Zero-carbon park land-air integrated inspection system

Abstract

The invention discloses a zero-carbon park land-air integrated inspection system, and the system comprises a function module which comprises an air inspection unit, a land inspection unit, a fixed sensing unit, an abnormality warning unit, an energy consumption management and cooperation unit, and a coordination control unit; the network transmission layer is used for transmitting inspection data in multiple aspects to a cloud database for storage through a 4G / 5G / wide area network, a LoPa gateway and a transmission protocol; and the sensing layer is used for monitoring the daily operation state in the park in real time through a camera, a fixed sensor, a positioning base station, an unmanned aerial vehicle and a land robot. According to the park inspection system, multiple terminal devices such as the land robot, the unmanned aerial vehicle and the fixed sensor are integrated, a multi-dimensional inspection network is constructed, all-dimensional inspection without dead corners in the park can be achieved, and the technical problem that an existing inspection method cannot meet the inspection standard of the zero-carbon park is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of multi-dimensional inspection of equipment during the daily operation of a zero-carbon park, and particularly to a land-air integrated inspection system for a zero-carbon park. Background Art

[0002] As a representative new ecological park, the design concept of a zero-carbon park is to achieve a win-win situation between environmental protection and economic development within the park by reducing carbon emissions, optimizing energy use, and improving the resource recycling rate.

[0003] Among them, during the daily operation of a zero-carbon park, the inspection of equipment and facilities is an important link to ensure its efficient and safe operation. Traditional inspection methods mostly rely on manual inspection, which is not only inefficient but also unable to obtain high-precision data in real time, and it is easy to overlook potential safety hazards. In addition, manual inspection is also affected by uncertain factors such as weather and terrain, resulting in unstable inspection quality and even the inability to detect and eliminate faults in a timely manner. Therefore, the above limitations make the traditional inspection methods unable to meet the application requirements of zero-carbon parks.

[0004] Secondly, in terms of technical implementation, a zero-carbon park requires efficient and accurate inspection means to ensure the stable operation of energy facilities and precise control of carbon emissions. To ultimately achieve the daily inspection work of a zero-carbon park, a more comprehensive and intelligent inspection method is the key. Summary of the Invention

[0005] In view of the above three problems, the purpose of the present invention is to propose a land-air integrated inspection system for a zero-carbon park. By integrating various terminal devices such as land robots, drones, and fixed sensors, a multi-dimensional inspection network is constructed, which can achieve full-range and dead-angle-free inspection of the park, so as to solve the technical problem that the existing inspection methods cannot meet the inspection standards of zero-carbon parks.

[0006] It is achieved through the following technical solutions: A zero-carbon park land-air integrated inspection system, comprising: functional modules; including: an aerial inspection unit, a land inspection unit, a fixed sensing unit, an abnormal warning unit, an energy consumption management and coordination unit, and a coordination control unit; wherein, the aerial inspection unit is used to regulate the behavior and functions during the inspection by the unmanned aerial vehicle (UAV) to complete the low-altitude inspection task; the land inspection unit is used to control the land robot to complete the inspection of high-risk areas in the park, equipment operation and environmental perception; the fixed sensing unit is used to monitor the microenvironment and equipment operation status of the park through multiple fixed sensors; the abnormal warning unit is used to eliminate the time and position deviations of the UAV, land robot and multiple fixed sensors, process the inspection data, and predict the failure cycle of park equipment; the energy consumption management and coordination unit is used to dynamically adjust the working status of the inspection equipment and optimize the inspection task scheduling; the coordination control unit is used to close the loop of task execution and feedback; a network transmission layer; used to transmit multi-faceted inspection data to the cloud database for storage through 4G / 5G / wide area network, LoPa gateway and transmission protocol; a sensing layer; used to monitor the daily operation status in the park in real time through cameras, multiple fixed sensors, positioning base stations, UAVs and land robots.

[0007] The park inspection system described in the present invention uses UAVs, land robots, fixed sensors, video monitoring equipment, positioning base stations, etc. to monitor the daily operation in the park in real time, and based on multi-faceted inspection data and historical safety accident records, potential safety hazards can be predicted in advance, maintenance can be arranged in advance, and risks can be prevented.

[0008] Preferably, the UAV inspection includes two operation modes: unattended and manual control; in the unattended state, the UAV takes off and lands automatically and flies according to the preset tasks and established flight routes to collect low-altitude inspection data; in the manual control state, the UAV executes tasks according to the flight routes planned by relevant personnel to collect low-altitude inspection data. By using the UAV to inspect the park, the complex areas in the air and on the ground of the park can be quickly covered, and the inspection efficiency can be further improved.

[0009] Preferably, for the flight route planning of the UAV, the global optimal route is generated by using the AI algorithm, and at the same time, the UAV receives meteorological data in real time and dynamically adjusts the flight height and speed of the UAV according to the meteorological data. By optimally planning the flight route of the UAV and combining the meteorological information in the park, the efficient and accurate execution of the UAV aerial inspection task can be ensured.

[0010] Preferably, the land robot conducts autonomous positioning and path planning through a variety of navigation technologies, and uses an infrared thermal imager, an ultrasonic flaw detector, and a gas sensor to detect abnormal temperatures, mechanical failures, and gas leaks in the park equipment respectively. By using the land robot to conduct inspections in the park, it can replace manual labor to complete inspections, equipment operations, and environmental perception in high-risk areas of the park, significantly improving the inspection efficiency and safety.

[0011] Preferably, for the path planning of the land robot, first, the SLAM technology is used to construct an outdoor map of the park, and secondly, the dynamic window method is used to achieve dynamic obstacle avoidance of the robot. By planning the path of the land robot, it can accurately avoid obstacles during the inspection process of the land robot and successfully complete the inspection task.

[0012] Preferably, the deployment of multiple fixed sensors adopts a grid layout. The multiple fixed sensors are installed at fixed positions, and the collected environmental monitoring data is uploaded to the edge server for edge computing and compression before being stored. By using the fixed sensors to monitor the park environment for a long time, it can reflect the daily operation status in the park in real time and provide data support for preventing potential safety hazards.

[0013] Preferably, the edge server is deployed at the network edge and is used to preprocess and control in real time any inspection data transmitted by multiple fixed sensors. By deploying the edge server locally, it can perform edge computing, image compression, and anomaly filtering on inspection data in multiple aspects, reduce inspection data redundancy, and avoid transmitting a large amount of raw data to the cloud database, thereby improving the task execution efficiency.

[0014] Preferably, after the inspection data in multiple aspects is transmitted to the cloud database, on the one hand, GPS+RTK positioning and timestamp synchronization are adopted; on the other hand, a three-dimensional digital twin model of the zero-carbon park is constructed based on BIM+GIS technology. By synchronizing GPS+RTK positioning and timestamps, it can ensure that the collected data of aerial drones, land robots, and fixed sensors match in time and space; and by constructing a three-dimensional digital twin model, it can dynamically map indicators such as the equipment status and environmental parameters in the park.

[0015] Preferably, the inspection system includes an inspection task management system, which is used to assign daily regular inspection tasks to drones and land robots, divide the priority of emergency events according to the alarm level automatically identified by the inspection system, and monitor the operation status of inspection equipment in real time. Through the inspection task management system, it can combine the equipment status and the execution efficiency of the task queue to execute an optimization strategy, reasonably allocate inspection tasks, and improve the inspection efficiency.

[0016] The beneficial effects of the present invention compared with the prior art are: The technical solution of the present invention is that the inspection system is based on an "air-ground-static" collaborative architecture, integrating an aerial inspection unit, a land inspection unit, a fixed sensing unit, an anomaly warning unit, an energy consumption management and coordination unit, and a coordination control unit, to build a dynamic monitoring and response network covering all scenarios and all elements of the park; and by integrating various terminal devices such as drones, land robots, and fixed sensors, it can achieve all-round and non-blind-spot inspections of the park, ensuring the efficient and accurate execution of inspection tasks, and significantly improving the execution efficiency of inspection tasks; and by building a three-dimensional digital twin model of the park, it can optimize the operation strategies of park equipment, energy distribution plans, and emergency plans, and improve the overall operation efficiency of the park. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic structural diagram of a land-air integrated inspection system for a zero-carbon park; Figure 2 is a flowchart of drone inspection of a land-air integrated inspection system for a zero-carbon park; Figure 3 is a flowchart of land robot inspection of a land-air integrated inspection system for a zero-carbon park; Figure 4 is a flowchart of fixed sensor monitoring of a land-air integrated inspection system for a zero-carbon park. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] Next, the technical solutions in the embodiments of the present invention will be described in detail with reference to the attached Figures 1 to 4 drawings in the embodiments of the present invention.

[0019] As Figure 1 shown, it is a schematic structural diagram of a land-air integrated inspection system for a zero-carbon park. The figure includes: a function module, including: an aerial inspection unit, a land inspection unit, a fixed sensing unit, an anomaly warning unit, an energy consumption management and coordination unit, and a coordination control unit; a network transmission layer, including 4G / 5G / wide area network, LoPa gateway, and transmission protocol; a sensing layer, including cameras, fixed sensors, positioning base stations, drones, and land robots; by using inspection devices such as drones and land robots, all-round and non-blind-spot inspections of the park can be realized, so as to solve the technical problem that the existing inspection methods cannot meet the inspection standards of zero-carbon parks.

[0020] The system specifically includes the following contents: Function module; including: an aerial inspection unit, a land inspection unit, a fixed sensing unit, an anomaly warning unit, an energy consumption management and coordination unit, and a coordination control unit.

[0021] Among them, the aerial inspection unit is used to regulate the behavior and functions of the drone during inspection and complete the low-altitude inspection task. The aerial inspection unit can achieve the autonomous positioning and path planning of the drone through a variety of navigation technologies, such as lidar, visual navigation, and GPS, etc., so as to ensure the efficient and accurate execution of the drone inspection task. Among them, the aerial inspection unit dynamically allocates drone inspection tasks based on cluster algorithms, such as ant colony optimization and reinforcement learning algorithms, and supports the joint execution of complex tasks by drones and land robots, such as the drone scouting the way and the robot extinguishing the fire during a fire. Secondly, the aerial inspection unit ensures the low-latency transmission of the high-definition video captured by the drone to the cloud database through 5G slicing technology.

[0022] As Figure 2 shown, it is a flowchart of the drone inspection of a zero-carbon park land-air integrated inspection system, including two operation modes: unattended and manual control. In the unattended state, the drone takes off, lands, and flies automatically according to the preset tasks and established flight routes, and collects low-altitude inspection data. In the manual control state, the drone executes tasks according to the flight routes planned by relevant personnel and collects low-altitude inspection data.

[0023] In this embodiment, specifically, a drone automatic hangar is set at the high point of the park, with a coverage radius of 5 km, and it supports the autonomous charging and battery replacement of the drone. In the unattended state, the drone dynamically adjusts its flight altitude and speed by combining the meteorological data in the park to be on standby at any time for 24 hours. First, the drone flies automatically according to the preset tasks and fully patrols the covered area along the established inspection route to collect the required low-altitude inspection data or conduct reconnaissance and intervention on emergencies. After the drone completes the flight task, it will automatically return and land precisely, and the collected low-altitude inspection data will be automatically downloaded and compressed by the edge server and then transmitted to the cloud database for storage via 4G / 5G / wide area network.

[0024] Secondly, in the manual control state, first design the flight route of the drone. Relevant personnel can select flight modes such as oblique photography, waypoint mode, polygon mapping, and circular mapping according to different needs, and set flight information such as flight tracks, waypoints, angles, and inspection targets. The multi-location system ensures flight safety. Then select the planned task, route, or historical route on the control terminal and execute the flight task or resume the historical route through the one-key takeoff mode. After the drone completes the flight task, it returns and lands automatically, and the collected inspection data can be compressed by the edge server and stored and viewed online in the cloud database.

[0025] Among them, during the mission execution of the drone, an AI algorithm is used to generate the globally optimal flight path to avoid no-fly zones and obstacles; a lidar is used to generate a point cloud map with centimeter-level accuracy for obstacle recognition; and the carried RGB-D camera is used to achieve positioning and modeling in a GPS-free environment; in addition, the anti-interference design of the drone adopts multi-band GPS / Beidou + inertial navigation to cope with electromagnetic interference or signal occlusion; secondly, the information of each flight mission of the drone is recorded to form a "historical flight mission" database, and all inspection records and inspection data of the drone can be viewed in the relevant platform database.

[0026] The land inspection unit is used to control the land robot to complete the inspection of high-risk areas, equipment operation, and environmental perception in the park; among them, the land inspection unit realizes the autonomous positioning and path planning of the land robot through technologies such as lidar, vision sensors, or GPS; secondly, the land inspection unit controls the land robot to replace humans for the inspection of power lines and equipment, security patrols, fire rescue, etc.; and the land robot is equipped with an all-terrain chassis and a robotic arm, which can perform behaviors such as climbing stairs and crossing muddy areas; in addition, the land robot can perform equipment operations, such as tasks that are difficult for humans to complete, such as opening and closing valves, reading instrument data, and handling dangerous goods; by planning the path of the land robot, obstacles can be accurately avoided during the inspection process of the land robot, and the inspection task can be successfully completed; and by using the land robot to inspect the park and replacing humans to complete the inspection of high-risk areas, equipment operation, and environmental perception in the park, the inspection efficiency and safety can be significantly improved.

[0027] As Figure 3 shown, it is a flowchart of the land robot inspection in a zero-carbon park land-air integrated inspection system. In the figure, the land robot synchronizes the sensor timestamps of the collected data through the PTP protocol, and after compensating for the contact angle error of the ultrasonic flaw detector in combination with the kinematic model of the land robot's robotic arm, the collected data is processed and stored.

[0028] In this embodiment, for the path planning of the land robot, first, the SLAM technology is used to construct an outdoor map of the park. Secondly, based on the dynamic window method, dynamic obstacle avoidance of the robot is realized, which can accurately avoid obstacles during the inspection of the land robot and successfully complete the inspection task. Secondly, an infrared thermal imager is fixed on the pan-tilt of the land robot. The infrared thermal imager integrates an AI temperature measurement algorithm, which can automatically frame the hot spots of the equipment and measure the abnormal temperature of the park equipment. The ultrasonic flaw detector is mounted at the end of the robotic arm of the land robot, which can detect the fault conditions of the park equipment in a contact way. In addition, gas sensors are installed on the land robot, which support the detection of 10 kinds of gases, with a detection sensitivity of 0.1 ppm and a detection period of ≤5 seconds, and are used to detect gas leakage. Among them, the SLAM technology, whose full name is Simultaneous Localization and Mapping, that is, simultaneous localization and map construction, is a technical method for estimating the pose of a land robot in real time through sensor data and constructing an environmental map. In this invention, through this technology, the land robot can move autonomously in the park environment and construct a map of the surrounding environment of the park.

[0029] Among them, the maintenance work of the land robot includes: checking the wear of the crawler and the lubrication of the joints every month, with a replacement period of ≥1 year; performing blackbody calibration on the infrared thermal imager every quarter; and calibrating the gas sensor every six months. Through the above implementation strategy, the land robot can become the core equipment for intelligent operation and maintenance of the park, significantly improving the inspection efficiency and safety.

[0030] The fixed sensing unit is used to monitor the microenvironment and equipment operation status of the park through multiple fixed sensors. The fixed sensing unit covers key areas such as computer rooms, warehouses, and pipelines in the park by installing multiple fixed sensors at fixed positions in the park. The types of fixed sensors include: fiber Bragg grating, temperature and humidity, gas concentration, vibration, noise, and light sensors. Among them, the fixed sensing unit monitors the deformation of the buildings in the park through fiber Bragg grating sensors and analyzes the energy efficiency of park equipment through current transformers, providing data support for preventing building structural risks and optimizing equipment energy conservation. Secondly, the fixed sensing unit can dynamically adjust the sampling frequency of each sensor to improve the sampling efficiency of the sensors.

[0031] In this embodiment, the environmental indicators that need to be detected at fixed points in the park include: temperature and humidity, gas concentration, toxic gas, light intensity, and noise; and the deployment of fixed sensors adopts a grid layout. One node is deployed per 100 m² in general areas, for example, installing a temperature and humidity sensor or a light sensor. For key areas, such as chemical storage tank areas and power distribution rooms, it is encrypted to 1 node per 20 m², and a gas concentration sensor or a vibration sensor is added. Secondly, the sampling frequency of fixed sensors is 1 time per minute under normal conditions. When an event is triggered, such as when the vibration exceeds the limit, high-frequency sampling at 100 Hz is adopted, and it can also achieve adaptive adjustment, dynamically increasing the sampling rate according to environmental changes.

[0032] As Figure 4 shown, it is a flowchart of the fixed sensor monitoring of a zero-carbon park land-air integrated inspection system. The deployment of fixed sensors adopts a grid layout. A plurality of fixed sensors are installed at fixed positions, and the collected environmental monitoring data is uploaded to the edge server for edge computing and compression and then stored.

[0033] Among them, for the environmental monitoring data collected by multiple fixed sensors, it is first uploaded to the edge server through the LoPa gateway for edge computing and compression and then stored and displayed; specifically, the edge computing process uses Kalman filtering to eliminate sensor data noise, and extracts device fault characteristics through wavelet transform of data signals for subsequent processing of related devices; data compression uses Concise Binary Object Representation, which can reduce the amount of transmitted data by 70% and reduce data redundancy; after receiving the data, the cloud database stores the sensor data using the time series database InfluxDB, enabling high-speed writing and querying of data; secondly, the stored data is visualized using the Grafana dashboard, and the data curve and the relevant threshold alarm heat map are displayed in real time.

[0034] In this embodiment, the edge server is deployed at the network edge and is used for preprocessing and real-time control of inspection data in multiple aspects; through the edge server, edge computing, image compression, and anomaly filtering processing can be performed on inspection data in multiple aspects, reducing inspection data redundancy and avoiding transmitting a large amount of raw data to the cloud database, thereby improving the task execution efficiency.

[0035] Anomaly warning unit, which is used to eliminate the time and position deviations of drones, land robots and fixed sensors, process inspection data, and predict the failure cycle of park equipment. First, the anomaly warning unit realizes the alignment of multi-source data based on GPS+RTK positioning and timestamp synchronization to ensure that the collected data of aerial drones, land robots and fixed sensors match in time and space. Then, through precise clock synchronization and spatial coordinate mapping, the time and position deviations of the collected data of drones, land robots and fixed sensors are eliminated, and accurate data fusion is achieved. Secondly, the anomaly warning unit processes the inspection data in real time, including: extracting frames and performing AI recognition on the video stream, filtering and feature extraction on the sensor signals, etc., and triggering local alarms, platform notifications or system linkages for the identified potential safety hazards according to the risk level, so that relevant personnel can promptly investigate and handle the potential safety hazards; among them, the system linkage includes operations such as automatic shutdown of relevant equipment and activation of fire-fighting equipment. Finally, the anomaly warning unit predicts the failure cycle of park equipment based on historical inspection data and AI models, generates maintenance suggestions and synchronizes them to the digital twin platform; among them, the digital twin platform is a comprehensive platform built based on advanced technologies such as the Internet of Things, big data, cloud computing and artificial intelligence, and is used in the present invention to build a three-dimensional digital twin model of the park.

[0036] In this embodiment, after multi-faceted inspection data is transmitted to the cloud database, the digital twin platform constructs a three-dimensional digital twin model of the zero-carbon park based on BIM+GIS technology, dynamically mapping indicators such as the equipment status and environmental parameters in the park; this three-dimensional digital twin model covers all elements such as indoor and outdoor, above and below ground, and low altitude in the park, and can realize the visualization display of the park at multiple scales. Among them, the inspection system integrates real-time data such as energy consumption, carbon emissions and equipment operation status into this three-dimensional digital twin model to achieve a high-fidelity simulation and restoration of the park operation status, and can simulate various operation scenarios of the park, such as equipment failures, energy dispatching, emergency responses, etc. Through simulation, the equipment operation strategy, energy distribution plan and emergency plan can be further optimized to improve the overall operation efficiency of the park; secondly, through the application of virtual reality or augmented reality technology in this three-dimensional digital twin model, managers can intuitively view the real-time operation situation of the park.

[0037] Energy consumption management and coordination unit, which is used to dynamically adjust the working state of inspection equipment and optimize the inspection task scheduling. The inspection equipment includes: drones, land robots and multiple fixed sensors. On the one hand, the energy consumption management and coordination unit realizes the dynamic power adjustment of the inspection equipment, including: the drone dynamically adjusts the load according to the task type, for example, turning off the pan-tilt lighting at night and only keeping the lidar and infrared sensors powered, or automatically adjusting the motor power according to the wind speed during the flight of the drone; and when the land robot is on standby, it enters deep sleep and only maintains basic environmental perception through the microwave radar, or when the land robot performs tasks, it dynamically distributes the battery output according to the load of the robotic arm. For example, when grasping heavy objects, it increases the joint motor voltage; among them, the fixed sensing unit is energy-saving in linkage with the environment. By combining the temperature and humidity data of the park environment, it adjusts the equipment cooling system, such as increasing the fan speed in a high-temperature environment and switching to passive cooling at normal temperature.

[0038] On the other hand, the energy consumption management and coordination unit monitors the power of the inspection equipment to optimize the inspection task scheduling, preferentially schedules the inspection equipment with sufficient power to perform high-priority tasks, and replenishes the energy of the inspection equipment in advance according to the task list data. First, the battery management system in the energy consumption management and coordination unit monitors the power of the inspection equipment in real time, obtains the remaining power, health status and charge-discharge cycle times of the inspection equipment, and predicts the available working hours; secondly, the inspection task management system dynamically allocates tasks according to the priority. High-priority tasks are preferentially assigned to drones and land robots with a power ≥ 80% to perform tasks, and equipment with a power ≤ 30% is automatically downgraded to perform short-distance and low-load tasks, such as patrolling in a fixed area; finally, by combining the task list and the location of the inspection equipment, the low-power equipment is scheduled to go to the charging pile nearby through the path planning algorithm, such as landing the drone on the roof of the mobile charging vehicle.

[0039] In this embodiment, the inspection task management system is used to assign daily regular inspection tasks to drones and land robots, and divide the emergency event priorities according to the alarm levels automatically recognized by the inspection system and monitor the running status of the inspection equipment in real time; among them, the alarm levels are: fire warning > equipment abnormal warning > conventional inspection abnormal warning, and the inspection task management system executes the inspection plan according to the priority; through the inspection task management system, it is possible to combine the equipment status and the task queue to execute the efficiency optimization strategy, reasonably allocate the inspection tasks, and improve the inspection efficiency.

[0040] A coordination control unit is used to close the loop between task execution and feedback, and can implement an event-based triggering mechanism for fixed units. First, events are classified through multi-modal event definitions into: environmental events, including phenomena such as excessive gas concentration and sudden changes in temperature and humidity; equipment events, including situations such as excessive equipment vibration and abnormal current; and safety events, including conditions such as unauthorized intrusion identified by video and fire alarms triggered by fire sensors. At the same time, event levels are divided according to the degree of urgency into: Level 1 emergency events, indicating events that require immediate alarm response, such as combustible gas leakage, which will trigger a red alarm and preempt all current task resources; Level 2 important events, indicating events that need to be processed within a limited time, such as equipment overheating, which requires dispatching idle equipment or suspending low-priority tasks; Level 3 general events, indicating events that are recorded and incorporated into the regular inspection plan, such as lighting failures.

[0041] Secondly, the implementation process of the task execution and feedback closed loop is as follows: First, automated task distribution is carried out, and an instruction packet containing event coordinates, task types, and safety operation guides is sent to the selected inspection equipment; Secondly, during the process of the inspection equipment executing tasks, monitoring and intervention are carried out, the task site video and corresponding sensor data are transmitted back in real time, and AI is used to assist in judging whether an upgraded response is required, such as leakage spread → dispatching additional equipment; At the same time, manual intervention is supported, such as remotely controlling a robot to close a valve; Finally, an event handling report is automatically generated after the task is completed, which includes a timeline, operation records, and a snapshot of on-site data, and the event handling report is updated to the digital twin platform, and the area of the processed event is marked.

[0042] The network transmission layer; is used to transmit various aspects of inspection data to the cloud database for storage through 4G / 5G / wide area network, LoPa gateway, and transmission protocol; Through this network transmission layer, the present invention can quickly and accurately transmit various aspects of inspection data to the cloud database, so as to perform spatial and temporal synchronization operations on the inspection data subsequently, and to build a three-dimensional digital twin model of the park.

[0043] The perception layer; is used to monitor the daily operation status in the park in real time through cameras, fixed sensors, positioning base stations, drones, and land robots; Through a variety of inspection equipment in the perception layer of the present invention, the park can be inspected comprehensively and without dead angles, ensuring the efficient and accurate execution of inspection tasks.

[0044] In summary, the inspection system described in the present invention is based on the "air-ground-static" collaborative architecture, integrating an aerial inspection unit, a land inspection unit, a fixed sensing unit, an anomaly warning unit, an energy consumption management and coordination unit, and a coordination control unit, to build a dynamic monitoring and response network covering all scenarios and all elements of the park; and by integrating various terminal devices such as drones, land robots, and fixed sensors, it can achieve full-range and dead-angle-free inspection of the park, ensure the efficient and accurate execution of inspection tasks, and significantly improve the execution efficiency of inspection tasks; and by building a three-dimensional digital twin model of the park, it can optimize the operation strategy of park equipment, the energy distribution plan, and the emergency plan, and improve the overall operation efficiency of the park, showing significant progressiveness.

[0045] The above embodiments are only used to illustrate the technical idea of the present invention, and the protection scope of the present invention cannot be limited thereby. Any changes made on the basis of the technical solution according to the technical idea proposed by the present invention shall fall within the protection scope of the present invention.

Claims

1. A zero-carbon park land and air integrated inspection system, characterized in that: include: Functional modules; including: aerial inspection unit, land inspection unit, fixed sensing unit, abnormal warning unit, energy consumption management and coordination unit and coordination control unit; Among them, the aerial inspection unit is used to control the behavior and functions of drones during inspections and complete low-altitude inspection tasks; the land inspection unit is used to control land robots to complete high-risk area inspections, equipment operations and environmental perception in the park; the fixed perception unit is used to monitor the park's microenvironment and equipment operating status through multiple fixed sensors; the abnormal warning unit is used to eliminate the time and position deviations of drones, land robots and multiple fixed sensors, process inspection data and predict the failure cycle of park equipment; the energy consumption management and coordination unit is used to dynamically adjust the working status of inspection equipment and optimize inspection task scheduling; the coordination control unit is used to close the loop of task execution and feedback; Network transmission layer: used to transmit various inspection data to the cloud database for storage through 4G / 5G / wide area network, LoPa gateway and transmission protocol; Perception layer: used to monitor the daily operation status of the park in real time through cameras, multiple fixed sensors, positioning base stations, drones, and land robots.

2. According to claim 1, a zero-carbon park land and air integrated inspection system is characterized in that: Drone inspections include two operating modes: unmanned and manually controlled. In the unmanned state, the drone automatically takes off and lands and flies according to preset tasks and established flight routes, collecting low-altitude inspection data. In the manual control state, the drone performs tasks according to the flight routes planned by relevant personnel and collects low-altitude inspection data.

3. The zero-carbon park land and air integrated inspection system according to claim 2 is characterized in that: For the flight route planning of drones, the global optimal route is generated by using AI algorithms. At the same time, the drone receives meteorological data in real time and dynamically adjusts the flight altitude and speed of the drone based on the meteorological data.

4. The zero-carbon park land and air integrated inspection system according to claim 1 is characterized in that: The land robot uses a variety of navigation technologies to perform autonomous positioning and path planning, and uses infrared thermal imagers, ultrasonic flaw detectors and gas sensors to detect abnormal temperatures, mechanical failures and gas leaks in park equipment.

5. The zero-carbon park land and air integrated inspection system according to claim 4 is characterized in that: For the path planning of the land robot, SLAM technology is first used to build an outdoor map of the park, and then the dynamic obstacle avoidance of the robot is realized based on the dynamic window method.

6. The zero-carbon park land and air integrated inspection system according to claim 1 is characterized in that: The deployment of multiple fixed sensors adopts a grid layout, multiple fixed sensors are installed in fixed positions, and the collected environmental monitoring data is uploaded to the edge server for edge computing and compression before storage.

7. The zero-carbon park land and air integrated inspection system according to claim 6 is characterized in that: The edge server is deployed at the edge of the network and is used to pre-process and perform real-time control on any inspection data transmitted by multiple fixed sensors.

8. The zero-carbon park land and air integrated inspection system according to claim 1 is characterized in that: After various inspection data are transmitted to the cloud database, on the one hand, GPS+RTK positioning and timestamp synchronization are used; on the other hand, a three-dimensional digital twin model of the zero-carbon park is built based on BIM+GIS technology.

9. The zero-carbon park land and air integrated inspection system according to claim 1 is characterized in that: The inspection system includes an inspection task management system, which is used to assign daily scheduled inspection tasks to drones and land robots, prioritize emergency events according to the alarm levels automatically identified by the inspection system, and monitor the operating status of inspection equipment in real time.

Images