Low-altitude inspection unmanned aerial vehicle capable of flexibly and autonomously avoiding obstacles
By designing obstacle avoidance systems integrating lidar, ultrasonic sensors and vision sensors, automatic scheduling and task planning software, and intelligent diagnosis and data analysis modules, the problem of traditional drones being difficult to avoid obstacles independently and inflexible task planning in complex environments has been solved, and more efficient and accurate inspection task execution and intelligent improvement of power station inspections has been achieved.
Patent Information
- Application Number
- CN202510144501.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-10
- Publication Date
- 2025-05-23
AI Technical Summary
Traditional low-altitude patrol drones rely solely on simple obstacle avoidance sensors, making it difficult to avoid obstacles independently in complex environments, increasing the risk of flight and the possibility of accidents. At the same time, there is a lack of flexible mission planning and execution systems, resulting in the inflexible and efficient formulation and execution of inspection tasks.
A low-altitude patrol drone including a drone platform module, an automatic hangar control module and an intelligent diagnostic and data analysis module were designed. The drone platform module adopts advanced obstacle avoidance systems such as lidar, ultrasonic sensors and vision sensors. The automatic hangar management and control module realizes automatic scheduling and task planning of the drone, and the intelligent diagnosis and data analysis module conducts intelligent diagnosis and analysis of the collected data.
It achieves more accurate and reliable autonomous obstacle avoidance in complex environments, reduces flight risks, improves the execution efficiency and accuracy of inspection tasks, reduces the time for detecting equipment failures, improves the efficiency and accuracy of power station inspections, and improves the process and intelligence level of power station inspections.
Smart Images
Figure CN120029315A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of low-altitude inspection UAVs, and in particular to a low-altitude inspection UAV capable of flexibly and autonomously avoiding obstacles. Background Art
[0002] In the low-altitude inspection drone inspection system, the low-altitude inspection drone is the core equipment for performing actual inspection tasks. It is a drone specially designed for autonomous flight and inspection operations in low altitude areas. Low altitude areas usually refer to airspace close to the ground.
[0003] Traditional low-altitude inspection UAVs rely only on simple obstacle avoidance sensors, such as ultrasonic or infrared sensors, which have relatively low obstacle avoidance accuracy and reliability. In complex environments, traditional UAVs may find it difficult to autonomously avoid obstacles, increasing flight risks and the possibility of accidents. At the same time, low-altitude inspection UAVs lack flexible mission planning and execution systems, resulting in the formulation and execution of inspection tasks being inflexible and inefficient. When inspection tasks need to be adjusted, traditional UAVs require more manual intervention and re-planning.
[0004] Therefore, in view of the above-mentioned traditional low-altitude inspection UAVs that only rely on simple obstacle avoidance sensors, in complex environments, traditional UAVs may find it difficult to autonomously avoid obstacles, increasing the risk of flight and the possibility of accidents. At the same time, low-altitude inspection UAVs lack flexible task planning and execution systems, resulting in the formulation and execution of inspection tasks being not flexible and efficient enough. This low-altitude inspection UAV builds a fully automatic system that integrates UAV and automatic hangar control, scheduling and inspection, to achieve a photovoltaic power station low-altitude inspection UAV that integrates inspection plan formulation, flight mission execution, intelligent diagnosis, result display, and fault location. The use of this low-altitude inspection UAV greatly reduces the time it takes to discover equipment failures in daily inspections of photovoltaic power stations, effectively improving the efficiency and accuracy of power station inspections, reducing safety hazards to personnel operations, and improving the process and intelligence level of power station inspections. Summary of the invention
[0005] In order to overcome the problem that traditional low-altitude inspection drones only rely on simple obstacle avoidance sensors, have difficulty in autonomous obstacle avoidance in complex environments, and lack flexible mission planning and execution systems, resulting in the formulation and execution of inspection tasks being inflexible and inefficient.
[0006] The technical solution of the present invention is: a low-altitude inspection drone with flexible and autonomous obstacle avoidance, the low-altitude inspection drone includes a drone platform module; it is characterized in that it also includes an automatic hangar control module and an intelligent diagnosis and data analysis module; wherein:
[0007] The UAV platform module includes a UAV body unit, an obstacle avoidance system unit, a communication and navigation system unit, and a payload system unit as the core. The obstacle avoidance system unit, the communication and navigation system unit, and the payload system unit are connected to the flight control board through wires, data cables, or wireless methods to achieve signal transmission and control. The UAV body unit is equipped with a UAV frame, a power system, and a flight control system; the flight control system includes a flight control board and sensors; the obstacle avoidance system unit is equipped with a laser radar, an ultrasonic sensor, and a visual sensor to achieve the autonomous obstacle avoidance function of the UAV; the communication and navigation system unit is equipped with a GPS module, a wireless communication module, and an inertial navigation system to achieve precise positioning and long-distance communication of the UAV; the payload system unit is equipped with a high-definition camera, an infrared thermal imager, and a multi-spectral camera to collect inspection target data;
[0008] The automatic hangar control module includes a hangar structure unit as a carrier, an automatic dispatching system unit and a safety monitoring system unit. The automatic dispatching system unit and the safety monitoring system unit are connected to the control center in the hangar through network cables, data cables or wireless methods. The hangar structure unit is equipped with a hangar frame, a door and a charging system; the automatic dispatching system unit is equipped with drone dispatching software and task planning software for realizing automatic dispatching and task planning of drones; the safety monitoring system unit is equipped with cameras, hard disk recorders, smoke detectors and temperature sensors for monitoring the safety status in the hangar;
[0009] The intelligent diagnosis and data analysis module includes a data processing unit, an intelligent diagnosis unit and a result display unit. The data processing unit and the intelligent diagnosis unit are connected to the data center through network cables and optical fibers, and the result display unit is connected to the data center through the Internet or a local area network. The data processing unit is equipped with a high-performance server and data storage device to process the data collected by the drone; the intelligent diagnosis unit is equipped with an image recognition algorithm and a data analysis algorithm for intelligent diagnosis and analysis of the collected data; the result display unit is equipped with a web interface and a mobile APP for displaying the intelligent diagnosis results and inspection reports.
[0010] Preferably, the power system in the UAV platform module includes a motor and a propeller, the wireless communication module specifically adopts Wi-Fi or 4G / 5G, and the inertial navigation system specifically adopts INS.
[0011] Preferably, video monitoring is specifically adopted in the security monitoring system unit, and the video equipment resource information of the photovoltaic field station is displayed in a tree list format. Different users are displayed with different resource information according to their permissions. Different equipment types are displayed with different icons. Video monitoring equipment is filtered in online and offline modes. Video equipment screens are reviewed through tree navigation. Video screens are displayed in 1 / 4 / 9 / 16 / full screen mode, and the functions of closing a single screen and closing all screens are provided. In any split-screen mode, one of the screens can be displayed in full screen or exit full screen display. Multi-screen patrol and screen display are performed. When reviewing real-time video, the local monitoring terminal can manually capture pictures or manually record videos. PTZ control, preset position control, visible light video control, infrared video control, and audio control are used as control functions to query and playback historical video files.
[0012] Preferably, the security monitoring system unit includes a fault display unit that displays the current video equipment fault information, monitors the status, storage status and quality information of the camera and hard disk recorder, and determines whether the image quality meets the requirements of the photovoltaic scene patrol business.
[0013] Preferably, the security monitoring system unit uses video and drones to quickly locate and view remote video information based on the on-site configuration point information.
[0014] Preferably, the intelligent diagnosis and data analysis module also includes a patrol task display unit, which displays the currently executed patrol tasks in a list on the display screen and identifies the task status with different colors. The task can be quickly executed, paused, and stopped, and the execution progress of the current patrol task is displayed in real time. The current task includes the total number of points, the number of video equipment and drone points, and the point status. At the same time, the patrol point information of the current patrol task is displayed, and the patrol point alarm information of the current patrol task is displayed in a dynamic manner. The patrol picture can be clicked to view and partially enlarged.
[0015] As a preferred method, according to different drone airports, the patrol mission information is queried. The user double-clicks the mission information to display the point status and patrol point information of the current patrol mission. The steps for creating a patrol mission are as follows:
[0016] Step 1: Click Create Plan to create a new patrol task;
[0017] Step 2: After entering the name of the patrol mission, mission type, plan type, and drone airport information, select the previously configured route to execute. After selecting the route, the drone under this mission will perform mission patrols within the cycle according to the selected route, and the selected route can be previewed during use.
[0018] Preferably, the inspection task display unit displays the current defect records during the video or drone equipment inspection, including the misidentified sample library, missed identification sample library, and typical sample library information. The user clicks on the corresponding record for detailed query, and at the same time manually confirms the defect records during the inspection process based on the alarm information and the image information of the on-site remote screenshot.
[0019] Preferably, the patrol task display unit also includes an alarm management unit. The alarm confirmation includes equipment name, component name, point name, physical ID, defect category, alarm level, defect or abnormal image and real-time monitoring screen link. The alarm is automatically issued according to the preset equipment alarm threshold. The equipment alarm levels include general, serious, critical, etc. For critical alarms, it is necessary to notify the operation and maintenance personnel in real time. The operation and maintenance personnel can perform manual verification in real time, quickly jump to the real-time monitoring screen, check the existing information and enter feedback. The patrol results are displayed in the order of patrol point settings, including collection, threshold, screenshot, conclusion information, and manual review of the patrol results. After the inspection task is completed, the inspection report will be generated, and the abnormal points will be queried according to the airspace area, task name, equipment type, detection type, and inspection time period. The report supports resetting, exporting, and viewing. At the same time, the inspection report can be exported in word or excel mode. After the task is completed, the system will automatically export the inspection report. If there is any abnormality, the system will automatically push it to the operation and maintenance personnel. When the operation and maintenance personnel confirm the alarm, the operation and maintenance personnel will transfer the alarm information to defect processing, and the defect management function is to count and manage the records of these transferred defects.
[0020] Beneficial effects of the present invention: The low-altitude inspection UAV of the present invention integrates advanced obstacle avoidance system units such as lidar, ultrasonic sensors and visual sensors. The UAV can achieve more accurate and reliable autonomous obstacle avoidance in complex environments, which not only reduces flight risks, but also reduces the possibility of accidents, allowing the UAV to safely complete inspection tasks in various complex scenarios. The UAV scheduling software and task planning software in the automatic hangar management and control module make the task planning and execution of the UAV more flexible and efficient. The UAV can be automatically scheduled according to actual needs without excessive manual intervention and re-planning, thereby improving the execution efficiency and accuracy of the inspection tasks. The application of payload system units such as high-definition cameras, infrared thermal imagers and multi-spectral cameras enables the UAV to collect more comprehensive and accurate inspection data. At the same time, intelligent diagnosis and data The analysis module performs intelligent analysis and diagnosis on the collected data, which greatly reduces the time to discover equipment failures and improves the efficiency and accuracy of power station inspections. By building a fully automatic system that integrates drone and automatic hangar control, scheduling and inspection, the low-altitude inspection drone realizes the full process automation management from inspection plan formulation to result display, which not only improves the process and intelligence level of power station inspections, but also provides a more convenient and efficient means for the operation and maintenance management of power stations. The low-altitude inspection drone also has rich functional scalability, such as the video monitoring function, fault display function and rapid positioning and viewing of remote video information in the safety monitoring system unit; the inspection task display unit, alarm management unit and defect management function in the intelligent diagnosis and data analysis module. The application of these functions further improves the inspection capability and application value of the drone. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] Figure 1 Shown is a schematic diagram of the overall framework structure of the flexible and autonomous obstacle-avoiding low-altitude inspection drone of the present invention. DETAILED DESCRIPTION
[0022] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0023] See also Figure 1 The present invention provides an embodiment: the low-altitude inspection drone includes a drone platform module, an automatic hangar control module and an intelligent diagnosis and data analysis module, wherein:
[0024] The UAV platform module includes a UAV body unit, an obstacle avoidance system unit, a communication and navigation system unit, and a payload system unit as the core. The obstacle avoidance system unit, the communication and navigation system unit, and the payload system unit are connected to the flight control board through wires, data cables, or wireless methods to achieve signal transmission and control. The UAV body unit is equipped with a UAV frame, a power system, and a flight control system; the flight control system includes a flight control board and sensors; the obstacle avoidance system unit is equipped with a laser radar, an ultrasonic sensor, and a visual sensor to achieve the autonomous obstacle avoidance function of the UAV; the communication and navigation system unit is equipped with a GPS module, a wireless communication module, and an inertial navigation system to achieve precise positioning and long-distance communication of the UAV; the payload system unit is equipped with a high-definition camera, an infrared thermal imager, and a multi-spectral camera to collect inspection target data;
[0025] The automatic hangar control module includes a hangar structure unit as a carrier, an automatic dispatching system unit and a safety monitoring system unit. The automatic dispatching system unit and the safety monitoring system unit are connected to the control center in the hangar through network cables, data cables or wireless methods. The hangar structure unit is equipped with a hangar frame, a door and a charging system; the automatic dispatching system unit is equipped with drone dispatching software and task planning software for realizing automatic dispatching and task planning of drones; the safety monitoring system unit is equipped with cameras, hard disk recorders, smoke detectors and temperature sensors for monitoring the safety status in the hangar;
[0026] The intelligent diagnosis and data analysis module includes a data processing unit, an intelligent diagnosis unit and a result display unit. The data processing unit and the intelligent diagnosis unit are connected to the data center through network cables and optical fibers, and the result display unit is connected to the data center through the Internet or a local area network. The data processing unit is equipped with a high-performance server and data storage device to process the data collected by the drone; the intelligent diagnosis unit is equipped with an image recognition algorithm and a data analysis algorithm for intelligent diagnosis and analysis of the collected data; the result display unit is equipped with a web interface and a mobile APP for displaying the intelligent diagnosis results and inspection reports.
[0027] Example 1
[0028] The present invention provides an embodiment: the low-altitude inspection drone includes a drone platform module; characterized in that it also includes an automatic hangar control module and an intelligent diagnosis and data analysis module; wherein:
[0029] The UAV platform module includes a UAV body unit, an obstacle avoidance system unit, a communication and navigation system unit, and a payload system unit as the core. The obstacle avoidance system unit, the communication and navigation system unit, and the payload system unit are connected to the flight control board through wires, data cables, or wireless methods to achieve signal transmission and control. The UAV body unit is equipped with a UAV frame, a power system, and a flight control system; the flight control system includes a flight control board and sensors; the obstacle avoidance system unit is equipped with a laser radar, an ultrasonic sensor, and a visual sensor to achieve the autonomous obstacle avoidance function of the UAV; the communication and navigation system unit is equipped with a GPS module, a wireless communication module, and an inertial navigation system to achieve precise positioning and long-distance communication of the UAV; the payload system unit is equipped with a high-definition camera, an infrared thermal imager, and a multi-spectral camera to collect inspection target data;
[0030] The automatic hangar control module includes a hangar structure unit as a carrier, an automatic dispatching system unit and a safety monitoring system unit. The automatic dispatching system unit and the safety monitoring system unit are connected to the control center in the hangar through network cables, data cables or wireless methods. The hangar structure unit is equipped with a hangar frame, a door and a charging system; the automatic dispatching system unit is equipped with drone dispatching software and task planning software for realizing automatic dispatching and task planning of drones; the safety monitoring system unit is equipped with cameras, hard disk recorders, smoke detectors and temperature sensors for monitoring the safety status in the hangar;
[0031] The intelligent diagnosis and data analysis module includes a data processing unit, an intelligent diagnosis unit and a result display unit. The data processing unit and the intelligent diagnosis unit are connected to the data center through network cables and optical fibers, and the result display unit is connected to the data center through the Internet or a local area network. The data processing unit is equipped with a high-performance server and data storage device to process the data collected by the drone; the intelligent diagnosis unit is equipped with an image recognition algorithm and a data analysis algorithm for intelligent diagnosis and analysis of the collected data; the result display unit is equipped with a web interface and a mobile APP for displaying the intelligent diagnosis results and inspection reports.
[0032] The power system in the drone platform module includes motors and propellers, the wireless communication module specifically uses Wi-Fi or 4G / 5G, and the inertial navigation system specifically uses INS.
[0033] The security monitoring system unit specifically adopts video monitoring, and displays the video equipment resource information of the photovoltaic field station in a tree list. Different users display different resource information according to their permissions, use different icons to display different equipment types, filter video monitoring equipment in online and offline modes, and access video equipment screens through tree navigation. Video screens are displayed in 1 / 4 / 9 / 16 / full screen mode, and the functions of closing a single screen and closing all screens are provided. In any split-screen mode, one of the screens can be displayed in full screen or exit full screen display, multi-screen patrol and screen display, and local monitoring terminals can be manually captured or recorded when accessing real-time video. PTZ control, preset position control, visible light video control, infrared video control, and audio control are used as control functions to query and playback historical video files; the security monitoring system unit includes a fault display unit that displays the current video equipment fault information, monitors the status, storage status and quality information of cameras and hard disk recorders, and determines whether the image quality meets the requirements of photovoltaic scene patrol business; the security monitoring system unit uses video and drones to quickly locate and view remote video information based on the configuration point information on site.
[0034] The intelligent diagnosis and data analysis module also includes a patrol task display unit, which displays the currently executed patrol tasks in a list on the display screen and identifies the task status with different colors. The task can be quickly executed, paused, and stopped. The progress of the current patrol task is displayed in real time. The current task includes the total number of points, the number of video equipment and drone points, and the point status. At the same time, the patrol point information of the current patrol task is displayed, and the patrol point alarm information of the current patrol task is displayed in a dynamic manner. The patrol picture can be clicked to view and partially enlarged.
[0035] According to different drone airports, the patrol mission information can be queried. Users can double-click the mission information to display the point status and patrol point information of the current patrol mission. The steps for creating a patrol mission are as follows:
[0036] Step 1: Click Create Plan to create a new patrol task;
[0037] Step 2: After entering the name of the patrol mission, mission type, plan type, and drone airport information, select the previously configured route to execute. After selecting the route, the drone under this mission will perform mission patrols within the cycle according to the selected route, and the selected route can be previewed during use.
[0038] The patrol task display unit displays the current defect records during the video or drone equipment patrol, including the misidentification sample library, missed identification sample library, and typical sample library information. The user clicks on the corresponding record for detailed query, and at the same time, based on this alarm information, combined with the image information of the on-site remote screenshot, manually confirms the defect records during the patrol process. The patrol task display unit also includes an alarm management unit. The alarm confirmation includes the equipment name, component name, point name, physical ID, defect category, alarm level, defect or abnormal image and real-time monitoring screen link. It automatically alarms according to the preset equipment alarm threshold. The equipment alarm levels include general, serious, critical, etc. For critical alarms, the operation and maintenance personnel need to be notified in real time. The operation and maintenance personnel can conduct manual verification in real time, quickly jump to the real-time monitoring screen, and check the existing information. And input feedback; the inspection results are displayed in the order of the inspection point settings, including collection, threshold, screenshot, conclusion information, and manual review and correction of the inspection results. The original conclusion and correction value are retained, and the reviewer and time are saved. After the inspection task is completed, an inspection report is generated, and for abnormal points, it is queried according to the airspace area, task name, equipment type, detection type, and inspection time period combination conditions. The report supports reset, export, and viewing. At the same time, the inspection report can be exported in word or excel mode. After the task is completed, the system will automatically export the inspection report. If there is an abnormality, the system will automatically push it to the operation and maintenance personnel. When the operation and maintenance personnel confirm the alarm, the operation and maintenance personnel will transfer the alarm information to defect processing, and the defect management function is to count and manage the records of these transferred defects;
[0039] The specific process of 3D modeling of photovoltaic stations is as follows:
[0040] Step 1: Set flight parameters;
[0041] Step 2: The drone automatically collects base map data according to the selected area;
[0042] Step 3: Upload base map data to the network disk;
[0043] Step 4: Use DJI Terra to build a model;
[0044] Step 5: Export the model, including the panoramic base map and terrain data;
[0045] Step 6: Upload the model data to the network disk.
[0046] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of those skilled in the art without departing from the spirit of the present invention.
Claims
1. A low-altitude inspection drone with flexible and autonomous obstacle avoidance, the low-altitude inspection drone includes a drone platform module; characterized in that: It also includes an automatic hangar control module and an intelligent diagnosis and data analysis module; among which: The UAV platform module includes a UAV body unit, an obstacle avoidance system unit, a communication and navigation system unit, and a payload system unit as the core. The obstacle avoidance system unit, the communication and navigation system unit, and the payload system unit are connected to the flight control board through wires, data cables, or wireless methods to achieve signal transmission and control. The UAV body unit is equipped with a UAV frame, a power system, and a flight control system; the flight control system includes a flight control board and sensors; the obstacle avoidance system unit is equipped with a laser radar, an ultrasonic sensor, and a visual sensor to achieve the autonomous obstacle avoidance function of the UAV; the communication and navigation system unit is equipped with a GPS module, a wireless communication module, and an inertial navigation system to achieve precise positioning and long-distance communication of the UAV; the payload system unit is equipped with a high-definition camera, an infrared thermal imager, and a multi-spectral camera to collect inspection target data; The automatic hangar control module includes a hangar structure unit as a carrier, an automatic dispatching system unit and a safety monitoring system unit. The automatic dispatching system unit and the safety monitoring system unit are connected to the control center in the hangar through network cables, data cables or wireless methods. The hangar structure unit is equipped with a hangar frame, a door and a charging system; the automatic dispatching system unit is equipped with drone dispatching software and task planning software for realizing automatic dispatching and task planning of drones; the safety monitoring system unit is equipped with cameras, hard disk recorders, smoke detectors and temperature sensors for monitoring the safety status in the hangar; The intelligent diagnosis and data analysis module includes a data processing unit, an intelligent diagnosis unit and a result display unit. The data processing unit and the intelligent diagnosis unit are connected to the data center through network cables and optical fibers, and the result display unit is connected to the data center through the Internet or a local area network. The data processing unit is equipped with a high-performance server and data storage device to process the data collected by the drone; the intelligent diagnosis unit is equipped with an image recognition algorithm and a data analysis algorithm for intelligent diagnosis and analysis of the collected data; the result display unit is equipped with a web interface and a mobile APP for displaying the intelligent diagnosis results and inspection reports.
2. The flexible and autonomous obstacle-avoiding low-altitude inspection drone according to claim 1 is characterized by: The power system in the drone platform module includes motors and propellers, the wireless communication module specifically uses Wi-Fi or 4G / 5G, and the inertial navigation system specifically uses INS.
3. The flexible and autonomous obstacle-avoiding low-altitude inspection drone according to claim 1 is characterized in that: The security monitoring system unit specifically uses video monitoring, which displays the video equipment resource information of the photovoltaic field station in a tree list format. Different users display different resource information according to their permissions, use different icons to display different equipment types, filter video monitoring equipment in online and offline modes, and access video equipment screens through tree navigation. Video screens are displayed in 1 / 4 / 9 / 16 / full screen mode, and provide functions of closing a single screen and closing all screens. In any split-screen mode, one of the screens can be displayed in full screen or exit full screen display, multi-screen patrol and screen display, and local monitoring terminals can manually capture or manually record when accessing real-time video. PTZ control, preset position control, visible light video control, infrared video control, and audio control are used as control functions to query and playback historical video files.
4. The flexible and autonomous obstacle-avoiding low-altitude inspection drone according to claim 1 is characterized in that: The security monitoring system unit includes a fault display unit that displays the current video equipment fault information, monitors the status, storage status and quality information of the camera and hard disk recorder, and determines whether the image quality meets the requirements of the photovoltaic scene patrol business.
5. The flexible and autonomous obstacle-avoiding low-altitude inspection drone according to claim 1 is characterized in that: The security monitoring system unit uses video and drones to quickly locate and view remote video information based on the on-site configuration point information.
6. The flexible and autonomous obstacle-avoiding low-altitude inspection drone according to claim 1 is characterized by: The intelligent diagnosis and data analysis module also includes a patrol task display unit, which displays the currently executed patrol tasks in a list on the display screen and identifies the task status with different colors. The task can be quickly executed, paused, and stopped. The progress of the current patrol task is displayed in real time. The current task includes the total number of points, the number of video equipment and drone points, and the point status. At the same time, the patrol point information of the current patrol task is displayed, and the patrol point alarm information of the current patrol task is displayed in a dynamic manner. The patrol picture can be clicked to view and partially enlarged.
7. The flexible and autonomous obstacle-avoiding low-altitude inspection drone according to claim 6 is characterized by: According to different drone airports, the patrol mission information can be queried. Users can double-click the mission information to display the point status and patrol point information of the current patrol mission. The steps for creating a patrol mission are as follows: Step 1: Click Create Plan to create a new patrol task; Step 2: After entering the name of the patrol mission, mission type, plan type, and drone airport information, select the previously configured route to execute. After selecting the route, the drone under this mission will perform mission patrols within the cycle according to the selected route, and the selected route can be previewed during use.
8. The flexible and autonomous obstacle-avoiding low-altitude inspection drone according to claim 6 is characterized by: The patrol task display unit displays the current defect records during the video or drone equipment patrol, including the misidentified sample library, missed identification sample library, and typical sample library information. The user clicks on the corresponding record for detailed query. At the same time, based on this alarm information and the image information of the on-site remote screenshot, the user can manually confirm the defect records during the patrol process.
9. The flexible and autonomous obstacle-avoiding low-altitude inspection drone according to claim 6 is characterized by: The patrol task display unit also includes an alarm management unit. Alarm confirmation includes equipment name, component name, point name, physical ID, defect category, alarm level, defect or abnormal image and real-time monitoring screen link. Automatic alarm is given according to the preset equipment alarm threshold. Equipment alarm levels include general, serious, critical, etc. For critical alarms, operation and maintenance personnel need to be notified in real time. Operation and maintenance personnel can conduct manual verification in real time, quickly jump to the real-time monitoring screen, check existing information and enter feedback. The patrol results are displayed in the order of patrol point settings, including collection, threshold, screenshot, and conclusion information. The patrol results are manually reviewed and revised, the original conclusions and correction values are retained, and the reviewer and time are saved. After the patrol task is completed, a patrol report is generated. For abnormal points, the report is queried based on the airspace area, task name, equipment type, detection type, and patrol time period combination conditions. The report supports reset, export, and viewing.
10. The flexible and autonomous obstacle-avoiding low-altitude inspection drone according to claim 9 is characterized in that: Inspection reports can be exported in word or excel formats. After the task is completed, the system will automatically export the inspection report. If there is any abnormality, the system will automatically push it to the operation and maintenance personnel. When the operation and maintenance personnel confirm the alarm, the operation and maintenance personnel will transfer the alarm information to defect processing. The defect management function is to count and manage the records of these transferred defects.