Multi-machine cooperative combined inspection system

Abstract

The utility model provides a multi-unmanned-aerial-vehicle cooperative combined inspection system. The multi-unmanned-aerial-vehicle cooperative combined inspection system comprises a plurality of unmanned aerial vehicles, shooting equipment, an airborne box, switching equipment and a ground cooperative controller, an airborne box and shooting equipment are mounted at the bottom of each unmanned aerial vehicle, each airborne box is electrically connected with the shooting equipment mounted on the corresponding unmanned aerial vehicle, and the ground cooperative controller is in remote communication connection with the airborne boxes and the unmanned aerial vehicles through the switching equipment; the ground cooperative controller is used for sending inspection data including an inspection route to the corresponding unmanned aerial vehicle and sending task data including an inspection task to the corresponding airborne box, and the airborne box is used for receiving inspection image data shot by the shooting equipment according to the inspection task and sending the inspection image data to the unmanned aerial vehicle. And abnormal result data indicating that the inspection image data is in the inspection abnormity is sent to the ground cooperative controller, so that multi-line parallel operation is completed.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of inspection systems, in particular to a kind of multi-machine cooperative joint inspection system, belong to electrical automation technical field. BACKGROUND

[0002] Because unmanned aerial vehicle can break through ground area limit, quickly cross space distance and gradually replace artificial, it becomes the sharp tool of power transmission line and power grid inspection. At present, unmanned aerial vehicle autonomous inspection has been popularized and popularized in power transmission line operation, and has achieved certain results. Existing unmanned aerial vehicle autonomous inspection is usually parallel operation with artificial inspection, and unmanned aerial vehicle can be put in multiple places and multiple lines for inspection. However, with the progress of society, especially the rapid development of technology, the length of power transmission line is getting longer and longer, and the number is increasing exponentially, and the layout of power transmission network is getting more and more complex, which leads to increased difficulty, prolonged time and diversified measures of power transmission line inspection. Especially for parallel inspection operation of multiple lines, a large amount of manpower is needed to control unmanned aerial vehicle in multiple points, which not only increases labor input, but also increases unmanned aerial vehicle input and affects line inspection efficiency. Therefore, it is necessary to improve the existing technology. SUMMARY

[0003] To solve the problem that a large amount of manpower is needed to control unmanned aerial vehicle in existing multiple-line parallel inspection, which leads to increased labor cost and unmanned aerial vehicle input, and low inspection efficiency, the utility model provides a multi-machine cooperative joint inspection system with reduced labor input.

[0004] The utility model is completed by the following technical schemes:

[0005] In the first aspect, the application embodiment provides a multi-machine cooperative joint inspection system, which comprises multiple unmanned aerial vehicles, a shooting device, a machine-mounted box, a switching device and a ground cooperative controller.

[0006] Each unmanned aerial vehicle is mounted with a machine-mounted box and a shooting device at the bottom, each machine-mounted box is electrically connected with the shooting device mounted on the corresponding unmanned aerial vehicle, and the ground cooperative controller is remotely connected with the machine-mounted box and the unmanned aerial vehicle through the switching device. The ground cooperative controller is used to send inspection data containing inspection route to the corresponding unmanned aerial vehicle, and send task data containing inspection task to the corresponding machine-mounted box. The machine-mounted box is used to receive inspection image data shot by the shooting device according to the inspection task, and send abnormal result data indicating that the inspection image data is abnormal to the ground cooperative controller.

[0007] Further, the ground cooperative controller comprises a PLC controller, a data storage module, a wireless communication module, a storage amount detection module and a power module, the PLC controller is electrically connected with the data storage module, the wireless communication module and the storage amount detection module, the power module is electrically connected with the PLC controller, the data storage module, the wireless communication module and the storage amount detection module, and is used for supplying power to the PLC controller, the data storage module, the wireless communication module and the storage amount detection module; the PLC controller is in communication connection with the unmanned aerial vehicle and the on-board box through the exchange device and the wireless communication module, and is used for sending the inspection data to the corresponding unmanned aerial vehicle and sending the inspection task to the corresponding on-board box, and receiving the abnormal result data sent by the on-board box.

[0008] Further, the unmanned aerial vehicle comprises a body with a rotor and an unmanned aerial vehicle control unit, a signal acquisition unit and a battery pack arranged in the body.

[0009] The unmanned aerial vehicle control unit is electrically connected with the shooting device, the signal acquisition unit and the ground cooperative controller, the signal acquisition unit is used for receiving the inspection data sent by the ground cooperative controller and sending the inspection data to the unmanned aerial vehicle control unit;

[0010] The battery pack is electrically connected with the unmanned aerial vehicle control unit, the shooting device, the on-board box and the signal acquisition unit.

[0011] Further, the unmanned aerial vehicle comprises a body with a rotor and an unmanned aerial vehicle control unit, a signal acquisition unit and a battery pack arranged in the body.

[0012] The unmanned aerial vehicle control unit is electrically connected with the shooting device and the signal acquisition unit mounted at the bottom of the unmanned aerial vehicle, is used for receiving the inspection image data shot by the shooting device during the inspection of the unmanned aerial vehicle, and sends the inspection image data to the signal acquisition unit;

[0013] The signal acquisition unit is electrically connected with the on-board box, and is used for sending the inspection image data to the on-board box;

[0014] The battery pack is electrically connected with the unmanned aerial vehicle control unit, the shooting device, the on-board box and the signal acquisition unit.

[0015] Further, the on-board box comprises a shell, a master control unit, a storage unit and a wireless communication unit arranged in the shell, the master control unit is electrically connected with the storage unit, the wireless communication unit, the signal acquisition unit in the unmanned aerial vehicle and the ground cooperative controller, and the wireless communication unit is in signal communication connection with the exchange device.

[0016] Further, the switching device cooperates with the ground cooperative controller, the airborne box on the plurality of unmanned aerial vehicles and the unmanned aerial vehicles to form a local area network.

[0017] Further, the switching device is configured as a single or multiple switches in a topological relationship.

[0018] Further, the unmanned aerial vehicle is further provided with a self-checking unit, the unmanned aerial vehicle triggers the self-checking unit when receiving the inspection data, the self-checking unit is used to check whether the unmanned aerial vehicle has a fault, and in the case where it is determined that there is a fault, sends fault information indicating that the unmanned aerial vehicle has a fault to the ground cooperative controller, and the ground cooperative controller is further used to receive the fault information sent by the unmanned aerial vehicle, and send new inspection data to the airborne box to which the remaining unmanned aerial vehicles without faults belong.

[0019] In a second aspect, the embodiments of the present application also provide a multi-machine cooperative joint inspection system, comprising a plurality of unmanned aerial vehicles, a shooting device, an airborne box, a switching device and a ground cooperative controller.

[0020] Wherein, each of the unmanned aerial vehicles is mounted with an airborne box and a shooting device at the bottom, each of the airborne boxes is electrically connected with the shooting device mounted on the unmanned aerial vehicle, the ground cooperative controller is remotely connected with the airborne box through the switching device, the unmanned aerial vehicle is electrically connected with the airborne box, and the ground cooperative controller is used to send inspection data containing an inspection route and task data containing an inspection task to the corresponding airborne box, the airborne box is used to send the inspection data to the unmanned aerial vehicle, receive inspection image data shot by the shooting device according to the inspection task, and send abnormal result data indicating that the inspection image data is in an inspection exception to the ground cooperative controller.

[0021] Further, the switching device cooperates with the ground cooperative controller, the airborne box on the plurality of unmanned aerial vehicles and the unmanned aerial vehicles to form a local area network, in the formed local area network, the airborne boxes mounted on the unmanned aerial vehicles are electrically connected with each other, the switching device is configured on a designated tower, when a task needs to be executed, the ground cooperative controller is used to send main unmanned aerial vehicle information identifying a main unmanned aerial vehicle to the plurality of unmanned aerial vehicles, the main unmanned aerial vehicle is used to be electrically connected with a secondary unmanned aerial vehicle after receiving the main unmanned aerial vehicle information, and the ground cooperative controller is further used to send corresponding inspection data and inspection tasks to the airborne box configured on the secondary unmanned aerial vehicle, the secondary unmanned aerial vehicle is the remaining unmanned aerial vehicle in the plurality of unmanned aerial vehicles except the main unmanned aerial vehicle.

[0022] The utility model has the following advantages and effects: the above -mentioned first aspect described technical scheme, when performing the inspection task, the ground cooperative controller generates the inspection task and the inspection route, and through the exchange equipment, the corresponding inspection task and each unmanned aerial vehicle corresponding inspection route of multiple unmanned aerial vehicles and each unmanned aerial vehicle respectively configured airborne box are sent, after receiving the inspection route, the unmanned aerial vehicle carries out the inspection, after receiving the corresponding inspection task, the airborne box makes the unmanned aerial vehicle according to the inspection task and the inspection route to the to-be-inspected tower for inspection, and based on the shooting device, the airborne box carries out the abnormal analysis according to the inspection image data of the shooting, and the abnormal inspection result is sent to the exchange equipment through the airborne box, and then the exchange equipment is transmitted to the ground cooperative controller, so that the multi-line parallel inspection operation is realized without a large number of manual participation, without investing a large number of manpower, and without increasing the unmanned aerial vehicle investment, thereby improving the line inspection efficiency.

[0023] The above-mentioned second aspect described technical scheme, when performing the inspection task, through the ground cooperative controller, based on the inspection software set therein and the to-be-inspected tower identifier obtained, the inspection task and the inspection route are generated, and the corresponding inspection task and the inspection route are sent to the airborne box configured by the multiple unmanned aerial vehicles through the exchange equipment. After receiving the corresponding inspection task and the inspection route, the airborne box sends it to the corresponding unmanned aerial vehicle, and the unmanned aerial vehicle carries out the inspection on the to-be-inspected tower according to the inspection task and the inspection route, and carries out the shooting based on the shooting device. The airborne box carries out the abnormal analysis according to the inspection image data, and sends the abnormal inspection result to the exchange equipment through the airborne box, and then the exchange equipment is transmitted to the ground cooperative controller. In this way, the multi-line parallel inspection operation is realized without a large number of manual participation, without investing a large number of manpower, and without increasing the unmanned aerial vehicle investment, thereby improving the line inspection efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the drawings needed to be used in the embodiment or the prior art description will be briefly introduced as follows, and obviously, other drawings can also be obtained by the ordinary skilled in the art without creative labor.

[0025] Figure 1 The structure schematic diagram of the first multi-machine cooperative joint inspection system provided by the embodiment of the application is shown in the figure.

[0026] Figure 2 The structure schematic diagram of the ground cooperative controller provided by the embodiment of the application is shown in the figure.

[0027] Figure 3 The structure schematic diagram of the airborne box provided by the embodiment is shown in the figure.

[0028] Figure 4This is a schematic diagram of the structure of the second multi-machine collaborative joint inspection system provided in the embodiments of this application;

[0029] Figure 5 This is a schematic diagram of the structure of the airborne box provided in an embodiment of this application;

[0030] Figure 6 This is a schematic diagram of the structure of a third type of multi-machine collaborative joint inspection system provided in the embodiments of this application.

[0031] In the diagram, 1 is the drone, 2 is the switching equipment, 3 is the ground collaborative controller, 4 is the pole to be inspected, and 5 is the airborne box. Detailed Implementation

[0032] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model. Example

[0033] like Figure 1 As shown, Figure 1 The schematic diagram of the structure of the first multi-machine collaborative joint inspection system provided in the embodiments of this application includes multiple drones 1, shooting equipment, airborne box 5, switching equipment 2 and ground collaborative controller 3;

[0034] Each UAV 1 is equipped with an onboard box 5 and a camera device mounted on its bottom. Each onboard box 5 is electrically connected to the camera device mounted on its respective UAV 1. The ground collaborative controller 3 is remotely connected to the onboard box 5 and the UAV 1 through the switching device 2. The ground collaborative controller 3 is used to send inspection data containing inspection routes to the corresponding UAV 1 and to send task data containing inspection tasks to the corresponding onboard box 5. The onboard box 5 is used to receive inspection image data captured by the camera device according to the inspection task and to send abnormal result data indicating that the inspection image data is in an inspection abnormality to the ground collaborative controller 3.

[0035] In this embodiment, the airborne box 5 controls the shooting device to shoot the objects to be inspected on the pole 4 according to the inspection task. The inspection task can be understood as a shooting task to shoot the objects to be inspected on the pole 4.

[0036] In the embodiment, the corresponding unmanned aerial vehicle 1 is an unmanned aerial vehicle included in the inspection route. In addition, the unmanned aerial vehicle 1 of the embodiment has a corresponding association relationship with the airborne box 5, and the corresponding airborne box 5 can be understood as an airborne box 5 sent by the unmanned aerial vehicle 1 hanging under the corresponding unmanned aerial vehicle for inspection.

[0037] The inspection data in the embodiment can also include an inspection task, which is an instruction for the unmanned aerial vehicle 1 to inspect one or more to-be-inspected towers 4 and the order thereof, including the identification of the to-be-inspected tower 4 and the corresponding geographical position, the identification of the unmanned aerial vehicle 1 and the inspection order, and the inspection route of the unmanned aerial vehicle 1 from the takeoff point to the position of the corresponding to-be-inspected tower 4 and then back to the takeoff point.

[0038] In the embodiment, when a task needs to be performed, the ground cooperative controller 3 generates an inspection task and an inspection route based on the inspection software set therein and the identification of the to-be-inspected tower 4 obtained, and sends the corresponding inspection task to the airborne box 5 configured on the unmanned aerial vehicle 1 and the inspection route to the unmanned aerial vehicle through the exchange device 2. The unmanned aerial vehicle 1 inspects the to-be-inspected tower 4 according to the inspection route, the airborne box 5 controls the shooting device to shoot according to the inspection task, and performs abnormality analysis on the shooting image, and sends the abnormality analysis result obtained by the inspection to the exchange device 2 through the airborne box 5 configured therein, so as to reduce the data transmission size. Or, the shooting image without any analysis can be transmitted by the exchange device 2 to the ground cooperative controller 3 for identification, calculation and storage, and the unmanned aerial vehicle 1 returns after completing the inspection task.

[0039] As an embodiment, as shown in Figure 2 The ground cooperative controller 3 includes a PLC controller, a data storage module, a wireless communication module, a storage amount detection module and a power supply module. The PLC controller is electrically connected with the data storage module, the wireless communication module and the storage amount detection module. The power supply module is electrically connected with the PLC controller, the data storage module, the wireless communication module and the storage amount detection module, and is used to supply power to the PLC controller, the data storage module, the wireless communication module and the storage amount detection module. The PLC controller is in communication connection with the unmanned aerial vehicle 1 and the airborne box 5 through the exchange device 2 using the wireless communication module, and is used to send the inspection data to the corresponding unmanned aerial vehicle 1 and send the inspection task to the corresponding airborne box 5, and receive the abnormality result data sent by the airborne box 5.

[0040] In the embodiment, the ground cooperative controller 3 is a PLC controller with an inspection software set therein, which is electrically connected with the exchange device 2. The exchange device 2 is signal connected with the airborne box 5 configured and mounted on each unmanned aerial vehicle 1. Each airborne box 5 is electrically connected with the corresponding unmanned aerial vehicle 1.

[0041] In the embodiment, the data storage of the PLC controller pre-stores all the to-be-inspected towers 4 in the jurisdiction and corresponding to-be-inspected tower 4 identifiers, and the geographic location information corresponding to each to-be-inspected tower 4 identifier, and all the unmanned aerial vehicle 1 identifiers and information, so as to generate the inspection data of the to-be-executed inspection task based on the set inspection strategy and the to-be-inspected tower 4 identifier, and send the corresponding inspection data to the unmanned aerial vehicle 1 and the corresponding inspection task to the on-board box 5 configured to the unmanned aerial vehicle 1. After receiving the inspection data, the unmanned aerial vehicle 1 executes the inspection task in the order of the to-be-inspected tower 4 identifier specified by the inspection data, and returns after completing the inspection task.

[0042] As an embodiment, the unmanned aerial vehicle 1 includes a body with a rotor, and an unmanned aerial vehicle control unit, a signal acquisition unit, and a battery pack arranged in the body, wherein:

[0043] The unmanned aerial vehicle control unit is electrically connected with the shooting device, the signal acquisition unit, and the ground cooperative controller 3. The signal acquisition unit is configured to receive the inspection data sent by the ground cooperative controller 3, and send the inspection data to the unmanned aerial vehicle control unit.

[0044] The battery pack is electrically connected with the unmanned aerial vehicle control unit, the shooting device, the on-board box 5, and the signal acquisition unit.

[0045] In the embodiment, the battery pack supplies power to the unmanned aerial vehicle control unit, the shooting device, the on-board box 5, and the signal acquisition unit. In other words, the shooting device and the on-board box 5 are powered by the unmanned aerial vehicle 1. The unmanned aerial vehicle 1 and the ground cooperative controller 3 can transmit data.

[0046] As an embodiment, the unmanned aerial vehicle 1 includes a body with a rotor, and an unmanned aerial vehicle control unit, a signal acquisition unit, and a battery pack arranged in the body, wherein:

[0047] The unmanned aerial vehicle control unit is electrically connected with the shooting device and the signal acquisition unit mounted on the bottom of the unmanned aerial vehicle 1, and is configured to receive the inspection image data shot by the shooting device during the inspection of the unmanned aerial vehicle 1, and send the inspection image data to the signal acquisition unit.

[0048] The signal acquisition unit is electrically connected with the on-board box 5, and is configured to send the inspection image data to the on-board box 5.

[0049] The battery pack is electrically connected with the unmanned aerial vehicle control unit, the shooting device, the on-board box 5, and the signal acquisition unit.

[0050] In the embodiment, the unmanned aerial vehicle 1 transmits data with the shooting device.

[0051] In some embodiments, a camera can be mounted on the UAV 1, which is in signal connection with the on-board box 5.

[0052] As an example, as shown in Figure 3 The on-board box 5 includes a shell, a master control unit, a storage unit and a wireless communication unit arranged in the shell. The master control unit is electrically connected with the storage unit, the wireless communication unit, the signal acquisition unit in the UAV 1 and the ground cooperative controller 3. The wireless communication unit is in signal communication connection with the switching device 2.

[0053] In the present embodiment, the on-board box 5 can be understood as a processor, such as an edge processor.

[0054] In some embodiments, the storage unit can be a memory card SD. After the UAV 1 completes the patrol task and returns, the memory card SD can be pulled out from the UAV and inserted into a designated storage device to complete storage. In the present embodiment, the memory card SD stores the patrol result file corresponding to the execution of the patrol task by the UAV 1.

[0055] In the present embodiment, the patrol inspection data received by each UAV 1 can be the same or different, which is not limited in the present embodiment.

[0056] In the present embodiment, for the case that the same patrol inspection data is received by the UAV 1, for each UAV 1, the patrol inspection data received by the UAV 1 represents the flight task to be performed by all the UAVs 1. At this time, the patrol inspection data at least includes: the to-be-patrolled tower 4 identifier, the UAV identifier and the patrol sequence.

[0057] As an example, the switching device 2, the ground cooperative controller 3, the on-board box 5 on the plurality of UAVs 1 and the UAVs 1 form a local area network.

[0058] For example, if the to-be-patrolled tower 4 identifier is tower A1, tower A2, tower A3, tower A4 and tower A5, the UAV identifier is UAV A11, UAV A12 and UAV A13, and the patrol strategy is that UAV A11 patrols tower A1 and tower A2, UAV A12 patrols tower A3 and tower A4, and UAV A13 patrols tower A5, then, after receiving the patrol inspection data issued by the corresponding on-board box 5, UAV A11 analyzes the patrol inspection data and completes the patrol task according to the instruction information of “UAV A11 patrols tower A1 and tower A2” recorded in the patrol inspection data; UAV A12 completes the patrol task according to the instruction information of “UAV A12 patrols tower A3 and tower A4” recorded in the patrol inspection data; and UAV A13 completes the patrol task according to the instruction information of “UAV A12 patrols tower A3 and tower A4” recorded in the patrol inspection data.

[0059] In the case that the unmanned aerial vehicle 1 receives different inspection data, for each unmanned aerial vehicle 1, the inspection data received by the unmanned aerial vehicle 1 represents the inspection task to be performed by the unmanned aerial vehicle 1, and the inspection data received by the unmanned aerial vehicle 1 represents the inspection task to be performed by the unmanned aerial vehicle 1, which is different from the inspection task recorded by other inspection data. The inspection data at least includes the to-be-inspected tower 4 identifier and the inspection strategy.

[0060] For example, if the to-be-inspected tower 4 identifier is tower A1, tower A2, tower A3, tower A4, and tower A5, the unmanned aerial vehicle 1 identifier is unmanned aerial vehicle A11, unmanned aerial vehicle A12, and unmanned aerial vehicle A13, the inspection strategy B1 is to inspect tower A1 and tower A2, the inspection strategy B2 is to inspect tower A3 and tower A4, and the inspection strategy B3 is to inspect tower A5. Thus:

[0061] The unmanned aerial vehicle A11 receives the inspection data B1 generated by the corresponding on-board box 5 according to the inspection strategy B1, and then performs the inspection task according to the geographical position and sequence of tower A1 and tower A2 according to the inspection data B1;

[0062] The unmanned aerial vehicle A12 receives the inspection data B2 generated by the corresponding on-board box 5 according to the inspection strategy B2, and then performs the inspection task according to the geographical position and sequence of tower A3 and tower A4 according to the inspection data B1;

[0063] The unmanned aerial vehicle A13 receives the inspection data B3 generated by the corresponding on-board box 5 according to the inspection strategy B3, and then performs the inspection task according to the geographical position of tower A5 according to the inspection data B3.

[0064] Each unmanned aerial vehicle synchronously completes the inspection task of tower A1, tower A2, tower A3, tower A4, and tower A5 in the shortest time and shortest distance.

[0065] As an embodiment, the exchange device 2 is configured as a single or multiple switches in a topological relationship.

[0066] As an embodiment, the unmanned aerial vehicle 1 is further provided with a self-checking unit, the unmanned aerial vehicle 1 triggers the self-checking unit when receiving the inspection data, the self-checking unit is used to check whether the unmanned aerial vehicle 1 has a fault, and in the case that it is determined that there is a fault, the unmanned aerial vehicle 1 sends fault information indicating that the unmanned aerial vehicle 1 has a fault to the ground cooperative controller 3, and the ground cooperative controller 3 is further used to receive the fault information sent by the unmanned aerial vehicle 1, and send new inspection data to the on-board box 5 to which the remaining unmanned aerial vehicle 1 without fault belongs.

[0067] As an embodiment, the switch is configured on the designated to-be-inspected tower 4, and when the task needs to be performed, the ground cooperative controller 3 designates one unmanned aerial vehicle as a master unmanned aerial vehicle and the remaining unmanned aerial vehicles as slave unmanned aerial vehicles from multiple unmanned aerial vehicles 1.

[0068] The ground cooperative controller 3 generates a patrol task and a patrol route based on a set patrol strategy and a to-be-patrolled tower 4 identifier, and sends corresponding patrol data to the airborne box 5 belonging to the unmanned aerial vehicle 1. After receiving the corresponding patrol data, the airborne box 5 sends the corresponding patrol data to the corresponding secondary unmanned aerial vehicle. After receiving the patrol data, the secondary unmanned aerial vehicle performs the patrol task in the order of the to-be-patrolled tower 4 identifier specified by the patrol data. If the amount of patrol task is large and the memory provided by the storage unit is insufficient for long-time patrol task, the airborne box 5 of the secondary unmanned aerial vehicle sends the patrol achievement file stored in the corresponding storage unit to the airborne box 5 belonging to the primary unmanned aerial vehicle within a set time or when the storage capacity of the corresponding storage unit is greater than a threshold value.

[0069] The secondary unmanned aerial vehicle is an unmanned aerial vehicle other than the primary unmanned aerial vehicle in the plurality of unmanned aerial vehicles. In this way, the patrol task can be performed in a mountainous area with weak or even no communication signal. In addition, the problem that the unmanned aerial vehicle cannot continue to perform the patrol task due to insufficient memory card SD storage capacity can be reduced, and the efficiency of the unmanned aerial vehicle patrol task can be further improved.

[0070] As can be seen, in the technical solution described in the first aspect, when performing the patrol task, the ground cooperative controller 3 generates the patrol task and the patrol route, and sends the corresponding patrol task to the corresponding patrol route and the airborne box 5 configured for each unmanned aerial vehicle 1 through the switching device 2. After receiving the patrol route, the unmanned aerial vehicle 1 performs the patrol. After receiving the corresponding patrol task, the airborne box 5 causes the unmanned aerial vehicle 1 to perform the patrol on the to-be-patrolled tower 4 according to the patrol task and the patrol route, and performs the shooting based on the shooting device. The airborne box 5 performs the abnormality analysis on the patrol image data shot according to the patrol task, and sends the abnormal patrol result to the switching device 2 through the airborne box 5, and then the switching device 2 transmits the abnormal patrol result to the ground cooperative controller 3. In this way, the multi-line parallel patrol operation can be realized without a large amount of manual participation, which does not require a large amount of manpower and does not require an increase in the investment in unmanned aerial vehicles 1, thereby improving the patrol efficiency.

[0071] The second aspect, Figure 4 The second multi-machine cooperative joint patrol system provided by the embodiment of the present application includes a plurality of unmanned aerial vehicles 1, a shooting device, an airborne box 5, a switching device 2, and a ground cooperative controller 3.

[0072] Each of the unmanned aerial vehicles 1 is mounted with an onboard box 5 and a shooting device at the bottom, each of the onboard boxes 5 is electrically connected with the shooting device mounted on the corresponding unmanned aerial vehicle 1, and the ground cooperative controller 3 is remotely connected with the onboard boxes 5 through the exchange device 2; the unmanned aerial vehicle 1 is electrically connected with the onboard box 5, and the ground cooperative controller 3 is configured to send inspection data containing an inspection route and task data containing an inspection task to the corresponding onboard box 5, the onboard box 5 is configured to send the inspection data to the unmanned aerial vehicle 1, receive inspection image data shot by the shooting device according to the inspection task, and send abnormal result data indicating that the inspection image data is in an abnormal state to the ground cooperative controller 3.

[0073] In the embodiment, the multi-machine cooperative operation system includes multiple unmanned aerial vehicles 1, an exchange device 2, and a ground cooperative controller 3, the ground cooperative controller 3 is configured with a patrol strategy and a tower to be patrolled 4 identifier, each unmanned aerial vehicle 1 is configured to be mounted with a corresponding onboard box 5, each onboard box 5 is electrically connected with the corresponding unmanned aerial vehicle, and is electrically connected with the ground cooperative controller 3 through the exchange device 2.

[0074] When a task needs to be performed, the ground cooperative controller 3 generates task data of a to-be-performed patrol task based on the set patrol strategy and the tower to be patrolled 4 identifier, and sends corresponding task data to the onboard box 5 configured on the unmanned aerial vehicle 1, for each onboard box 5, the onboard box 5 sends corresponding task data to the corresponding unmanned aerial vehicle 1 after receiving the corresponding task data, and the unmanned aerial vehicle 1 performs a patrol task according to the to-be-patrolled tower 4 identifier specified in the task data in sequence, and returns after completing the patrol task.

[0075] It should be noted that the storage capacity of the SD can be detected before the patrol task is performed, in some embodiments, as shown in Figure 6 The exchange device 2, the ground cooperative controller 3, the onboard boxes 5 on multiple unmanned aerial vehicles 1, and the unmanned aerial vehicles 1 form a local area network, the onboard boxes 5 mounted on each unmanned aerial vehicle 1 are electrically connected with each other in the formed local area network, and the exchange device is configured on a specified tower, when a task needs to be performed, the ground cooperative controller 3 is configured to send main unmanned aerial vehicle information identifying a main unmanned aerial vehicle to multiple unmanned aerial vehicles 1, the main unmanned aerial vehicle 1 is configured to be electrically connected with a secondary unmanned aerial vehicle after receiving the main unmanned aerial vehicle information, and the ground cooperative controller 3 is further configured to send corresponding inspection data and an inspection task to the onboard box 5 configured on the secondary unmanned aerial vehicle, the secondary unmanned aerial vehicle being the remaining unmanned aerial vehicle in the multiple unmanned aerial vehicles except the main unmanned aerial vehicle.

[0076] In this embodiment, before performing the patrol task, the ground cooperative controller 3 detects the storage capacity of the SD in each secondary unmanned aerial vehicle and the main unmanned aerial vehicle, and if the storage capacity is detected to be lower than the threshold value, a prompt information is sent out to prompt that the corresponding unmanned aerial vehicle has insufficient SD storage capacity and cannot perform the task. At this time, the corresponding SD can be properly deleted by reminding the staff to re-detect, and if the detection meets the threshold value, it is determined that the corresponding unmanned aerial vehicle 1 can perform the patrol task.

[0077] In some embodiments, the storage capacity of the SD in the onboard box 5 of the main unmanned aerial vehicle is higher than the storage capacity of the SD in the onboard box 5 of the secondary unmanned aerial vehicle.

[0078] In some embodiments, the ground cooperative controller 3 at least includes a flow taking circuit, a flow pushing circuit, a task generation circuit, a task issuing circuit and a bottom plate, as shown in Figure 5

[0079] The flow taking circuit is electrically connected with the task generation circuit and the bottom plate. The flow taking circuit can directly obtain data from the bottom plate or directly collect data from an external electronic device. The task generation circuit is electrically connected with the flow pushing circuit. The flow pushing circuit is connected with the task issuing circuit and is also electrically connected with the task generation circuit. The flow pushing circuit can push the data obtained through the bottom plate to the task generation circuit. The flow pushing circuit is arranged on the bottom plate, and the bottom plate is provided with a data receiving end. The flow taking circuit sends the obtained patrol strategy, tower identifier, and / or unmanned aerial vehicle 1 identifier to the task generation circuit. The task generation circuit generates the inspection data of the to-be-executed patrol task according to the received patrol strategy, tower identifier, and / or unmanned aerial vehicle 1 identifier, and pushes the generated inspection data to the task issuing circuit through the flow pushing circuit. The task issuing circuit issues the inspection data to the corresponding onboard box 5 through the bottom plate.

[0080] In this embodiment, the bottom plate is arranged at the bottom of the shell of the ground cooperative controller 3, and the bottom plate is provided with a data port for communication with an external electronic device.

[0081] ​It can be seen that in the technical scheme provided in the embodiment, the ground cooperative controller 3 of the multi-machine cooperative operation system is configured with a patrol strategy and a to-be-patrolled tower 4 identifier, each unmanned aerial vehicle 1 is configured with a corresponding on-board box 5, each on-board box 5 is electrically connected with the corresponding unmanned aerial vehicle 1, and each on-board box 5 is electrically connected with the ground cooperative controller 3 through the exchange device 2; when a task needs to be executed, the ground cooperative controller 3 generates the inspection data of the to-be-executed patrol task based on the set patrol strategy and the to-be-patrolled tower 4 identifier, and sends the corresponding inspection data to the on-board box 5 configured on the unmanned aerial vehicle 1; for each on-board box 5, after receiving the corresponding inspection data, the on-board box 5 issues the corresponding inspection data to the corresponding unmanned aerial vehicle 1, and after receiving the inspection data, the unmanned aerial vehicle 1 executes the patrol task according to the to-be-patrolled tower 4 identifier sequence specified in the inspection data, and returns after completing the patrol task. It can be seen that the multiple unmanned aerial vehicles 1 in the technical scheme provided in the embodiment can automatically perform inspection in parallel, without the need for a large number of manual operations to deploy and recover unmanned aerial vehicles 1 in multiple points in parallel, greatly reducing the patrol deployment time, improving the patrol efficiency, and saving a large amount of manpower and investment cost, thereby bringing a good experience effect to the user.

[0082] In some embodiments, the ground cooperative controller 3 includes a PLC controller, a data storage module, a wireless communication module, a storage amount detection module, and a power supply module. The PLC controller is electrically connected with the data storage module, the wireless communication module, and the storage amount detection module. The power supply module is electrically connected with the PLC controller, the data storage module, the wireless communication module, and the storage amount detection module, and is used to supply power to the PLC controller, the data storage module, the wireless communication module, and the storage amount detection module. The PLC controller is in communication connection with the on-board box 5 through the exchange device 2 using the wireless communication module, and is used to send the inspection data and the inspection task to the corresponding on-board box 5, and receive the abnormal result data sent by the on-board box 5.

[0083] Therefore, by using the technical scheme described in the second aspect, when performing the inspection task, the ground cooperative controller 3 generates the inspection task and the inspection route based on the set inspection software and the obtained tower identification, and sends the corresponding inspection task and the inspection route to the on-board box 5 of the plurality of unmanned aerial vehicles 1 through the switching device 2. After receiving the corresponding inspection task and the inspection route, the on-board box 5 sends the corresponding unmanned aerial vehicle 1, and the unmanned aerial vehicle 1 inspects the tower to be inspected according to the inspection task and the inspection route, and takes pictures based on the shooting device. The on-board box 5 analyzes the abnormality according to the inspection image data, and sends the abnormal inspection result to the switching device 2 through the on-board box 5, and then the switching device 2 transmits the abnormal inspection result to the ground cooperative controller 3. In this way, the multi-line parallel inspection operation can be realized without the participation of a large number of manual operations, and the efficiency of the inspection operation can be improved without the need to invest a large number of manpower and increase the investment in unmanned aerial vehicles.

[0084] In the description of the present specification, the description of the terms "one embodiment", "example", "specific example" and the like means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0085] The basic principles, main features and advantages of the present application have been shown and described above. It should be understood by those skilled in the art that the present application is not limited by the above embodiments, and the above embodiments and descriptions in the specification are only to illustrate the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A multi-machine cooperative joint inspection system, characterized in that, The unmanned aerial vehicle system comprises a plurality of unmanned aerial vehicles, a shooting device, an airborne box, a switching device and a ground cooperative controller. The unmanned aerial vehicle system comprises a plurality of unmanned aerial vehicles, a shooting device, an airborne box, a switching device and a ground cooperative controller.

2. The multi-machine cooperative joint inspection system according to claim 1, wherein, The ground cooperative controller is used for sending the inspection data containing the inspection route to the corresponding unmanned aerial vehicle, and sending the task data containing the inspection task to the corresponding airborne box.

3. The multi-machine cooperative joint inspection system according to claim 1, wherein, The ground cooperative controller comprises a PLC controller, a data storage module, a wireless communication module, a storage capacity detection module and a power module. The unmanned aerial vehicle comprises a body with a rotor, an unmanned aerial vehicle control unit, a signal acquisition unit and a battery pack arranged in the body. The unmanned aerial vehicle control unit is electrically connected with the shooting device, the signal acquisition unit and the ground cooperative controller.

4. The multi-machine cooperative joint inspection system according to claim 1, wherein, The battery pack is electrically connected with the unmanned aerial vehicle control unit, the shooting device, the airborne box and the signal acquisition unit. The unmanned aerial vehicle comprises a body with a rotor, an unmanned aerial vehicle control unit, a signal acquisition unit and a battery pack arranged in the body. The unmanned aerial vehicle control unit is electrically connected with the shooting device, the signal acquisition unit and the ground cooperative controller. The battery pack is electrically connected with the unmanned aerial vehicle control unit, the shooting device, the airborne box and the signal acquisition unit.

5. The multi-machine cooperative joint inspection system according to claim 1, wherein, The airborne box comprises a shell, a main control unit, a storage unit and a wireless communication unit arranged in the shell.

6. The multi-machine cooperative joint inspection system according to claim 1, wherein, The switching device, the ground cooperative controller and the airborne boxes on the plurality of unmanned aerial vehicles and the unmanned aerial vehicles form a local area network.

7. The system according to claim 1, wherein, The switching device is arranged as a single or multiple switches in a topological relationship.

8. The system according to claim 1, wherein, The UAV is further provided with a self-checking unit, which is triggered when the UAV receives the inspection data. The self-checking unit is used to check whether the UAV has a fault, and if a fault is determined to exist, the self-checking unit sends fault information indicating that the UAV has a fault to the ground cooperative controller. The ground cooperative controller is further used to receive the fault information sent by the UAV and send new inspection data to the airborne box to which the remaining UAVs without faults belong.

9. A multi-machine cooperative joint inspection system, characterized in that, The system comprises a plurality of UAVs, a shooting device, an airborne box, a switching device and a ground cooperative controller. Each UAV is mounted with an airborne box and a shooting device at the bottom. Each airborne box is electrically connected to the shooting device mounted on the corresponding UAV. The ground cooperative controller is remotely connected to the airborne box through the switching device. The UAV is electrically connected to the airborne box. The ground cooperative controller is used to send inspection data containing an inspection route and task data containing an inspection task to the corresponding airborne box. The airborne box is used to send the inspection data to the UAV, receive inspection image data taken by the shooting device according to the inspection task, and send abnormal result data indicating that the inspection image data is abnormal to the ground cooperative controller.

10. The multi-machine cooperative joint inspection system according to claim 9, wherein, The switching device, the ground cooperative controller, the airborne boxes on the plurality of UAVs and the UAVs form a local area network. In the formed local area network, the airborne boxes mounted on each UAV are electrically connected to each other. The switching device is arranged on a designated tower. When a task needs to be performed, the ground cooperative controller is used to send master UAV information identifying a master UAV to the plurality of UAVs. The master UAV is electrically connected to a slave UAV after receiving the master UAV information. The ground cooperative controller is further used to send corresponding inspection data and inspection tasks to the airborne box arranged on the slave UAV. The slave UAV is the remaining UAVs in the plurality of UAVs except the master UAV.

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