replenishment, by receiving the drone in real time The light energy and wind energy on the route are received in real time, and the light energy and wind energy are converted into supplementary electric energy in real time to ensure the stability of the UAV's flight. The light energy and wind energy on the route the UAV passes through are received in real time, and the light energy and wind energy are converted into supplementary electric energy in real time through wind energy receivers and light energy receivers. The supplementary electric energy is used to charge and store energy for the UAV's flight in time, which can ensure the stability of the UAV's flight in real time, and predict the UAV's flight time according to the UAV's current flight energy. When the UAV is inspecting, it can combine light energy or wind energy to realize real-time replenishment of the battery, increase the convenience of using the UAV for coordinated patrol, and ensure the continuity of the UAV's flight.

[0031] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A UAV patrol control system combined with lighting perception, characterized in that: The system includes a lighting sensing end, a detection and search end, and a battery life supplement end; The lighting sensing end is used to set different drone inspection modes during the day and night through the selectable drone patrol mode, and detect the light intensity on the route during the drone patrol in real time, calculate the difference between the drone lighting system and the detected light intensity in real time according to the light intensity, and automatically adjust the drone inspection lighting brightness and the corresponding lighting area according to the difference; The detection and search end is used to adjust the detection and search area of ​​the drone during night inspections in real time according to the lighting perception results, and detect whether there are obstacles on the drone's route in real time according to the camera. If there are obstacles, the route is adjusted in real time, and the search area and inspection lighting intensity detected by the drone during night inspections are automatically adjusted according to the obstacles; The endurance supplement terminal is used to receive light energy and wind energy on the route of the UAV in real time, and convert the light energy and wind energy into supplementary electric energy in real time through the wind energy receiver and the light energy receiver, so as to charge and store energy for the endurance of the UAV in real time, and predict the endurance of the UAV according to the endurance electric energy of the UAV at the current moment.

2. The system according to claim 1, characterized in that: The lighting sensing end includes a mode selection module, a light intensity module and a difference adjustment module; The mode selection module includes a daytime working unit and a nighttime working unit; The daytime working unit is used to set the drone inspection mode, which includes a daytime mode and a night mode. The daytime mode is used to execute the daytime inspection mode through the daytime working unit; The night working unit is used to execute a night inspection mode according to a night mode.

3. The system according to claim 2, characterized in that: The light intensity module includes an intensity detection unit and a standard data unit; The intensity detection unit is used to detect the light intensity on the route of the drone in real time through a light sensor and record it in real time through a data recorder; The standard data unit is used to set the standard light intensity on the route of the drone and to set different parameters of the standard light intensity.

4. The system according to claim 3, characterized in that: The difference adjustment module includes an intensity difference unit, an illumination adjustment unit and a real-time tracking unit; The intensity difference unit is used to compare the intensity of the light captured in real time with the standard light intensity, and calculate the difference between the light intensity and the standard light intensity. The calculation formula X=X1-X2 can be used, where X1 is the standard light intensity and X2 is the light intensity captured in real time. If the result X≥0, it is judged that the lighting perception intensity is abnormal, and the reporting system is fed back to the drone lighting system to increase the lighting brightness. If the result X<0, it is judged that the lighting perception intensity is normal; The lighting adjustment unit is used to adjust the lighting brightness of the UAV lighting system according to the difference between the light intensity and the standard light intensity, and adjust the standard light intensity according to different parameters one by one until the standard light intensity of the UAV lighting system is greater than the light intensity captured in real time; The real-time tracking unit is used to track the lighting system of the UAV in real time through a data tracker.

5. The system according to claim 1, characterized in that: The detection and search end includes a search adjustment module, an obstacle detection module and an angle adjustment module; The search adjustment module includes an illumination receiving unit and a search range unit; The lighting receiving unit is used to receive the light intensity captured in front of the UAV lighting system in real time through a data receiver; The search range unit is used to adjust the lighting range of the UAV lighting system in real time according to the lighting adjustment unit, and different lighting ranges are set according to different parameters of standard light intensity.

6. The system according to claim 5, characterized in that: The obstacle detection module includes an obstacle capture unit and an angle calculation unit; The obstacle capture unit is used to capture the image in front of the UAV's route in real time through a camera, automatically generate image information, set the standard route sign on the corresponding route, and compare the repetition rate of the image information and the standard route sign in real time. The calculation formula is as follows: ； in, To compare the repetition rate of the image information with the standard route sign, is the repetition rate of the image information compared at the jth moment, is the repetition rate of the standard path landmark at the jth moment; like If it is equal to 0, it means there is no obstacle ahead of the drone’s route. If it is not equal to 0, it means there is an obstacle ahead of the drone’s route; The angle calculation unit is used to calculate the angle deviation between the obstacle in front of the drone's path and the drone's path in real time. The calculation method is as follows: Step 1: Set the obstacle point on the drone's path as the center origin, establish a coordinate system, and calculate the angle deviation difference of the drone's path using the calculation formula: ； ； in, is the angle between the UAV's path and the positive direction of the X-axis. is the angle between the UAV's path and the positive direction of the Y axis. is the vector of the drone’s path in the X-axis direction, is the vector of the UAV's path in the Y-axis direction; Step 2: Move the calculated angle of the drone's path and Compare with the optimal combustion position point, the value of the optimal combustion position point is set as O and M. -O ≥ 1 or -M≥1, the angle of the drone's path is judged to be normal. If not, the angle of the drone's path is judged to be abnormal, and the reporting system is used to adjust the path in real time.

7. The system according to claim 6, characterized in that: The angle adjustment module includes an angle adjustment unit and an angle tracking unit; The angle adjustment unit is used to adjust the deviation values ​​of the drone's path in the X-axis direction and the Y-axis direction in real time according to the calculated angle deviation difference of the drone's path; The angle tracking unit is used to detect the angle deviation difference between the drone's path and obstacles in real time through a data tracker and a data detector, and in case of abnormality, timely feedback to the system to adjust the drone's path.

8. The system according to claim 1, characterized in that: The battery life supplement terminal includes a battery detection module, a battery life prediction module, a battery life supplement module and a battery life tracking module; The battery detection module is used to monitor the battery life power of the drone in real time through a voltage sensor and a current sensor; The battery life prediction module includes a standard battery life unit and a battery life prediction unit; The standard endurance unit is used to set the standard endurance duration according to the battery capacity set in the drone; The endurance prediction unit is used to predict the battery life of the drone in real time according to the remaining capacity of the electric field set in the drone detected in real time. The prediction formula is as follows: T = 60 / (m / qUη) Among them, T represents the flight time of the drone battery life for endurance prediction, m is the weight of the drone, q is the battery capacity of the drone, U is the voltage, and η is the efficiency coefficient of the power system.

9. The system according to claim 8, characterized in that: The battery life supplement module is used to set the light energy converter and the wind energy converter, and receive the light energy and wind energy in the operation process of the drone in real time through the light energy converter and the wind energy converter, convert them into supplementary energy for the battery life of the drone in real time, and connect the energy storage battery with the drone battery to realize the continuous supply of power connection; The battery life tracking module is used to track the predicted flight time of the drone battery life energy in real time through a data tracker, and set an alarm threshold. The calculated T is calculated and the alarm threshold is calculated. If the difference is greater than 30 minutes, the reporting system sends a battery shortage warning signal, and opens the connection port between the energy storage battery and the drone battery to achieve drone battery life replenishment. If the difference is less than or equal to 30 minutes, the drone is used normally for inspection.

10. A method for controlling UAV patrolling in combination with lighting perception according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1: Configure the IP address information of the drone patrol remote control area server; Step 2: Enter the lighting sensing terminal, select the drone patrol mode, and detect the light intensity of the drone patrol in real time. According to the light intensity, the detection area of ​​the drone is controlled in real time, and the difference between the drone lighting system and the detection intensity is compared in real time, and automatically adjusted according to the difference. Step 3: Enter the detection and search terminal, adjust the detection and search area of ​​the drone in real time during night inspections based on the lighting perception results, and adjust the route in real time according to obstacles on the route; Step 4: Enter the endurance supplement terminal, receive the light energy and wind energy along the route of the drone in real time, and convert the light energy and wind energy into supplementary electric energy in real time to ensure the endurance stability of the drone.

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