Field inspection control system and method of unmanned aerial vehicle

Abstract

The invention discloses a field inspection control system and method for an unmanned aerial vehicle. The system comprises an inspection unmanned aerial vehicle, a pickup truck mobile base and a far-end control center, the far-end control center is used for sending a task starting control instruction to the pickup truck mobile base and receiving unmanned aerial vehicle state data fed back by the pickup truck mobile base; the pickup truck mobile base provides energy supply for the unmanned aerial vehicle when no task exists; when there is a task, the pickup truck mobile base sends a control instruction to the inspection unmanned aerial vehicle and receives state data fed back by the inspection unmanned aerial vehicle. The unmanned aerial vehicle inspection operation efficiency is remarkably optimized, the mobile energy supply system based on the pickup truck vehicle-mounted platform breaks through the geographical limitation of a fixed base station, dynamic accompanying flight of the supply station and the operation area is achieved through intelligent path planning, and the system is particularly suitable for wide-area inspection scenes such as mountainous areas and gobi.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle cooperative control, and particularly relates to a field inspection control system and method based on unmanned aerial vehicles. BACKGROUND

[0002] Under the background of accelerating industrialization of low-altitude economy, industrial unmanned aerial vehicles as key carriers of space-air infrastructure have become the core bottleneck restricting the large-scale landing of new industry modes such as urban air traffic, emergency logistics, and wide-area inspection.

[0003] However, the activity range and distance of the unmanned aerial vehicle are limited due to the battery capacity, and there are many inconveniences in field operation. In order to solve the power supply problem of the unmanned aerial vehicle, the existing technology commonly uses the mode of setting up a special charging network to support the inspection work of the unmanned aerial vehicle; a charging network based on fixed infrastructure is used to pre-bury charging piles in the operation area, and a periodic return charging mechanism is established. This mode has implementation feasibility in structured scenes such as closed parks, but in field and mountain scenes, this pre-burying charging pile mode cannot be implemented.

[0004] With the development of pickup technology, the vehicle-mounted mobile support scheme tries to break through the geographical limit, uses a modified pickup truck to carry a simple take-off and landing platform, and completes the landing locking and energy supplement of the unmanned aerial vehicle through manual intervention. The pickup vehicle is widely welcomed by users due to its multiple functional purposes, especially the emergence of new energy pickup trucks, which performs outstandingly in logistics transportation and outdoor leisure activities. The pickup truck rear cargo compartment not only provides a good load space, but also can be used as an energy carrier. The combination of the unmanned aerial vehicle and the new energy pickup truck can solve the energy endurance problem of the field unmanned aerial vehicle inspection control.

[0005] However, although the vehicle-mounted mobile platform has certain mobility, its dependence on manual operation exposes the defects of high operation risk and large response delay in night, rain, fog or complex terrain, which greatly reduces the system reliability. More importantly, the existing technology generally lacks an environmental adaptive mechanism, and cannot realize dynamic path planning and safety strategy adjustment when facing sudden weather changes or unknown terrain obstacles, resulting in serious lack of robustness of the system in real scenes. SUMMARY

[0006] The present application aims to overcome the shortcomings of the prior art and provide a field inspection control system and method for unmanned aerial vehicles. A high-performance modified pickup truck is used as an intelligent mobile base to carry an unmanned aerial vehicle charging cabin and an adaptive communication relay device, and a system and method for deep functional interaction and cooperative operation with the inspection unmanned aerial vehicle are provided, which focuses on solving the problems of limited endurance of the unmanned aerial vehicle in the traditional inspection mode, insufficient over-the-horizon communication coverage, poor adaptability to complex terrain environment, and low efficiency of task execution.

[0007] In order to achieve the above object, the technical scheme adopted by the present application is as follows: a field inspection control system of unmanned aerial vehicle, comprising an inspection unmanned aerial vehicle, a pickup truck mobile base and a remote control center;

[0008] The remote control center is used for sending a task starting control instruction to the pickup truck mobile base and receiving the unmanned aerial vehicle state data fed back by the pickup truck mobile base;

[0009] The pickup truck mobile base provides energy supply for the unmanned aerial vehicle when there is no task; when there is a task, the pickup truck mobile base sends a control instruction to the inspection unmanned aerial vehicle and receives the state data fed back by the inspection unmanned aerial vehicle.

[0010] The pickup truck mobile base comprises a main control unit, an environment perception module and a communication relay device; the environment perception module is connected with the main control unit and is used for sending the perceived current environment data to the main control unit; the main control unit is connected with the inspection unmanned aerial vehicle through the communication relay device and is used for sending the planned path information to the inspection unmanned aerial vehicle and receiving the state data fed back by the inspection unmanned aerial vehicle.

[0011] At the beginning of the task, the main control unit plans the inspection unmanned aerial vehicle path and the pickup truck path based on the task information, the unmanned aerial vehicle battery state and the environment parameters perceived by the environment perception module of the pickup truck, and respectively pushes the paths into the inspection unmanned aerial vehicle navigation system and the pickup truck navigation system for execution;

[0012] After the beginning of the task, the main control unit acquires the state data fed back by the inspection unmanned aerial vehicle, and re-plans the operation path of the inspection unmanned aerial vehicle and the path of the pickup truck according to the state data fed back by the inspection unmanned aerial vehicle.

[0013] The inspection unmanned aerial vehicle comprises a shipboard controller, a positioning module, an environment perception sensor, a communication unit and unmanned aerial vehicle state data; the shipboard controller is respectively connected with the positioning module, the environment perception sensor, the communication unit and the unmanned aerial vehicle state data; the shipboard controller is respectively connected with the pickup truck mobile base and the remote control center through the communication unit.

[0014] A control method of a field inspection control system of unmanned aerial vehicle, comprising:

[0015] At the beginning of the task, the control center sends an inspection instruction to the pickup truck mobile base; the main control unit of the pickup truck mobile base respectively plans a flight route of the inspection unmanned aerial vehicle and a movement route of the pickup truck according to the power of the unmanned aerial vehicle, wherein the end points of the flight route and the movement route are the same, which are the initial meeting point of the inspection unmanned aerial vehicle and the pickup truck;

[0016] The flight route is sent to the inspection unmanned aerial vehicle, and the movement route is sent to the pickup truck navigation system;

[0017] In the task execution, the inspection unmanned aerial vehicle flies according to the flight route to execute the task, and feeds back the unmanned aerial vehicle positioning, power and environment data of the unmanned aerial vehicle to the master control unit in real time; the master control unit of the pickup truck receives the real-time instructions of the remote control center and the environment data collected by the pickup truck;

[0018] The master control unit adjusts the initial meeting point position according to the data fed back by the inspection unmanned aerial vehicle and the environment data of the pickup truck driving, and adjusts the flight path of the inspection unmanned aerial vehicle and the motion path of the pickup truck based on the adjusted meeting point.

[0019] The master control unit fuses multi-source data to trigger path fine-tuning, wherein the multi-source data includes communication quality, environment data and power data.

[0020] In the return phase after the completion of the task, the master control unit calculates the path corresponding to the optimal return scheme according to the power, weather and communication state in real time, adjusts the flight path and the motion path of the pickup truck according to the meeting point, the inspection unmanned aerial vehicle and the pickup truck reach the meeting point according to the planned path, and the inspection unmanned aerial vehicle is guided to accurately land on the pickup truck mobile base after reaching the meeting point, and the pickup truck mobile base charges the inspection unmanned aerial vehicle.

[0021] During the task execution of the inspection unmanned aerial vehicle, the inspection unmanned aerial vehicle is connected with the master control unit of the pickup truck mobile base and the remote control center respectively; the communication quality CQI between the inspection unmanned aerial vehicle and the remote control center is monitored in real time, and when the communication quality does not meet the requirements, the inspection unmanned aerial vehicle establishes a communication connection with the remote control center through a relay communication module.

[0022] During the task execution of the inspection unmanned aerial vehicle, the environment parameters are fed back to the master control unit in real time, and the master control unit dynamically adjusts the state of the inspection unmanned aerial vehicle according to the environment data, including adjusting the height, speed and flight path of the inspection unmanned aerial vehicle.

[0023] When the return condition is triggered after the completion of the task execution or during the task execution, the return mode is entered, at this time the master control unit calculates the return scheme, wherein the return scheme includes three return schemes of directly returning according to the planned flight path, flying to the meeting point to wait, and emergency landing to the safety point to wait; the inspection robot executes according to the received return scheme.

[0024] The unmanned aerial vehicle inspection operation efficiency is significantly optimized, and the technical effects are embodied in the following aspects: the mobile energy supply system based on the pickup truck platform breaks through the geographical limitation of the fixed base station, realizes dynamic accompanying flight of the supply station and the operation area through intelligent path planning, and is especially suitable for wide area inspection scenes such as mountainous areas and gobi. And by taking the pickup truck as a mobile energy supply station, the effective operation time can be prolonged. The relay system mode of the dual-mode communication architecture improves the link stability in remote areas and enhances the communication reliability of the overall working link. Compared with the traditional inspection unmanned aerial vehicle, the inspection efficiency is significantly improved. Through strengthening the environmental adaptability, dynamically responding to meteorological / terrain changes, ensuring task safety, and reducing user operation burden through full-process automatic control. BRIEF DESCRIPTION OF DRAWINGS

[0025] The content expressed by each figure in the specification of the present application and the marks in the figures are briefly described as follows:

[0026] Figure 1 It is a schematic diagram of the overall architecture of the system of the present application;

[0027] Figure 2 It is a dynamic path coordination flowchart of the present application;

[0028] Figure 3 It is a dual-mode communication network switching logic diagram of the present application;

[0029] Figure 4 It is a schematic diagram of the environmental self-adaptive decision tree of the present application;

[0030] Figure 5 It is a UAV-pickup truck docking control timing diagram of the present application. DETAILED DESCRIPTION

[0031] The specific embodiments of the present application are further described in detail by comparing the figures and describing the optimal embodiments.

[0032] The present application belongs to the field of mobile platform and unmanned system cooperative control, and specifically relates to an intelligent inspection system and method for complex outdoor environments (such as power inspection, pipeline monitoring, forest patrol, border patrol, etc.). The system uses a high-performance modified pickup truck as an intelligent mobile base, carries a UAV charging cabin and an adaptive communication relay device, and performs deep function interaction and cooperative operation with an inspection UAV. The system and method solve the problems of traditional inspection modes, such as limited endurance of the UAV, insufficient over-the-horizon communication coverage, poor adaptability to complex terrain, and low task execution efficiency.

[0033] As shown in Figure 1 , a field inspection control system of a UAV in the present embodiment includes an inspection UAV, a pickup truck mobile base, and a remote control center.

[0034] The remote control center is used to send control instructions of task starting to the pickup mobile base station and receive the state data of the unmanned aerial vehicle fed back by the pickup mobile base station.

[0035] The pickup mobile base station provides energy supply for the unmanned aerial vehicle when there is no task, and sends control instructions to the inspection unmanned aerial vehicle and receives the state data of the inspection unmanned aerial vehicle fed back by the pickup mobile base station when there is a task. The pickup mobile base station comprises a main control unit, an environment sensing module and a communication relay device. The environment sensing module is connected with the main control unit and is used to send the sensed current environment data to the main control unit. The main control unit is connected with the inspection unmanned aerial vehicle through the communication relay device, and is used to send the planned path information to the inspection unmanned aerial vehicle and receive the state data of the inspection unmanned aerial vehicle fed back.

[0036] The inspection unmanned aerial vehicle is directly connected with the remote control center through a network and feeds back the video data of the inspection process. The inspection unmanned aerial vehicle feeds back the state data of the inspection unmanned aerial vehicle in the inspection process through the communication relay device, including the power of the inspection unmanned aerial vehicle and the environmental parameters of the inspection unmanned aerial vehicle. During the task execution process of the inspection unmanned aerial vehicle, the inspection unmanned aerial vehicle is connected with the main control unit of the pickup mobile base station and the remote control center. The communication quality CQI between the inspection unmanned aerial vehicle and the remote control center is monitored in real time. When the communication quality does not meet the requirements, the inspection unmanned aerial vehicle establishes the communication connection with the remote control center through the relay communication module. The communication quality CQI value is compared with a preset threshold value. When the communication quality CQI value is greater than the threshold value, the inspection unmanned aerial vehicle keeps sending the video data of the inspection to the remote control center through the direct connection with the remote control center. Otherwise, when the communication quality CQI value is less than the preset threshold value (≤ threshold value), the inspection unmanned aerial vehicle sends the video data to the pickup mobile base station through the relay communication module, and then the pickup mobile base station forwards the video data of the inspection process to the remote control center.

[0037] At the beginning of the task, the master control unit plans the inspection unmanned aerial vehicle path and the pickup truck path based on the task information, the unmanned aerial vehicle battery state, and the environment parameters perceived by the environment perception module, and respectively pushes the paths to the inspection unmanned aerial vehicle navigation system and the pickup truck navigation system for execution; the environment data perceived by the environment perception module is used to judge whether the current environment meets the unmanned aerial vehicle inspection and to judge the energy consumption of the unmanned aerial vehicle based on the wind direction in the environment, so as to accurately determine the endurance; the unmanned aerial vehicle battery state can determine the endurance of the current unmanned aerial vehicle, and the endurance of the unmanned aerial vehicle can be obtained in combination with the environmental wind power, the destination can be known based on the task information, and then the path is planned according to the destination, and whether the current can be executed is judged according to the planned path and the endurance of the unmanned aerial vehicle; if the endurance meets the flight path, the task is executed, and the task is executed according to the flight path; at the same time, the current map data is called according to the path of the unmanned aerial vehicle to plan the pickup truck motion path, so that the pickup truck can follow the unmanned aerial vehicle to move to the specified position to realize the landing after the completion of the task.

[0038] The inspection unmanned aerial vehicle includes a shipboard controller, a positioning module, an environment perception sensor, a communication unit and unmanned aerial vehicle state data, and the shipboard controller is respectively connected to the positioning module, the environment perception sensor, the communication unit and the unmanned aerial vehicle state data; the shipboard controller is connected to the pickup truck mobile base and the remote control center through the communication unit.

[0039] The control method of the field inspection control system of the unmanned aerial vehicle in the embodiment includes:

[0040] At the beginning of the task, the control center issues an inspection instruction to the pickup truck mobile base; the master control unit of the pickup truck mobile base plans the flight route of the inspection unmanned aerial vehicle and the motion route of the pickup truck according to the power of the unmanned aerial vehicle, wherein the end points of the flight route and the motion route are the same, which are the initial convergence point of the inspection unmanned aerial vehicle and the pickup truck; the flight route is sent to the inspection unmanned aerial vehicle, and the motion route is sent to the pickup truck navigation system; flight or motion is performed according to the planned path.

[0041] The destination can be known based on the task information, and then the path is planned according to the destination, and whether the current can be executed is judged according to the planned path and the endurance of the unmanned aerial vehicle; if the endurance meets the flight path, the task is executed, and the task is executed according to the flight path; at the same time, the current map data is called according to the path of the unmanned aerial vehicle to plan the pickup truck motion path, so that the pickup truck can follow the unmanned aerial vehicle to move to the specified position to realize the landing after the completion of the task.

[0042] According to the task information, the flight route of the unmanned aerial vehicle is planned, whether the current power meets the flight route is determined according to the flight route of the unmanned aerial vehicle, if yes, the road information is called to plan the motion route of the pickup truck according to the flight route of the unmanned aerial vehicle executing the task, the pickup truck reaches the meeting point to realize the return of the unmanned aerial vehicle. When the power cannot meet the planned flight route, the starting point of the unmanned aerial vehicle task is obtained from the task information, the pickup truck is planned to travel to the starting point as the target position, and the flight route is re-planned and executed after the pickup truck reaches the starting point position.

[0043] In the process of executing the task by the inspection unmanned aerial vehicle, the wind force and rainfall data are monitored in real time and fed back to the master control unit; when it is detected that the wind force is greater than the wind force threshold value, it is judged that the current wind force affects the execution of the task, the master control unit sends a command to reduce the height of the unmanned aerial vehicle to the inspection unmanned aerial vehicle, and monitors the current wind force while reducing the height of the unmanned aerial vehicle; when the wind force is monitored to be reduced while the height is reduced, the inspection unmanned aerial vehicle is controlled to continue to descend until the real-time wind force is less than the wind force threshold value, at this time the height wind force will not affect the execution of the task of the unmanned aerial vehicle, but it is needed to judge whether the height at this time meets the requirement, the master control unit judges the current height of the unmanned aerial vehicle, compares the height of the unmanned aerial vehicle with the minimum height in the task information, if the height requirement is met, the task is continued to be executed, otherwise the inspection unmanned aerial vehicle enters the return mode, returns due to the wind force, and ends the task. When it is detected that the wind force is greater than 8, the return mode is directly entered.

[0044] When it is detected that it is raining, the height of the unmanned aerial vehicle is limited according to the rainfall to protect the inspection unmanned aerial vehicle.

[0045] In the present embodiment, after the task starts, the master control unit obtains the state data fed back by the inspection unmanned aerial vehicle, and re-plans the running path of the inspection unmanned aerial vehicle and the path of the pickup truck according to the state data fed back by the inspection unmanned aerial vehicle. In the process of executing the task, the inspection unmanned aerial vehicle flies according to the flight route to execute the task, and simultaneously feeds back the positioning, power and environment data of the unmanned aerial vehicle to the master control unit in real time; the master control unit of the pickup truck receives the real-time instructions of the remote control center and the environment data collected by the pickup truck; the master control unit adjusts the initial meeting point position according to the data fed back by the inspection unmanned aerial vehicle and the environment data of the pickup truck driving, and adjusts the flight path of the inspection unmanned aerial vehicle and the motion path of the pickup truck based on the adjusted meeting point. The master control unit fuses multiple source data to trigger path fine tuning, wherein the multiple source data includes communication quality, environment data and power data.

[0046] In the return phase after the completion of the task, the main control unit calculates the path corresponding to the optimal return scheme in real time according to the power, weather and communication state, adjusts the flight path and the motion path of the pickup truck according to the meeting point, and the inspection unmanned aerial vehicle and the pickup truck reach the meeting point according to the planned path, and after reaching the meeting point, the inspection unmanned aerial vehicle is guided to accurately land on the pickup truck mobile base and is charged by the pickup truck mobile base.

[0047] In the process of executing the task by the inspection unmanned aerial vehicle, the environmental parameters are fed back to the main control unit in real time, and the active unit dynamically adjusts the state of the inspection unmanned aerial vehicle according to the environmental data, including adjusting the height, speed and flight path of the inspection unmanned aerial vehicle. When the return condition is triggered after the completion of the task or in the process of executing the task, the return mode is entered, at this time the main control unit calculates the return scheme, wherein the return scheme includes three return schemes of directly returning according to the planned flight path, flying to the meeting point to wait, and emergency landing to the safety point to wait; the inspection robot executes according to the received return scheme.

[0048] In view of the core needs of unmanned aerial vehicle mobile charging and environmental adaptation in the low-altitude economic scene, the scheme constructs a "vehicle-machine-cloud" collaborative decision-making system, and realizes dynamic energy guarantee through a four-layer linkage mechanism.

[0049] 1. Collaborative decision-making system: The main control unit real-time fuses the multi-dimensional data of the unmanned aerial vehicle battery state, flight pose, weather information and task urgency, and synchronously analyzes the ground road traffic conditions. Based on this, the vehicle and machine double-path strategy is dynamically generated:

[0050] 2. Mobile meeting point mechanism:

[0051] When it is monitored that the battery remaining amount of the unmanned aerial vehicle decreases to a critical threshold (<30%) or the communication link quality deteriorates, the system automatically triggers the meeting point calculation engine: comprehensively compares the current position of the unmanned aerial vehicle, the real-time coordinates of the vehicle, the terrain passability index and the energy consumption decay curve; the optimal meeting coordinates are calibrated in the three-dimensional geographic information system, and are synchronously pushed to the vehicle and machine double-end navigation system.

[0052] Typical application scenario: automatically avoiding the strong wind area in the canyon in the transmission line cross-mountain inspection, and generating the meeting point in the flat area along the river.

[0053] 3. Dual-mode communication network: build a hierarchical communication architecture to guarantee the control reliability of complex airspace:

[0054] Main link mode (direct communication mode): unmanned aerial vehicle→control center, the unmanned aerial vehicle and the control center are directly connected and communicated, supporting high-definition video backhaul and real-time instruction issuing;

[0055] Emergency relay mode (when communication quality deteriorates): UAV→ pickup truck→ control center. When encountering high-rise building obstruction or electromagnetic interference, automatically switch to "UAV→ pickup truck→ control center" three-level transmission, and use the vehicle-mounted relay equipment to maintain the minimum 150 kbps control signaling transmission.

[0056] 4. Environment adaptive strategy:

[0057]

[0058]

[0059] The present inspection system is composed of three core modules: remote control center, pickup truck mobile base and inspection UAV. Through intelligent task planning, dynamic monitoring and collaborative control, efficient inspection of field power transmission lines and the like is realized. When the task is started, the control center issues an inspection instruction and injects a priority parameter, and the main control unit dynamically generates an air-ground dual-path plan based on the UAV battery model, terrain complexity and pickup truck maneuvering constraints, and synchronously determines an initial meeting point.

[0060] During task execution, the UAV flies along the planned route and real-time returns positioning, power and environmental data, while the pickup truck goes to the meeting point along the path, and the vehicle-mounted weather station continuously monitors the environment. The main control unit fuses multi-source data, dynamically evaluates communication quality, power consumption and environmental risks (such as wind shear, heavy rain, road collapse, etc.), and triggers path fine-tuning, meeting point correction or communication mode switching (direct connection / relay). The environment adaptive module responds through a decision tree grading, for example, reducing the UAV height when the crosswind is enhanced, recalling or flying around when heavy rain is approaching, and planning an obstacle avoidance route for the pickup truck.

[0061] During task execution, if the communication is interrupted and the communication interruption exceeds a time threshold (such as 3 min), automatic return is triggered, and the airborne controller plans a return path based on the last recorded vehicle coordinate point or the planned meeting point, and returns;

[0062] If the UAV power SOC is less than 30% during task execution, the remaining flight distance is calculated based on the UAV energy consumption curve, which is a UAV energy consumption curve or unit energy consumption data based on historical data analysis combined with the remaining power. The remaining flight distance dres can be calculated; the distance dget between the UAV and the vehicle is calculated; if dres-dger≥0, the UAV flight endpoint is set to the vehicle coordinate point and the flight route is planned; otherwise, the target point within the reachable distance range of the UAV is generated based on the GIS data, the closest point to the vehicle coordinate distance is selected as the target point, the path is planned and executed, and the target point is sent to the main control module. The main control module plans the vehicle path, thereby facilitating the meeting.

[0063] During the return phase, the system calculates the optimal return plan based on battery level, weather conditions, and communication status, guiding the drone to a mobile rendezvous point or a safe landing point. A pickup truck pre-deploys its lifting platform and assists with precise positioning. After the mission, the drone completes a high-precision landing via UWB / visual recognition. The main control unit selects the charging mode as needed, synchronously downloads data, and plans subsequent tasks, achieving intelligent closed-loop management throughout the entire process. The specific implementation method is as follows:

[0064] 1. Initialization and task planning: such as Figure 1 As shown, the system includes a remote control center 10, a pickup truck mobile base 20, and an inspection drone 30. When the mission starts:

[0065] S101: The operator issues inspection tasks (such as defect scanning of section A-B of the power transmission line) through the control center 10, and simultaneously injects task priority parameters;

[0066] S102: The main control unit 21 calls up map data and road network information, and dynamically generates a dual-path planning strategy based on the battery cruising range parameters and terrain parameters of the drone 30 and the off-road performance parameters of the pickup truck 20, combined with environmental data:

[0067] 2. Task execution and dynamic monitoring:

[0068] S201: Main control unit 21 continuously executes: UAV 30 flies along the planned path to perform tasks and continuously transmits status data (RTK positioning + battery voltage + lidar point cloud).

[0069] S202: Pickup truck 20 moves along the planned route towards the rendezvous point, with the onboard weather station uploading environmental data in real time.

[0070] S203: As Figure 2 As shown in the flowchart, the main control unit 21 monitors the drone's status in real time (power consumption, communication signal strength). It integrates environmental data transmitted from the pickup truck and the drone (such as changes in weather ahead and complex terrain). It assesses whether adjustments to the original plan are needed (fine-tuning of the drone's path / rendezvous point location, time change / task priority change).

[0071] S204: The system has a dynamic update mechanism that fine-tunes the drone's waypoint in real time. If environmental changes are detected, the drone will avoid sudden wind shear zones. The system will also correct the rendezvous point coordinates in real time. If a road collapse is detected along the path, the system can trigger a detour for pickup trucks.

[0072] S205: Dynamic replanning strategy, which adopts a rolling time-domain optimization method. When the vehicle deviates from the predetermined planned path, the pickup truck's path is automatically replanned locally and returned to the main path.

[0073] 3. Intelligent switching of communication networks:

[0074] S301: As Figure 3 The communication logic shown in the diagram involves a communication management module that continuously evaluates link quality. The communication link is divided into two modes: direct connection and relay.

[0075] Direct connection mode: The drone communicates directly with the control center;

[0076] Relay mode (automatic switching when communication quality deteriorates): a. The UAV switches to the relay frequency band; b. The pickup truck receives the data and transmits it back through the backbone network; c. The pickup truck actively maneuvers to optimize link quality.

[0077] S302: Maintain direct connection mode when CQI>75;

[0078] S303: Switch to relay mode when CQI < 65 for 5 consecutive seconds.

[0079] 4. Environmental adaptive response:

[0080] S401: As Figure 4 As shown in the decision tree, environmental decisions are made throughout the entire process, with the main control unit 21 dynamically adjusting its strategy based on environmental data. For example: If increased crosswinds are detected: the drone is instructed to reduce its altitude and speed, descending to 50m above the ground. If heavy rain is detected ahead: the drone 30 is recalled in advance or instructed to bypass the danger zone, and the vehicle's PTC dehumidification system is triggered. If terrain scanning reveals new obstacles: a detour route is planned for the pickup truck 20, the differential lock is activated (if configured), and the rendezvous point of the drone 30 is updated, expanding the safe landing radius.

[0081] S402: According to Figure 4 The system executes a tiered response.

[0082] 5. Return Decision and Guidance:

[0083] S501: As Figure 4 As shown in the decision tree, when the triggering conditions are met (such as the drone's battery level being less than 30%, strong winds ahead, and poor communication quality), the main control unit 21 calculates the optimal return-to-home plan. Based on the collected environmental conditions and / or battery level, the return-to-home plan includes one of the following three options: direct return-to-home, flying to the next rendezvous point, or emergency landing to the nearest safe point.

[0084] S502: Continuously calculates and updates the real-time optimal return path from the drone's current location to a dynamic target point (a moving pickup truck or a new rendezvous point), and guides the drone to fly back along the path via a data link.

[0085] S504: Pickup truck 20 immediately starts up after receiving the return command and deploys the lifting platform to the horizontal position in advance.

[0086] 6. Functional interaction execution:

[0087] S601: As shown, when the UAV 30 approaches the pickup truck 20, precise positioning guidance is performed using relative positioning technology (such as UWB base station-pickup truck, visual recognition) to ensure safe landing in the designated area. Figure 5

[0088] S602: The landing success signal triggers the locking instruction.

[0089] S603: After locking, the master control unit 21 selects and starts the charging mode (fast charging / standard charging) according to the power situation and subsequent task requirements. Start the high-speed data channel to download the raw / preprocessed data collected by the UAV. Update the pickup truck task status and plan the next action according to the instructions or task. If there is no action, continue charging in fast charging or standard charging mode, etc.

[0090] S604: If a higher priority task is received during charging, release the UAV 30 to perform terminal inspection, and the pickup truck 30 transfers to the next rendezvous area. Update the Path_truck path based on the remaining task amount.

[0091] 7. Ground support system coordination:

[0092] The high-capacity power battery system equipped on the pickup truck 20 provides flexible and efficient energy supply for the UAV 30 through the V2L (Vehicle-to-Load) external discharge interface 24. This interface design meets the different power requirements of UAV fast charging and standard charging (for example, fast charging can reach 5kW+, standard charging is about 1-2kW), and has precise control and safety protection mechanism for voltage, current (overvoltage, overcurrent, short circuit, temperature monitoring).

[0093] The master control unit (21) intelligently selects the charging mode after the UAV is landed and locked (S603) according to the current power of the UAV, the battery health status, the subsequent task priority (such as whether there is an emergency re-inspection or new task S604), and the pickup truck's own energy reserves:

[0094] Fast charging mode: When there is a high-priority task or the power is severely insufficient, start to quickly increase the core power to a safe threshold (such as 50%) with a large current.

[0095] Standard charging mode: Start charging with standard current to full power state when there is no urgent demand or during regular tasks to optimize battery life.

[0096] Maintenance mode: According to the battery management system data, start equalization charging or deep cycle maintenance in time to prolong the life of the battery pack.

[0097] ​During the charging process, the main control unit 21 monitors the parameters such as the battery SOC of the pickup truck 20, the battery charging state of the unmanned aerial vehicle 30, the temperature of the interface 24, etc. in real time, ensures that the charging process is safe and efficient, and dynamically adjusts the charging strategy or issues an alarm when necessary.

[0098] Obviously, the specific implementation of the present application is not limited by the above-mentioned manner, as long as various non-essential improvements are made by adopting the method concept and technical solutions of the present application, which are within the protection scope of the present application.

Claims

1. A field inspection and control system for unmanned aerial vehicles (UAVs), characterized in that: This includes inspection drones, mobile pickup truck bases, and remote control centers; The remote control center is used to send control commands to start the mission to the pickup truck mobile base and to receive drone status data fed back by the pickup truck mobile base. The pickup truck mobile base provides energy to the drone when there is no mission; when there is a mission, the pickup truck mobile base sends control commands to the inspection drone and receives status data from the inspection drone.

2. The field inspection and control system for a UAV as described in claim 1, characterized in that: The pickup truck mobile base includes a main control unit, an environmental perception module, and a communication relay device. The environmental perception module is connected to the main control unit and is used to send the perceived current environmental data to the main control unit. The main control unit is connected to the inspection drone through the communication relay device to send the planned path information to the inspection drone and receive the status data fed back by the inspection drone.

3. The field inspection and control system for a UAV as described in claim 2, characterized in that: At the start of the mission, the main control unit plans the inspection drone path and the pickup truck path based on the mission information, the drone battery status, and the environmental parameters of the pickup truck perceived by the environmental perception module, and pushes the paths to the inspection drone navigation system and the pickup truck navigation system for execution, respectively. After the mission begins, the main control unit acquires the status data fed back by the inspection drone and replans the operation path of the inspection drone and the pickup truck based on the status data fed back by the inspection drone.

4. The field inspection and control system for a UAV as described in claim 3, characterized in that: The inspection drone includes a shipborne controller, a positioning module, an environmental perception sensor, a communication unit, and drone status data. The shipborne controller is connected to the positioning module, the environmental perception sensor, the communication unit, and the drone status data. The shipborne controller is connected to a pickup truck mobile base and a remote control center via the communication unit.

5. A control method for a field inspection control system for an unmanned aerial vehicle (UAV) as described in any one of claims 1-4, characterized in that: When the mission is launched, the control center issues an inspection command to the pickup truck mobile base. The main control unit of the pickup truck mobile base plans the flight route of the inspection drone and the movement route of the pickup truck according to the drone's battery level. The flight route and the movement route have the same endpoint, which is the initial rendezvous point of the inspection drone and the pickup truck. The flight path is sent to the inspection drone, and the movement path is sent to the pickup truck navigation system; During the mission, the inspection drone flies along the flight path to perform the mission, while simultaneously feeding back the drone's location, battery level, and environmental data to the main control unit in real time; the pickup truck's main control unit receives real-time instructions from the remote control center as well as the collected environmental data of the pickup truck. The main control unit adjusts the initial rendezvous point position based on the data fed back by the inspection drone and the environmental data of the pickup truck, and then adjusts the flight path of the inspection drone and the movement path of the pickup truck based on the adjusted rendezvous point.

6. The control method for a field inspection control system of an unmanned aerial vehicle (UAV) as described in claim 5, characterized in that: The main control unit integrates multi-source data to trigger path fine-tuning, including communication quality, environmental data, and power data.

7. The control method for a field inspection control system of an unmanned aerial vehicle as described in claim 6, characterized in that: During the return phase after the mission is completed, the main control unit calculates the optimal return path based on the battery level, weather, and communication status in real time. At the same time, it adjusts the flight path and the pickup truck's movement path according to the rendezvous point. The inspection drone and the pickup truck reach the rendezvous point according to the planned path. After reaching the rendezvous point, the inspection drone is guided to accurately land at the pickup truck's mobile base, where the pickup truck's mobile base charges the inspection drone.

8. The control method for a field inspection control system of an unmanned aerial vehicle (UAV) as described in claim 5, characterized in that: During the inspection drone mission, the inspection drone connects to the main control unit of the pickup truck mobile base and the remote control center. The communication quality (CQI) between the inspection drone and the remote control center is monitored in real time. When the communication quality does not meet the requirements, the inspection drone establishes a communication connection with the remote control center through the relay communication module.

9. The control method for a field inspection control system of an unmanned aerial vehicle (UAV) as described in claim 5, characterized in that: During the inspection drone's mission, environmental parameters are fed back to the main control unit in real time. The active unit dynamically adjusts the drone's status based on the environmental data, including adjusting the drone's altitude, speed, and flight path.

10. The control method for a field inspection control system of an unmanned aerial vehicle (UAV) as described in claim 5, characterized in that: When the return-to-home condition is triggered after the mission is completed or during the mission, the robot enters the return-to-home mode. At this time, the main control unit calculates the return-to-home plan, which includes three options: return directly according to the planned flight path, fly to the rendezvous point and wait, or make an emergency landing to a safe point and wait. The inspection robot executes the returned-to-home plan according to the received plan.

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