Water area supervision system based on water energy supply and communication

Abstract

The invention provides a water area supervision system based on water energy supply and communication, and belongs to the technical field of unmanned aerial vehicle water area supervision. Comprising an unmanned aerial vehicle unit used for obtaining self state information and supervised object information of a supervised water area; the control terminal is arranged at a remote position and is used for generating an instruction signal and sending the instruction signal outwards; the unmanned aerial vehicle unit is in wireless communication connection with the control terminal; the plurality of overwater base stations are arranged on the water surface, adopt multi-energy complementary power generation and energy storage, perform heat preservation treatment on an energy storage module, and are used for wirelessly charging the unmanned aerial vehicle unit and performing two-way communication with the unmanned aerial vehicle unit and the control terminal; and receiving own state information and supervised object information acquired by the unmanned aerial vehicle unit or an instruction signal sent by the control terminal, and performing encrypted bidirectional relay transmission. Through a multi-source complementary power generation mode, continuous power generation of the overwater base station is not affected by day and night replacement, cloudy days, rainy days, snowy days and snowy days, and battery output is more reliable through a wireless charging mode and battery heat management.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle (UAV) monitoring technology on water, and in particular to a water area monitoring system based on water power supply and communication. Background Art

[0002] Although drones have been widely used in the field of maritime affairs and water supervision, the current drone supervision schemes are based on people controlling drones on the shore or on patrol boats for reconnaissance. When the drone is low on power, it needs to return to the land-based platform or mother ship for wired charging. The working range of drones is restricted by the distance between humans and machines, which not only increases the energy consumption of drones and mother ships, but also fails to highlight the advantages and practicality of drone cruising due to low work efficiency. The existing drone water supervision generally has the following shortcomings: low degree of digitalization, short total flight time, short equipment life, and small cruising area.

[0003] If multiple water base stations coupled in series can be arranged in the regulated waters, not only can a sufficient number of drones be carried, but they can even be used for landing and modular clean energy power generation functions. The benchmark can also serve as a data transmission relay between drones and equipment monitoring centers, ultimately forming an energy security system that liberates manpower and space costs. Drone cruising no longer relies on manual launch and recovery, which is very necessary to improve the shortcomings of existing drone water supervision. Summary of the invention

[0004] In view of this, the present invention proposes a local area network formed by an integrated water base station to connect the control terminal and the drone unit, forming a smart platform for water, land and air collaboration, while building a huge three-dimensional supervision network, which can conveniently charge the drone units and relay signals, and is a water area supervision system based on water power supply and communication.

[0005] The present invention provides a water area monitoring system based on water power supply and communication, comprising:

[0006] The drone unit is used to obtain information about its own status and the information about the regulated objects in the regulated waters;

[0007] A control terminal is provided at a remote location and is used to generate and send command signals to the outside; the drone unit is wirelessly connected to the control terminal;

[0008] Several water base stations are set up on the water surface, using multi-energy complementary power generation and energy storage, and the energy storage batteries are insulated. They are used to wirelessly charge the drone units and conduct two-way communication with the drone units and control terminals, receive the drone unit's own status information and supervised object information or the command signal sent by the control terminal, and perform encrypted two-way relay transmission.

[0009] On the basis of the above technical scheme, preferably, the several water base stations float on the water surface, and all include a solar power generation module, a vertical axis wind power generation module, a Darrieus type vertical axis hydropower generation module, an energy storage module, a thermal management module and a wireless charging module; the sun-chasing solar power generation module, the vertical axis wind power generation module, the Darrieus type vertical axis hydropower generation module, the thermal management module and the wireless charging module are all electrically connected to the energy storage module; the sun-chasing solar power generation module, the vertical axis wind power generation module and the Darrieus type vertical axis hydropower generation module are used to generate electricity and store electrical energy in the energy storage module; the thermal management module is used to heat or cool the energy storage module, and the wireless charging module is used to supply the electrical energy stored in the energy storage module to the drone unit for charging; emergency drone landing platforms are provided on several water bases, and the emergency drone landing platforms are provided for drone landing and wireless charging.

[0010] Preferably, the sun-chasing solar power generation module includes a plurality of light intensity sensors, a photovoltaic panel, a single-chip microcomputer and a pitch adjustment device; the plurality of light intensity sensors are evenly distributed along the east-west direction, the output ends of the plurality of light intensity sensors are respectively connected to the serial port communication of the single-chip microcomputer, the photovoltaic panel is fixedly arranged on the output shaft of the pitch adjustment device, the single-chip microcomputer determines the position of the light intensity sensor with the largest light intensity by comparing one by one according to the light intensity detection signals received from the plurality of light intensity sensors, and then the single-chip microcomputer drives the pitch adjustment device to adjust the pitch angle of the photovoltaic panel so that the photovoltaic panel obtains the maximum power generation efficiency. After the adjustment is completed, the plurality of light intensity sensors, the single-chip microcomputer and the pitch adjustment device enters a dormant state until the next scheduled automatic wake-up to readjust the pitch angle of the photovoltaic panel; the vertical-axis wind power generation module includes a rotating base and a plurality of blades, the rotating base is arranged around the emergency UAV landing platform, and is rotatably connected to the emergency UAV landing platform, and the plurality of blades are evenly distributed relative to the central axis of the rotating base; the plurality of water base stations also include a first switching device, and the output ends of the sun-chasing solar power generation module and the vertical-axis wind power generation module are selectively electrically connected to the first switching device, and the first switching device is electrically connected to the energy storage module; the Darrieus-type vertical-axis hydropower generation module is electrically connected to the energy storage module.

[0011] Further preferably, the thermal management module includes a plurality of heat conducting sheets, the energy storage module includes a plurality of battery cells, the plurality of battery cells are arranged in sequence and spaced apart, one ends of the plurality of heat conducting sheets are respectively arranged on the side surfaces of the battery cells, and the other ends of the plurality of heat conducting sheets extend outward in a direction away from the battery cells; a PTC plate is embedded in the plurality of heat conducting sheets, the plurality of heat conducting sheets are used to conduct the heat inside the battery cells to the outside, and the PTC plate is used to heat the battery cells to keep the energy storage module at a suitable operating temperature.

[0012] Preferably, the process of landing and charging the drone unit on several water base stations is as follows: 1) the control terminal determines that the current power of the drone unit is insufficient to successfully complete the currently executed water area supervision task; 2) the control terminal obtains several water base stations in the adjacent range according to the current position of the drone unit, and selects the water base stations with sufficient power, matching charging voltage and the nearest distance, and marks the water base stations; 3) the drone unit interrupts the execution of the current water area supervision task and flies to the marked water base station, and the marked water base station guides the drone unit to land on the emergency drone landing platform; 4) a varistor is provided on the emergency drone landing platform, and after the varistor senses the weight of the drone unit, the wireless charging module is enabled, and the energy storage module charges the drone unit through the wireless charging module, 5) after the drone unit is charged, it flies away from the water base station to continue to execute the current water area supervision task, and the wireless charging module is reset.

[0013] Further preferably, the wireless charging module includes a transmitting end main control module, a DC-AC circuit, a rectifier circuit, a receiving end main control module and an undervoltage automatic shutdown circuit. The transmitting end main control module is used to drive the DC-AC circuit to convert the DC signal of the energy storage module into an AC signal and output it through a magnetic coupling resonance mode; the receiving end of the rectifier circuit wirelessly receives the AC signal through magnetic coupling, and outputs a DC signal after rectification by the rectifier circuit. The rectified DC signal is respectively sent to the drone unit charging port and the undervoltage automatic shutdown circuit. The receiving end main control module is electrically connected to the undervoltage automatic shutdown circuit and the drone unit charging port, respectively. The receiving end main control module is used to determine the size relationship between the rectified DC signal and the preset level, and maintain or stop charging the drone unit.

[0014] More preferably, the DC-AC circuit comprises an H-bridge inverter circuit, a first capacitor and a second inductor, an input end of the H-bridge inverter circuit is electrically connected to the energy storage module, an output end of the H-bridge inverter circuit is electrically connected to one end of the first capacitor, the other end of the first capacitor is electrically connected to one end of the second inductor, and the other end of the second inductor is electrically connected to another output end of the H-bridge inverter circuit; a duty cycle signal input end of the inverter device of the H-bridge inverter circuit is electrically connected to the output end of the transmitting end main control module;

[0015] The rectifier circuit includes a first inductor L1, an eighth capacitor C8, a rectifier bridge, a second diode D2, a fifth diode D5 and a ninth capacitor C9; one end of the first inductor L1 is electrically connected to one end of the eighth capacitor C8, the other end of the eighth capacitor C8 is electrically connected to the first input end of the rectifier bridge, the other end of the first inductor L1 is electrically connected to the second input end of the rectifier bridge, the cathode of the second diode D2 and one end of the ninth capacitor C9 are electrically connected to the first output end of the rectifier bridge, the anode of the second diode D2 is electrically connected to the cathode of the fifth diode D5, the anode of the fifth diode D5 and the other end of the ninth capacitor C9 are electrically connected to the second output end of the rectifier bridge, respectively; the first output end and the second output end of the rectifier bridge output the rectified DC signal;

[0016] The undervoltage circuit includes a first operational amplifier U4, a fifteenth resistor R15, a fifteenth capacitor C15, a thirteenth capacitor C13, a fifth resistor R5, a sixth resistor R6, a sixteenth capacitor C16, a fourteenth resistor R14, a third resistor R3, a third transistor Q3, a first MOS tube Q1, a fourth resistor R4 and a seventh resistor R7. The pin 5 of the first operational amplifier U4 is electrically connected to one end of the fifteenth resistor R15 and one end of the fifteenth capacitor C15 respectively, the other end of the fifteenth capacitor C15 is grounded, and the other end of the fifteenth resistor R15 is electrically connected to a reference voltage REF2.5; the rectified DC signal is electrically connected to one end of the third resistor R3, one end of the fifth resistor R5, one end of the thirteenth capacitor C13 and the source of the first MOS tube Q1 respectively, the other end of the thirteenth capacitor C13 is grounded, the other end of the third resistor R3 is electrically connected to the gate of the first MOS tube Q1 and the collector of the third transistor Q3 respectively, and the other end of the fifth resistor R5 is electrically connected to the first operational amplifier Pin 6 of U4, one end of the sixteenth capacitor C16 and one end of the sixth resistor R6 are electrically connected, and the other end of the sixteenth capacitor C16, the other end of the sixth resistor R6 and the emitter of the third transistor Q3 are all grounded; Pin 7 of the first operational amplifier U4 is electrically connected to one end of the fourteenth resistor R14, and the other end of the fourteenth resistor R14 is electrically connected to the base of the third transistor Q3; The drain of the first MOS tube Q1 is electrically connected to the drone unit charging port port and one end of the fourth resistor R4, and the other end of the fourth resistor R4 is electrically connected to one end of the seventh resistor R7 and the ADC0 port of the receiving end main control module, respectively, and the other end of the seventh resistor R7 is grounded; When the rectified DC signal is less than the reference voltage REF2.5, the first operational amplifier U4 outputs a high level to turn on the third transistor Q3, pull down the gate level of the first MOS tube Q1, turn off the output of the undervoltage circuit to the drone unit charging port, and return a low-level shutdown signal to the ADC0 port of the receiving end main control module.

[0017] Further preferably, the wireless charging module further includes a signal feedback circuit; the signal feedback circuit includes an eighth resistor R8, a MOSFET driver U3, a code generation MOS tube IRF1, a second operational amplifier U7, a third operational amplifier U8, a seventh diode D7 and an inverter U9;

[0018] Pin 1 and pin 8 of the MOSFET driver U3 are electrically connected to the working power supply VCC, pin 2 of the MOSFET driver U3 is electrically connected to the CONT port of the receiving end main control module, pin 4 and pin 5 of the MOSFET driver U3 are grounded, pin 6 and pin 7 of the MOSFET driver U3 are electrically connected to the gate of the code generating MOS tube IRF1, the source of the code generating MOS tube IRF1 is electrically connected to the second output end of the rectifier bridge, the drain of the code generating MOS tube IRF1 is electrically connected to one end of the eighth resistor R8, and the other end of the eighth resistor R8 is electrically connected to the first output end of the rectifier bridge; the CONT port of the receiving end main control module sends a coding signal to the coupling element of the rectifier circuit, and the coding signal is wirelessly coupled to the output end of the DC-AC circuit;

[0019] The in-phase input terminal of the second operational amplifier U7 is sequentially provided with a twenty-fifth resistor R25, a twenty-fourth resistor R24 ​​and a twenty-third resistor R23. One end of the twenty-fifth resistor R25 is electrically connected to the in-phase input terminal of the second operational amplifier U7, the other end of the twenty-fifth resistor R25 is electrically connected to one end of the twenty-fourth resistor R24, the other end of the twenty-fourth resistor R24 ​​is electrically connected to one end of the twenty-third resistor R23, and the other end of the twenty-third resistor R23 is also electrically connected to one output end of the output end of the DC-AC circuit. The inverting input terminal of the second operational amplifier U7 is respectively connected to the seventeenth resistor R One end of the 17th resistor R17 is electrically connected to one end of the 18th resistor R18, the other end of the 17th resistor R17 is grounded, the other end of the 18th resistor R18 is electrically connected to the output end of the second operational amplifier U7, the output end of the second operational amplifier U7 is also electrically connected to one end of the 21st resistor R21 and one end of the 22nd resistor R22, the other end of the 21st resistor R21 is electrically connected to one end of the 26th resistor R26 and the non-inverting input end of the third operational amplifier U8, the other end of the 26th resistor R26 is electrically connected to one end of the 28th capacitor C28, and the other end of the 28th capacitor C28 is electrically connected to one end of the 28th capacitor C28. The other end of the twenty-second resistor R22 is electrically connected to the inverting input terminal of the third operational amplifier U8, one end of the nineteenth resistor R19 and one end of the nineteenth capacitor C19, respectively, and the other end of the nineteenth resistor R19 and the other end of the nineteenth capacitor C19 are both grounded; the output end of the third operational amplifier U8 is electrically connected to one end of the twentieth resistor R20 and the anode of the seventh diode D7, respectively, the other end of the twentieth resistor R20 is electrically connected to the +5V power supply, and the seventh diode D7 is electrically connected to the ground line. The cathode of tube D7 is electrically connected to pin 1 of inverter U9 and one end of the twenty-seventh resistor R27 respectively, the other end of the twenty-seventh resistor R27 is electrically connected to pin 7 of inverter U9 and the ground wire respectively, pin 2 of inverter U9 is electrically connected to pin 3, pin 9 of inverter U9 is electrically connected to pin 10, pin 11 of inverter U9 is electrically connected to pin 12, pin 4, pin 5, pin 6, pin 8 and pin 13 of inverter U9 are all electrically connected to the transmitting end main control module, the third operational amplifier U8 and the seventh diode D7 are used to amplify the coded signal, and inverter U9 is used to parse the coded content.

[0020] More preferably, the drone unit obtains its own status information and information about supervised objects in the supervised waters, wherein the own status information includes the water supervision task currently performed by the drone unit, the current position of the drone unit and the remaining power; the supervised object information in the supervised waters includes the target recognition result of the supervised waters, which is achieved by adding an entropy function to the backbone network model of YOLOv5 to enhance the target clarity map, and adding a MOBILENET-SSD module to reduce the computational complexity of the model.

[0021] Further preferably, the control terminal includes an equipment monitoring center and an environment monitoring center; the equipment monitoring center is responsible for receiving the equipment operating parameters sent by the drone unit and the water base station, and performing remote visual display, while sending command signals to the drone unit to enable the drone unit to perform designated water area supervision tasks; the environment monitoring center receives and displays the target image containing the supervision object information transmitted back by the drone unit, as well as the environmental information sent by the water base station, to provide reference environmental information for the decision-making of the command signal of the equipment monitoring center.

[0022] The water area monitoring system based on water power supply and communication provided by the present invention has the following beneficial effects compared with the prior art:

[0023] (1) The present invention is equipped with multiple water base stations, which can be used to carry drones for docking and charging, and can serve as a data transmission relay station between drones and control terminals, thereby expanding the communication distance and upgrading the coverage of water area supervision, forming a three-dimensional supervision network for water, land and air cooperation, and realizing the reliable execution of all aspects of supervision tasks;

[0024] (2) A multi-source complementary power generation method is adopted. Solar power generation can achieve the function of tracking the sun and maximize power generation efficiency. In addition, solar power generation and wind power generation can be switched as needed. Water flow can continuously generate energy as a powerful supplement to solar power generation and wind power generation, thereby improving the problems of low energy utilization and unstable power generation efficiency of clean energy power generation. The thermal management module is further set up to maintain the energy storage module in the best output state at all times, improving the power loss caused by the degradation of battery performance due to low temperature.

[0025] (3) The wireless charging method simplifies the wiring layout, and is equipped with a signal feedback circuit to determine the current battery power status of the drone unit and realize the adjustment function of the charging status and charging power. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 The overall structural block diagram of the water area monitoring system based on water power supply and communication of the present invention;

[0028] Figure 2 A three-dimensional diagram of a water base station of a water area monitoring system based on water power supply and communication according to the present invention;

[0029] Figure 3 It is a structural schematic diagram of a vertical axis wind power generation module of a water area monitoring system based on water energy supply and communication of the present invention;

[0030] Figure 4 It is a schematic structural diagram of a thermal management module of a water area monitoring system based on water power supply and communication of the present invention;

[0031] Figure 5 This is a block diagram of the power generation conversion structure of the solar power generation module, vertical axis wind power generation module, Darrieus type vertical axis hydropower generation module, energy storage module and battery of the drone unit of the water area supervision system based on water power supply and communication of the present invention;

[0032] Figure 6 The overall topology diagram of the wireless charging module of the water area monitoring system based on water power supply and communication of the present invention;

[0033] Figure 7 It is a schematic diagram of a rectifier circuit and a part of a signal feedback circuit of a water area monitoring system based on water power supply and communication of the present invention;

[0034] Figure 8 It is a schematic diagram of an undervoltage circuit of a water area monitoring system based on water power supply and communication of the present invention;

[0035] Fig. 9 It is a schematic diagram of a signal feedback circuit of another part of the water area monitoring system based on water power supply and communication of the present invention;

[0036] Fig.10 It is a schematic diagram of water area target detection of the water area monitoring system based on water power supply and communication of the present invention.

[0037] Figure numerals: 1. Emergency UAV landing platform; 2. Intermediate support; 3. Energy storage module; 4. Cruise UAV unit landing platform; 5. Wave-breaking board; 6. Vertical axis wind power generation module; 7. Platform rotation mechanism; 8. Sun-chasing solar power generation module; 9. Base; 10. Limiting device. DETAILED DESCRIPTION

[0038] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] In the field of water supervision, fixed-wing drones, unmanned helicopters and quad-rotor drones have been introduced for daily patrol supervision of the middle and lower reaches of rivers, direct currents and waterways, ship exhaust detection, water environment monitoring and other fields. Most of the supervision platforms use micro and small drones to operate in nearshore watersheds. The traditional wired charging method has caused high labor and space costs, reduced the working market and work efficiency of drones, and has the disadvantages of low intelligence, small cruising radius, short supervision time and short service life. In view of this, if Figure 1 As shown, the present invention provides a water area supervision system based on water power supply and communication, comprising:

[0040] The drone unit is used to obtain information about its own status and the information about the regulated objects in the regulated waters;

[0041] A control terminal is provided at a remote location and is used to generate and send command signals to the outside; the drone unit is wirelessly connected to the control terminal;

[0042] Several water base stations are set up on the water surface, using multi-energy complementary power generation and energy storage, and the energy storage batteries are insulated. They are used to wirelessly charge the drone units and conduct two-way communication with the drone units and control terminals, receive the drone unit's own status information and supervised object information or the command signal sent by the control terminal, and perform encrypted two-way relay transmission.

[0043] In the present invention, the drone unit can collect target information, water quality images, its own position, power level and other information by carrying a camera pan / tilt and a positioning module, encrypt the information, and then transmit the signal to the control terminal over a long distance through the relay transmission of the water base station. A mobile device or a computer is used as the control terminal to receive and run the remote monitoring software designed based on JaveScript to process and analyze the various data returned by the sensors on the water base station and the data obtained by the drone unit through relay transmission, thereby realizing long-distance control and management and two-way transmission of information.

[0044] Arranging multiple water base stations that are coupled in series within the supervised waters can not only carry a sufficient number of drones (to replace the positioning of the drone mother ship), but can even allow drones to land and realize modular "clean energy generation → energy conversion storage → equipment wireless charging", which will form an energy guarantee system that liberates manpower and space costs, and provides a new way of realizing the all-weather, long-flight working mode of drones. Such base stations can also serve as data transmission relay stations between drones and equipment monitoring software, upgrading from expanding communication distance to expanding coverage area. The local area network formed by multiple base stations connects the software end and the drone end, forming a water, land and air collaborative smart platform while building a huge three-dimensional supervision network to achieve comprehensive control of the waters.

[0045] In the present invention, the water base station establishes a local area network by adopting TDMA system networking technology and wireless bridge technology to construct a data signal transmission network of "UAV unit-water base station-control terminal", which is the communication guarantee of the water, land and air cooperation system. Through the wireless bridge, the water base station can communicate with the UAV unit and the land-based control terminal in real time, and feed back the data collected by the water base station sensor and the image signal returned from the UAV unit to the control terminal of the monitoring center, and forward the command signal from the control terminal of the monitoring center to the UAV unit. This wireless connection can ensure the rapid response and efficient transmission performance of the equipment. The brand of the wireless bridge carried by the water base station is Bohai Zhilian, with a gain of 30dBI, a formula of 2W, an interface of RJ45, and a wireless standard of 802.11a / n / ac.

[0046] The TDMA system is a multiple access technology that divides time into several time slots and assigns each time slot to different communication users. In the data signal transmission network, each base station is assigned one or more time slots to ensure that only one base station can send or receive data at the same time. This time division multiple access technology can effectively utilize communication resources, reduce interference and conflicts, and improve the reliability and efficiency of communication. The built-in router of the water base station plays the role of routing and forwarding data. It is responsible for managing the data traffic in the network and ensuring the smooth transmission of data between different devices. It can send data packets from the water base station to the drone unit, or from the drone unit to the control terminal according to the set rules and strategies. Optimized distribution of data can be achieved through intelligent routing selection.

[0047] The control motherboard built into the water base station adopts the model provided by the Arduino open source hardware platform. It is the core control unit of the relay communication, responsible for managing and coordinating the work of the wireless bridge and the built-in router, ensuring the coordination and stable operation between the two. The control motherboard has a certain data processing capability, parses the received data packets, and extracts key information for storage or forwarding.

[0048] like Figure 2 Combination Figure 3 and Figure 5 As shown, several water base stations float on the water surface, each including a solar power generation module, a vertical axis wind power generation module, a Darrieus type vertical axis hydropower generation module, an energy storage module, a thermal management module and a wireless charging module; the sun-chasing solar power generation module, the vertical axis wind power generation module, the Darrieus type vertical axis hydropower generation module, the thermal management module and the wireless charging module are all electrically connected to the energy storage module; the sun-chasing solar power generation module, the vertical axis wind power generation module and the Darrieus type vertical axis hydropower generation module are used to generate electricity and store electrical energy in the energy storage module; the thermal management module is used to heat or cool the energy storage module, and the wireless charging module is used to supply the electrical energy stored in the energy storage module to the drone unit for charging; emergency drone landing platforms are provided on several water bases, and the emergency drone landing platforms are used for drone landing and wireless charging.

[0049] The water base station is mainly divided into three layers, with a maximum horizontal size of 1.5m and a maximum vertical height of 2m: the first layer structure is a base 9 and a limit device 10, which is used to float horizontally and limit the position of the water base station to prevent the water base station from being washed away by the water flow. The base 9 can be equipped with a Darrieus-type vertical axis hydropower generation module to generate electricity by relying on the water flow. The second layer structure is a wave-breaking board 5, an intermediate support 2, an energy storage module 3, a cruise drone unit landing platform 4, a platform rotation mechanism 7 and a sun-chasing solar power generation module 8 in the top area of ​​the base 9. The cruise drone unit landing platform 4 is used to store and park the drone unit. The wave-breaking board 5 plays a certain waterproof role; the platform rotation mechanism 7 is combined with the sun-chasing solar power generation module 8 to follow the sunlight angle for a certain rotation and follow. The third layer structure is an emergency drone landing platform 1 and a vertical axis wind power generation module 6 on the top of the intermediate support 2. The vertical axis wind power generation module 6 is used for wind power generation, and the emergency drone landing platform 1 is used for wireless charging of the docked drone unit.

[0050] The sun-chasing solar power generation module includes a number of light intensity sensors, photovoltaic panels, a single-chip microcomputer and a pitch adjustment device; the light intensity sensors are evenly distributed along the east-west direction, the output ends of the light intensity sensors are respectively connected to the serial ports of the single-chip microcomputer for communication, and the photovoltaic panel is fixedly set on the output axis of the pitch adjustment device. The single-chip microcomputer determines the position of the light intensity sensor with the largest light intensity by comparing one by one according to the light intensity detection signals received from the several light intensity sensors, and then the single-chip microcomputer drives the pitch adjustment device to adjust the pitch angle of the photovoltaic panel so that the photovoltaic panel can obtain the maximum power generation efficiency. After the adjustment is completed, the light intensity sensors, the single-chip microcomputer and the pitch adjustment device enter sleep mode. state, until the next scheduled automatic wake-up to readjust the pitch angle of the photovoltaic panel, the scheduled automatic wake-up time can be set to 15 minutes; the vertical axis wind power generation module includes a rotating base and a number of blades, the rotating base is arranged around the emergency drone landing platform, and is rotatably connected to the emergency drone landing platform, and the blades are evenly distributed relative to the central axis of the rotating base; several water base stations also include a first switching device, and the output ends of the sun-chasing solar power generation module and the vertical axis wind power generation module are electrically connected to the first switching device, and the first switching device is electrically connected to the energy storage module; the Darrieus type vertical axis hydropower generation module is electrically connected to the energy storage module. The first switching device is a relay, and the normally open and normally closed states of the relay contacts correspond to the output ends of the sun-chasing solar power generation module and the output ends of the vertical axis wind power generation module, respectively. When the power generation of the two is large, the module with the larger power generation outputs, and the power of the other module is abandoned. The water base station is generally powered by a battery. Using the sun-chasing solar power generation module alone to charge the battery usually cannot maintain a long continuous working time. When encountering continuous cloudy and hazy weather, the base station system is prone to insufficient power supply and cannot maintain the frequent charging needs of drones. However, the resistance of horizontal wind is very small, and the wind resistance is much lower than that of land. Therefore, this solution adopts a complementary form for solar power generation and wind power generation, combined with continuous power generation by water flow, and can generate reliable power in all weather conditions.

[0051] In this embodiment, 8 light intensity sensors equipped with BH1750FVI chips are evenly distributed along the fan-shaped area of ​​180° from east to west. The 8 light intensity sensors are connected to the STC89C52 microcontroller through the IIC bus. The measured light intensity is directly converted into a digital quantity with lux as the illumination unit through the built-in 16-bit A / D converter of the microcontroller. The elevation angle of the maximum light intensity point is obtained by comparing the sizes, thereby obtaining the maximum power generation efficiency. In addition, in order to reduce unnecessary power consumption caused by the frequent and subtle rotation of the sun-chasing module, the microcontroller will automatically wake up from the sleep mode every 15 minutes to receive light intensity data, analyze the maximum light intensity elevation angle and control the rotation of the solar panel. After completing a series of instructions, it will enter the sleep mode again and wait for the next wake-up.

[0052] The rotating base, i.e. the impeller, is the key component of the wind turbine to absorb wind energy. It directly determines the important performance index of the wind turbine - the wind energy utilization coefficient. The key to the impeller is the blade. The shape of the blade and the quality of its aerodynamic performance will directly affect the efficiency of the wind turbine in converting wind energy. Therefore, the selection of the blade is the key to the wind turbine. In this embodiment, NACA0015 blades are selected. The structural parameters of the blades can refer to the airfoil database UIUC airfoil data site.

[0053] like Figure 4 As shown, the thermal management module includes a plurality of heat conducting sheets, and the energy storage module includes a plurality of battery cells, which are arranged in sequence and spaced apart, one end of the plurality of heat conducting sheets is respectively arranged on the side surface of the battery cells, and the other end of the plurality of heat conducting sheets extends outward in a direction away from the battery cells; PTC plates are embedded in the plurality of heat conducting sheets, the plurality of heat conducting sheets are used to conduct the heat inside the battery cells outward, and the PTC plates are used to heat the battery cells to keep the energy storage module at a suitable operating temperature.

[0054] In order to apply lithium-ion batteries to water base stations, the present invention needs to use lithium-ion battery cells to form a battery pack in a series-parallel manner, and then design a battery thermal management module for the battery pack so that it can regulate the temperature field inside the battery pack, so that the temperature of the battery pack is controlled within a reasonable range and the temperature field distribution is kept uniform. The thermal conductive sheet is an aluminum sheet embedded with a PTC plate. PTC is a heating material with high heat conversion efficiency that generates heat when powered on, which can quickly heat up the battery pack in a short time. The main functions of the thermal conductive sheet are reflected in two aspects: on the one hand, the heat generated inside the battery is transferred to the surface of the battery, and the heat is dissipated through the aluminum sheet to balance the temperature between the battery cells; on the other hand, lithium-ion batteries have the shortcomings of performance degradation and fast power loss in low temperature environments below 0°C. In winter, the heat generated by the PTC is evenly transferred to the battery cells through the aluminum plate, so that the battery works at a more suitable working temperature and avoids capacity loss.

[0055] In order to better realize the charging of the drone unit, the process of landing and charging the drone unit on several water base stations is as follows: 1) The control terminal determines that the current power of the drone unit is insufficient to successfully complete the current water supervision task; 2) The control terminal obtains several water base stations in the adjacent range according to the current position of the drone unit, and selects the water base stations with sufficient power, matching charging voltage and the nearest distance, and marks the water base stations; 3) The drone unit interrupts the execution of the current water supervision task and flies to the marked water base station. The marked water base station guides the drone unit to land on the emergency drone landing platform; 4) A varistor is set on the emergency drone landing platform. After the varistor senses the weight of the drone unit, the wireless charging module is enabled, and the energy storage module charges the drone unit through the wireless charging module. 5) After the drone unit is charged, it flies away from the water base station to continue to perform the current water supervision task, and the wireless charging module is reset.

[0056] When guiding the drone unit to land on the emergency drone landing platform 1, it is necessary to calibrate the position relationship between the vertical center axis of the drone unit and the camera coordinate system in advance, and make a reference marker of the center point on the top of the emergency drone landing platform. The drone unit obtains the distance and angle between the center of the reference marker in the plane image and the vertical center axis of the drone unit, thereby adjusting the flight altitude and the position relative to the emergency drone landing platform to achieve a smooth landing and enable the wireless charging module.

[0057] The following table compares different wireless charging methods.

[0058]

[0059] As can be seen from the table, magnetic coupling resonance wireless energy transmission has the following advantages compared with other wireless transmissions: 1. The wireless charging module uses magnetic coupling resonance output. Compared with the wireless energy transmission technology based on the principle of electromagnetic induction, the transmission distance is greatly improved, breaking through the limitation of the wireless transmission distance of the electromagnetic induction principle of only within 1cm, and the position accuracy requirements for the drone unit are not high; 2. Compared with the wireless energy transmission technology based on the microwave principle, it has the characteristics of large transmission power. Taking all factors into consideration, the magnetic coupling resonance wireless energy transmission technology with longer transmission distance, better transmission efficiency, higher charging efficiency and stronger lateral offset adaptability is adopted. Magnetic coupling resonance wireless charging is based on the theory of electromagnetic resonance and consists of a transmitter, a receiver and a resonant coil with the same resonant frequency.

[0060] like Figure 6As shown, the wireless charging module includes a transmitting end main control module, a DC-AC circuit, a rectifier circuit, a receiving end main control module and an undervoltage automatic shutdown circuit. The transmitting end main control module is used to drive the DC-AC circuit to convert the DC signal of the energy storage module into an AC signal and output it through a magnetic coupling resonance mode; the receiving end of the rectifier circuit wirelessly receives the AC signal through magnetic coupling, and outputs a DC signal after rectification by the rectifier circuit. The rectified DC signal is respectively sent to the drone unit charging port and the undervoltage automatic shutdown circuit. The receiving end main control module is electrically connected to the undervoltage automatic shutdown circuit and the drone unit charging port respectively. The receiving end main control module is used to determine the size relationship between the rectified DC signal and the preset level, and maintain or stop charging the drone unit.

[0061] Specifically, the DC-AC circuit includes an H-bridge inverter circuit, a first capacitor and a second inductor. The input end of the H-bridge inverter circuit is electrically connected to the energy storage module, an output end of the H-bridge inverter circuit is electrically connected to one end of the first capacitor, the other end of the first capacitor is electrically connected to one end of the second inductor, and the other end of the second inductor is electrically connected to another output end of the H-bridge inverter circuit; the duty cycle signal input end of the inverter device of the H-bridge inverter circuit is electrically connected to the output end of the transmitting end main control module.

[0062] The main part of the DC-AC circuit is the inverter circuit, which is used to convert the direct current in the energy storage module into an alternating current signal, and finally supply the series resonant network composed of the first capacitor and the second inductor for wireless transmission of electric energy. The inverter circuit uses an H-bridge inverter circuit, and the switch device uses a MOSFET with a higher breaking frequency and better performance. Taking all factors into consideration, the device selection is IRF7832. The main control module of the transmitter samples the ATmega48 microcontroller, and its output square wave signal acts on the gate of IRF7832 through the gate drive chip TPS28225 to control the breaking of IRF7832, so that the corresponding AC square wave will be generated. If the drive signal frequency matches the inherent frequency of the circuit, the series resonant network will resonate. When the series resonant network of the receiving end also has the same inherent frequency as the previous stage, the transmitting end and the receiving end will resonate, and the electric energy will be efficiently transmitted to the receiving end through magnetic coupling, and then processed by the subsequent circuit, and finally the battery will be charged through the external interface to achieve the purpose of wireless charging.

[0063] like Figure 7As shown, the rectifier circuit includes a first inductor L1, an eighth capacitor C8, a rectifier bridge, a second diode D2, a fifth diode D5 and a ninth capacitor C9; one end of the first inductor L1 is electrically connected to one end of the eighth capacitor C8, the other end of the eighth capacitor C8 is electrically connected to the first input end of the rectifier bridge, the other end of the first inductor L1 is electrically connected to the second input end of the rectifier bridge, the cathode of the second diode D2 and one end of the ninth capacitor C9 are electrically connected to the first output end of the rectifier bridge, the anode of the second diode D2 is electrically connected to the cathode of the fifth diode D5, the anode of the fifth diode D5 and the other end of the ninth capacitor C9 are electrically connected to the second output end of the rectifier bridge; the first output end and the second output end of the rectifier bridge output the rectified DC signal. The receiving end circuit of the magnetic coupling resonant circuit adopts an LC series resonant circuit composed of the first inductor L1 and the eighth capacitor C8, the core of the rectifier circuit adopts a bridge rectifier composed of diodes, and the signal filtering adopts the ninth capacitor C9 for capacitor filtering. Figure 6 The receiving end voltage generating circuit in the embodiment is used to stabilize the voltage signal output by the rectifier circuit, such as using a linear voltage regulator chip LDO to output a suitable charging voltage.

[0064] like Figure 8As shown, the undervoltage circuit includes a first operational amplifier U4, a fifteenth resistor R15, a fifteenth capacitor C15, a thirteenth capacitor C13, a fifth resistor R5, a sixth resistor R6, a sixteenth capacitor C16, a fourteenth resistor R14, a third resistor R3, a third triode Q3, a first MOS tube Q1, a fourth resistor R4 and a seventh resistor R7. The pin 5 of the first operational amplifier U4 is electrically connected to one end of the fifteenth resistor R15 and one end of the fifteenth capacitor C15 respectively, the other end of the fifteenth capacitor C15 is grounded, and the other end of the fifteenth resistor R15 is electrically connected to the reference voltage REF2.5; the rectified DC signal is electrically connected to one end of the third resistor R3, one end of the fifth resistor R5, one end of the thirteenth capacitor C13 and the source of the first MOS tube Q1 respectively, the other end of the thirteenth capacitor C13 is grounded, the other end of the third resistor R3 is electrically connected to the gate of the first MOS tube Q1 and the collector of the third triode Q3 respectively, and the other end of the fifth resistor R5 is electrically connected to the first operational amplifier U4. Pin 6 of the amplifier U4, one end of the sixteenth capacitor C16 and one end of the sixth resistor R6 are electrically connected, and the other end of the sixteenth capacitor C16, the other end of the sixth resistor R6 and the emitter of the third transistor Q3 are all grounded; Pin 7 of the first operational amplifier U4 is electrically connected to one end of the fourteenth resistor R14, and the other end of the fourteenth resistor R14 is electrically connected to the base of the third transistor Q3; The drain of the first MOS tube Q1 is electrically connected to the drone unit charging port port and one end of the fourth resistor R4, and the other end of the fourth resistor R4 is electrically connected to one end of the seventh resistor R7 and the ADC0 port of the receiving end main control module, respectively, and the other end of the seventh resistor R7 is grounded; When the rectified DC signal is less than the reference voltage REF2.5, the first operational amplifier U4 outputs a high level to turn on the third transistor Q3, pull down the gate level of the first MOS tube Q1, turn off the output of the undervoltage circuit to the drone unit charging port, and return a low-level shutdown signal to the ADC0 port of the receiving end main control module.

[0065] In order to ensure that the charging voltage of the battery provided to the drone unit is always maintained within the set range, the circuit adopts TSM103 voltage reference source with a reference voltage of 2.5V. The voltage generated by the receiving end voltage generation circuit is compared with the reference source after voltage division. When the charging voltage is less than the preset voltage value, the output end outputs a high level to turn on the transistor, and the gate of the first MOS tube Q1 is pulled down to turn off the first MOS tube Q1 to achieve the purpose of protecting the circuit and saving power consumption.

[0066] like Fig. 9 As shown, the wireless charging module also includes a signal feedback circuit; the signal feedback circuit includes an eighth resistor R8, a MOSFET driver U3, a code generation MOS tube IRF1, a second operational amplifier U7, a third operational amplifier U8, a seventh diode D7 and an inverter U9;

[0067] Pin 1 and pin 8 of the MOSFET driver U3 are electrically connected to the working power supply VCC, pin 2 of the MOSFET driver U3 is electrically connected to the CONT port of the receiving end main control module, pin 4 and pin 5 of the MOSFET driver U3 are grounded, pin 6 and pin 7 of the MOSFET driver U3 are electrically connected to the gate of the code generating MOS tube IRF1, the source of the code generating MOS tube IRF1 is electrically connected to the second output end of the rectifier bridge, the drain of the code generating MOS tube IRF1 is electrically connected to one end of the eighth resistor R8, and the other end of the eighth resistor R8 is electrically connected to the first output end of the rectifier bridge; the CONT port of the receiving end main control module sends a coding signal to the coupling element of the rectifier circuit, and the coding signal is wirelessly coupled to the output end of the DC-AC circuit;

[0068] The in-phase input terminal of the second operational amplifier U7 is sequentially provided with a twenty-fifth resistor R25, a twenty-fourth resistor R24 ​​and a twenty-third resistor R23. One end of the twenty-fifth resistor R25 is electrically connected to the in-phase input terminal of the second operational amplifier U7, the other end of the twenty-fifth resistor R25 is electrically connected to one end of the twenty-fourth resistor R24, the other end of the twenty-fourth resistor R24 ​​is electrically connected to one end of the twenty-third resistor R23, and the other end of the twenty-third resistor R23 is also electrically connected to one output end of the output end of the DC-AC circuit. The inverting input terminal of the second operational amplifier U7 is respectively connected to the seventeenth resistor R One end of the 17th resistor R17 is electrically connected to one end of the 18th resistor R18, the other end of the 17th resistor R17 is grounded, the other end of the 18th resistor R18 is electrically connected to the output end of the second operational amplifier U7, the output end of the second operational amplifier U7 is also electrically connected to one end of the 21st resistor R21 and one end of the 22nd resistor R22, the other end of the 21st resistor R21 is electrically connected to one end of the 26th resistor R26 and the non-inverting input end of the third operational amplifier U8, the other end of the 26th resistor R26 is electrically connected to one end of the 28th capacitor C28, and the other end of the 28th capacitor C28 is electrically connected to one end of the 28th capacitor C28. The other end of the twenty-second resistor R22 is electrically connected to the inverting input terminal of the third operational amplifier U8, one end of the nineteenth resistor R19 and one end of the nineteenth capacitor C19, respectively, and the other end of the nineteenth resistor R19 and the other end of the nineteenth capacitor C19 are both grounded; the output end of the third operational amplifier U8 is electrically connected to one end of the twentieth resistor R20 and the anode of the seventh diode D7, respectively, the other end of the twentieth resistor R20 is electrically connected to the +5V power supply, and the seventh diode D7 is electrically connected to the ground line. The cathode of tube D7 is electrically connected to pin 1 of inverter U9 and one end of the twenty-seventh resistor R27 respectively, the other end of the twenty-seventh resistor R27 is electrically connected to pin 7 of inverter U9 and the ground wire respectively, pin 2 of inverter U9 is electrically connected to pin 3, pin 9 of inverter U9 is electrically connected to pin 10, pin 11 of inverter U9 is electrically connected to pin 12, pin 4, pin 5, pin 6, pin 8 and pin 13 of inverter U9 are all electrically connected to the transmitting end main control module, the third operational amplifier U8 and the seventh diode D7 are used to amplify the coded signal, and inverter U9 is used to parse the coded content.

[0069] For the wireless charging circuit, while charging the receiving end, it is also necessary to monitor the charging status of the battery of the drone unit at all times, and transmit the battery power status to the receiving end main control module at all times. The receiving end main control module sends the code to the receiving end load, which will cause the current change of the receiving end, and finally transmit it to the sending end through coupling, resulting in a slight current change at the sending end. The slight change of the sending end current generates a square wave through the amplification circuit and the self-comparison circuit, that is, the code sent by the receiving end, and finally the square wave is transmitted to the sending end main control module. The sending end main control module determines the battery power status through the preset voltage range. The sending end main control module controls the H-bridge inverter circuit by adjusting the duty cycle of the square wave signal, thereby changing the size of the sending power of the sending end, thereby achieving the monitoring and control effect of the battery power.

[0070] like Figure 1 As shown, the drone unit obtains its own status information and information about the supervised objects in the supervised waters, wherein the own status information includes the water supervision task currently performed by the drone unit, the current position of the drone unit and the remaining power; the supervised object information in the supervised waters includes the target recognition result of the supervised waters, which is achieved by adding an entropy function to the YOLOv5 backbone network model to enhance the target clarity map, and adding the MOBILENET-SSD module to reduce the model's computational complexity.

[0071] As a special type of image data, aerial images place higher demands on target detection algorithms. The present invention provides a small target detection model for aerial images based on deep learning, which can realize automatic extraction, classification and positioning of small targets in aerial images. By optimizing the model structure and algorithm parameters, the detection accuracy and efficiency of the model for small targets are improved, providing strong support for the application of aerial images.

[0072] Before tracking the target, the conversion between the four elements and the Euler angle, the conversion between the coordinate systems in the camera imaging, the conversion relationship between the camera height h, the attitude angle (φ, θ, ψ), and the coordinates of the projection point (xI, yI), and the intrinsic parameter matrix contained in the camera are also converted. Finally, the world coordinate system coordinate point (xE, yE, zE) of the point in space can be calculated through the calibration formula, thereby preventing the target position error caused by the lens distortion of the drone unit.

[0073] Attached Fig.10 (a) Fig.10 (b) and Fig.10(c) in the figure shows the identification and calibration box contents of water targets. The present invention makes full use of the convolutional neural network's ability to efficiently extract image features, so that small targets can be accurately identified and located in complex aerial images. This model can automatically extract feature information closely related to the target, and greatly improves the accuracy of detection through optimization algorithms and refined network structure design. In practical applications, whether it is a vehicle, pedestrian or other small target, the model can detect it with high precision, greatly improving the efficiency and accuracy of aerial image analysis.

[0074] According to the characteristics of aerial images, the model is improved and optimized to meet the needs of small target detection; the model is trained using labeled data sets, and the model performance is optimized by adjusting hyperparameters and using regularization, dropout and other techniques; at the same time, methods such as transfer learning are used to accelerate the model training process, post-process the model output, eliminate redundant detection results, and use the test set to evaluate the model performance, including indicators such as accuracy, recall, and F1 value.

[0075] like Figure 1 As shown in the figure, the control terminal includes an equipment monitoring center and an environmental monitoring center; the equipment monitoring center is responsible for receiving the equipment operating parameters sent by the drone unit and the water base station, and performing remote visual display, and at the same time sending command signals to the drone unit to enable the drone unit to perform the designated water supervision task; the environmental monitoring center receives and returns the target image containing the supervision object information sent by the drone unit, as well as the environmental information sent by the water base station and displays and outputs it, providing reference environmental information for the decision-making of the command signal of the equipment monitoring center. After the location information sent by the positioning module of the drone unit is received by the equipment monitoring center, the flight trajectory of the drone unit can be drawn on the map. Through multiple drone units, target monitoring can be carried out in different waters respectively, and then the collected data can be aggregated to the water base station, and then uniformly transmitted to the control terminal by the water base station. This multi-channel data reception design not only improves the efficiency and coverage of data collection, but also helps to realize real-time monitoring and supervision of a larger range of waters, thereby significantly improving the supervision efficiency. The control terminal can further track water quality indicators such as pH value, dissolved oxygen content, turbidity, etc. in combination with the collected data, so as to realize continuous tracking of water quality and sewage discharge.

[0076] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A water area monitoring system based on water power supply and communication, characterized in that: include: The drone unit is used to obtain information about its own status and the regulated objects in the regulated waters; A control terminal is provided at a remote location and is used to generate and send command signals to the outside; the drone unit is wirelessly connected to the control terminal; Several water base stations are set up on the water surface, using multi-energy complementary power generation and energy storage to wirelessly charge the drone unit, and conduct two-way communication with the drone unit and the control terminal, receive the drone unit's own status information and supervised object information or the command signal sent by the control terminal, and perform encrypted two-way relay transmission.

2. A water area monitoring system based on water power supply and communication according to claim 1, characterized in that: The several water base stations float on the water surface, and each includes a solar power generation module, a vertical axis wind power generation module, a Darrieus type vertical axis hydropower generation module, an energy storage module, a thermal management module and a wireless charging module; the sun-chasing solar power generation module, the vertical axis wind power generation module, the Darrieus type vertical axis hydropower generation module, the thermal management module and the wireless charging module are all electrically connected to the energy storage module; the sun-chasing solar power generation module, the vertical axis wind power generation module and the Darrieus type vertical axis hydropower generation module are used to generate electricity and store electrical energy in the energy storage module; the thermal management module is used to heat or cool the energy storage module, and the wireless charging module is used to supply the electrical energy stored in the energy storage module to the drone unit for charging; emergency drone landing platforms are provided on several water bases, and the emergency drone landing platforms are used for drone landing and wireless charging.

3. A water area monitoring system based on water power supply and communication according to claim 2, characterized in that: The sun-chasing solar power generation module includes a number of light intensity sensors, photovoltaic panels, a single-chip microcomputer and a pitch adjustment device; the light intensity sensors are evenly distributed along the east-west direction, the output ends of the light intensity sensors are respectively connected to the serial port communication of the single-chip microcomputer, and the photovoltaic panel is fixedly set on the output axis of the pitch adjustment device. The single-chip microcomputer determines the position of the light intensity sensor with the largest light intensity by comparing one by one according to the light intensity detection signals received from the several light intensity sensors, and then the single-chip microcomputer drives the pitch adjustment device to adjust the pitch angle of the photovoltaic panel so that the photovoltaic panel can obtain the maximum power generation efficiency. After the adjustment is completed, the light intensity sensors, the single-chip microcomputer and the pitch adjustment device are connected to the output axis of the single-chip microcomputer. The pitch adjustment device enters a dormant state until the next scheduled automatic wake-up to readjust the pitch angle of the photovoltaic panel; the vertical-axis wind power generation module includes a rotating base and a plurality of blades, the rotating base is arranged around the emergency UAV landing platform, and is rotatably connected to the emergency UAV landing platform, and the plurality of blades are evenly distributed relative to the central axis of the rotating base; the plurality of water base stations also include a first switching device, and the output ends of the sun-chasing solar power generation module and the vertical-axis wind power generation module are selectively electrically connected to the first switching device, and the first switching device is electrically connected to the energy storage module; the Darrieus-type vertical-axis hydropower generation module is electrically connected to the energy storage module.

4. A water area monitoring system based on water power supply and communication according to claim 3, characterized in that: The thermal management module includes a plurality of heat-conducting sheets, and the energy storage module includes a plurality of battery cells, which are arranged in sequence and spaced apart, one end of each of the heat-conducting sheets is respectively arranged on the side surface of the battery cells, and the other end of each of the heat-conducting sheets extends outward in a direction away from the battery cells; PTC plates are embedded in each of the heat-conducting sheets, and the heat-conducting sheets are used to conduct the heat inside the battery cells outward, and the PTC plates are used to heat the battery cells to keep the energy storage module at a suitable operating temperature.

5. The water area monitoring system based on water power supply and communication according to claim 2 is characterized in that: The process of landing and charging the drone unit on several water base stations is as follows: 1) the control terminal determines that the current power of the drone unit is insufficient to successfully complete the currently executed water supervision task; 2) The control terminal obtains several water base stations in the adjacent range according to the current position of the drone unit, and selects the water base stations with sufficient power, matching charging voltage and the nearest distance, and marks the water base stations; 3) The drone unit interrupts the current water area supervision task and flies to the marked water base station. The marked water base station guides the drone unit to land on the emergency drone landing platform; 4) A varistor is provided on the emergency drone landing platform. After the varistor senses the weight of the drone unit, the wireless charging module is enabled, and the energy storage module charges the drone unit through the wireless charging module. 5) After the drone unit is charged, it flies away from the water base station to continue to perform the current water area supervision task, and the wireless charging module is reset.

6. A water area monitoring system based on water power supply and communication according to claim 5, characterized in that: The wireless charging module includes a transmitting end main control module, a DC-AC circuit, a rectifier circuit, a receiving end main control module and an undervoltage automatic shutdown circuit. The transmitting end main control module is used to drive the DC-AC circuit to convert the DC signal of the energy storage module into an AC signal and output it through a magnetic coupling resonance mode; the receiving end of the rectifier circuit wirelessly receives the AC signal through a magnetic coupling mode, and outputs a DC signal after rectification by the rectifier circuit. The rectified DC signal is respectively sent to the drone unit charging port and the undervoltage automatic shutdown circuit. The receiving end main control module is electrically connected to the undervoltage automatic shutdown circuit and the drone unit charging port respectively. The receiving end main control module is used to determine the size relationship between the rectified DC signal and the preset level, and maintain or stop charging the drone unit.

7. A water area monitoring system based on water power supply and communication according to claim 6, characterized in that: The DC-AC circuit comprises an H-bridge inverter circuit, a first capacitor and a second inductor, an input end of the H-bridge inverter circuit is electrically connected to the energy storage module, an output end of the H-bridge inverter circuit is electrically connected to one end of the first capacitor, the other end of the first capacitor is electrically connected to one end of the second inductor, and the other end of the second inductor is electrically connected to another output end of the H-bridge inverter circuit; the duty cycle signal input end of the inverter device of the H-bridge inverter circuit is electrically connected to the output end of the transmitter main control module; The rectifier circuit includes a first inductor L1, an eighth capacitor C8, a rectifier bridge, a second diode D2, a fifth diode D5 and a ninth capacitor C9; one end of the first inductor L1 is electrically connected to one end of the eighth capacitor C8, the other end of the eighth capacitor C8 is electrically connected to the first input end of the rectifier bridge, the other end of the first inductor L1 is electrically connected to the second input end of the rectifier bridge, the cathode of the second diode D2 and one end of the ninth capacitor C9 are electrically connected to the first output end of the rectifier bridge, the anode of the second diode D2 is electrically connected to the cathode of the fifth diode D5, the anode of the fifth diode D5 and the other end of the ninth capacitor C9 are electrically connected to the second output end of the rectifier bridge, respectively; the first output end and the second output end of the rectifier bridge output the rectified DC signal; The undervoltage circuit includes a first operational amplifier U4, a fifteenth resistor R15, a fifteenth capacitor C15, a thirteenth capacitor C13, a fifth resistor R5, a sixth resistor R6, a sixteenth capacitor C16, a fourteenth resistor R14, a third resistor R3, a third transistor Q3, a first MOS tube Q1, a fourth resistor R4 and a seventh resistor R7. The pin 5 of the first operational amplifier U4 is electrically connected to one end of the fifteenth resistor R15 and one end of the fifteenth capacitor C15 respectively, the other end of the fifteenth capacitor C15 is grounded, and the other end of the fifteenth resistor R15 is electrically connected to a reference voltage REF2.5; the rectified DC signal is electrically connected to one end of the third resistor R3, one end of the fifth resistor R5, one end of the thirteenth capacitor C13 and the source of the first MOS tube Q1 respectively, the other end of the thirteenth capacitor C13 is grounded, the other end of the third resistor R3 is electrically connected to the gate of the first MOS tube Q1 and the collector of the third transistor Q3 respectively, and the other end of the fifth resistor R5 is electrically connected to the first operational amplifier Pin 6 of U4, one end of the sixteenth capacitor C16 and one end of the sixth resistor R6 are electrically connected, and the other end of the sixteenth capacitor C16, the other end of the sixth resistor R6 and the emitter of the third transistor Q3 are all grounded; Pin 7 of the first operational amplifier U4 is electrically connected to one end of the fourteenth resistor R14, and the other end of the fourteenth resistor R14 is electrically connected to the base of the third transistor Q3; The drain of the first MOS tube Q1 is electrically connected to the drone unit charging port port and one end of the fourth resistor R4, and the other end of the fourth resistor R4 is electrically connected to one end of the seventh resistor R7 and the ADC0 port of the receiving end main control module, respectively, and the other end of the seventh resistor R7 is grounded; When the rectified DC signal is less than the reference voltage REF2.5, the first operational amplifier U4 outputs a high level to turn on the third transistor Q3, pull down the gate level of the first MOS tube Q1, turn off the output of the undervoltage circuit to the drone unit charging port, and return a low-level shutdown signal to the ADC0 port of the receiving end main control module.

8. A water area monitoring system based on water power supply and communication according to claim 7, characterized in that: The wireless charging module also includes a signal feedback circuit; the signal feedback circuit includes an eighth resistor R8, a MOSFET driver U3, a code generation MOS tube IRF1, a second operational amplifier U7, a third operational amplifier U8, a seventh diode D7 and an inverter U9; Pin 1 and pin 8 of the MOSFET driver U3 are electrically connected to the working power supply VCC, pin 2 of the MOSFET driver U3 is electrically connected to the CONT port of the receiving end main control module, pin 4 and pin 5 of the MOSFET driver U3 are grounded, pin 6 and pin 7 of the MOSFET driver U3 are electrically connected to the gate of the code generating MOS tube IRF1, the source of the code generating MOS tube IRF1 is electrically connected to the second output end of the rectifier bridge, the drain of the code generating MOS tube IRF1 is electrically connected to one end of the eighth resistor R8, and the other end of the eighth resistor R8 is electrically connected to the first output end of the rectifier bridge; the CONT port of the receiving end main control module sends a coding signal to the coupling element of the rectifier circuit, and the coding signal is wirelessly coupled to the output end of the DC-AC circuit; The in-phase input terminal of the second operational amplifier U7 is sequentially provided with a twenty-fifth resistor R25, a twenty-fourth resistor R24 ​​and a twenty-third resistor R23. One end of the twenty-fifth resistor R25 is electrically connected to the in-phase input terminal of the second operational amplifier U7, the other end of the twenty-fifth resistor R25 is electrically connected to one end of the twenty-fourth resistor R24, the other end of the twenty-fourth resistor R24 ​​is electrically connected to one end of the twenty-third resistor R23, and the other end of the twenty-third resistor R23 is also electrically connected to one output end of the output end of the DC-AC circuit. The inverting input terminal of the second operational amplifier U7 is respectively connected to the seventeenth resistor R One end of the 17th resistor R17 is electrically connected to one end of the 18th resistor R18, the other end of the 17th resistor R17 is grounded, the other end of the 18th resistor R18 is electrically connected to the output end of the second operational amplifier U7, the output end of the second operational amplifier U7 is also electrically connected to one end of the 21st resistor R21 and one end of the 22nd resistor R22, the other end of the 21st resistor R21 is electrically connected to one end of the 26th resistor R26 and the non-inverting input end of the third operational amplifier U8, the other end of the 26th resistor R26 is electrically connected to one end of the 28th capacitor C28, and the other end of the 28th capacitor C28 is electrically connected to one end of the 28th capacitor C28. The other end of the twenty-second resistor R22 is electrically connected to the inverting input terminal of the third operational amplifier U8, one end of the nineteenth resistor R19 and one end of the nineteenth capacitor C19, respectively, and the other end of the nineteenth resistor R19 and the other end of the nineteenth capacitor C19 are both grounded; the output end of the third operational amplifier U8 is electrically connected to one end of the twentieth resistor R20 and the anode of the seventh diode D7, respectively, the other end of the twentieth resistor R20 is electrically connected to the +5V power supply, and the seventh diode D7 is electrically connected to the ground line. The cathode of tube D7 is electrically connected to pin 1 of inverter U9 and one end of the twenty-seventh resistor R27 respectively, the other end of the twenty-seventh resistor R27 is electrically connected to pin 7 of inverter U9 and the ground wire respectively, pin 2 of inverter U9 is electrically connected to pin 3, pin 9 of inverter U9 is electrically connected to pin 10, pin 11 of inverter U9 is electrically connected to pin 12, pin 4, pin 5, pin 6, pin 8 and pin 13 of inverter U9 are all electrically connected to the transmitting end main control module, the third operational amplifier U8 and the seventh diode D7 are used to amplify the coded signal, and inverter U9 is used to parse the coded content.

9. A water area monitoring system based on water power supply and communication according to claim 5, characterized in that: The drone unit obtains its own status information and information about supervised objects in the supervised waters, wherein the own status information includes the water supervision task currently performed by the drone unit, the current position of the drone unit and the remaining power; the supervised object information in the supervised waters includes the target recognition result of the supervised waters, which is achieved by adding an entropy function to the YOLOv5 backbone network model to enhance the target clarity map, and adding a MOBILENET-SSD module to reduce the model's computational complexity.

10. A water area monitoring system based on water power supply and communication according to claim 9, characterized in that: The control terminal includes an equipment monitoring center and an environmental monitoring center; the equipment monitoring center is responsible for receiving the equipment operating parameters sent by the drone unit and the water base station, and performing remote visual display, while sending command signals to the drone unit to enable the drone unit to perform designated water area supervision tasks; the environmental monitoring center receives and displays the target image containing the supervision object information sent back by the drone unit, as well as the environmental information sent by the water base station, and outputs it, providing reference environmental information for the decision-making of the equipment monitoring center's command signals.

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