Remote intelligent inspection and monitoring device

Abstract

The utility model discloses a remote intelligent inspection and monitoring device, and relates to the technical field of photovoltaic water plant monitoring. The remote intelligent inspection and monitoring device comprises an unmanned aerial vehicle, an underwater robot and a central control platform. The central control platform can send a task request and monitor the operation states of the unmanned aerial vehicle and the underwater robot in real time. The unmanned aerial vehicle inspects the photovoltaic water plant according to a predetermined path through the flight control assembly, and transmits image information acquired by the first image acquisition assembly to the central control platform through the first wireless communication circuit. The underwater robot plans a detection path through the underwater positioning circuit, obtains detection data through the second image obtaining assembly and the water quality detection assembly, stores the detection data in the memory, and transmits the detection data to the central control platform. And the central control platform intelligently adjusts an inspection task or sends out an abnormal alarm according to the received inspection information and detection data. According to the utility model, the problems of single function and low intelligent degree of the existing inspection product are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of photovoltaic water plant monitoring, in particular to a remote intelligent inspection and monitoring device. Background Art

[0002] The photovoltaic water plant is a new type of water plant that applies solar photovoltaic technology to water plants. It achieves energy conservation and emission reduction by utilizing idle space to install photovoltaic modules to provide clean electricity supply.

[0003] There are already drone products used to inspect photovoltaic water plants, but they can generally only be used to check whether the photovoltaic panels are blocked by debris, and whether there are cracks or damage problems, and they are highly dependent on manual decision-making. Utility Model Content

[0004] The main purpose of the utility model is to provide a remote intelligent inspection and monitoring device, aiming to solve the problems of single function and low intelligence of existing photovoltaic water plant drone inspection products.

[0005] To achieve the above purpose, the remote intelligent inspection and monitoring device proposed by the utility model includes:

[0006] An unmanned aerial vehicle, comprising a frame body, and a first main control board, a flight control component, a first image acquisition component and a first wireless communication circuit arranged on the frame body; the first main control board is respectively connected to the flight control component, the first image acquisition component and the first wireless communication circuit; the flight control component is also connected to the first image acquisition component; the unmanned aerial vehicle is used to perform inspection work and output a first signal;

[0007] An underwater robot, comprising an underwater robot body and a second main control board, a second image acquisition component, an underwater positioning circuit, a second wireless communication circuit, a memory and a water quality detection component arranged on the robot body; the second main control board is respectively connected to the second image acquisition component, the underwater positioning circuit, the second wireless communication circuit, the memory and the water quality detection component; the underwater robot is used to detect water quality and output a second signal; wherein the memory is used to store detection data;

[0008] A central control platform, wherein the central control platform is communicatively connected with the UAV and the underwater robot respectively; the central control platform is used to control the operation of the UAV and the underwater robot, and is used to receive the first signal and the second signal, and operate according to the first signal and the second signal.

[0009] In one embodiment, a cavity structure that interlocks with the frame body is provided under the drone, and the cavity structure is used for loading and unloading the underwater robot. A switch gate circuit is provided on one side of the cavity structure, and the switch gate circuit is communicatively connected to the first main control board.

[0010] In one embodiment, the frame body of the drone includes a first energy supply circuit, the first energy supply circuit is connected to the first main control board, and the underwater robot body includes a second energy supply circuit, the second energy supply circuit is connected to the second main control board;

[0011] The remote intelligent inspection and monitoring device further includes at least one energy replenishment platform, wherein the energy replenishment platform includes a landing plane, and the landing plane is used to support the descent of the UAV;

[0012] The central control platform is also used to control the drone to fly to the energy replenishment platform to replenish energy when the energy of the first energy supply circuit is lower than a first preset value, and to control the drone to transport the underwater robot to the energy replenishment platform to replenish energy when the energy of the second energy supply circuit is lower than a second preset value.

[0013] In one embodiment, the remote intelligent inspection and monitoring device also includes a cleaning robot, which includes a cleaning robot body and a third main control board, a third wireless communication circuit, a movable robotic arm, a pollutant cleaner and a mobile adsorption base frame arranged on the cleaning robot body; the third main control board is connected to the third wireless communication circuit; wherein the mobile adsorption base frame is arranged at the bottom of the cleaning robot body, the movable robotic arm is fixed to one side of the cleaning robot body, and the pollutant cleaner is fixed to the end of the movable robotic arm.

[0014] In one embodiment, the first image acquisition component includes an infrared thermal imaging camera, a color visible light camera, a black and white visible light camera and a free gimbal; the free gimbal is used to adjust the shooting angles of the infrared thermal imaging camera, the color visible light camera and the black and white visible light camera.

[0015] In one embodiment, the flight control component includes a first positioning circuit, an angle sensor, an acceleration sensor, a wind speed sensor, an altitude sensor and a flight controller, and the flight controller is respectively connected to the first positioning circuit, the angle sensor, the acceleration sensor, the wind speed sensor and the altitude sensor; the flight controller is also connected to the first image acquisition component.

[0016] In one embodiment, the underwater robot body includes a floating cavity, and a water hole and an air hole are provided on the top of the floating cavity, the water hole is connected to a first water pipe, and the air hole is connected to an air pipe; the floating cavity is used to control the sinking or rising of the underwater robot by water inlet or outlet.

[0017] In one embodiment, the water quality detection component includes a sampling water tank and a detection sensor; the sampling water tank is connected to a second water pipe, and the sampling water tank is used to collect water quality detection samples; the detection sensor includes at least one of a pH sensor, a dissolved oxygen sensor, a turbidity sensor, a conductivity sensor, a temperature sensor, an ammonia nitrogen sensor and an advanced redox potential sensor.

[0018] In one embodiment, the pollutant cleaner includes a detergent storage tank, a water pump, a nozzle, a driving circuit and a brush; the water pump is used to transport the detergent in the detergent storage tank to the nozzle for spraying; and the driving circuit is used to drive the movement of the brush.

[0019] In one embodiment, the drive circuit includes a first resistor, a second resistor, a third resistor, a first capacitor, a first diode, a first switch tube and a motor; one end of the first resistor is connected to the third main control board, and the other end of the first resistor and one end of the second resistor are connected to the controlled end of the first switch tube; the first end of the first switch tube, one end of the motor, and one end of the first capacitor are connected to the cathode of the first diode; the other end of the motor, the other end of the first capacitor, and the anode of the first diode are connected to the power input end of the drive circuit; the second end of the first switch tube is connected to one end of the third resistor; the other end of the second resistor and the other end of the second resistor are grounded.

[0020] The technical solution of the utility model adopts a remote intelligent inspection and monitoring device, including a drone, an underwater robot and a central control platform. Among them, the central control platform can send a task request to the drone and the underwater robot. After receiving the task request, the drone can ensure that it can inspect according to the predetermined path through the flight control component, and the first image acquisition component can obtain image information of the photovoltaic water plant during the inspection. The first main control board can convert the image information into a first signal and send it to the central control platform through the first wireless communication circuit. After receiving the task request, the underwater robot performs path planning through the underwater positioning circuit and the second main control board to ensure that it can detect according to the predetermined path. The second image acquisition component can obtain underwater image information, the water quality detection component can detect the water quality of the water source before and after the water plant treatment, and the memory can store the detection data obtained during the water quality detection process. The second main control board can convert the detection data into a second signal and send it to the central control platform through the second wireless communication circuit. The central control platform can monitor the operating status and work progress of the drone and the underwater robot in real time, and receive the first signal and the second signal to complete the adjustment task, change the path, issue an alarm, and notify the relevant operation and maintenance personnel to handle and other tasks. In this way, the utility model realizes aerial inspection and monitoring as well as underwater inspection and monitoring, realizes remote monitoring and analysis, and intelligently completes the work of adjusting tasks, changing paths or sounding alarms, which can solve the problems of existing photovoltaic water plant drone inspection products with single functions and low intelligence. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0022] Figure 1 A schematic diagram of the structure of an embodiment of a remote intelligent inspection and monitoring device provided by the utility model;

[0023] Figure 2 A structural schematic diagram of another embodiment of the remote intelligent inspection and monitoring device provided by the utility model;

[0024] Figure 3 A schematic structural diagram of a drone and a cavity structure interlocked with each other in one embodiment of a remote intelligent inspection and monitoring device provided by the utility model;

[0025] Figure 4 A structural schematic diagram of another embodiment of the remote intelligent inspection and monitoring device provided by the utility model;

[0026] Figure 5 A schematic diagram of the structure of a cleaning robot of an embodiment of a remote intelligent inspection and monitoring device provided by the utility model;

[0027] Figure 6 A schematic diagram of the structure of an underwater robot of an embodiment of a remote intelligent inspection and monitoring device provided by the utility model;

[0028] Figure 7 This is an electronic circuit diagram of a driving circuit of a cleaning robot in one embodiment of a remote intelligent inspection and monitoring device provided by the utility model.

[0029] Description of Figure Numbers:

[0030]

[0031]

[0032] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0034] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back...) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0035] In addition, the descriptions of "first", "second", etc. in the present utility model are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0036] In the existing technology, there are drone products used to inspect photovoltaic water plants, but this product can generally only be used to check whether the photovoltaic panels are blocked by debris, and whether there are cracks or damage problems, and it is highly dependent on manual decision-making.

[0037] The utility model provides a remote intelligent inspection and monitoring device.

[0038] See also Figure 1 and Figure 2 In one embodiment of the utility model, the remote intelligent inspection and monitoring device includes:

[0039] The drone 20 includes a frame body and a first main control board 21, a flight control component 22, a first image acquisition component 23 and a first wireless communication circuit 24 arranged on the frame body; the first main control board 21 is connected to the flight control component 22, the first image acquisition component 23 and the first wireless communication circuit 24 respectively; the flight control component 22 is also connected to the first image acquisition component 23; the drone 20 is used to perform inspection work and output a first signal;

[0040] The underwater robot 30 includes an underwater robot body and a second main control board 31, a second image acquisition component 32, an underwater positioning circuit 33, a second wireless communication circuit 34, a memory 35 and a water quality detection component 36 arranged on the robot body; the second main control board 31 is respectively connected to the second image acquisition component 32, the underwater positioning circuit 33, the second wireless communication circuit 34, the memory 35 and the water quality detection component 36; the underwater robot 30 is used to detect water quality and output a second signal; wherein the memory 35 is used to store detection data;

[0041] The central control platform 10 is respectively connected to the UAV 20 and the underwater robot 30 for communication; the central control platform 10 is used to control the operation of the UAV 20 and the underwater robot 30, and is used to receive the first signal and the second signal, and operate according to the first signal and the second signal.

[0042] It should be noted that, in order to be able to comprehensively carry out inspection and monitoring work, this embodiment may include multiple drones 20 and multiple underwater robots 30.

[0043] In this embodiment, the central control platform 10 can send task requests to the drone 20 and the underwater robot 30, which may involve various tasks such as cruising, surveying, searching, sampling, and monitoring. After receiving the task request, the drone 20 controls the flight through the flight control component 22 to ensure that it can patrol along the predetermined path to achieve a comprehensive coverage patrol of the photovoltaic components of the photovoltaic water plant. Among them, the first image acquisition component 23 can collect image information during the patrol process, such as taking images of the surface of the photovoltaic panel. It is understandable that the drone 20 can also be equipped with an image processor to analyze whether there is obstruction, cracks or other damage on the surface of the photovoltaic panel, and convert the image information and analysis information into a first signal, which is sent to the central control platform 10 through the first wireless communication circuit 24 for the central control platform 10 to process and make decisions.

[0044] After receiving the task request, the underwater robot 30 performs path planning through the underwater positioning circuit 33 and the second main control board 31 to ensure that it can detect according to the predetermined path. The second image acquisition component 32 may include an underwater camera and a lighting device. The underwater camera can capture images of the underwater environment, which may include visual information of the water quality, and the lighting device can assist in lighting. The water quality detection component 36 may include various sensors for water quality detection, which can detect the water quality of the water source before and after the water plant treatment. It should be noted that due to the presence of various interference factors in the underwater environment, such as the influence of water flow, underwater biological activities and other underwater equipment, the instability and loss of the communication signal may be caused. Therefore, the present embodiment stores the detection data obtained during the water quality detection process through the memory 35 to prevent data loss. When the underwater robot 30 completes the operation and returns to the ground, the second main control board 31 can convert the detection data of the memory 35 into a second signal and send it to the central control platform 10 through the second wireless communication circuit 34 for the central control platform 10 to process and make decisions.

[0045] It is understandable that the central control platform 10 can monitor the operating status and work progress of the drone 20 and the underwater robot 30 in real time. Through the machine learning algorithm of the central control platform 10, the first signal and the second signal can be trained and pattern recognized to detect the difference between the normal state and the abnormal state. Through the abnormal detection algorithm of the central control platform 10, such as an algorithm based on statistical methods, a clustering algorithm, or a density-based algorithm, data points that do not conform to the normal pattern are detected to find abnormal situations. Using deep learning techniques, such as convolutional neural networks, recurrent neural networks, or transformers, feature extraction and pattern recognition of large-scale and complex data can accurately detect abnormal situations. If an abnormal situation or emergency is found, such as damage to photovoltaic panels, abnormal water quality, or pipeline leakage, the central control platform 10 can immediately take corresponding measures, such as adjusting tasks, changing paths, or issuing alarms, or notifying relevant operation and maintenance personnel to handle. At the same time, the central control platform 10 can store the received information for subsequent data analysis, report generation, and task evaluation, so as to improve task planning, optimize resource utilization, and improve task efficiency. In this way, in this embodiment, the inspection and monitoring work of the drone 20 and the underwater robot 30 can fully cover all areas of the photovoltaic water plant. The central control platform 10 can monitor the operating status and work progress of the drone 20 and the underwater robot 30 in real time to ensure the smooth completion of the inspection and monitoring tasks.

[0046] In the utility model, the central control platform 10 can send a task request to the drone 20 and the underwater robot 30. After receiving the task request, the drone 20 controls the flight through the flight control component 22 to ensure that it can inspect according to the predetermined path. The first image acquisition component 23 can obtain image information of the photovoltaic water plant during the inspection. The first main control board 21 can convert the image information into a first signal and send it to the central control platform 10 through the first wireless communication circuit 24. After receiving the task request, the underwater robot 30 performs path planning through the underwater positioning circuit 33 and the second main control board 31 to ensure that it can detect according to the predetermined path. The second image acquisition component 32 can obtain underwater image information, the water quality detection component 36 can detect the water quality of the water source before and after the water plant treatment, and the memory 35 can store the detection data obtained during the water quality detection process. The second main control board 31 can convert the detection data into a second signal and send it to the central control platform 10 through the second wireless communication circuit 34. The central control platform 10 can monitor the operating status and work progress of the drone 20 and the underwater robot 30 in real time, and receive the first signal and the second signal to complete the work of adjusting tasks, changing paths, issuing alarms, or notifying relevant operation and maintenance personnel to handle. In this way, the utility model realizes aerial and underwater inspection and monitoring, realizes remote monitoring and analysis, and intelligently completes the work of adjusting tasks, changing paths, or issuing alarms, which can solve the problems of single functions and low intelligence of existing drone inspection products for photovoltaic water plants.

[0047] See also Figure 3 In one embodiment of the utility model, a cavity structure 60 is provided under the drone 20 and is interlocked with the frame body. The cavity structure 60 is used for loading and unloading the underwater robot 30. A switch gate circuit 61 is provided on one side of the cavity structure 60. The switch gate circuit 61 is communicatively connected to the first main control board 21.

[0048] It should be noted that, in this embodiment, the drone 20 is used to transport the underwater robot 30 .

[0049] It should be noted that the switch gate circuit 61 may include a drive circuit and a wireless communication circuit. The wireless communication circuit is used to establish a communication connection with the drone 20, and the drive circuit is used to drive the switch gate to open and close.

[0050] In this embodiment, the drone 20 can be connected to the underwater robot 30 for communication. When the drone 20 is loading, the control is in a stable state, and the switch door of the cavity structure 60 is in an open state, and the underwater robot 30 can move in. Until the underwater robot 30 has been safely loaded in the cavity structure 60 of the drone 20, and the switch door has been closed, the drone 20 takes off and transports the underwater robot 30 to the vicinity of the mission location. When the drone 20 is unloading, the control is in a stable state, and the switch door of the cavity structure 60 is in an open state, and the underwater robot 30 can move out. It can be understood that the frame body only carries the cavity structure 60 when the drone 20 is used to transport the underwater robot 30. When performing inspection work, the drone 20 does not need to carry the cavity structure 60 to fly. In this embodiment, the cavity structure 60 and the frame body of the drone 20 are arranged in a mutually interlocking structure. When the drone 20 performs inspection work, it does not carry the cavity structure 60 to fly, reducing flight losses. In this way, the present embodiment can utilize the drone 20 to complete the transportation work of the underwater robot 30, thereby improving the operation efficiency.

[0051] See also Figure 4 In one embodiment of the utility model, the frame body of the drone 20 includes a first energy supply circuit 25, which is connected to the first main control board 21, and the underwater robot body includes a second energy supply circuit 37, which is connected to the second main control board 31;

[0052] The remote intelligent inspection and monitoring device further includes at least one energy replenishment platform 40, the energy replenishment platform 40 includes a landing plane, and the landing plane is used to support the descent of the drone 20;

[0053] The central control platform 10 is also used to control the drone 20 to fly to the energy replenishment platform 40 to replenish energy when the energy of the first energy supply circuit 25 is lower than a first preset value, and is used to control the drone 20 to transport the underwater robot 30 to the energy replenishment platform 40 to replenish energy when the energy of the second energy supply circuit 37 is lower than a second preset value.

[0054] It should be noted that the remote intelligent inspection and monitoring device may include a plurality of energy replenishment platforms 40. In this embodiment, the energy supply circuit may include a lithium-ion battery pack or a lithium polymer battery pack and a transformer.

[0055] In this embodiment, the central control platform 10 continuously monitors the energy levels of the drone 20 and the underwater robot 30. When the energy of the first energy supply circuit 25 is lower than the first preset value, the drone energy replenishment program is triggered, and the central control platform 10 sends the coordinates of the nearest energy replenishment platform 40 to the drone 20. The drone 20 starts and flies to the nearest energy replenishment platform 40 according to the instructions of the central control platform 10, and lands on the landing plane on the energy replenishment platform 40. After ensuring stability and safety, charging begins. During charging, the central control platform 10 monitors the energy replenishment process of the drone 20 to ensure smooth charging, and starts the drone takeoff program after charging is completed. When the energy of the second energy supply circuit 37 is lower than the second preset value, the underwater robot energy replenishment program is triggered, and the central control platform 10 sends the coordinates of the energy replenishment platform 40 closest to the underwater robot 40 and the coordinates of the underwater robot 30 to the drone 20. The drone 20 flies to the underwater robot 30 according to the instructions of the central control platform 10. After the underwater robot 30 is loaded, it flies to the nearest energy replenishment platform 40, lands using the landing plane on the energy replenishment platform 40, and unloads the underwater robot 30 after ensuring stability and safety. The underwater robot 30 starts charging. During the charging process, the central control platform 10 monitors the energy replenishment process of the underwater robot 30 to ensure the smooth progress of charging, and after charging is completed, starts the program to transport the underwater robot 30 to the designated location to continue working. In this way, this embodiment can replenish energy for the drone 20 and the underwater robot 30 in a timely manner.

[0056] It should be noted that, in order to extend the operation time, the frame body of the drone 20 may be provided with a solar panel to convert the solar energy received during the flight into electrical energy to provide energy for continuous operation.

[0057] See also Figure 4 and Figure 5 In one embodiment of the utility model, the remote intelligent inspection and monitoring device also includes a cleaning robot 50, which includes a cleaning robot body and a third main control board 51, a third wireless communication circuit 52, a movable robotic arm 53, a pollutant cleaner 54 and a mobile adsorption base frame 55 arranged on the cleaning robot body; the third main control board 51 is connected to the third wireless communication circuit 52; the mobile adsorption base frame 55 is arranged at the bottom of the cleaning robot body, the movable robotic arm 53 is fixed to one side of the cleaning robot body, and the pollutant cleaner 54 is fixed to the end of the movable robotic arm 53.

[0058] It should be noted that the cavity structure 60 is also used for loading and unloading the cleaning robot 50 , and the drone 20 is also used for transporting the cleaning robot 50 .

[0059] It is understandable that the surface of photovoltaic panels is often susceptible to the accumulation of various pollutants, such as dust, sand, bird droppings, leaves, etc. These pollutants can reduce the light absorption efficiency of photovoltaic panels, thereby affecting the performance and capacity of photovoltaic power generation systems. Therefore, it is crucial to regularly clean the surface of photovoltaic panels. In this embodiment, the cleaning robot 50 can establish a communication connection with the drone 20. The cleaning robot 50 can clean the photovoltaic panels to ensure that their surfaces remain clean, which can maximize the efficiency of photovoltaic power generation.

[0060] In this embodiment, the movable robotic arm 53, the pollutant cleaner 54 and the mobile adsorption base frame 55 are all provided with driving circuits, and the third main control board 51 is respectively connected to multiple driving circuits for controlling the operation of the multiple driving circuits to control the operation of the movable robotic arm 53, the pollutant cleaner 54 and the mobile adsorption base frame 55.

[0061] In this embodiment, the drone 20 can collect image information of the photovoltaic panel and transmit the image information to the central control platform 10. When the central control platform 10 detects that the pollution level of the current photovoltaic panel reaches a preset level, it triggers the cleaning program and sends instructions to the drone 20, and the drone 20 transports the cleaning robot 50 to the vicinity of the polluted photovoltaic panel. The cleaning robot 50 can use the mobile adsorption chassis 55 to move to the vicinity of the polluted area of ​​the photovoltaic panel and fix it, wherein the drone 20 can send location information to the cleaning robot 50 and assist the movement of the cleaning robot 50. The cleaning robot 50 can use the movable mechanical arm 53 to drive the pollutant cleaner 54 for cleaning, wherein the movable mechanical arm 53 can have joints and telescopic components, and can move at different angles and directions to ensure that all polluted areas of the photovoltaic panel are cleaned. The pollutant cleaner 54 can use a brush, spray water or vacuum to remove pollutants from the surface of the photovoltaic panel. At the same time, the drone 20 can transmit the image information of the cleaned photovoltaic panel to the central control platform 10, until the image information of the current photovoltaic panel shows that it has reached the clean index, it is considered that the cleaning work is completed, and the cleaning task instruction is sent to the cleaning robot 50. At the same time, the cleaning robot 50 sends feedback information on the completion of the task to the central control platform 10 through the third communication circuit, which may include information such as the time, location, and cleaning effect evaluation of the cleaning. In this way, this embodiment can complete the cleaning work on the surface of the photovoltaic panel, solving the problem of the single function of the existing photovoltaic water plant drone inspection products.

[0062] See also Figure 4In one embodiment of the utility model, the first image acquisition component 23 includes an infrared thermal imaging camera, a color visible light camera, a black and white visible light camera and a free pan-tilt head; the free pan-tilt head is used to adjust the shooting angles of the infrared thermal imaging camera, the color visible light camera and the black and white visible light camera.

[0063] In this embodiment, through the combination of infrared thermal imaging camera, color visible light camera and black and white visible light camera, the drone 20 can simultaneously obtain multi-modal image data, can provide more comprehensive and integrated image information, and more accurately identify and analyze the target. Among them, the free gimbal can include a steering drive circuit and a steering mechanism, the driving motor of the steering drive circuit is mechanically connected to the steering mechanism, and the first main control board 21 can control the steering drive circuit to drive the steering mechanism to rotate, so as to adjust the shooting angle and direction of each camera, so as to ensure that the camera can capture the best image field of view, thereby improving the efficiency and quality of image acquisition. In this way, this embodiment improves the efficiency and quality of the first image acquisition component 23 in acquiring image information.

[0064] See also Figure 4 In one embodiment of the utility model, the flight control component 22 includes a first positioning circuit, an angle sensor, an acceleration sensor, a wind speed sensor, an altitude sensor and a flight controller, and the flight controller is respectively connected to the first positioning circuit, the angle sensor, the acceleration sensor, the wind speed sensor and the altitude sensor; the flight controller is also connected to the first image acquisition component 23.

[0065] In this embodiment, the angle sensor, acceleration sensor, wind speed sensor and altitude sensor can collect data of key parameters such as attitude angle, acceleration, wind speed and altitude of the drone 20 in real time during flight, and send the collected data to the flight controller. At the same time, the flight controller obtains image information through the first image acquisition component 23, including information about the environment, obstacles, targets or landmarks. The current position information is obtained through the first positioning circuit, which can be implemented by technologies such as the global positioning system (GPS). In this way, the flight controller can analyze the collected information and adjust the parameters such as the rudder position and motor speed of the aircraft on the frame body of the drone 20 according to the analysis results, so that the drone 20 can fly according to a predetermined trajectory, maintain a stable attitude, avoid obstacles or complete other flight tasks.

[0066] See also Figure 4 and Figure 6 In one embodiment of the utility model, the underwater robot body includes a floating cavity 38, and a water hole and an air hole are provided on the top of the floating cavity 38. The water hole is connected to the first water pipe, and the air hole is connected to the air pipe; the floating cavity 38 is used to control the sinking or rising of the underwater robot 30 by water inlet or outlet.

[0067] In this embodiment, the floating cavity 38 can be located in the middle and upper part of the underwater robot body, and the floating cavity 38 is designed with water holes and air holes. When the underwater robot 30 sinks, water is injected into the floating cavity 38, increasing the weight of the underwater robot 30, increasing its density, and thus sinking to the desired depth. Conversely, when the underwater robot 30 floats up, water is pumped out of the floating cavity 38, reducing the weight of the robot, reducing its density, and thus floating to the desired depth. Among them, the gas pressure in the floating cavity 38 can be adjusted through the air holes. In this way, this embodiment can change the density of the floating cavity 38 by injecting or discharging water, thereby achieving the adjustment of the buoyancy of the underwater robot 30.

[0068] See also Figure 6 In one embodiment of the utility model, the water quality detection component 36 includes a sampling water tank and a detection sensor; the sampling water tank is connected to the second water pipe, and the sampling water tank is used to collect water quality detection samples; the detection sensor includes at least one of a pH sensor, a dissolved oxygen sensor, a turbidity sensor, a conductivity sensor, a temperature sensor, an ammonia nitrogen sensor and an advanced redox potential sensor.

[0069] In this embodiment, the detection sensor includes a variety of sensors. Among them, the pH sensor is used to measure the acidity and alkalinity of the water body, that is, the hydrogen ion concentration in the water. The dissolved oxygen sensor is used to measure the dissolved oxygen content in the water. The turbidity sensor is used to measure the concentration of suspended particles or turbid substances in the water body. The conductivity sensor is used to measure the conductivity in the water, that is, the content of electrolytes in the water. The temperature sensor is used to measure the temperature of the water body. The ammonia nitrogen sensor is used to measure the ammonia nitrogen content in the water. The advanced redox potential sensor is used to measure the redox potential in the water body, that is, the equilibrium state of oxidation and reduction reactions in the water body. These sensors can detect different physical and chemical parameters in the water source, which is very important for monitoring water quality. When the water quality is abnormal, water source sampling can be carried out, and the supervisor can obtain the abnormal water source for further analysis and processing. In this way, this embodiment can effectively monitor the water quality.

[0070] See also Figure 5 In one embodiment of the utility model, the pollutant cleaner 54 includes a detergent storage box, a water pump, a nozzle, a driving circuit and a brush; the water pump is used to transport the detergent in the detergent storage box to the nozzle for spraying; the driving circuit is used to drive the movement of the brush.

[0071] In this embodiment, the detergent storage box, water pump, nozzle, drive circuit and brush are designed in an integrated manner and are integrated in the pollutant cleaner 54. The brush is provided with a detergent storage box and a water pump inside, and the detergent storage box can store detergent. The side of the brush is provided with a small hole, and the nozzle is provided inside the small hole. The detergent can be sprayed out from the small hole by the pressure of the water pump to assist the brush in cleaning pollutants. The brush moves back and forth through the drive of the drive circuit, and can effectively clean pollutants. In this way, this embodiment combines the spraying of detergent and the physical cleaning of the brush, which can effectively remove pollutants on the surface of the equipment to be cleaned and improve the cleaning effect.

[0072] See also Figure 7 In one embodiment of the utility model, the driving circuit includes a first resistor R1, a second resistor R2, a third resistor R3, a first capacitor C1, a first diode D1, a first switch tube Q1 and a motor M; one end of the first resistor R1 is connected to the third main control board 51, and the other end of the first resistor R1 and one end of the second resistor R2 are connected to the controlled end of the first switch tube Q1; the first end of the first switch tube Q1, one end of the motor M, and one end of the first capacitor C1 are connected to the cathode of the first diode D1; the other end of the motor M, the other end of the first capacitor C1, and the anode of the first diode D1 are connected to the power input end of the driving circuit; the second end of the first switch tube Q1 is connected to one end of the third resistor R3; the other end of the second resistor R2 and the other end of the second resistor R2 are grounded.

[0073] In this embodiment, the third main control board 51 can output different PWM control signals to control the on / off of the first switch tube Q1 to adjust the rotation power of the motor M. Among them, the first resistor R1, the second resistor R2 and the third resistor R3 can be used for current limiting, the first diode D1 can prevent the reverse voltage from damaging the motor M, the first capacitor C1 can play a role in voltage stabilization, and the first switch tube Q1 can control the on / off of the motor M, thereby controlling the working state of the motor M.

[0074] The above description is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A remote intelligent inspection and monitoring device, characterized in that: include: An unmanned aerial vehicle, comprising a frame body, and a first main control board, a flight control component, a first image acquisition component and a first wireless communication circuit arranged on the frame body; the first main control board is respectively connected to the flight control component, the first image acquisition component and the first wireless communication circuit; the flight control component is also connected to the first image acquisition component; the unmanned aerial vehicle is used to perform inspection work and output a first signal; An underwater robot, comprising an underwater robot body and a second main control board, a second image acquisition component, an underwater positioning circuit, a second wireless communication circuit, a memory and a water quality detection component arranged on the robot body; the second main control board is respectively connected to the second image acquisition component, the underwater positioning circuit, the second wireless communication circuit, the memory and the water quality detection component; the underwater robot is used to detect water quality and output a second signal; wherein the memory is used to store detection data; A central control platform, wherein the central control platform is communicatively connected with the UAV and the underwater robot respectively; the central control platform is used to control the operation of the UAV and the underwater robot, and is used to receive the first signal and the second signal, and operate according to the first signal and the second signal.

2. The remote intelligent inspection and monitoring device according to claim 1, characterized in that: A cavity structure that interlocks with the frame body is provided below the drone, and the cavity structure is used for loading and unloading the underwater robot. A switch gate circuit is provided on one side of the cavity structure, and the switch gate circuit is communicatively connected with the first main control board.

3. The remote intelligent inspection and monitoring device according to claim 2, characterized in that: The frame body of the drone includes a first energy supply circuit, which is connected to the first main control board; the underwater robot body includes a second energy supply circuit, which is connected to the second main control board; The remote intelligent inspection and monitoring device further includes at least one energy replenishment platform, wherein the energy replenishment platform includes a landing plane, and the landing plane is used to support the descent of the UAV; The central control platform is also used to control the drone to fly to the energy replenishment platform to replenish energy when the energy of the first energy supply circuit is lower than a first preset value, and to control the drone to transport the underwater robot to the energy replenishment platform to replenish energy when the energy of the second energy supply circuit is lower than a second preset value.

4. The remote intelligent inspection and monitoring device according to claim 2, characterized in that: It also includes a cleaning robot, which includes a cleaning robot body and a third main control board, a third wireless communication circuit, a movable mechanical arm, a pollutant cleaner and a movable adsorption base frame arranged on the cleaning robot body; the third main control board is connected to the third wireless communication circuit; the mobile adsorption base frame is arranged at the bottom of the cleaning robot body, the movable mechanical arm is fixed on one side of the cleaning robot body, and the pollutant cleaner is fixed on the end of the movable mechanical arm.

5. The remote intelligent inspection and monitoring device according to claim 1, characterized in that: The first image acquisition component includes an infrared thermal imaging camera, a color visible light camera, a black and white visible light camera and a free pan / tilt; the free pan / tilt is used to adjust the shooting angles of the infrared thermal imaging camera, the color visible light camera and the black and white visible light camera.

6. The remote intelligent inspection and monitoring device according to claim 5, characterized in that: The flight control component includes a first positioning circuit, an angle sensor, an acceleration sensor, a wind speed sensor, an altitude sensor and a flight controller. The flight controller is respectively connected to the first positioning circuit, the angle sensor, the acceleration sensor, the wind speed sensor and the altitude sensor; the flight controller is also connected to the first image acquisition component.

7. The remote intelligent inspection and monitoring device according to claim 1, characterized in that: The underwater robot body includes a floating cavity, and a water hole and an air hole are arranged on the top of the floating cavity. The water hole is connected to a first water pipe, and the air hole is connected to an air pipe; the floating cavity is used to control the sinking or rising of the underwater robot by water inflow or outflow.

8. The remote intelligent inspection and monitoring device according to claim 7, characterized in that: The water quality detection component includes a sampling water tank and a detection sensor; the sampling water tank is connected to a second water pipe, and the sampling water tank is used to collect water quality detection samples; the detection sensor includes at least one of a pH sensor, a dissolved oxygen sensor, a turbidity sensor, a conductivity sensor, a temperature sensor, an ammonia nitrogen sensor and an advanced redox potential sensor.

9. The remote intelligent inspection and monitoring device according to claim 4, characterized in that: The pollutant cleaner comprises a detergent storage box, a water pump, a nozzle, a driving circuit and a brush; the water pump is used to transport the detergent in the detergent storage box to the nozzle for spraying; and the driving circuit is used to drive the movement of the brush.

10. The remote intelligent inspection and monitoring device according to claim 9, characterized in that: The driving circuit includes a first resistor, a second resistor, a third resistor, a first capacitor, a first diode, a first switch tube and a motor; one end of the first resistor is connected to the third main control board, and the other end of the first resistor and one end of the second resistor are connected to the controlled end of the first switch tube; the first end of the first switch tube, one end of the motor, and one end of the first capacitor are connected to the cathode of the first diode; the other end of the motor, the other end of the first capacitor, and the anode of the first diode are connected to the power input end of the driving circuit; the second end of the first switch tube is connected to one end of the third resistor; the other end of the second resistor and the other end of the second resistor are grounded.

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