A movable base station and unmanned aerial vehicle cooperative monitoring system and method

Abstract

The application provides a movable base station and unmanned aerial vehicle cooperative monitoring system and method, relates to the unmanned aerial vehicle technical field, and aims to solve the problems that the existing unmanned aerial vehicle monitoring system has low operation efficiency of single unmanned aerial vehicle, cannot satisfy simultaneous execution of multiple tasks, and has limited coverage range of traditional monitoring base station, which is difficult to adapt to complex construction environment or large-scale monitoring scene.The system comprises a moving and carrying module, a positioning detection module, a data acquisition module and a data processing module, and has integrated high-precision positioning, a rotary multi-camera parking apron and multi-task unmanned aerial vehicle cooperative working capability.The unmanned aerial vehicle has task synchronous execution capability, the base station has autonomous moving capability, is suitable for complex terrain, and is integrated with an environmental monitoring module and a solar charging system to enhance long-term operation capability.The application improves the multi-unmanned aerial vehicle cooperative operation efficiency through hardware integration innovation, realizes efficient linkage of the base station and the unmanned aerial vehicle, and improves the intelligent level of environmental monitoring and construction management.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of unmanned aerial vehicles, and particularly relates to a movable base station and unmanned aerial vehicle cooperative monitoring system and method. BACKGROUND

[0002] The statements in this section merely provide background information related to the present application and do not necessarily constitute prior art.

[0003] With the rapid development of unmanned aerial vehicle technology, its application in the fields of environmental monitoring, construction measurement and safety inspection is increasingly widespread. The unmanned aerial vehicle base station is the platform for the take-off and landing of unmanned aerial vehicles, and after the accurate landing of unmanned aerial vehicles on the unmanned aerial vehicle base station, storage, charging and other operations can be performed.

[0004] However, the existing unmanned aerial vehicle monitoring system still has many limitations, mainly manifested as low operation efficiency of a single unmanned aerial vehicle, single sensor function, and frequent replacement of sensors or repeated flight when facing multi-task demand, which limits the overall operation efficiency and cannot meet the simultaneous execution of multi-task or multi-scene. In addition, the coverage range of the traditional fixed monitoring base station is limited, which is difficult to adapt to complex construction environments or large-scale monitoring scenes, further restricting the application potential of unmanned aerial vehicles in the field of intelligent construction. SUMMARY

[0005] To overcome the above-mentioned deficiencies of the prior art, the present application provides a movable base station and unmanned aerial vehicle cooperative monitoring system and method. The system integrates high-precision positioning, rotating multi-position parking apron and multi-task unmanned aerial vehicle cooperative working capability, can realize efficient data acquisition and operation scheduling in complex environments, improves the multi-unmanned aerial vehicle cooperative operation efficiency, realizes efficient linkage of the base station and the unmanned aerial vehicle, and improves the intelligent level of environmental monitoring and construction management.

[0006] To achieve the above-mentioned purpose, one or more embodiments of the present application provide the following technical solutions:

[0007] In a first aspect, a movable base station and unmanned aerial vehicle cooperative monitoring system is disclosed, comprising:

[0008] a moving and carrying module, a positioning detection module, a data acquisition module and a data processing module;

[0009] The moving and carrying module is used for moving the movable base station and carrying the unmanned aerial vehicle; wherein the moving and carrying module comprises a rotating parking apron, the rotating parking apron is installed in the movable base station shell and is used for parking and charging of multiple unmanned aerial vehicles; the rotating parking apron is provided with a holding device for fixing the unmanned aerial vehicle on the rotating parking apron;

[0010] The positioning detection module is used for mutual positioning between the movable base station and the unmanned aerial vehicle, and transmits positioning information to the data processing module.

[0011] The data acquisition module is used for detecting dust concentration, noise decibels, and acquiring image data, and transmitting detection data and acquisition data to the data processing module.

[0012] The data processing module comprises a central dispatch platform, and is used for task allocation, position management, and data transmission of multiple base stations and multiple unmanned aerial vehicles.

[0013] As a further technical solution, a display and control module is further included.

[0014] The display and control module is used for real-time display of data received by the central dispatch platform and operation feedback.

[0015] The display and control module comprises a display screen, a control panel button, and a voice broadcast module, wherein the voice broadcast module is used for real-time broadcast of monitoring data and alarm information.

[0016] As a further technical solution, an energy storage module is further included.

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

[0018] The photovoltaic power generation device collects solar energy through a plurality of photovoltaic panels arranged around the movable base station shell.

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

[0020] As a further technical solution, the rotary apron is a three-prism rotary apron or a six-prism rotary apron, and a plurality of apron platforms are arranged around a rotation axis and have a plurality of parking spaces.

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

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

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

[0024] As a further technical solution, the positioning detection module comprises an RTK positioning module, a UWB positioning module, a laser radar, a vision sensor, and an unmanned aerial vehicle vision sensor.

[0025] The RTK positioning module is installed on the movable base station and the unmanned aerial vehicle, and is used for real-time acquisition of positions of the movable base station and the unmanned aerial vehicle.

[0026] The UWB positioning module is installed on the base station and is used for positioning of the mobile base station in densely built-up environments.

[0027] The lidar and vision sensors are used for the UAV to dock and locate with 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 can rotate 360 ​​degrees to monitor the dust concentration in the environment in real time.

[0030] The noise detection sensors are installed around the mobile base station to monitor the noise level in the environment in real time.

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

[0032] As a further technical solution, the central dispatch platform is connected to the mobile and mounted module, the positioning and detection module, and the data acquisition module via a 5G network.

[0033] As a further technical solution, the mobile base station automatically opens its hatch during drone landing, and the rotating landing pad rotates the idle landing position to the designated location via a rotating power component and deploys the clamping device. When the drone approaches the mobile base station, visual sensors and lidar locate the specific position of the landing pad and transmit the data to the central dispatch platform in real time. The central dispatch platform then plans the drone's landing path based on the received data. After landing, the drone is secured to the mobile base station via the groove between the drone support and the clamping device.

[0034] A second aspect of this invention discloses a method for collaborative monitoring using a mobile base station and an unmanned aerial vehicle (UAV), comprising:

[0035] The central dispatch platform plans the routes of drones and mobile base stations according to mission requirements;

[0036] The mobile base station can autonomously move to the designated monitoring area via a tracked platform according to a preset path;

[0037] Environmental data is detected by the data acquisition module and transmitted to the central dispatch platform;

[0038] The location detection module detects the positions of mobile base stations and drones in real time and transmits the data to the central dispatch platform.

[0039] Based on environmental data, the mobile base station unfolds the clamping device on the rotating landing pad. After the drone takes off from this landing position, the rotating power component rotates another landing position carrying a drone to this position.

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

[0041] After the drone mission is completed, the dispatch platform plans the drone's return path based on environmental data and location information;

[0042] During the drone's descent, the mobile base station will use a rotating power component to rotate the idle landing pad to the designated position and deploy the clamping device.

[0043] When a drone approaches a mobile base station, the central dispatch platform plans the drone's landing path based on the received data.

[0044] After the drone lands, it is secured to the mobile base station via the groove between the drone support and the clamping device.

[0045] The above one or more technical solutions have the following beneficial effects:

[0046] This embodiment provides a mobile base station and drone collaborative system. Through a rotating multi-position helipad design, it supports the sequential parking, precise docking and stable charging of multiple drones, reduces the waiting time of drones during mission execution, improves mission switching efficiency, and can carry multiple independent drones to work collaboratively as needed. It can cover a wider area for real-time monitoring and is suitable for various complex scenarios such as complex terrain.

[0047] In this embodiment, the integrated RTK (Real-Time Dynamic Differential) and UWB (Ultra-Wideband) modules ensure that the UAV can achieve centimeter-level navigation and precise landing in complex environments. Even in complex environments with dense buildings around the ground, the precise location of the mobile base station can be determined, significantly improving the stability and automation of the operation.

[0048] In this embodiment, different drones can be equipped with the same or different sensors, enabling them to simultaneously carry out various monitoring tasks or form a drone swarm to collaboratively complete missions. This collaborative system can significantly expand the application scenarios of drone monitoring and increase the real-time nature and comprehensiveness of data collection.

[0049] In this embodiment, the mobile base station adopts a tracked platform design, which has the ability to move in complex terrain. It can also serve as a positioning base station. Through a high-precision positioning system, it can calculate the current position of multiple drones and optimize the execution path and strategy based on the current position of the drones and intelligent algorithms to improve 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 capabilities, and environmental adaptability of UAV operations are effectively improved, and efficient linkage between the base station and the UAV is realized, providing a more efficient, flexible, and automated technical solution for intelligent construction, environmental monitoring, and construction management.

[0051] In this embodiment, the mobile base station utilizes photovoltaic charging, which reduces energy consumption and operating costs, and helps reduce carbon emissions.

[0052] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0053] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0054] Figure 1 This is a schematic diagram of the structural framework of a mobile base station and UAV collaborative monitoring system according to Embodiment 1.

[0055] Figure 2 This is a front left view of the mobile base station in this embodiment.

[0056] Figure 3 This is a front right view of the mobile base station in this embodiment.

[0057] Figure 4 This is a left rear view of the mobile base station in this embodiment 1;

[0058] Figure 5 This is a right rear view of the mobile base station in this embodiment 1;

[0059] Figure 6 This is a front view of the mobile base station in this embodiment 1;

[0060] Figure 7 This is a cross-sectional view of the mobile base station in this embodiment 1;

[0061] Figure 8 This is a left front view of the rotating helipad in this embodiment 1;

[0062] Figure 9 This is a front right view of the rotating helipad in this embodiment.

[0063] Figure 10 A view of the rotating helipad equipped with a drone in this embodiment 1;

[0064] Figure 11 This is a schematic diagram of the clamping device used to secure the drone in this embodiment.

[0065] Figure 12 This is a schematic diagram showing the fixing of the clamping device push rod and the drone bracket in Embodiment 1.

[0066] Figure 13 This is a frontal view of the drone in this embodiment one;

[0067] Figure 14 This is a rear view of the UAV in this embodiment.

[0068] Figure 15 This is a bottom view of the drone in this embodiment one;

[0069] Figure 16 This is the hexagonal prism rotating landing pad of Embodiment 1;

[0070] Among them, Ⅰ-1, tracked platform; Ⅰ-2, rotating landing pad; Ⅰ-3, rotating power assembly; Ⅰ-3(1), stepper motor; Ⅰ-3(2), worm gear; Ⅰ-3(3), worm; Ⅰ-4, lidar; Ⅰ-5, UAV; Ⅰ-5(1), UAV support; Ⅰ-6, clamping device; Ⅰ-6(1) clamping device slide rail; Ⅱ-1, dust detection sensor; Ⅱ-1(1), UAV 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), UAV vision sensor; Ⅳ-1, display screen; Ⅳ-2, control panel buttons; Ⅳ-3, speaker; Ⅳ-3(1), UAV voice broadcast module; Ⅴ-1, photovoltaic panel; Ⅴ-2(1), magnetic charging device; Ⅴ-2(2), UAV magnetic charging interface. Detailed Implementation

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

[0072] It should be noted that the terminology used herein is for the purpose of describing particular implementations only and is not intended to limit the exemplary implementations of the present invention.

[0073] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0074] Example 1

[0075] This embodiment discloses a mobile base station and drone collaborative monitoring system, including:

[0076] The module includes a mobile and mounting module, a positioning and detection module, a data acquisition module, and a data processing module.

[0077] The mobility and mounting module is used for moving and mounting drones on a mobile base station; wherein, the mobility and mounting module includes a rotating landing pad, which is installed inside the shell of the mobile base station and is used for parking and charging multiple drones; the rotating landing pad is equipped with a clamping device for fixing the drones on the rotating landing pad;

[0078] 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.

[0079] The data acquisition module is used to detect dust concentration, noise decibels and acquire image data, and transmit the detected data and acquired data to the data processing module;

[0080] The data processing module includes a central dispatch platform for task allocation, location management, and data transmission for multiple base stations and multiple drones.

[0081] In this implementation, firstly, the rotating multi-position helipad design supports the sequential parking, precise docking, and stable charging of multiple drones, reducing waiting time during mission execution and improving mission switching efficiency. By employing an RTK high-precision positioning system, centimeter-level navigation and precise landing are ensured for drones in complex environments, significantly improving operational stability and automation. The system's mobile base station is also equipped with a UWB module. The positioning signal emitted by UWB technology has strong penetration, enabling high-precision positioning even in complex environments with dense surrounding buildings. Furthermore, the system has the capability for simultaneous execution of multiple drone missions. Different drones can carry interchangeable modules to simultaneously perform tasks such as environmental monitoring, security patrols, building modeling, and construction surveying without frequent sensor replacements or repetitive flights, thus significantly improving overall operational efficiency.

[0082] Secondly, this system demonstrates significant advantages in practical applications. For example, in architectural modeling tasks, multiple drones can simultaneously collect multi-dimensional data around multiple buildings, achieving efficient and accurate 3D modeling. Compared to traditional single-machine operation modes, it can not only model multiple buildings simultaneously but also accelerate the modeling speed of a single building, providing strong support for architectural design optimization, construction quality assessment, and project progress management. In the field of environmental monitoring, drones can simultaneously collect data on dust concentration, gas composition, and temperature and humidity at different altitudes, or monitor the direction and speed of pollutant diffusion at the same altitude, accurately grasping the spatiotemporal dynamic changes of environmental pollutants. Compared to fixed monitoring stations, this system significantly improves the accuracy and spatial coverage of monitoring. In terms of construction site safety monitoring, multiple drones can conduct comprehensive inspections of the construction area from different angles, using visual sensors to collect images and combining them with YOLO deep learning algorithms for real-time image recognition. This allows for rapid detection of safety hazards in high-altitude operations, improper equipment placement, and personnel not wearing safety equipment. Through real-time image transmission and intelligent analysis, the system improves the real-time performance and accuracy of construction safety management. For construction surveying, drones, with their high-precision lidar and mapping modules, can quickly acquire the terrain, elevation, and key structural parameters of the construction site, effectively assisting in the precise planning and dynamic adjustment of the construction process.

[0083] Furthermore, mobile base stations overcome the limitations of traditional fixed base stations, further enhancing the system's flexibility and applicability. These base stations possess autonomous mobility, adapting to complex construction sites and diverse environmental requirements. They also integrate environmental monitoring modules, enabling real-time collection of air quality, noise, and other environmental parameters, providing data support for construction safety management and environmental protection. Simultaneously, the base stations are equipped with solar charging systems, effectively improving system endurance and reducing reliance on external power sources, allowing for stable operation even in remote areas or regions with limited power supply.

[0084] In this embodiment, as Figures 1-15 As shown, the system comprises a mobility and mounting module (I), a data acquisition 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 movement and mounting module is used for the normal movement of the mobile base station (Ⅰ-1) and for mounting the drone (Ⅰ-5). Its main components are a tracked platform (Ⅰ-1), a rotating landing pad (Ⅰ-2), a rotating power assembly (Ⅰ-3), a lidar (Ⅰ-4), and an obstacle avoidance module.

[0086] The tracked platform (Ⅰ-1) serves as the mobile foundation for the mobile base station. Its tracked design allows it to adapt to various complex terrains, including rugged construction site surfaces. The tracked platform (Ⅰ-1) is equipped with a high-efficiency drive motor, ensuring stable movement of the base station in different environments.

[0087] The rotating helipad (Ⅰ-2) is installed inside the base station housing and is used for parking and charging multiple drones. The helipad is designed with multiple parking positions and can be rotated sequentially to each parking position, supporting the sequential parking and charging of multiple drones.

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

[0089] like Figure 9 , Figure 11 , Figure 12 As shown, in this embodiment, a four-bar clamping device (Ⅰ-6) is used, including 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 the drone is fixed by the groove between the drone bracket (Ⅰ-5(1)) and the clamping device (Ⅰ-6).

[0090] like Figures 7-11 As shown, the rotating helipad is a triangular prism rotating helipad or a hexagonal prism rotating helipad, with multiple helipads arranged around the rotating axis and having multiple helipads.

[0091] Among them, such as Figure 16 As shown, more polygonal parking positions can be designed according to needs, using a hexagonal rotating landing pad. The landing pad provides more parking positions for drones, thus meeting the needs of mission scenarios that require more parking positions.

[0092] It can also be designed with polygonal shapes such as heptagonal prisms and octagonal prisms, and even arbitrary polygonal helipads can be designed according to the requirements of specific application scenarios. This design gives mobile base stations greater flexibility in the number of helipads, enabling them to provide take-off, landing, and charging services for more drones simultaneously. More helipads mean more drones can perform tasks at the same time, thereby improving task execution efficiency.

[0093] The rotating helipad is driven by a rotating power unit to adjust the helipad to the designated position.

[0094] The rotating 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 via the worm, thereby causing the helipad to rotate. This design not only enables precise rotation control but also ensures the stability of the helipad during rotation.

[0095] The mobile base station housing in this system is equipped with a rotating landing pad that supports multiple drones to be parked in sequence. Multiple landing platforms are arranged around a rotating axis and driven by a power component, which includes a motor and a worm gear connected to the motor. The rotating landing pad is equipped with a worm wheel that works with the worm gear, which can rotate sequentially to the parking position of each drone, supporting multiple drones to be parked in sequence. This allows drones to take off and land quickly, improving operational efficiency and saving space.

[0096] The lidar (Ⅰ-4) is installed around the base station to detect obstacles in the surrounding environment in real time. Lidar provides a high-precision 3D environmental map, assisting the base station in path planning and obstacle avoidance.

[0097] The obstacle avoidance module uses lidar (Ⅰ-4) and visual sensors (Ⅲ-3) to detect environmental obstacles in real time, generate an environmental map, and plan a safe movement path.

[0098] In this embodiment, the positioning detection module includes an RTK positioning module, a UWB positioning module, a lidar, a visual sensor, and a UAV visual sensor. The positioning detection module is used for mutual positioning between the mobile base station and the UAV, and for accurately positioning the mobile base station and the UAV.

[0099] The RTK positioning module (Ⅲ-1) is installed on the base station and the UAV, providing centimeter-level high-precision positioning. By receiving differential signals from satellite signals and the base station, the RTK module ensures that the UAV can maintain a precise flight path in complex environments, enabling accurate docking and autonomous flight.

[0100] The UWB positioning module (Ⅲ-2) is installed on the base station to achieve high-precision positioning in complex environments with dense surrounding buildings. The positioning signal emitted by the UWB module has strong penetrating power, ensuring accurate positioning of the base station even in complex environments.

[0101] By integrating RTK (Real-Time Kinematic) and UWB (Ultra-Wideband) modules, the precise location of mobile base stations can be determined, thereby identifying the precise location of noise and dust.

[0102] The visual sensor (Ⅲ-3) and the UAV visual sensor (Ⅲ-3(1)) are installed on the base station and the UAV, respectively, 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 environmental maps, and support 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 drone data acquisition module.

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

[0105] Noise detection sensors (Ⅱ-2) are installed around the base station to monitor the noise level in the environment in real time. Noise detection sensors (Ⅱ-2) can detect noise from different directions, ensuring the comprehensiveness and accuracy of the data.

[0106] Cameras (Ⅱ-3) are mounted on base stations and drones to collect image data in real time. The cameras can be remotely controlled to adjust the shooting angle and focal length for more detailed image information. This image data is transmitted in real time to a central dispatch platform (Ⅵ) via a 5G network for environmental monitoring and security patrols.

[0107] The UAV data acquisition module (Ⅱ-1(1)) is installed on the top of the UAV and can be replaced with different 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 is transmitted in real time to the central dispatch platform (Ⅵ) via the 5G network for further analysis and processing.

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

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

[0110] The central dispatch platform is used for task allocation, location management, and data transmission among multiple base stations and multiple drones.

[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), control panel buttons (Ⅳ-2), and voice broadcast module (Ⅳ-3).

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

[0113] The control panel button (Ⅳ-2) is used for manual control and settings by the operator. Operators can adjust the operating parameters of the base station and the drone, such as movement speed and flight altitude, using the control panel buttons.

[0114] The voice broadcast module (Ⅳ-3) is used to broadcast monitoring data and alarm information in real time. When monitoring data is abnormal or a malfunction occurs, the voice broadcast module can issue an alarm in a timely manner to remind operators 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 drone charging and mobile base station battery life. 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 to convert solar energy into electrical energy, providing continuous power support for the base station's operation. The design of the photovoltaic power generation device takes into account the energy conversion efficiency under different lighting conditions, ensuring effective charging under various weather conditions.

[0118] The backup battery bank provides sufficient power at night or on cloudy days to ensure uninterrupted operation of the base station. The backup battery bank works in conjunction with the photovoltaic power generation unit (V-1) to ensure stable system operation.

[0119] The magnetic charging device (V-2) is installed on the helipad for charging drones. Utilizing high-precision magnetic technology, the magnetic charging device (V-2) automatically aligns with the drone's charging port for rapid charging. The four-bar clamping device (I-6) secures the drone, preventing displacement during charging.

[0120] like Figures 1-7As shown, in this embodiment, the mobile base station includes a rotating helipad (Ⅰ-2), a rotating 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), control panel buttons (Ⅳ-2), and a speaker (Ⅳ-3).

[0121] like Figures 13-15 As 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 visual sensor assists in guiding the drone (Ⅰ-5) to land at the designated parking position; the drone magnetic charging interface (Ⅴ-2(2)) is combined with the four-bar clamping device (Ⅰ-6) to move the push rod to the designated position after the drone lands, which helps to adjust the position of the drone and the charging interface, and fixes the drone with the buckle between the push rod and the drone, ensuring that the charging interface is accurately and stably connected and that the drone remains in stable contact with the charging interface after rotating on the parking apron.

[0123] To adapt to the rugged terrain of the construction site, a tracked mobility system is adopted to enhance its mobility in complex road environments, thereby ensuring its stability and efficiency when performing tasks. By being equipped with lidar, ultrasonic sensors, and vision sensors, real-time path detection and obstacle avoidance are achieved, ensuring that the base station moves autonomously in complex terrain and performs environmental monitoring according to a set path.

[0124] Upon reaching the designated location, the rotatable dust sensor and wind direction sensor allow the dust sensor to adjust its orientation according to the wind direction, enabling the monitoring of particulate matter PM10 and PM2.5 concentrations. This allows for more accurate dust concentration measurement even in windy conditions. The vehicle-mounted noise sensor is used to monitor construction site noise in real time, enabling effective assessment and management of environmental noise levels.

[0125] Solar energy is converted into electricity by installing photovoltaic panels around the casing of the mobile base station, thereby improving its battery life.

[0126] Through the 5G network, information and data are transmitted to the central dispatch platform in real time, where the platform systematically organizes and deeply analyzes the data.

[0127] The system enables precise positioning of drones by equipping them with an RTK positioning module. The RTK module provides centimeter-level positioning accuracy, allowing drones to maintain a precise flight path with the assistance of base stations, making it suitable for navigation tasks over longer distances in complex environments. Visual sensors enable precise docking between drones and mobile base stations. The drones have a modular mission payload system, allowing for the replacement of different functional data acquisition modules according to monitoring mission requirements. A camera module enables the mapping of data with on-site images. A loudspeaker module enables real-time on-site information broadcasting. Information is transmitted in real-time to the central dispatch platform via a 5G network.

[0128] The system's central dispatch platform supports group management of multiple base stations and drones. Based on real-time monitoring data, the power levels and locations of drones and mobile base stations, the central dispatch platform dynamically adjusts task allocation and path planning to achieve an efficient monitoring network. It also enables data sharing and task allocation within the group. Furthermore, the platform intelligently allocates tasks and optimizes resources in real time based on the status of each drone and the monitoring requirements, thus achieving dynamic environmental monitoring.

[0129] In this embodiment, the working principle of the mobile base station and UAV collaborative monitoring system is as follows:

[0130] First, the data processing module is responsible for coordinating the operation of the mobility and payload 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 transmission of data and information processing between the mobile base station and the UAV (Ⅰ-5).

[0131] Furthermore, the display and control module is responsible for providing operators with real-time monitoring information and environmental data. This module includes real-time updates on the display screen (Ⅳ-1) and broadcast functions via the loudspeaker (Ⅳ-3), ensuring that operators have an intuitive understanding of the monitoring activities.

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

[0133] Furthermore, the mobile base station monitors environmental conditions during the takeoff and landing of the UAV (Ⅰ-5), assessing parameters such as wind speed, wind direction, noise, and dust concentration to determine whether safe takeoff and landing conditions are met. If environmental conditions are unsuitable, the mobile base station will automatically migrate to a suitable location to ensure the safe takeoff and landing of the UAV (Ⅰ-5). The base station continuously updates its precise location through the RTK positioning module (Ⅲ-1) and the UWB positioning module (Ⅲ-2), and uploads this location information to the central dispatch platform in real time. The central dispatch platform replans the UAV's return point based on the changes in the base station's location. If communication is interrupted or other abnormal situations occur during the base station's movement, the UAV will activate the backup "autonomous return" mode to return to its initial departure point or the nearest safe landing point.

[0134] Furthermore, in the event of multiple UAVs (Ⅰ-5) returning simultaneously, the central dispatch platform coordinates flight paths to reduce traffic density and avoid potential conflicts. Employing a Deep Q-Network (DQN) algorithm, the platform intelligently selects UAVs to return first based on their battery level, distance, and communication status. After the central dispatch platform issues a return command to the UAVs, the mobile base station, through environmental monitoring, reaches a suitable location for safe take-off and landing and reports its position to the central dispatch platform. The central dispatch platform then plans the optimal route for the UAVs (Ⅰ-5) based on their return priority, and the UAVs achieve precise return using the RTK positioning module (Ⅲ-1).

[0135] Furthermore, during the UAV (Ⅰ-5) landing phase, the mobile base station automatically opens its hatch, and the rotating landing pad (Ⅰ-2) uses a rotating power component (Ⅰ-3) to rotate idle parking spaces to designated positions and deploy the four-bar clamping device (Ⅰ-6). As the UAV approaches the target area, the lidar (Ⅰ-4) and visual sensor (Ⅲ-3) begin to work together. The lidar provides altitude data to ensure the relative position of the UAV to the ground remains stable, while the visual sensor is responsible for accurately locating the specific position of the landing pad and performing heading and positioning corrections. During landing, feedback data from the visual sensor and lidar is transmitted to the central dispatch platform in real time. Based on the feedback information, the UAV's landing path is continuously adjusted to avoid deviating from the target position, achieving precise landing guidance for the UAV. After landing, the four push rods of the four-bar clamping device (Ⅰ-6) move to the designated position, push the drone to the charging interface position, and fix the drone through the groove between the drone bracket (Ⅰ-5(1)) and the clamping device (Ⅰ-6), ensuring the stability of the drone during the charging process and achieving precise docking of the magnetic charging interface (Ⅴ-2(2)).

[0136] Furthermore, the system is equipped with noise (Ⅱ-2) and dust (Ⅱ-1) sensors to monitor the environment in real time. When noise levels exceed the standard, the system will display the data in real time and issue an alert via broadcast, while simultaneously transmitting the data back to the central dispatch platform. When dust concentration is abnormal, the system will control the drone (Ⅰ-5) to pause its movement and re-detect to ensure data accuracy. All monitoring data is displayed through the display module (Ⅳ-1), and the broadcast equipment is used to improve information transparency and response speed, ultimately transmitting the relevant data to the information control center.

[0137] Furthermore, the obstacle avoidance module plays a crucial role in the normal operation of the system, ensuring the safe navigation of the base station and the UAV (Ⅰ-5) during mission execution. This module detects and avoids obstacles through the coordinated operation of a LiDAR (Ⅰ-4) and a visual sensor (Ⅲ-3). The LiDAR is responsible for detecting obstacles close to the base station or UAV, providing rapid response and path adjustment; while the visual sensor (Ⅲ-3) is used to identify and assess obstacles at greater distances, providing long-range environmental awareness.

[0138] Furthermore, the energy storage module collects solar energy through photovoltaic panels (V-1) installed at the base station and converts it into electrical energy. The collected electrical energy is stored in batteries and then supplies the power needs of the entire system. This energy self-sufficiency design not only enhances the system's continuous operation capability but also reduces dependence on external power sources, improving the practicality and reliability of monitoring equipment in remote areas or areas with limited grid access.

[0139] Through the above steps, the mobile base station and UAV collaborative monitoring system in this embodiment achieves high-precision and dynamic environmental monitoring, improves the real-time performance and accuracy of monitoring data, and optimizes energy utilization and system operating efficiency.

[0140] Example 2

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

[0142] S1. The central dispatch platform plans the routes of drones and mobile base stations according to mission requirements.

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

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

[0145] S4. The location of mobile base stations and drones is detected in real time through the positioning detection module and transmitted to the central dispatch platform;

[0146] S5. Based on environmental data, the mobile base station unfolds the clamping device on the rotating landing pad. After the drone takes off from this landing position, the rotating power component rotates another landing position carrying a drone to this position.

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

[0148] S7. After the drone mission is completed, the dispatch platform plans the drone's return path based on environmental data and location information.

[0149] S8, the mobile base station will rotate the idle parking space to the designated position via the rotating power component during the drone landing and deploy the clamping device;

[0150] S9. When the drone approaches the mobile base station, the central dispatch platform plans the drone's landing path based on the received data.

[0151] S10. After the drone lands, it is secured to the mobile base station via the groove between the drone support and the clamping device.

[0152] Based on the monitoring system in Embodiment 1, this implementation supports multiple drones to perform different tasks simultaneously through multi-drone synchronous operation capabilities, including but not limited to:

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

[0154] (2) Environmental monitoring: UAVs can measure environmental parameters such as dust, gas composition, temperature and humidity at different altitudes, or monitor the direction and speed of pollutant diffusion at the same altitude. Combined with data modeling and intelligent analysis, the dynamic change trend of environmental pollutants can be accurately grasped. Compared with traditional methods, this system significantly improves monitoring accuracy and response speed.

[0155] (3) Construction site safety monitoring: Multiple drones can simultaneously patrol the construction area from different angles and collect image data using visual sensors. Combined with the YOLO target detection algorithm, intelligent image recognition is achieved, automatically detecting safety hazards in high-altitude operations, illegal placement of equipment, and personnel not wearing safety equipment, thereby improving the automation and intelligence level of construction safety management.

[0156] Specifically, the mobile base station obtains its current geographical location through an RTK positioning module, ensuring high-precision positioning of the system. Based on a preset path or real-time environmental data, the mobile base station autonomously moves to the designated monitoring area via a tracked platform (Ⅰ-1). The obstacle avoidance module detects environmental obstacles in real time using a lidar (Ⅰ-4) and a visual sensor (Ⅲ-3), generates an environmental map, and plans a safe movement path. The base station detects the current environmental conditions through sensors, ensuring the system can start operating under safe conditions. After confirming the working environment is safe, the mobile base station's hatch opens, and the parking space clamping device (Ⅰ-6) at the rotating landing pad (Ⅰ-2) hatch deploys. After the UAV takes off from this parking space, the rotating power component (Ⅰ-3) rotates another parking space carrying a UAV to this position.

[0157] The central dispatch platform plans the routes of UAVs (Ⅰ-5) and mobile base stations (Ⅰ-1) according to system requirements to ensure efficient collaborative operations. Through positioning modules (Ⅲ-1, Ⅲ-2), the platform can accurately determine the location of UAVs and mobile base stations and plan return routes for UAVs.

[0158] Each drone (Ⅰ-5) checks its battery level and sensor status after system startup and confirms its current location via the RTK positioning module (III-1). Upon system startup, each drone automatically acquires a task, and task allocation is dynamically adjusted based on the drone's current capabilities and task requirements. The central dispatch platform assigns tasks to the most suitable drone based on factors such as each drone's battery level and sensor capabilities, and according to task priority. Priority adjustments ensure that urgent tasks are completed first. For example, if a safety hazard is detected in a certain area, the central dispatch platform will automatically adjust task priorities, dispatching drones for real-time monitoring and feedback, rather than executing other lower-priority tasks. Each drone needs to continuously report its position, speed, and flight status so that the central dispatch platform can acquire data in real time and make dynamic adjustments.

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

[0160] The UAV (Ⅰ-5) is equipped with different UAV data acquisition modules (Ⅱ-1(1)) according to the mission requirements, takes off according to the planned path, and performs specific monitoring tasks, such as environmental monitoring, security patrol, 3D modeling and construction surveying.

[0161] After reaching the designated monitoring location, the drones (Ⅰ-5) collect environmental data in real time and transmit it to the central dispatch platform (Ⅵ) via the 5G network. 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 dispatch platform in real time. The platform fuses multiple data sources to generate comprehensive monitoring results. The data fusion process involves more than just simple data merging; it also includes removing redundant data and correcting inconsistencies, thereby improving the accuracy and reliability of the monitoring results. Simultaneously, the central dispatch platform automatically identifies abnormal data by comparing the trends of currently collected data with historical data in real time. For example, if the dust concentration in a certain area suddenly spikes, the central dispatch platform will determine whether it is due to sensor malfunction or data acquisition error. If a malfunction is confirmed, the central dispatch platform will reassign tasks based on the status of the remaining drones to ensure timely completion of the tasks.

[0162] The central dispatch platform performs real-time analysis of the collected data, generates reports, and automatically produces risk warnings based on the data reports. If the dust concentration in a certain area exceeds a predetermined threshold, the system will automatically issue an alarm through the voice broadcast module (Ⅳ-3) to remind 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 completing the mission, the UAV (Ⅰ-5) sends a return-to-home request to the central dispatch platform. Following the central dispatch platform's return-to-home instruction, the mobile base station monitors the environmental conditions of the UAV (Ⅰ-5), assessing parameters such as wind speed, wind direction, noise, and dust concentration to determine if safe takeoff and landing conditions are met. If environmental conditions are unsuitable, the mobile base station will automatically migrate to a suitable location to ensure the safe takeoff and landing of the UAV (Ⅰ-5). The mobile base station continuously updates its precise location using the RTK positioning module (Ⅲ-1) and the UWB positioning module (Ⅲ-2), and uploads this location information to the central dispatch platform in real time. The central dispatch platform replans the UAV's return-to-home point based on the changes in the base station's location. In the event of a communication interruption or other abnormal situation during base station movement, the UAV will activate the backup "autonomous return-to-home" mode, returning to its initial starting point or the nearest safe landing point.

[0164] In the event of multiple UAVs (Ⅰ-5) returning simultaneously, the central dispatch platform coordinates flight paths to reduce traffic density and avoid potential conflicts. The central dispatch platform intelligently selects UAVs to return first based on their battery level, distance, and communication status. By employing a Deep Q-Network (DQN) algorithm, the optimal flight path for each UAV is calculated in real time, preventing path conflicts during coordinated flight. During the landing phase of UAV (Ⅰ-5), the mobile base station automatically opens its hatch, and the rotating landing pad (Ⅰ-2) rotates idle parking spaces to designated positions via a rotating power component (Ⅰ-3), deploying the four-bar clamping device (Ⅰ-6). As the UAV approaches the target area, the visual sensor (Ⅲ-3) activates, ensuring the relative position of the UAV to the ground remains stable, accurately locating the landing pad, and performing heading and positioning corrections. During landing, feedback data from the visual sensor is transmitted to the central dispatch platform in real time, continuously adjusting the UAV's landing path based on the feedback information to avoid deviation from the target position and achieve precise landing guidance.

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

[0166] In the normal operation of the system, the obstacle avoidance module plays a crucial role in ensuring the safe navigation of the base station and the UAV (Ⅰ-5) during mission execution. This module detects and avoids obstacles through the coordinated work of a lidar sensor (Ⅰ-4) and a visual sensor (Ⅲ-3). The lidar is responsible for detecting obstacles at close range for the base station or UAV, providing rapid response and path adjustment; while the visual sensor (Ⅲ-3) is used to identify and assess obstacles at greater distances, providing long-range environmental awareness.

[0167] The energy storage module collects solar energy through photovoltaic panels (V-1) installed at the base station and converts it into electrical energy. The collected electrical energy is stored in batteries and then used to supply the power needs of the entire system. This energy self-sufficiency design not only enhances the system's continuous operation capability but also reduces dependence on external power sources, improving the practicality and reliability of monitoring equipment in remote areas or areas with limited grid access.

[0168] Based on the monitoring system in Embodiment 1, the monitoring method in this embodiment achieves efficient environmental monitoring and construction management at construction sites. Compared with traditional single-sensor or static monitoring equipment, this system has a stronger ability to work simultaneously with multiple drones. Through mobile base stations and multi-drone systems, it can achieve parallel execution of multiple tasks in complex construction site environments.

[0169] In this embodiment, the system employs multiple drones working collaboratively. It can flexibly carry different types of sensors, such as visual sensors, dust detection sensors, and noise sensors, according to mission requirements. Each drone automatically selects and installs the appropriate sensor based on the mission needs, thereby achieving three-dimensional monitoring. Drones performing different tasks can execute simultaneously, conducting real-time data acquisition and monitoring, significantly improving work efficiency and monitoring accuracy.

[0170] Multiple drones can simultaneously perform tasks such as environmental monitoring, construction safety inspections, and building modeling in multiple areas, reducing time costs and improving overall monitoring efficiency. Through a central dispatch system, the system can precisely coordinate the work between the drones, ensuring the successful completion of tasks.

[0171] This system features a specially designed rotating landing pad to accommodate multiple drones taking off and landing. The pad can flexibly adjust its position based on the drones' return sequence and status, ensuring each drone can smoothly dock and recharge. The landing pad design ensures rapid and safe takeoff and landing even when multiple drones are operating simultaneously. By combining an RTK positioning system with visual sensors, precise drone positioning and navigation are achieved. For simultaneous operation of multiple drones, the rotating and adjusting landing pad can accommodate multiple drones at the same time, allowing them to complete takeoff and landing tasks at different times. Through a rotating power unit and an automatically adjusting landing pad, conflicts between different drones are avoided, ensuring efficient and synchronized execution of all tasks.

[0172] Those skilled in the art will understand that the modules or steps of the present invention described above can be implemented using general-purpose computer devices. Optionally, they can be implemented using computer-executable program code, thereby allowing them to be stored in a storage device for execution by a computer device, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. The present invention is not limited to any particular combination of hardware and software.

[0173] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A mobile base station and UAV collaborative monitoring system, characterized in that, include: The module includes a mobile and mounting module, a positioning and detection module, a data acquisition module, and a data processing module. The mobility and mounting module is used for moving and mounting drones on a mobile base station. The module includes a rotating landing pad, installed inside the mobile base station housing, for parking and charging multiple drones. The rotating landing pad is equipped with a clamping device to secure the drones. The clamping device is a four-bar clamping device, including four push rods and a clamping device rail. The four push rods push the drone towards the charging port, and the drone is secured by the groove between the drone bracket and the clamping device. 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 acquire image data, and transmit the detected data and acquired data to the data processing module; The data processing module includes a central scheduling platform for task allocation, location management, and data transmission for multiple base stations and multiple drones; The central dispatch platform intelligently allocates tasks and optimizes resources in real time based on the status of each drone and the monitoring mission requirements. The rotating helipad is a triangular prism rotating helipad or a hexagonal prism rotating helipad, with multiple helipads arranged around the rotating axis and having multiple helipads; The rotating helipad is driven and adjusted to a designated position by a rotating power component.

2. The mobile base station and UAV collaborative monitoring system as described in claim 1, characterized in that, It 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 dispatch 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 UAV collaborative monitoring system as described in 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 setting multiple photovoltaic panels around the casing of the mobile base station; The backup battery pack is used to power the mobile base station at night and on cloudy days.

4. The mobile base station and UAV collaborative monitoring system as described in claim 1, characterized in that, The rotary power assembly includes a stepper motor, a worm gear, and a worm. The stepper motor drives the worm gear to rotate via a worm, which in turn causes the helipad to rotate.

5. The mobile base station and UAV collaborative monitoring system as described in claim 1, characterized in that, The positioning and detection module includes an RTK positioning module, a UWB positioning module, a lidar, a visual sensor, and a UAV visual sensor. The RTK positioning module is installed on the mobile base station and the drone to obtain the location of the mobile base station and the drone in real time. The UWB positioning module is installed on the base station and is used for positioning of the mobile base station in densely built-up environments. The lidar and vision sensors are used for the UAV to dock and locate with the mobile base station.

6. The mobile base station and UAV collaborative monitoring system as described in 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 mobile base station and can rotate 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 drone data acquisition module is installed on the top of the drone, and different data acquisition modules with different functions can be replaced according to different monitoring tasks.

7. The mobile base station and UAV collaborative monitoring system as described in claim 1, characterized in that, The central dispatch platform is connected and communicates with the mobile and mounted module, the positioning and detection module, and the data acquisition module via a 5G network.

8. The mobile base station and UAV collaborative monitoring system as described in claim 5, characterized in that, During the drone's descent, the mobile base station automatically opens its hatch, and the rotating landing pad rotates the idle landing position to the designated location via a rotating power component, and deploys the clamping device. As the drone is about to land on the mobile base station, visual sensors and lidar pinpoint the exact location of the landing pad and transmit this information to the central dispatch platform in real time. The central dispatch platform then plans the drone's landing path based on the received data. After landing, the drone is secured to the mobile base station via the groove between the drone's support frame and the clamping device.

9. A method for collaborative monitoring using a mobile base station and an unmanned aerial vehicle (UAV), characterized in that, include: The central dispatch platform plans the routes of drones and mobile base stations according to mission requirements; The mobile base station can autonomously move to the designated monitoring area via a tracked platform according to a preset path; Environmental data is detected by the data acquisition module and transmitted to the central dispatch platform; The location detection module detects the positions of mobile base stations and drones in real time and transmits the data to the central dispatch platform. Based on environmental data, the mobile base station deploys the clamping device on the rotating landing pad. After the drone takes off from this landing position, the rotating power component rotates another landing position carrying a drone to this position. The clamping device is a four-bar clamping device. The drones are equipped with different data acquisition modules according to mission requirements, take off according to the planned path, perform specific monitoring tasks, and collect environmental data in real time after reaching the designated monitoring position, and transmit the data to the central dispatch platform in real time. The central dispatch platform intelligently allocates tasks and optimizes resources in real time according to the status of each drone and the monitoring mission requirements. After the drone mission is completed, the dispatch platform plans the drone's return path based on environmental data and location information; During the drone's descent, the mobile base station will use a rotating power component to rotate the idle landing pad to the designated position and deploy the clamping device. As the drone is about to land at the mobile base station, the central dispatch platform plans the drone's landing path based on the received data. After the drone lands, it is fixed to the mobile base station through the groove between the drone bracket and the clamping device. Specifically, the four push rods of the four-bar clamping device move to the designated position, pushing the drone towards the charging interface, and the drone is fixed through the groove between the drone bracket and the clamping device, ensuring the stability of the drone during the charging process and achieving precise docking of the magnetic charging interface. The rotating helipad is a triangular prism rotating helipad or a hexagonal prism rotating helipad, with multiple helipads arranged around the rotating axis and having multiple helipads; The rotating helipad is driven and adjusted to a designated position by a rotating power component.

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