Multi-source sensing unmanned aerial vehicle intelligent water adding control system and cooperative control method

Abstract

The invention discloses a multi-source sensing unmanned aerial vehicle intelligent water adding control system and a cooperative control method, and relates to the technical field of unmanned aerial vehicle automatic operation and maintenance, and the system specifically comprises unmanned aerial vehicle scheduling system software and hardware, control center system software and hardware, and peripheral equipment. Modularized design is adopted for software and hardware of the unmanned aerial vehicle dispatching system and the control center system. According to the multi-source sensing unmanned aerial vehicle intelligent water adding control system and the cooperative control method, cooperation with an unmanned aerial vehicle dispatching system is achieved, the intelligent water adding process of a water tank carried by an unmanned aerial vehicle is accurately achieved according to the actual water demand, the temperature of an anti-freezing water tank is automatically adjusted, and useless energy consumption is prevented from being increased; multi-sensor data mutual verification is achieved, the water adding level monitoring precision is improved, the overflow or water supply interruption phenomenon is avoided, and the use reliability of the system is improved.

Description

Technical Field

[0001] This invention relates to the field of automated operation and maintenance technology for unmanned aerial vehicles (UAVs), specifically to an intelligent water supply control system, device, and intelligent control method for UAVs, which enables water source management, antifreeze protection, and dynamic coordination with the UAV operation process under unattended conditions. Background Technology

[0002] With the accelerated transformation of the global energy structure, photovoltaic (PV) power generation technology, with its advantages of being clean and renewable, has become an important component of the global energy system. Against this backdrop, the importance of PV operation and maintenance technology, especially PV panel cleaning technology, is increasingly prominent. Studies show that pollutants such as dust and bird droppings deposited on the surface of PV panels can lead to a power generation efficiency loss of up to 15%-30%, and in areas prone to sandstorms, the average monthly power generation loss can even exceed 40%. Traditional manual cleaning methods suffer from low efficiency, high cost, and poor safety, while automated cleaning technology using drones equipped with water tanks has become a research hotspot in the field of PV operation and maintenance due to its high flexibility and wide coverage.

[0003] The automated cleaning technology using drones equipped with water tanks integrates advanced flight control systems, visual recognition technology, and intelligent spraying systems to achieve intelligent and automated cleaning of photovoltaic panels. However, existing drone cleaning systems still face key technological bottlenecks in practical applications, particularly in the water tank management stage:

[0004] The water filling process lacks intelligence. Current systems rely heavily on human experience to determine the timing and amount of water to add, or use simple preset water volumes. They lack real-time perception and analysis of dynamic parameters such as the actual pollution level of photovoltaic panels, ambient temperature and humidity, and cleaning area. Furthermore, the water filling process lacks coordination with drone task scheduling. Frequent return trips for water filling or excessive water addition not only increase energy consumption but may also lead to operation interruptions and reduce overall efficiency.

[0005] Traditional systems often use a single sensor to monitor water levels. Insufficient water level monitoring accuracy or sensor malfunction can easily lead to overflows or water supply interruptions.

[0006] Photovoltaic power plants are often built in extreme environments such as deserts, plateaus, and coastlines. When operating in cold regions, they are prone to system failure due to water tank freezing.

[0007] Based on this, this application proposes a multi-source sensing unmanned aerial vehicle (UAV) intelligent water supply control system and a collaborative control method. Summary of the Invention

[0008] This invention provides a multi-source sensing UAV intelligent water filling control system and collaborative control method, which solves the problems of insufficient intelligence in the water filling process, poor environmental adaptability, and low reliability of water level monitoring in the existing intelligent water filling control systems for cleaning UAVs mentioned in the background art.

[0009] This invention provides the following technical solution: a multi-source sensing unmanned aerial vehicle (UAV) intelligent water supply control system, comprising UAV scheduling system software and hardware, control center system software and hardware, and peripherals, wherein the UAV scheduling system includes: a first sensor module, a UAV positioning and communication module, a UAV antenna, and the UAV scheduling system; the control center system software and hardware includes: a second sensor module, a control center antenna, an antifreeze heating module, a water supply actuator module, and the control center system; and the peripherals include: an antifreeze water tank and a UAV-mounted water tank.

[0010] The first sensor module is used to collect real-time water level data of the water tank carried by the UAV and report the collected data to the UAV dispatch system in real time. The UAV dispatch system makes real-time judgments and identifications based on the water level sensor data in the water tank carried by the UAV. When the water level in the water tank carried by the UAV is lower than the set threshold, the UAV dispatch system will use the water level data of the UAV water tank, the preset antifreeze water tank location data (the antifreeze water tank location information is preset and stored in the UAV dispatch system after the engineering construction is completed), and the real-time location data of the UAV fed back by the current positioning communication module of the UAV to calculate the estimated time required for the UAV to return to the antifreeze water tank location and the amount of water required by the UAV water tank through the UAV positioning communication module and the UAV antenna. The "estimated return time of the UAV + required amount of water" data is sent to the control center antenna and the control center system through the UAV positioning communication module and the UAV antenna.

[0011] The second sensor module is used to collect ambient temperature data, water flow rate data, and external water injection data, and uploads the collected data to the control center system. The control center system performs real-time processing and analysis on the data collected by the second sensor module and the data uploaded by the UAV scheduling system based on multi-source sensing, and calculates the time advance between the start of the water injection operation and the return time of the UAV using the water injection timing optimization formula. It then issues corresponding control commands to the antifreeze heating module or the water injection actuator module. The antifreeze heating module performs the antifreeze water tank heating operation according to the command, heating the water in the antifreeze water tank when the ambient temperature is lower than the rated temperature. The water injection actuator module performs the antifreeze water tank filling operation and the UAV-mounted water tank filling operation in sequence according to the command. After the water injection is completed, the control center system sends a water injection completion signal to the UAV scheduling system through the control center antenna.

[0012] The water filling timing optimization formula is as follows: the time advance between the start of the water pump operation and the return time of the UAV is equal to the total time required for the UAV to return to the water filling point minus the total time required to complete the water filling operation and the safety redundancy time; the total time required to complete the water filling operation includes the theoretical water filling time calculated based on the water demand, water pump efficiency and water pump power, as well as the water tank heating time.

[0013] Preferably, the peripherals also include a water source interface, a multi-stage filtration module, a multi-modal water filling interface with an integrated flow meter, a conical electromagnetic locking mechanism adapted to the multi-modal water filling interface, a landing gear and a water pump adapted to the cleaning drone. The conical electromagnetic locking mechanism is mounted on the water tank carried by the drone. The multi-modal water filling interface with an integrated flow meter, the antifreeze heating module, the water filling actuator, the landing gear adapted to the cleaning drone, and the water pump are all mounted on the antifreeze water tank. When the cleaning drone lands on the landing gear, the conical electromagnetic locking mechanism and the multi-modal water filling interface automatically dock to form a water filling channel. The water pump is located inside the antifreeze water tank, and the water pump outlet is connected to the water inlet of the water filling channel through a water filling pipe. The water source interface is connected to the water inlet of the antifreeze water tank through the multi-stage filtration module.

[0014] Preferably, the wall of the antifreeze water tank adopts a multi-layer composite structure design, which includes an outer shell layer, a middle vacuum layer and an inner heating layer from the outside to the inside. The antifreeze heating module is integrated in the inner heating layer and heats the water in the antifreeze water tank when the ambient temperature is lower than the rated temperature.

[0015] Preferably, the first sensor module includes a water level sensor, which is installed inside the water tank carried by the cleaning drone. The water level sensor uploads the real-time water level data of the water tank carried by the drone to the drone dispatch system in real time.

[0016] Preferably, the second sensor module includes a temperature sensor, a flow meter, a capacitive sensor, an ultrasonic sensor, and a pressure sensor. The temperature sensor is located outside the antifreeze water tank, while the flow meter, capacitive sensor, ultrasonic sensor, and pressure sensor are all located on the antifreeze water tank. The flow meter uploads the water volume data to the control center system.

[0017] Preferably, the safety redundancy time is 5-15 minutes.

[0018] Preferably, the conical electromagnetic locking mechanism is located on the side of the water tank carried by the cleaning drone, and a one-way valve is provided at its water outlet.

[0019] Preferably, the bottom end of the multimodal water inlet is provided with an electric drain valve to drain the residual water in the water inlet channel.

[0020] A collaborative control method for a multi-source sensing unmanned aerial vehicle (UAV) intelligent water supply control system includes the following steps:

[0021] Step 1: The drone dispatch system uses data from the water level sensor in the water tank carried by the drone to make real-time judgments and identifications. When the water level in the water tank is lower than a certain threshold, the drone dispatch system will use the water level data of the drone's water tank, the preset antifreeze water tank location data (the antifreeze water tank location information is preset and stored in the drone dispatch system after the project is completed), and the real-time location data of the drone fed back by the drone's current positioning communication module. Based on these three data, the drone dispatch system uses an algorithm to calculate the estimated time required for the drone to return to the antifreeze water tank location and the amount of water required by the drone's water tank. The "estimated return time + required water" data is sent to the control center antenna and control center system through the drone's positioning communication module and drone antenna.

[0022] Step 2: The control center system calculates the optimal water addition time window based on the three data points from Step 1 of the UAV scheduling system.

[0023] Step 3: The control center system sends a command to the temperature sensor module to obtain the ambient temperature T;

[0024] Step 4: The central control system processes the ambient temperature T data internally using a decision algorithm. If T < 5℃, heating is started; if T > 5℃, heating is not started.

[0025] Step 5: The central control system sends the instruction "Inject water to the target water level 10 minutes in advance" to the water injection actuator module;

[0026] Step 6: The water filling actuator module sends the command "unlock docking mechanism" to open the multimodal water filling interface;

[0027] Step 7: Based on the pre-set location data of the antifreeze water tank stored in the drone scheduling system, the drone returns to the antifreeze water tank filling position and automatically connects to the multi-modal water filling interface.

[0028] Step 8: When the multi-modal water filling interface of the antifreeze water tank fails to connect with the conical electromagnetic locking mechanism on the water tank carried by the drone, the water filling actuator module will stop water filling for emergency treatment.

[0029] Step 9: If the connection in Step 8 is successful, the actuator will start automatic water filling and send "real-time calibration water volume" to the flow meter module to update the data in real time.

[0030] Step 10: When the control center determines that the water level is full based on the flow meter module data, the control center sends a "water filling complete" command to the drone antenna and the drone scheduling system through the control center antenna. At this point, the drone water tank completes the automatic water filling process. When the control center system detects that the data deviation exceeds the threshold based on the flow meter data algorithm, it stops water filling and starts the sensor self-test program.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] 1. The multi-source sensing UAV intelligent water filling control system and collaborative control method work in conjunction with the UAV scheduling system to accurately fill the water tank on the cleaning UAV according to the actual water demand, automatically adjust the temperature of the antifreeze water tank to avoid unnecessary energy consumption, and realize the mutual verification of multi-sensor data during the water filling process to improve the accuracy of water level monitoring, avoid overflow or water supply interruption, and improve the reliability of the system.

[0033] 2. The multi-source sensing UAV intelligent water filling control system and collaborative control method, through the dual protection of passive heat insulation and active heating, prevents the antifreeze water tank from freezing in low-temperature environments, solves the problem of system paralysis caused by water tank freezing in cold regions, ensures the reliability of this application, and can also solve the problems of high manpower input and high maintenance costs in high-altitude and cold regions.

[0034] 3. This multi-source sensing UAV intelligent water filling control system and collaborative control method realizes unattended automatic intelligent water filling function, reduces manual intervention, and solves the problems of high maintenance costs and high labor input costs in relatively remote areas. This control system and collaborative control method are applicable to general water filling strategies for unattended equipment. Attached Figure Description

[0035] Figure 1 This is a block diagram of a multi-source sensing unmanned aerial vehicle (UAV) intelligent water supply control system proposed in this invention;

[0036] Figure 2 This is a schematic diagram illustrating the process of adding water to a water tank mounted on a drone according to the present invention;

[0037] Figure 3 This is a partial cross-sectional schematic diagram of the antifreeze water tank proposed in this invention;

[0038] Figure 4 This is a schematic diagram showing the connection between the multimodal water filling interface and the conical electromagnetic locking mechanism in Embodiment 3 of the present invention;

[0039] Figure 5 This is a schematic cross-sectional view of the connection between the tapered joint sleeve and the tapered joint;

[0040] Figure 6This is a schematic diagram illustrating the water flow direction when the water tank on the drone is being filled with water according to the present invention.

[0041] Figure 7 This is a flowchart of a multi-source sensing UAV intelligent water supply control system and collaborative control algorithm proposed in this invention.

[0042] In the diagram: 1. Antifreeze water tank; 2. Multi-mode water filling interface; 3. Conical electromagnetic locking mechanism; 4. Landing gear; 5. Flow meter; 6. Outer shell layer; 7. Middle vacuum layer; 8. Inner heating layer; 9. Sealing plate; 10. Lifting structure; 11. Water inlet pipe; 12. Electric drain valve; 21. Conical joint; 22. Electromagnet II; 23. Sealing ring; 24. Lifting pipe; 31. Conical joint sleeve; 32. Connecting pipe; 33. Electromagnet I. Detailed Implementation

[0043] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] Example 1

[0045] Please see Figure 1 A multi-source sensing intelligent water supply control system for unmanned aerial vehicles (UAVs) includes UAV scheduling system hardware and software, control center system hardware and software, and peripherals. The UAV scheduling system hardware and software includes: a first sensor module, a UAV positioning and communication module, a UAV antenna, and the UAV scheduling system. The control center system hardware and software includes: a second sensor module, a control center antenna, an antifreeze heating module, a water supply actuator module, and the control center system. The peripherals include: a water source interface, a multi-stage filtration module, an antifreeze water tank, a multi-modal water supply interface, a conical electromagnetic locking mechanism, and a UAV-mounted water tank.

[0046] The first sensor module is used to collect real-time water level data of the water tank carried by the UAV and report the collected data to the UAV dispatch system in real time. The UAV dispatch system makes real-time judgments and identifications based on the water level sensor data in the water tank carried by the UAV. When the water level in the water tank carried by the UAV is lower than a certain threshold, the UAV dispatch system will use the water level data of the UAV water tank, the preset antifreeze water tank location data (the antifreeze water tank location information is preset and stored in the UAV dispatch system after the project construction is completed), and the real-time location data of the UAV fed back by the current positioning communication module of the UAV to calculate the estimated time required for the UAV to return to the antifreeze water tank location and the amount of water required for the water tank carried by the UAV through the UAV positioning communication module and the UAV antenna. The "estimated return time + water required" data is sent to the control center antenna and the control center system through the UAV positioning communication module and the UAV antenna, realizing data interaction between the UAV dispatch system and the control center system. This allows the application to accurately add water to the water tank carried by the cleaning UAV according to the actual water demand, avoiding the increase of useless energy consumption and ensuring the efficiency of photovoltaic cleaning.

[0047] The first sensor module includes a water level sensor, which is installed inside the water tank carried by the cleaning drone. The water level sensor uploads the minimum threshold water level data of the water tank to the drone dispatch system. During the process of adding water to the water tank, the water level sensor uploads the water level data of the water tank to the drone dispatch system in real time. The drone dispatch system then uploads the water level data to the control center system. Based on the real-time detection data of the water level in the water tank, overflow or water supply interruption can be avoided, thus improving the reliability of the system.

[0048] The second sensor module is used to collect ambient temperature data, water flow rate data, and external water injection data, and uploads the collected data to the control center system. The second sensor module includes a temperature sensor, a flow meter 5, a capacitive sensor, an ultrasonic sensor, and a pressure sensor. The temperature sensor is installed outside the antifreeze water tank, while the flow meter 5, capacitive sensor, ultrasonic sensor, and pressure sensor are all installed on the antifreeze water tank 1. The flow meter 5 uploads the water volume data to the control center system, and the capacitive sensor, ultrasonic sensor, and pressure sensor monitor the water volume data in the antifreeze water tank 1 in real time.

[0049] The control center system adopts a multi-threaded parallel processing architecture to process sensor data and generate commands in real time. Based on multi-source perception, the control center system processes and analyzes the data collected by the second sensor module and the data uploaded by the UAV scheduling system in real time. It uses the water addition timing optimization formula to calculate the time advance between the start of the water addition operation and the UAV return time, and sends corresponding control commands to the antifreeze heating module and the water addition actuator module.

[0050] The control center system calculates the optimal water-adding time window based on data uploaded from the UAV's positioning and communication module and antenna. It also acquires ambient temperature data from temperature sensors and performs internal decision processing. When the ambient temperature falls below a threshold temperature, a heating command is sent to the antifreeze heating module, located inside the antifreeze water tank 1. The antifreeze heating module operates by being powered on. The heat it generates during operation heats the water in the antifreeze water tank 1, preventing it from freezing. Once the drone-mounted water tank docks with the antifreeze water tank 1, the water filling actuator module performs the water filling operation, pumping water from the antifreeze water tank 1 into the drone-mounted water tank. During the water filling process, the control center system comprehensively processes and analyzes data from multiple sensors, including data detected by the flow meter 5, residual data from the water filling pipeline, and water volume data in the antifreeze water tank 1. This comprehensive analysis of multi-sensor data improves the accuracy of water level monitoring, preventing overflows or water supply interruptions. Furthermore, the cross-verification of multi-sensor data determines the sensor's detection accuracy and initiates self-test procedures for faulty sensors, enhancing the system's reliability. If the control center system detects a deviation exceeding a threshold between the flow meter data and the water level sensor data in the drone-mounted water tank, it pauses water filling and initiates a sensor self-test. Upon completion of water filling, the control center system sends a water filling completion signal to the drone's antenna and the drone dispatch system via the control center antenna.

[0051] The water filling timing optimization formula is as follows: the time advance between the start of the water pump operation and the return time of the drone is equal to the total time required for the drone to return to the water filling point minus the total time required to complete the water filling operation and the safety redundancy time; the total time required to complete the water filling operation includes the theoretical water filling time calculated based on water demand, water pump efficiency and water pump power, as well as the water tank heating time.

[0052] As described above, when this application is used, it works in conjunction with the drone scheduling system to accurately add water to the water tank carried by the cleaning drone according to the actual water demand, avoiding the increase of unnecessary energy consumption. Furthermore, during the water addition process, multi-sensor data is mutually verified to improve the accuracy of water level monitoring, avoid overflow or water supply interruption, and improve the reliability of the system.

[0053] The safety redundancy time is 5-15 minutes. The safety redundancy time can be set according to needs and is not limited here. The preferred safety redundancy time is 10 minutes.

[0054] The control center system also has an emergency recovery mechanism in case of water inlet docking failure. When the multi-modal water inlet of the antifreeze water tank and the conical electromagnetic locking mechanism on the water tank carried by the drone fail to dock, the water inlet actuator will stop water inlet for emergency treatment.

[0055] Example 2

[0056] like Figure 2 and Figure 3 As shown, the peripheral device includes a conical electromagnetic locking mechanism 3, which is installed on the water tank of the cleaning drone. The conical electromagnetic locking mechanism 3 is located on the side of the water tank of the cleaning drone, and its outlet end is equipped with a one-way valve. With the one-way valve, the water inlet end of the water tank of the drone can be automatically closed when water is stopped.

[0057] The antifreeze water tank 1 is equipped with a multi-modal water filling interface 2 adapted to the conical electromagnetic locking mechanism 3, an antifreeze heating module, a water filling actuator, and a landing gear 4 adapted to the cleaning drone. When the cleaning drone lands on the landing gear 4, the conical electromagnetic locking mechanism 3 and the multi-modal water filling interface 2 can automatically dock to form a water filling channel. The bottom of the multi-modal water filling interface 2 is equipped with an electric drain valve 12 to drain the residual water in the water filling channel, so as to prevent the residual water in the conical electromagnetic locking mechanism 3 from leaking when the drone-mounted water tank is separated from the antifreeze water tank 1, and to ensure the accuracy of the control center system in judging the amount of water added.

[0058] The peripherals also include a multi-stage filtration module and a water pump. The multi-stage filtration module is located at the inlet of the antifreeze water tank 1, which is connected to the water source interface via the module. The multi-stage filtration module filters the water entering the tank using physical methods (such as activated carbon adsorption) to remove impurities. The water pump is located inside the tank 1, and its outlet is connected to the inlet of the water supply channel via a water supply pipe.

[0059] In addition, the antifreeze water tank 1 features a multi-layer composite structure, consisting of an outer shell layer 6, a middle vacuum layer 7, and an inner heating layer 8, from the outside in. The outer shell layer 6 resists vibrations, impacts, and external physical damage during drone flight, while the middle vacuum layer 7 provides efficient insulation and heat loss suppression, reducing heat loss from the antifreeze water tank 1 to the external low-temperature environment. The antifreeze heating module is integrated into the inner heating layer 8, heating the water in the antifreeze water tank when the ambient temperature is below a threshold temperature. As a mature technological solution, the antifreeze heating module converts controllable electrical energy into heat energy to prevent the water in the antifreeze water tank 1 from freezing. The threshold temperature can be set according to requirements and is not limited here.

[0060] As described above, the antifreeze water tank 1, through both passive insulation and active heating, prevents freezing in low-temperature environments, facilitating water replenishment for the drone-mounted water tank and ensuring the reliability of this application, thereby guaranteeing the photovoltaic cleaning efficiency. A schematic diagram of the water flow direction during the addition of water to the drone-mounted water tank is shown below. Figure 6 As shown.

[0061] Example 3

[0062] like Figures 2 to 5 As shown, the conical electromagnetic locking mechanism 3 includes a conical connector sleeve 31 and an electromagnet 33 connected to the liquid inlet end of the conical connector sleeve 31. The liquid outlet end of the conical connector sleeve 31 is connected to the water inlet end of the water tank carried by the UAV through a connecting pipe 32. The flow channel of the conical electromagnetic locking mechanism 3 is inclined. The conical connector sleeve 31 is located at the lower end of the flow channel of the conical electromagnetic locking mechanism 3, so that the water remaining in the conical electromagnetic locking mechanism 3 can be quickly discharged when draining, and water is prevented from stagnating in the conical electromagnetic locking mechanism 3.

[0063] The multimodal water inlet 2 includes a tapered connector 21 adapted to a tapered connector sleeve 31. The upper end of the tapered connector 21 is adapted to the tapered connector sleeve 31, and a sealing ring 23 is provided on the outer wall of the upper end of the tapered connector 21. A groove adapted to the sealing ring 23 is provided at a corresponding position on the inner wall of the tapered connector sleeve 31. An electromagnet 22 is provided at the lower end of the tapered connector 21. When the tapered connector 21 is inserted into the inner cavity of the tapered connector sleeve 31, the sealing ring 23 is embedded in the groove, realizing the connection between the tapered connector sleeve 31 and the tapered connector sleeve 31. The joint 21 is sealed, and at this time, the bottom of the conical joint sleeve 31 is in close contact with the top of the lower end of the conical joint 21. When the electromagnet 1 33 and the electromagnet 22 are energized, the electromagnet 1 33 is magnetically attracted to the lower end of the conical joint 21, and the electromagnet 22 is magnetically attracted to the conical joint sleeve 31. The electromagnet 1 33 and the electromagnet 22 are magnetically attracted to each other, realizing the electromagnetic self-locking of the multi-mode water filling interface 2 and the conical electromagnetic locking mechanism 3.

[0064] In addition, a sealing gasket is provided between the bottom of the tapered connector sleeve 31 and the top of the lower end of the tapered connector 21. Both the inner walls of the tapered connector sleeve 31 and the tapered connector 21 are provided with sealing liners to increase the sealing performance between the tapered connector sleeve 31 and the tapered connector 21. Furthermore, the sealing gasket does not affect the electromagnetic self-locking between the multimodal water filling interface 2 and the tapered electromagnetic locking mechanism 3.

[0065] The inlet end of the conical connector 21 is equipped with a lifting pipe 24. The bottom of the lifting pipe 24 is equipped with an electric drain valve 12. The bottom end of the lifting pipe 24 is equipped with a flow meter 5 and a water inlet pipe 11. The flow meter 5 is located above the water inlet pipe 11. The water inlet pipe 11 is the aforementioned water supply pipe. The lifting pipe 24 is connected to the outlet end of the water pump through the water inlet pipe 11. The lifting pipe 24 is equipped with an insulation pad to reduce the influence of the external environment on the flowing water inside the lifting pipe 24. One side of the bottom end of the lifting pipe 24 is connected to the output end of the lifting structure 10. Under the action of the lifting structure 10, the height of the multi-modal water supply interface 2 can be changed. The lifting structure 10 is an electric telescopic rod, which can realize the stable movement and precise positioning of the multi-modal water supply interface 2.

[0066] The top of the antifreeze water tank 1 has a through hole through which the multi-modal water inlet 2 can be moved to the outside of the antifreeze water tank 1. A sealing plate 9 is installed on top of the through hole. The sealing plate 9 is driven by a servo motor, which allows it to rotate, either blocking the through hole or keeping it open. This ensures that when water needs to be added to the UAV-mounted water tank, the through hole is open, facilitating the removal of the multi-modal water inlet 2. After water addition is complete, the sealing plate 9 seals the through hole to prevent water evaporation from the antifreeze water tank 1. The material of the sealing plate 9 can be the same as that of the antifreeze water tank 1.

[0067] Example 4

[0068] like Figure 7 As shown, this invention proposes a collaborative control method for intelligent water addition from a multi-source sensing UAV. This collaborative control method specifically includes the following steps:

[0069] Step 1: The drone dispatch system uses data from the water level sensor in the water tank carried by the drone to make real-time judgments and identifications. When the water level in the water tank is lower than a certain threshold, the drone dispatch system will use the water level data of the drone's water tank, the preset antifreeze water tank location data (the antifreeze water tank location information is preset and stored in the drone dispatch system after the project is completed), and the real-time location data of the drone fed back by the drone's current positioning communication module. Based on these three data, the drone dispatch system uses an algorithm to calculate the estimated time required for the drone to return to the antifreeze water tank location and the amount of water required by the drone's water tank. The "estimated return time + required water" data is sent to the control center antenna and control center system through the drone's positioning communication module and drone antenna.

[0070] Step 2: The control center system calculates the optimal water addition time window based on data uploaded by the UAV positioning and communication module. The formula used is: T_start = T_drone - [Q_need / (k·P_pump) + t_heat] - t_buffer (where: T_start = the time advance between the start of water addition by the pump and the return time of the UAV, T_drone = UAV return time, Q_need = water demand, k = pump efficiency coefficient, P_pump = pump power, t_heat = heating time, t_buffer = safety redundancy time).

[0071] Step 3: The control center system sends a command to the temperature sensor module to obtain the ambient temperature T;

[0072] Step four: Based on the ambient temperature T, the control center performs internal decision processing and activates the heating function of the antifreeze water tank 1 when the ambient temperature is below the threshold temperature; when the ambient temperature is greater than or equal to the threshold temperature, the antifreeze heating module does not work. For example, if the threshold temperature is 5℃, the control center performs internal decision processing based on the ambient temperature T: if T < 5℃, heating is activated; if T > 5℃, heating is not activated.

[0073] Step 5: The control center system sends the instruction "fill water to the target water level 10 minutes in advance" to the water filling actuator module. The mechanism that replenishes water to the antifreeze water tank 1 injects water into the antifreeze water tank 1 through the water source interface and the multi-stage filtration module to ensure that the actual water volume in the antifreeze water tank 1 meets the demand. Capacitive sensors, ultrasonic sensors, and pressure sensors monitor the water volume data in the antifreeze water tank 1 in real time. The control center system judges the water level in the antifreeze water tank 1 based on the data collected by the capacitive sensors, ultrasonic sensors, and pressure sensors until the water volume in the antifreeze water tank 1 meets the actual demand, and then stops filling water.

[0074] Step 6: The water filling actuator module sends the command "unlock docking mechanism" to open the multimodal water filling interface 2;

[0075] Step 7: Based on the pre-set location data of the antifreeze water tank stored in the drone scheduling system, the drone returns to the water filling position and automatically connects to the multi-modal water filling interface 2. Specifically, the drone returns to the water filling position of the antifreeze water tank 1 based on the location data of the antifreeze water tank 1 and stops steadily on the landing gear 4 on top of the water tank. The multi-modal water filling interface 2 on the antifreeze water tank 1 completes the docking with the conical electromagnetic locking mechanism 3 on the drone's water tank through the lifting structure 10. Both the multi-modal water filling interface 2 (conical) on the antifreeze water tank 1 and the conical electromagnetic locking mechanism 3 on the drone's water tank have electromagnetic locking magnetic force function and form a conical engagement to ensure that water will not overflow during the water filling process.

[0076] Step 8: When the multi-mode water filling interface 2 of the antifreeze water tank 1 fails to connect with the cone-shaped electromagnetic locking mechanism 3 on the water tank carried by the drone, the water filling actuator will stop water filling for emergency treatment.

[0077] Step 9: If the connection in Step 8 is successful, the water adding actuator will automatically add water and send "real-time calibration water volume" to the flow meter 5 to update the data in real time.

[0078] Step 10: When the control center system determines that the water tank is full based on the flow meter module data, the control center system sends a "water filling complete" message to the drone scheduling system through the control center antenna. At this point, the drone carrying the water tank completes the automatic water filling process. When the control center system detects that the data deviation exceeds the threshold based on the flow meter data algorithm, it stops water filling and starts the sensor self-test program.

[0079] In summary, this multi-source sensing UAV intelligent water filling control system and collaborative control method, when used in conjunction with the UAV scheduling system, accurately realizes the intelligent water filling process of the UAV-mounted water tank according to the actual water demand, automatically adjusts the temperature of the antifreeze water tank 1 to avoid unnecessary energy consumption, and achieves cross-verification of multi-sensor data during the water filling process, improving the accuracy of water level monitoring, avoiding overflow or water supply interruption, and improving the reliability of the system. The antifreeze water tank 1, through dual protection of passive insulation and active heating, prevents freezing in low-temperature environments, solving the problem of system paralysis caused by water tank freezing in cold regions, ensuring the reliability of this application, and realizing unattended intelligent automatic water filling. This application is applicable to general water filling strategies for unattended equipment.

[0080] All standard parts used in this invention can be purchased from the market, and irregularly shaped parts can be customized according to the description and drawings. The specific connection methods of each structure adopt conventional techniques such as bolt connection, which are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art. The materials of each component can be selected according to requirements and are not limited here. The contents not described in detail in this specification belong to the prior art known to those skilled in the art. Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-source sensing unmanned aerial vehicle (UAV) intelligent water supply control system, characterized in that, The system includes the hardware and software of a drone dispatching system, the hardware and software of a control center system, and peripherals. The drone dispatching system includes: a first sensor module, a drone positioning and communication module, a drone antenna, and the drone dispatching system. The control center system hardware and software includes: a second sensor module, a control center antenna, an antifreeze heating module, a water filling actuator module, and the control center system. The peripherals include: an antifreeze water tank and a drone-mounted water tank. The first sensor module is used to collect real-time water level data of the water tank carried by the UAV and report the collected data to the UAV dispatch system in real time. Based on the data collected by the first sensor module, the UAV dispatch system makes real-time judgments and identifications. When the water level in the UAV's water tank is lower than a set threshold, the UAV dispatch system uses the UAV water tank level data, preset antifreeze water tank location data, and real-time UAV location data fed back by the UAV positioning and communication module to calculate the estimated time required for the UAV to return to the antifreeze water tank location and the amount of water required by the UAV's water tank through an algorithm. This data, consisting of "estimated return time + required water," is then transmitted via the UAV positioning and communication module and the UAV antenna. The data is sent to the control center antenna and the control center system. The control center system processes and analyzes the data collected by the second sensor module and the data uploaded by the UAV scheduling system in real time. It calculates the time advance between the start of the water filling operation and the return time of the UAV using the water filling timing optimization formula, and sends corresponding instructions to the antifreeze heating module and the water filling actuator module. The antifreeze heating module performs the antifreeze water tank heating operation according to the instructions, and the water filling actuator module performs the antifreeze water tank replenishment operation and the UAV-borne water tank water filling operation in sequence according to the instructions. After the water filling is completed, the control center system sends a water filling completion signal to the UAV scheduling system through the control center antenna.

2. The collaborative control method of the multi-source sensing UAV intelligent water supply control system according to claim 1, characterized in that, include: Receive the water demand Q and estimated return time T sent by the drone dispatch system; Calculate the UAV T_start time based on the water addition timing optimization model; By fusing data from a group of water level sensors, the true water level H is calculated using Kalman filtering. If the ambient temperature is below the threshold, the antifreeze water tank heating strategy will be activated. After the drone is equipped with a water tank and an antifreeze water tank, it adds water according to the closed-loop control based on the flow meter feedback until the Q standard is met.

3. An automatic water filling device for unmanned aerial vehicles (UAVs), applied in the multi-source sensing UAV intelligent water filling control system described in claim 1, comprising: Antifreeze water tank with integrated multi-sensor design; A water source interface that connects to the inlet of the antifreeze water tank and integrates a multi-stage filtration module; A cone-shaped self-aligning water inlet is installed at the outlet of the antifreeze water tank; A conical electromagnetic locking mechanism connected to the water inlet of the water tank mounted on the drone; The multi-threaded control center is used to process sensor data and generate instructions in real time.

4. The automatic water filling device for unmanned aerial vehicles according to claim 3, characterized in that: Also includes: Emergency recovery mechanism after failure of cone-shaped self-aligning water inlet docking; During the process of adding water to the water tank carried by the drone, the flow meter sensor deviation exceeded the threshold, so the water addition was paused and the sensor self-test program was initiated. The antifreeze water tank has a multi-layer composite structure design, consisting of an outer shell, a middle vacuum layer, and an inner heating layer from the outside to the inside.

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