Mobile base station and unmanned aerial vehicle cooperative monitoring system and method

Abstract

The invention provides a mobile base station and unmanned aerial vehicle cooperative monitoring system and method, relates to the technical field of unmanned aerial vehicles, and aims to solve the problems that an existing unmanned aerial vehicle monitoring system is low in single unmanned aerial vehicle operation efficiency and cannot meet the requirement for simultaneous execution of multiple tasks, and a traditional monitoring base station is limited in coverage range. And the method is difficult to adapt to complex construction environments or large-range monitoring scenes. The system comprises a moving and carrying module, a positioning detection module, a data acquisition module, a data processing module and the like, high-precision positioning, rotary multi-position parking apron and multi-task unmanned aerial vehicle cooperative work capability are integrated, the unmanned aerial vehicle has task synchronous execution capability, a base station has autonomous moving capability, and the system is suitable for complex terrains and high-precision unmanned aerial vehicles. And an environment monitoring module and a solar charging system are integrated, so that the long-term operation capability is enhanced. Through hardware integration innovation, the cooperative operation efficiency of the multiple unmanned aerial vehicles is improved, efficient linkage of the base station and the unmanned aerial vehicles is achieved, and the intelligent level of environment monitoring and construction management is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a cooperative monitoring system and method for a mobile base station and an unmanned aerial vehicle. Background Art

[0002] The statements in this part only provide background technical information related to the present invention and do not necessarily constitute prior art.

[0003] With the rapid development of unmanned aerial vehicle technology, its applications in the fields of environmental monitoring, construction surveying, and safety inspection are becoming increasingly widespread. An unmanned aerial vehicle base station is a platform for the takeoff and landing of unmanned aerial vehicles. After an unmanned aerial vehicle accurately lands on the unmanned aerial vehicle base station, operations such as storage and charging can be carried out.

[0004] However, the existing unmanned aerial vehicle monitoring systems still have many limitations, mainly manifested in the low operation efficiency of a single unmanned aerial vehicle, the single function of sensors. When facing multi-task requirements, it is necessary to frequently replace sensors or repeat flights, resulting in limited overall operation efficiency and being unable to meet the simultaneous execution of multi-tasks or multi-scenarios. In addition, the coverage range of traditional fixed monitoring base stations is limited, and it is difficult to adapt to complex construction environments or large-scale monitoring scenarios, further restricting the application potential of unmanned aerial vehicles in the field of intelligent construction. Summary of the Invention

[0005] To overcome the deficiencies of the above-mentioned prior art, the present invention provides a cooperative monitoring system and method for a mobile base station and an unmanned aerial vehicle. The system integrates high-precision positioning, a rotary multi-position apron, and the cooperative working ability of multi-task unmanned aerial vehicles, and can achieve efficient data collection and operation scheduling in complex environments, improve the cooperative operation efficiency of multiple unmanned aerial vehicles, realize the efficient linkage between the base station and the unmanned aerial vehicle, and enhance the intelligent level of environmental monitoring and construction management.

[0006] To achieve the above object, one or more embodiments of the present invention provide the following technical solutions:

[0007] In a first aspect, a cooperative monitoring system for a mobile base station and an unmanned aerial vehicle is disclosed, including:

[0008] a movement and carrying module, a positioning and detection module, a data collection module, and a data processing module;

[0009] The movement and carrying module is used for the movement of the mobile base station and the carrying of unmanned aerial vehicles; wherein, the movement and carrying module includes a rotary apron, the rotary apron is installed inside the housing of the mobile base station and is used for the parking and charging of multiple unmanned aerial vehicles; the rotary apron is provided with a clamping device for fixing the unmanned aerial vehicle on the rotary apron;

[0010] The positioning and detection module is used for mutual positioning between the mobile base station and the drone, and transmits the positioning information to the data processing module;

[0011] The data acquisition module is used for detecting dust concentration, noise decibels and collecting image data, and transmits the detected data and the collected data to the data processing module;

[0012] The data processing module includes a central dispatching platform, which is used for task allocation, location management and data transmission of multiple base stations and multiple drones.

[0013] As a further technical solution, it further includes a display and control module;

[0014] The display and control module is used for real-time displaying the data received by the central dispatching platform and operation feedback;

[0015] The display and control module includes a display screen, control panel buttons, and a voice broadcast module. Among them, the voice broadcast module is used for real-time broadcasting of monitoring data and alarm information.

[0016] As a further technical solution, it further includes an energy storage module;

[0017] The energy storage module includes a photovoltaic power generation device and a backup battery pack;

[0018] The photovoltaic power generation device collects solar energy by arranging a plurality of photovoltaic panels around the shell of the mobile base station;

[0019] The backup battery pack is used to supply power to the mobile base station at night and on cloudy days.

[0020] As a further technical solution, the rotary helipad is a triangular prism rotary helipad or a hexagonal prism rotary helipad. A plurality of landing platforms are arranged around the rotation axis and have a plurality of landing positions;

[0021] The rotary helipad is driven by a rotary power assembly to adjust the helipad to a specified position.

[0022] As a further technical solution, the rotary power assembly includes a stepper motor, a worm gear and a worm;

[0023] The stepper motor drives the worm gear to rotate through the worm, driving the helipad to rotate.

[0024] As a further technical solution, the positioning and detection module includes an RTK positioning module, a UWB positioning module, a lidar, a vision sensor and a drone vision sensor;

[0025] The RTK positioning module is installed on the mobile base station and the drone, and is used to obtain the positions of the mobile base station and the drone in real time;

[0026] The UWB positioning module is installed on the base station and is used for positioning the mobile base station in an environment with dense buildings.

[0027] The lidar and vision sensor are used for the docking and positioning of the drone and the mobile base station.

[0028] As a further technical solution, the data acquisition module includes a dust detection sensor, a noise detection sensor, a camera, and a drone data acquisition module.

[0029] The dust detection sensor is installed on the top of the mobile base station and rotates 360 degrees to be used for real-time monitoring of the dust concentration in the environment.

[0030] The noise detection sensor is installed around the mobile base station and is used for real-time monitoring of the noise level in the environment.

[0031] The drone data acquisition module is installed on the top of the drone, and different functional data acquisition modules are replaced according to different monitoring tasks.

[0032] As a further technical solution, the central dispatching platform is connected and communicates with the mobile and carrying module, the positioning and detection module, and the data acquisition module through the 5G network respectively.

[0033] As a further technical solution, during the landing of the drone, the mobile base station automatically opens the hatch cover. The rotary apron rotates the idle parking position to the designated position through the rotary power assembly and unfolds the clamping device; when the drone approaches the mobile base station, the vision sensor and lidar locate the specific position of the apron and transmit it to the central dispatching platform in real time; the central dispatching platform adjusts the landing path of the drone according to the received data; after the drone lands, it is fixed on the mobile base station through the groove between the drone bracket and the clamping device.

[0034] In the second aspect of the present invention, a method for collaborative monitoring of a mobile base station and a drone is disclosed, including:

[0035] The central dispatching platform plans the travel routes of the drone and the mobile base station according to the task requirements.

[0036] The mobile base station autonomously moves to the designated monitoring area through the crawler platform according to the preset path.

[0037] The environmental data is detected by the data acquisition module and transmitted to the central dispatching platform.

[0038] The positions of the mobile base station and the drone are detected in real time by the positioning and detection module and transmitted to the central dispatching platform.

[0039] The mobile base station unfolds the clamping device on the rotary helipad according to the environmental data. After the UAV takes off at this parking position, the rotary power component rotates another parking position carrying the UAV to this position;

[0040] The UAV is equipped with different data acquisition modules according to the mission requirements, takes off according to the planned path, executes specific monitoring tasks, collects environmental data in real time after reaching the designated monitoring position, and transmits it to the central dispatching platform in real time;

[0041] After the UAV finishes its mission, the dispatching platform plans the return path of the UAV according to the environmental data and location information;

[0042] During the landing of the UAV, the mobile base station rotates the idle parking position to the designated position through the rotary power component of the rotary helipad and unfolds the clamping device;

[0043] When the UAV approaches the mobile base station, the central dispatching platform plans the landing path of the UAV according to the received data;

[0044] After the UAV lands, it is fixed on the mobile base station through the groove between the UAV bracket and the clamping device.

[0045] One or more of the above technical solutions have the following beneficial effects:

[0046] In this embodiment, a collaborative system of a mobile base station and a UAV is provided. Through the design of a rotary multi-position helipad, it supports the sequential parking, precise docking and stable charging of multiple UAVs, reduces the waiting time of the UAV during the mission execution process, improves the mission switching efficiency, can carry multiple independent UAVs according to requirements and work collaboratively, can cover real-time monitoring of a wider area, and is applicable to various complex scenarios such as complex terrains.

[0047] In this embodiment, through the integrated RTK (Real-Time Kinematic) and UWB (Ultra-Wideband) modules, it ensures that the UAV can achieve centimeter-level navigation and precise landing in complex environments. Even in complex environments with dense surrounding buildings on the ground, it can determine the precise position of the mobile base station, significantly improving the stability and automation of the operation.

[0048] In this embodiment, different UAVs can be equipped with the same or different sensors, and can carry out various monitoring tasks simultaneously, or jointly form a UAV group to complete the mission collaboratively. This collaborative working system can significantly expand the application scenarios of UAV monitoring and increase the real-time and comprehensiveness of data collection.

[0049] In this embodiment, the mobile base station adopts a crawler platform design, has the ability to move in complex terrains, can serve as a positioning base station itself, calculates the current positions of multiple drones through a high-precision positioning system, and can optimize the execution path and strategy according to the current positions of the drones and intelligent algorithms, improving work efficiency; it is equipped with an intelligent obstacle avoidance system to ensure the safety of the mobile base station in complex working environments.

[0050] In this embodiment, through hardware integration innovation, the autonomy, collaborative ability and environmental adaptability of drone operations are effectively improved, realizing the efficient linkage between the base station and the drones, and providing a highly efficient, flexible and more automated technical solution for intelligent construction, environmental monitoring and construction management.

[0051] In this embodiment, the mobile base station uses photovoltaic charging, reducing energy consumption and usage costs, and helping to reduce carbon emissions.

[0052] Advantages of additional aspects of the present invention will be partly given in the following description, partly will become obvious from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The accompanying drawings forming a part of this specification are used to provide a further understanding of the present invention. The schematic embodiments and descriptions thereof of the present invention are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0054] Figure 1 It is a schematic structural framework diagram of a mobile base station and drone collaborative monitoring system for Embodiment 1;

[0055] Figure 2 It is a left front view of the mobile base station for Embodiment 1;

[0056] Figure 3 It is a right front view of the mobile base station for Embodiment 1;

[0057] Figure 4 It is a left rear view of the mobile base station for Embodiment 1;

[0058] Figure 5 It is a right rear view of the mobile base station for Embodiment 1;

[0059] Figure 6 It is a front view of the mobile base station for Embodiment 1;

[0060] Figure 7 It is a sectional view of the mobile base station for Embodiment 1;

[0061] Figure 8 It is a left front view of the rotary helipad for Embodiment 1;

[0062] Figure 9 Right front view of the rotary helipad in the first embodiment;

[0063] Figure 10 View of the rotary helipad in the first embodiment carrying a drone;

[0064] Figure 11 Schematic diagram of the clamping device fixing the drone in the first embodiment;

[0065] Figure 12 Schematic diagram of the push rod of the clamping device and the fixing of the drone bracket in the first embodiment;

[0066] Figure 13 Front view of the drone in the first embodiment;

[0067] Figure 14 Rear view of the drone in the first embodiment;

[0068] Figure 15 Bottom view of the drone in the first embodiment;

[0069] Figure 16 Hexagonal prism rotary helipad in the first embodiment;

[0070] Among them, Ⅰ-1, crawler platform; Ⅰ-2, rotary helipad; Ⅰ-3, rotary power assembly; Ⅰ-3(1), stepper motor; Ⅰ-3(2), worm gear; Ⅰ-3(3), worm; Ⅰ-4, lidar; Ⅰ-5, drone; Ⅰ-5(1), drone bracket; Ⅰ-6, clamping device; Ⅰ-6(1) clamping device slide rail; Ⅱ-1, dust detection sensor; Ⅱ-1(1), drone data acquisition module; Ⅱ-2, noise detection sensor; Ⅱ-3, camera; Ⅲ-1, RTK positioning module; Ⅲ-2, UWB positioning module; Ⅲ-3, vision sensor; Ⅲ-3(1), drone vision sensor; Ⅳ-1, display screen; Ⅳ-2, control panel button; Ⅳ-3, speaker; Ⅳ-3(1), drone voice broadcast module; Ⅴ-1, photovoltaic panel; Ⅴ-2(1), magnetic charging device; Ⅴ-2(2), drone magnetic charging interface. Detailed implementation manners

[0071] It should be noted that the following detailed descriptions are all exemplary and are intended to provide further explanations of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs.

[0072] It should be noted that the terms used herein are only for describing specific implementation manners and are not intended to limit the exemplary implementation manners according to the present invention.

[0073] Without conflict, the embodiments in the present invention and the features in the embodiments may be combined with each other.

[0074] Embodiment 1

[0075] This embodiment discloses a cooperative monitoring system of a mobile base station and an unmanned aerial vehicle, including:

[0076] A mobile and carrying module, a positioning and detection module, a data acquisition module, and a data processing module;

[0077] The mobile and carrying module is used for the movement of the mobile base station and the carrying of the unmanned aerial vehicle; wherein, the mobile and carrying module includes a rotary helipad, and the rotary helipad is installed in the mobile base station housing for the parking and charging of multiple unmanned aerial vehicles; the rotary helipad is provided with a clamping device for fixing the unmanned aerial vehicle on the rotary helipad;

[0078] The positioning and detection module is used for mutual positioning between the mobile base station and the unmanned aerial vehicle, and transmitting the positioning information to the data processing module;

[0079] The data acquisition module is used for detecting the dust concentration, noise decibels and collecting image data, and transmitting the detected data and the collected data to the data processing module;

[0080] The data processing module includes a central dispatching platform for task allocation, location management and data transmission of multiple base stations and multiple unmanned aerial vehicles.

[0081] In this embodiment, first of all, through the design of a rotary multi-position helipad, it supports the sequential parking, precise docking and stable charging of multiple unmanned aerial vehicles, reduces the waiting time of the unmanned aerial vehicle during the task execution process, and improves the task switching efficiency. By adopting an RTK high-precision positioning system, it ensures that the unmanned aerial vehicle can achieve centimeter-level navigation and precise landing in a complex environment, significantly improving the stability and automation of the operation. The mobile base station in this system is also equipped with a UWB module. The positioning signal emitted by this UWB technology has strong penetration. Even in a complex environment with dense surrounding buildings on the ground, the base station can still achieve high-precision positioning with the help of this UWB module. In addition, the system has the ability to synchronously execute multiple tasks for unmanned aerial vehicles. Different unmanned aerial vehicles can carry replaceable modules and simultaneously execute tasks such as environmental monitoring, safety inspection, building modeling and construction surveying, without the need to frequently replace sensors or perform repeated flights, thus greatly improving the overall operation efficiency.

[0082] Secondly, this system demonstrates significant advantages in actual application scenarios. For example, in building modeling tasks, multiple drones can synchronously collect multi-dimensional data around multiple buildings to achieve efficient and accurate 3D modeling. Compared with the traditional single-aircraft operation mode, not only can multiple buildings be modeled simultaneously, but also the modeling speed of a single building can be accelerated, providing strong support for building design optimization, construction quality assessment, and project progress management. In the field of environmental monitoring, drones can synchronously collect dust concentration, gas composition, temperature, and humidity data at different altitudes, or monitor the diffusion direction and speed of pollutants at the same altitude to accurately grasp the spatio-temporal dynamic changes of environmental pollutants. Compared with fixed monitoring stations, this system greatly improves the monitoring accuracy and spatial coverage. In the aspect of construction site safety monitoring, multiple drones can conduct comprehensive inspections of the construction area from different angles respectively, collect images using visual sensors, and combine with the YOLO deep learning algorithm for real-time image recognition to quickly detect problems such as high-altitude operation safety hazards, illegal placement of equipment, and personnel not wearing safety equipment. Through real-time video transmission and intelligent analysis, the timeliness and accuracy of construction safety management are improved. For construction surveying work, drones can quickly obtain the terrain, elevation, and key structural parameters of the construction site with high-precision lidar and surveying modules, effectively assisting the precise planning and dynamic adjustment of the construction process.

[0083] In addition, the mobile base station breaks through the limitations of traditional fixed base stations, further enhancing the flexibility and applicability of the system. The base station has the ability of autonomous movement, can adapt to complex construction sites and different environmental requirements, and integrates an environmental monitoring module, which can collect air quality, noise, and other environmental parameters in real time, providing data support for construction safety management and environmental protection. At the same time, the base station is equipped with a solar charging system, which can effectively improve the system's battery life and reduce the dependence on external power sources, enabling it to operate stably in remote or power-constrained areas.

[0084] In this embodiment, as Figure 1-15 shown, the components of this system include a mobile and carrying module (I), a data collection module (II), a positioning and detection module (III), a display and control module (IV), an energy storage module (V), and a data processing module (VI).

[0085] In this embodiment, the mobile and carrying module is used for the normal movement of the mobile base station (Ⅰ-1) and the carrying of drones (Ⅰ-5). Its main components are a crawler platform (Ⅰ-1), a rotary helipad (Ⅰ-2), a rotary power component (Ⅰ-3), a lidar (Ⅰ-4), and an obstacle avoidance module.

[0086] The crawler platform (Ⅰ-1) is the mobile foundation of the mobile base station. With a crawler design, it can adapt to various complex terrains, including rough construction site roads. The crawler platform (Ⅰ-1) is equipped with an efficient drive motor to ensure the stable movement of the base station in different environments.

[0087] The rotary helipad (Ⅰ-2) is installed inside the base station housing and is used for the parking and charging of multiple drones. The helipad is designed with multiple positions and can rotate to each parking position in sequence to support the sequential parking and charging of multiple drones.

[0088] As Figure 8 、 Figure 9 shown, in this embodiment, the rotary helipad is provided with a clamping device (Ⅰ-6), a clamping device slide rail (Ⅰ-6(1)), a rotary power assembly (Ⅰ-3)), and a magnetic charging device (Ⅴ-2(1)).

[0089] As Figure 9 、 Figure 11 、 Figure 12 shown, in this embodiment, the four-bar clamping device (Ⅰ-6) includes four push rods and a clamping device slide rail (Ⅰ-6(1)). The drone is pushed to the charging interface position by the four push rods and fixed by the groove between the drone bracket (Ⅰ-5(1)) and the clamping device (Ⅰ-6).

[0090] As Figure 7-11 shown, the rotary helipad is a triangular prism rotary helipad or a hexagonal prism rotary helipad. Multiple parking platforms are arranged around the rotation axis, with multiple parking positions.

[0091] Among them, as Figure 16 shown, more polygon parking positions can be designed according to requirements. Using a hexagonal prism rotary helipad, the helipad provides more drone parking positions, thus being able to meet the task scenarios that require more positions.

[0092] It can also be designed with polygons such as heptagonal prisms and octagonal prisms. Even according to the requirements of specific application scenarios, a helipad of any polygon can be designed. This design makes the mobile base station more flexible in terms of the number of helipads and can provide takeoff, landing, charging and other services for more drones at the same time. More parking positions mean that more drones can perform tasks simultaneously, thus improving the task execution efficiency.

[0093] The rotary helipad is driven by a rotary power assembly to adjust the helipad to the specified position.

[0094] The rotary power assembly (Ⅰ-3) includes a motor (Ⅰ-3(1)), a worm gear (Ⅰ-3(2)) and a worm (Ⅰ-3(3)). The motor drives the worm gear to rotate through the worm, thereby driving the helipad to rotate. This design can not only achieve precise rotation control, but also ensure the stability of the helipad during rotation.

[0095] Inside the movable base station housing of this system, there is a rotary helipad, which supports multiple drones to park in sequence. Multiple parking platforms are arranged around the rotation axis and are driven by a power assembly. The power assembly includes a motor and a worm connected to the motor. A worm gear that cooperates with the worm is provided on the rotary helipad, which can sequentially rotate to each drone docking position, support multiple drones to dock in sequence, enabling the drones to take off and land quickly, improving the operation efficiency and saving space.

[0096] The lidar (Ⅰ-4) is installed around the base station and is used to detect obstacles in the surrounding environment of the base station in real time. The lidar can provide a high-precision three-dimensional environmental map to help the base station perform path planning and obstacle avoidance.

[0097] The obstacle avoidance module detects environmental obstacles in real time through the lidar (Ⅰ-4) and the vision sensor (Ⅲ-3), generates an environmental map, and plans a safe movement path.

[0098] In this embodiment, the positioning and detection module includes an RTK positioning module, a UWB positioning module, a lidar, a vision sensor and a drone vision sensor. The positioning and detection module is used for mutual positioning between the movable base station and the drone, and for precisely positioning the movable base station and the drone.

[0099] The RTK positioning module (Ⅲ-1) is installed on the base station and the drone, providing high-precision positioning at the centimeter level. The RTK module receives satellite signals and differential signals from the base station to ensure that the drone can maintain a precise flight path in a complex environment, achieving precise docking and autonomous flight.

[0100] The UWB positioning module (Ⅲ-2) is installed on the base station and is used to achieve high-precision positioning in a complex environment where there are dense buildings around the ground. The positioning signal emitted by the UWB module has strong penetration, and can ensure the precise positioning of the base station even in a complex environment.

[0101] The precise position of the movable base station is determined through the integrated RTK (Real-Time Kinematic) and UWB (Ultra-Wideband) modules, thereby determining the precise positions of the noise and dust.

[0102] The visual sensor (Ⅲ-3) and the UAV visual sensor (Ⅲ-3(1)) are respectively installed on the base station and the UAV, and are used for environmental perception and obstacle detection. The visual sensor can collect image information in real time, identify obstacles, buildings and other important features through image recognition algorithms, generate an environmental map, and provide support for the autonomous flight of the UAV.

[0103] In this embodiment, the data acquisition module includes a dust detection sensor, a noise detection sensor, a camera, and a UAV data acquisition module.

[0104] The dust detection sensor (Ⅱ-1) is installed on the top of the base station and can rotate 360 degrees, and is used for real-time monitoring of the dust concentration in the environment.

[0105] The noise detection sensor (Ⅱ-2) is installed around the base station and is used for real-time monitoring of the noise level in the environment. The noise detection sensor (Ⅱ-2) can detect noises from different directions to ensure the comprehensiveness and accuracy of the data.

[0106] The camera (Ⅱ-3) is installed on the base station and the UAV, and is used for real-time acquisition of image data. The camera can be remotely controlled to adjust the shooting angle and focal length so as to obtain more detailed image information. These image data are transmitted to the central dispatching platform (Ⅵ) in real time through the 5G network for environmental monitoring and security inspection.

[0107] The UAV data acquisition module (Ⅱ-1(1)) is installed on the top of the UAV and can replace different functional data acquisition modules according to different monitoring tasks. For example, when dust monitoring is required, the UAV data acquisition module is replaced with a dust detection sensor. The collected data are transmitted to the central dispatching platform (Ⅵ) in real time through the 5G network for further analysis and processing.

[0108] In this embodiment, the data processing module includes a central dispatching platform, which is used for real-time data monitoring and analysis, data integration and optimization, environmental warning system, data transmission and sharing tasks, noise detection sensor scheduling and management, long-term data analysis and reporting, and the main component is a computer.

[0109] The main component of the data processing module (Ⅵ) is a high-performance computer, which is used for real-time data monitoring and analysis, data integration and optimization, environmental warning system, data transmission and sharing tasks, noise detection sensor scheduling and management, long-term data analysis and reporting. The computer receives data from the base station and the UAV through the 5G network, conducts systematic sorting and in-depth analysis, generates monitoring reports, and provides strong support for construction safety management, environmental assessment and project management.

[0110] The central dispatching platform is used for task allocation, location management and data transmission of multiple base stations and multiple UAVs.

[0111] In this embodiment, the display and control module is used for real-time data display and operation feedback, and mainly consists of a display screen (Ⅳ-1), a control panel button (Ⅳ-2), and a voice broadcast module (Ⅳ-3).

[0112] The display screen (Ⅳ-1) is installed on the operation panel of the base station and is used for real-time display of monitoring data and environmental information. The display screen (Ⅳ-1) can display dust concentration, noise level, image data, etc., enabling operators to intuitively understand the on-site situation.

[0113] The control panel button (Ⅳ-2) is used for operators to perform manual control and settings. Operators can adjust the operating parameters of the base station and the drone through the control panel button, such as moving speed, flight altitude, etc.

[0114] The voice broadcast module (Ⅳ-3) is used for real-time broadcast of monitoring data and alarm information. When the monitoring data is abnormal or a fault occurs, the voice broadcast module can issue an alarm in a timely manner to remind the operator to take measures.

[0115] In this embodiment, the energy storage module mainly includes a photovoltaic power generation device and a backup battery pack.

[0116] Specifically, the energy storage module is used for charging the drone and powering the movable base station. Its main components are a photovoltaic power generation device, a backup battery pack, and a magnetic charging device (Ⅴ-2).

[0117] The photovoltaic power generation device uses photovoltaic panels (Ⅴ-1) installed around the base station, which can convert solar energy into electrical energy and provide continuous power support for the operation of the base station. The design of the photovoltaic power generation device takes into account the energy conversion efficiency under different lighting conditions to ensure effective charging under various weather conditions.

[0118] The backup battery pack is used to provide sufficient power at night or on cloudy days to ensure the uninterrupted operation of the base station. The backup battery pack works in coordination with the photovoltaic power generation device (Ⅴ-1) to ensure the stable operation of the system.

[0119] The magnetic charging device (Ⅴ-2) is installed on the apron and is used for charging the drone. The magnetic charging device (Ⅴ-2) uses high-precision magnetic technology to automatically align with the charging interface of the drone to achieve fast charging. The four-bar clamping device (Ⅰ-6) is used to fix the drone to prevent it from shifting during the charging process.

[0120] Such as Figure 1-7As shown in the figure, in this embodiment, the mobile base station includes a rotary helipad (Ⅰ-2), a rotary power assembly (Ⅰ-3), a lidar (Ⅰ-4), a photovoltaic panel (Ⅴ-1), a backup battery pack, an RTK positioning module (Ⅲ-1), a UWB positioning module (Ⅲ-2), a vision sensor (Ⅲ-3), a dust detection sensor (Ⅱ-1), a noise detection sensor (Ⅱ-2), a camera (Ⅱ-3), a display screen (Ⅳ-1), a control panel button (Ⅳ-2), and a speaker (Ⅳ-3).

[0121] As Figure 13-15 shown, in this embodiment, the drone (Ⅰ-5) includes a drone bracket (Ⅰ-5(1)), a camera (Ⅱ-3), an RTK positioning module (Ⅲ-1), a drone data acquisition module (Ⅱ-1(1)), a drone vision sensor (Ⅲ-3(1)), a drone magnetic charging interface (Ⅴ-2(2)), and a drone voice broadcast module (Ⅳ-3(1)).

[0122] The vision sensor assists in guiding the drone (Ⅰ-5) to land at a designated parking position; through the drone magnetic charging interface (Ⅴ-2(2)) combined with the four-bar clamping device (Ⅰ-6), after the drone lands, the push rod moves to a designated position, helps adjust the position of the drone and the charging interface, and fixes the drone through the buckle between the push rod and the drone, ensuring accurate and stable docking of the charging interface and enabling the drone to still be in stable contact with the charging interface after the helipad rotates.

[0123] In order to adapt to the rough road surface of the construction site, the crawler movement method is adopted to improve its movement ability in complex road surface environments, thereby ensuring its stability and efficiency during task execution; by carrying lidar, ultrasonic sensors, and vision sensors, real-time path detection and obstacle avoidance are achieved, ensuring the autonomous movement of the base station in complex terrains and environmental monitoring according to the set path.

[0124] After reaching the designated position, through the rotatable dust sensor and wind direction sensor, it can adjust the orientation of the dust sensor according to the wind direction to achieve the monitoring of the dust concentrations of particulate matters PM10 and PM2.5, so that the dust concentration can be measured more accurately under strong wind weather conditions; the on-vehicle noise sensor is used to monitor the construction site noise in real time to effectively evaluate and manage the environmental noise level.

[0125] By setting photovoltaic panels around the shell of the mobile base station, solar energy is converted into electrical energy to improve its endurance.

[0126] Through the 5G network, information data is transmitted to the central dispatching platform in real time, and the platform systematically sorts and deeply analyzes the data.

[0127] In this system, the drone is equipped with an RTK positioning module to achieve precise positioning of the drone. The RTK module provides centimeter-level positioning accuracy, enabling the drone to maintain a precise flight path with the assistance of a base station and is suitable for longer-distance navigation tasks in complex environments. Through a vision sensor, precise docking between the drone and the mobile base station is achieved. The drone is equipped with a modular mission payload system and can replace different functional data acquisition modules according to the monitoring task requirements. Through a camera module, the correspondence between data and on-site images is achieved. Through a loudspeaker module, real-time on-site broadcast of information is achieved. Information is transmitted in real time to the central dispatching platform via a 5G network.

[0128] The central dispatching platform of this system supports the group management of multiple base stations and drones. Based on real-time monitoring data, the battery levels and positions of the drones and mobile base stations, the central dispatching platform dynamically adjusts task allocation and path planning to achieve an efficient monitoring network. Data sharing and task allocation within the group are achieved through the central dispatching platform. The platform intelligently allocates tasks and optimizes resources in real time according to the status of each drone and the monitoring task requirements to achieve dynamic environmental monitoring.

[0129] In this embodiment, the working principle of the mobile base station and drone collaborative monitoring system is

[0130] First, the data processing module is responsible for coordinating the operations of the mobile and carrying module (Ⅰ), the data acquisition module (Ⅱ), and the positioning and detection module (Ⅲ). As the core of the system, this module ensures the smooth progress of data transmission and information processing between the mobile base station and the drone (Ⅰ-5).

[0131] Furthermore, the display and control module is tasked with presenting monitoring information and environmental data to the operator in real time. This module includes the real-time update of the display screen (Ⅳ-1) and the broadcast function of the speaker (Ⅳ-3) to ensure that the operator has an intuitive understanding of the monitoring activities.

[0132] Furthermore, the central dispatching platform plans the travel routes of the drone (Ⅰ-5) and the mobile base station (Ⅰ-1) according to system requirements to ensure efficient collaborative operation. Through the positioning modules (Ⅲ-1, Ⅲ-2), the platform can accurately determine the positions of the drone and the mobile base station and plan a return path for the drone. Each drone needs to continuously report its position, speed, and flight status so that the mobile base station can obtain data in real time and make dynamic adjustments.

[0133] Furthermore, the mobile base station monitors environmental conditions during the takeoff or landing of the unmanned aerial vehicle (Ⅰ-5), evaluates parameters such as wind speed, wind direction, noise, and dust concentration to determine whether the safe takeoff and landing conditions are met. If the environmental conditions are not suitable, the mobile base station will automatically relocate to a suitable position to ensure the safe takeoff and landing of the unmanned aerial vehicle (Ⅰ-5). The base station continuously updates its precise position through the RTK positioning module (Ⅲ-1) and the UWB positioning module (Ⅲ-2), and uploads this position information to the central dispatching platform in real time. The central dispatching platform re-plans the return point of the unmanned aerial vehicle according to the change in the position of the base station. When a communication interruption or other abnormal situation occurs during the movement of the base station, the unmanned aerial vehicle will activate the backup "autonomous return" mode and return to its initial departure point or the nearest safe landing point.

[0134] Furthermore, in the case of multiple unmanned aerial vehicles (Ⅰ-5) returning at the same time, the central dispatching platform coordinates the flight paths, reduces traffic density, and avoids potential conflicts. Using the Deep Q-Network (DQN) algorithm, the platform intelligently selects the unmanned aerial vehicle with priority for return based on the battery power, distance, and communication status of the unmanned aerial vehicle. After the central dispatching platform issues a return command to the unmanned aerial vehicle, the mobile base station reaches a location suitable for the safe takeoff and landing of the unmanned aerial vehicle through its environmental monitoring function and reports its position to the central dispatching platform. The central dispatching platform plans the optimal route of the unmanned aerial vehicle according to the return priority of the unmanned aerial vehicle (Ⅰ-5), and the unmanned aerial vehicle relies on the RTK positioning module (Ⅲ-1) to achieve precise return.

[0135] Furthermore, during the landing phase of the unmanned aerial vehicle (Ⅰ-5), the mobile base station automatically opens the hatch cover. The rotary landing pad (Ⅰ-2) rotates the idle parking position to the designated position through the rotary power component (Ⅰ-3), and unfolds the four-bar clamping device (Ⅰ-6). When the unmanned aerial vehicle approaches the target area, the lidar (Ⅰ-4) and the vision sensor (Ⅲ-3) start to work together. The lidar provides altitude data to ensure the relative position stability between the unmanned aerial vehicle and the ground, while the vision sensor is responsible for precisely positioning the specific position of the landing pad for heading and positioning correction. During the landing process, the feedback data of the vision sensor and the lidar are transmitted to the central dispatching platform in real time, and the landing path of the unmanned aerial vehicle is continuously adjusted according to the feedback information to avoid deviating from the target position and achieve precise landing guidance of the unmanned aerial vehicle. After landing, the four push rods of the four-bar clamping device (Ⅰ-6) move to the designated position, push the unmanned aerial vehicle towards the charging interface position, and fix the unmanned aerial vehicle through the groove between the unmanned aerial vehicle bracket (Ⅰ-5(1)) and the clamping device (Ⅰ-6) to ensure the stability of the unmanned aerial vehicle during the charging process and achieve the precise docking of the magnetic charging interface (Ⅴ-2(2)).

[0136] Furthermore, the noise (Ⅱ-2) and dust (Ⅱ-1) sensors carried by the system monitor the environment in real time. When the noise exceeds the standard, the system will display the data in real time and send a broadcast reminder, and at the same time transmit the data back to the central dispatching platform. When the dust concentration is abnormal, the system will control the drone (Ⅰ-5) to suspend movement and re-detect to ensure the accuracy of the data. All monitoring data is displayed through the display module (Ⅳ-1), and the broadcast device is used to improve the information transparency and response speed, and finally transmit the relevant data to the information control center.

[0137] Furthermore, in the normal working process of the system, the obstacle avoidance module plays an important role in ensuring the safe navigation of the base station and the drone (Ⅰ-5) during the mission. This module detects and avoids obstacles through the collaborative work of the lidar (Ⅰ-4) and the vision sensor (Ⅲ-3). The lidar is responsible for detecting obstacles close to the base station or the drone, providing quick response and path adjustment; while the vision sensor (Ⅲ-3) is used to identify and evaluate obstacles farther away, providing long-distance environmental perception capabilities.

[0138] Furthermore, the energy storage module collects solar energy through the photovoltaic panels (Ⅴ-1) installed on the base station and converts it into electrical energy. The collected electrical energy is stored in the battery and then supplied to meet the power requirements of the entire system. This energy self-sufficient design not only enhances the continuous operation ability of the system, but also reduces the dependence on external power sources, improving the practicality and reliability of the monitoring equipment in remote or areas with difficult access to the power grid.

[0139] Through the above steps, the mobile base station and drone collaborative monitoring system in this embodiment realizes high-precision and dynamic monitoring of the environment, improves the real-time and accuracy of monitoring data, and optimizes energy utilization and system operation efficiency.

[0140] Embodiment 2

[0141] The purpose of this embodiment is to disclose a collaborative monitoring method for a mobile base station and a drone, including:

[0142] S1. The central dispatching platform plans the travel routes of the drone and the mobile base station according to the mission requirements;

[0143] S2. The mobile base station autonomously moves to the designated monitoring area through the crawler platform according to the preset path;

[0144] S3. Detect environmental data through the data acquisition module and transmit it to the central dispatching platform;

[0145] S4. Real-time detect the positions of the mobile base station and the drone through the positioning detection module and transmit them to the central dispatching platform;

[0146] S5. The mobile base station unfolds the clamping device on the rotary helipad according to the environmental data. After the UAV takes off from this parking position, the rotary power component rotates another parking position carrying the UAV to this position.

[0147] S6. The UAV is equipped with different data acquisition modules according to the mission requirements, takes off according to the planned path, performs specific monitoring tasks, collects environmental data in real time after reaching the designated monitoring position, and transmits it to the central dispatching platform in real time.

[0148] S7. After the UAV completes the task, the dispatching platform plans the return path of the UAV according to the environmental data and location information.

[0149] S8. During the landing of the UAV, the mobile base station rotates the idle parking position to the designated position through the rotary power component of the rotary helipad and unfolds the clamping device.

[0150] S9. When the UAV approaches the mobile base station, the central dispatching platform plans the landing path of the UAV according to the received data.

[0151] S10. After the UAV lands, it is fixed on the mobile base station through the groove between the UAV bracket and the clamping device.

[0152] Based on the monitoring system in Embodiment 1, this embodiment supports multiple UAVs to perform different tasks simultaneously through the multi-UAV synchronous operation ability, including but not limited to:

[0153] (1) Building modeling: Multiple UAVs can synchronously collect three-dimensional data around multiple buildings. Compared with the single-UAV operation mode, multiple buildings can be modeled simultaneously or the modeling speed of a single building can be accelerated, improving the data collection efficiency and model accuracy, and providing refined support for building design optimization, construction quality assessment, and project management.

[0154] (2) Environmental monitoring: The UAV can measure environmental parameters such as dust, gas composition, temperature, and humidity at different heights, or monitor the diffusion direction and speed of pollutants at the same height. Combining data modeling and intelligent analysis, it can accurately grasp the dynamic change trend of environmental pollutants. Compared with the traditional method, this system significantly improves the monitoring accuracy and response speed.

[0155] (3) Construction site safety monitoring: Multiple UAVs can synchronously inspect the construction area from different angles respectively, collect image data using visual sensors, and combine with the YOLO target detection algorithm to achieve intelligent image recognition, automatically detect problems such as high-altitude operation safety hazards, illegal placement of equipment, and personnel not wearing safety equipment, improving the automation and intelligence level of construction safety management.

[0156] Specifically, the mobile base station obtains its current geographical location through the RTK positioning module to ensure high-precision positioning of the system. The mobile base station autonomously moves to the designated monitoring area through the crawler platform (Ⅰ-1) according to the preset path or real-time environmental data. The obstacle avoidance module detects environmental obstacles in real time through the lidar (Ⅰ-4) and the vision sensor (Ⅲ-3), generates an environmental map, and plans a safe moving path. The base station detects the current environmental conditions through sensors to ensure that the system can start working under safe conditions. After confirming the safety of the working environment, the hatch of the mobile base station opens, and the holding device (Ⅰ-6) at the parking position of the rotary helipad (Ⅰ-2) unfolds. After the drone on this parking position takes off, another parking position carrying a drone is rotated to this position through the rotary power component (Ⅰ-3).

[0157] The central dispatching platform plans the travel routes of the drones (Ⅰ-5) and the mobile base station (Ⅰ-1) according to system requirements to ensure efficient collaborative operation. Through the positioning modules (Ⅲ-1, Ⅲ-2), the platform can accurately determine the positions of the drones and the mobile base station and plan a return path for the drones.

[0158] After the system starts, each drone (Ⅰ-5) checks its own battery level and sensor status, and confirms its current positioning through the RTK positioning module (III-1). When the system starts, each drone automatically obtains a task, and the task assignment is dynamically adjusted based on the current capabilities of the drone and the task requirements. The central dispatching platform assigns tasks to the most suitable drone according to factors such as the battery level and sensor capabilities of each drone, and adjusts the priority to ensure that urgent tasks can be completed first. For example, when potential safety hazards are detected in certain areas, the central dispatching platform will automatically adjust the task priority and dispatch drones for real-time monitoring and feedback instead of performing other low-priority tasks. Each drone needs to continuously report its position, speed, and flight status so that the central dispatching platform can obtain real-time data and make dynamic adjustments.

[0159] The flight path of the drone (Ⅰ-5) is arranged not only according to the preset task plan but also dynamically adjusted according to real-time feedback. For example, when a drone detects an obstacle or the system detects a mismatch in flight speed, the system will automatically adjust the path to avoid collisions and maintain the progress of task execution.

[0160] The drone (Ⅰ-5) carries different drone data collection modules (Ⅱ-1(1)) according to task requirements, takes off according to the planned path, and performs specific monitoring tasks, such as environmental monitoring, safety inspection, 3D modeling, and construction surveying, etc.

[0161] After the drone (Ⅰ-5) arrives at the designated monitoring location, it collects environmental data in real time and transmits it to the central dispatching platform (Ⅵ) via the 5G network in real time. When multiple drones are performing tasks, they fuse sensor data through a data sharing mechanism. Each drone transmits its own sensor data to the central dispatching platform in real time. The platform fuses multiple data sources to generate a comprehensive monitoring result. The data fusion process not only simply combines the data, but also includes removing redundant data and correcting inconsistent data, thereby improving the accuracy and reliability of the monitoring result. At the same time, the central dispatching platform automatically identifies abnormal data by comparing the trend of the currently collected data with historical data in real time. For example, when the dust concentration in a certain area suddenly soars, the central dispatching platform will determine whether it is a sensor failure or a data acquisition error. If it is confirmed as a failure, the central dispatching platform will reassign tasks according to the status of the remaining drones to ensure that the tasks are completed on time.

[0162] The central dispatching platform conducts real-time analysis based on the collected data, generates reports and automatically generates risk warnings according to the data reports. For example, if the dust concentration in a certain area exceeds the predetermined threshold, the system will automatically issue an alarm through the voice broadcast module (Ⅳ-3) to remind the staff to take protective measures. All monitoring data is displayed through the display module (Ⅳ-1) to improve information transparency and response speed, and finally transmits the relevant data to the information control center.

[0163] After the task is completed, the drone (Ⅰ-5) sends a return flight application to the central dispatching platform. After the central dispatching platform issues a return flight instruction to the drone, the mobile base station monitors the environmental conditions of the drone (Ⅰ-5) and evaluates parameters such as wind speed, wind direction, noise, and dust concentration to determine whether the safe takeoff and landing conditions are met. If the environmental conditions are not suitable, the mobile base station will automatically move to a suitable location to ensure the safe takeoff and landing of the drone (Ⅰ-5). The mobile base station continuously updates its precise position through the RTK positioning module (Ⅲ-1) and the UWB positioning module (Ⅲ-2), and uploads this position information to the central dispatching platform in real time. The central dispatching platform re-plans the return point of the drone according to the change of the base station position. In case of communication interruption or other abnormal situations during the movement of the base station, the drone will enable the backup "autonomous return" mode and return to its initial departure point or the nearest safe landing point.

[0164] In the case where multiple unmanned aerial vehicles (Ⅰ-5) return to base simultaneously, the central dispatching platform coordinates the flight paths, reduces traffic density, and avoids potential conflicts. The central dispatching platform intelligently selects the unmanned aerial vehicles with priority to return to base based on the battery level, distance, and communication status of the unmanned aerial vehicles. By adopting the Deep Q-Network (DQN) algorithm, the optimal flight path of each unmanned aerial vehicle is calculated in real time to avoid path conflicts during the collaborative flight of multiple unmanned aerial vehicles. During the landing phase of the unmanned aerial vehicle (Ⅰ-5), the movable base station automatically opens the hatch, and the rotary landing pad (Ⅰ-2) rotates the idle parking position to the designated position through the rotary power assembly (Ⅰ-3), and unfolds the four-bar clamping device (Ⅰ-6). When the unmanned aerial vehicle approaches the target area, the vision sensor (Ⅲ-3) starts to work to ensure the relative position stability between the unmanned aerial vehicle and the ground, accurately locate the specific position of the landing pad, and perform heading and positioning correction. During the landing process, the feedback data of the vision sensor is transmitted to the central dispatching platform in real time, and the landing path of the unmanned aerial vehicle is continuously adjusted according to the feedback information to avoid deviating from the target position and achieve precise landing guidance of the unmanned aerial vehicle.

[0165] After landing, the four push rods of the four-bar clamping device (Ⅰ-6) move to the designated position, push the unmanned aerial vehicle towards the charging interface position, and fix the unmanned aerial vehicle through the groove between the unmanned aerial vehicle bracket (Ⅰ-5(1)) and the clamping device (Ⅰ-6) to ensure the stability of the unmanned aerial vehicle during the charging process and achieve the precise docking of the magnetic adsorption charging interface (Ⅴ-2(2)).

[0166] In the normal working process of the system, the obstacle avoidance module plays an important role in ensuring the safe navigation of the base station and the unmanned aerial vehicle (Ⅰ-5) during the execution of tasks. This module detects and avoids obstacles through the collaborative work of the lidar (Ⅰ-4) and the vision sensor (Ⅲ-3). The lidar is responsible for detecting obstacles in the close range of the base station or the unmanned aerial vehicle, providing rapid response and path adjustment; while the vision sensor (Ⅲ-3) is used to identify and evaluate obstacles in the farther range, providing long-range environmental perception capabilities.

[0167] The energy storage module collects solar energy through the photovoltaic panels (Ⅴ-1) installed on the base station and converts it into electrical energy. The collected electrical energy is stored in the storage battery and then supplied to the power demand of the entire system. This design of self-sufficient energy not only enhances the continuous operation ability of the system, but also reduces the dependence on external power sources and improves the practicability and reliability of the monitoring equipment in remote or areas difficult to access the power grid.

[0168] Based on the monitoring system in Embodiment 1, the monitoring method in this embodiment realizes efficient construction site environment monitoring and construction management. Compared with traditional single sensors or static monitoring devices, this system has stronger multi-tasking synchronous working ability of unmanned aerial vehicles. Through the movable base station and the multi-unmanned aerial vehicle system, it can execute multiple tasks in parallel in a complex construction site environment.

[0169] In this embodiment, the system adopts multiple drones to work collaboratively, and can flexibly carry different types of sensors according to mission requirements, such as vision sensors, dust detection sensors, noise sensors, etc. Each drone automatically selects a suitable sensor for installation according to mission needs, so as to achieve three-dimensional monitoring. Drones for different tasks can be executed simultaneously for real-time data collection and monitoring, significantly improving work efficiency and monitoring accuracy.

[0170] Multiple drones can simultaneously perform tasks such as environmental monitoring, construction safety inspection, and building modeling in multiple areas, reducing time costs and improving overall monitoring efficiency. Through the central dispatching system, the system can precisely coordinate the work between drones to ensure the smooth completion of tasks.

[0171] The system is specially designed with a rotary helipad suitable for the takeoff and landing of multiple drones. The helipad can flexibly adjust its position according to the return order and status of the drones, enabling each drone to dock and charge smoothly. The helipad design ensures that when multiple drones are working simultaneously, takeoff and landing can be completed quickly and safely. By combining the RTK positioning system with vision sensors, precise positioning and navigation of the drones are achieved. With multi-drone synchronous operation, the rotation and adjustment functions of the helipad can accommodate multiple drones at the same time, enabling them to complete takeoff and landing tasks at different time points. Through the rotation power component and the automatically adjustable helipad, conflicts between different drones are avoided, ensuring that each task can be carried out efficiently and synchronously.

[0172] Those skilled in the art should understand that the above-mentioned modules or steps of the present invention can be implemented by a general-purpose computer device. Optionally, they can be implemented by program codes executable by a computing device, so that they can be stored in a storage device and executed by the computing device, or they can be separately made into individual integrated circuit modules, or multiple of them can be made into a single integrated circuit module to be implemented. The present invention is not limited to any specific combination of hardware and software.

[0173] Although the specific implementation manners of the present invention are described above in conjunction with the accompanying drawings, it is not a limitation to the protection scope of the present invention. Those skilled in the art should understand that based on the technical solutions of the present invention, various modifications or deformations that can be made without creative efforts by those skilled in the art are still within the protection scope of the present invention.

Claims

1. A mobile base station and unmanned aerial vehicle collaborative monitoring system, characterized in that: include: Mobile and carrying module, positioning detection module, data acquisition module and data processing module; The moving and carrying module is used for moving the movable base station and carrying the UAV; wherein the moving and carrying module comprises a rotating apron, which is installed in the housing of the movable base station and is used for parking and charging multiple UAVs; the rotating apron is provided with a clamping device for fixing the UAV on the rotating apron; The positioning detection module is used for mutual positioning between the mobile base station and the drone, and transmits the positioning information to the data processing module; The data acquisition module is used to detect dust concentration, noise decibels and collect image data, and transmit the detected data and collected data to the data processing module; The data processing module includes a central dispatching platform for task allocation, location management and data transmission of multiple base stations and multiple drones.

2. A mobile base station and unmanned aerial vehicle collaborative monitoring system as claimed in claim 1, characterized in that: Also includes a display and control module; The display and control module is used to display the data and operation feedback received by the central dispatching platform in real time; The display and control module includes a display screen, control panel buttons, and a voice broadcast module, wherein the voice broadcast module is used to broadcast monitoring data and alarm information in real time.

3. The mobile base station and unmanned aerial vehicle collaborative monitoring system according to claim 1, characterized in that: It also includes energy storage modules; The energy storage module includes a photovoltaic power generation device and a backup battery pack; The photovoltaic power generation device collects solar energy by arranging a plurality of photovoltaic panels around the housing of the movable base station; The backup battery pack is used to provide power for the movable base station at night and on cloudy days.

4. The mobile base station and unmanned aerial vehicle collaborative monitoring system according to claim 1, characterized in that: The rotating apron is a triangular prism rotating apron or a hexagonal prism rotating apron, and a plurality of parking platforms are arranged around the rotating axis, with a plurality of parking positions; The rotating apron is driven by a rotating power assembly to adjust the apron to a designated position.

5. A mobile base station and unmanned aerial vehicle collaborative monitoring system as claimed in claim 4, characterized in that: The rotating power assembly includes a stepping motor, a worm gear, and a worm; The stepper motor drives the worm wheel to rotate through the worm, thereby driving the apron to rotate.

6. The mobile base station and unmanned aerial vehicle collaborative monitoring system according to claim 1, characterized in that: The positioning detection module includes an RTK positioning module, a UWB positioning module, a laser radar, a visual sensor and a UAV visual sensor; The RTK positioning module is installed on the movable base station and the unmanned aerial vehicle to obtain the positions of the movable base station and the unmanned aerial vehicle in real time; The UWB positioning module is installed on the base station and is used for positioning the mobile base station in an environment with dense buildings; The laser radar and visual sensor are used for docking and positioning of the UAV with the movable base station.

7. The mobile base station and unmanned aerial vehicle cooperative monitoring system according to claim 1, characterized in that: The data acquisition module includes a dust detection sensor, a noise detection sensor, a camera and a drone data acquisition module; The dust detection sensor is installed on the top of the movable base station and rotates 360 degrees to monitor the dust concentration in the environment in real time; The noise detection sensors are installed around the mobile base station to monitor the noise level in the environment in real time; The UAV data acquisition module is installed on the top of the UAV, and data acquisition modules with different functions are replaced according to different monitoring tasks.

8. The mobile base station and drone collaborative monitoring system according to claim 1, characterized in that: The central dispatching platform is respectively connected to the mobile and carrying module, the positioning detection module, and the data acquisition module through the 5G network.

9. The mobile base station and unmanned aerial vehicle cooperative monitoring system according to claim 6, characterized in that: During the landing of the UAV, the mobile base station automatically opens the cabin cover, and the rotating apron rotates the idle parking position to the designated position through the rotating power assembly and deploys the clamping device; when the UAV is about to land on the mobile base station, the visual sensor and lidar locate the specific position of the apron and transmit it to the central dispatching platform in real time; the central dispatching platform adjusts the landing path of the UAV based on the received data; after the UAV lands, the UAV is fixed to the mobile base station through the groove between the UAV bracket and the clamping device.

10. A method for collaborative monitoring between a mobile base station and an unmanned aerial vehicle, characterized in that: include: The central dispatching platform plans the routes of drones and mobile base stations according to mission requirements; The mobile base station moves autonomously to the designated monitoring area via a crawler platform according to the preset path; Detect environmental data through the data acquisition module and transmit it to the central dispatching platform; The location of the mobile base station and the UAV is detected in real time through the positioning detection module and transmitted to the central dispatching platform; The mobile base station deploys the holding device on the rotating helipad according to the environmental data, and after the drone on this parking position takes off, another parking position carrying a drone is rotated to this position through the rotating power assembly; The drone is equipped with different data collection modules according to the mission requirements, takes off according to the planned path, performs specific monitoring tasks, and collects environmental data in real time after arriving at the designated monitoring location, and transmits it to the central dispatching platform in real time; After the drone mission is completed, the dispatching platform plans the drone's return path based on environmental data and location information; During the landing of the UAV, the mobile base station rotates the idle parking space of the rotating apron to the designated position through the rotating power assembly and deploys the holding device; When the drone is about to land on the mobile base station, the central dispatching platform plans the landing path of the drone based on the received data; After the drone lands, the drone is fixed on the movable base station through the groove between the drone bracket and the clamping device.

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