Lightweight unmanned aerial vehicle and automatic docking intelligent hangar suitable for valve hall environment

Abstract

The utility model discloses a lightweight unmanned aerial vehicle and automatic docking intelligent hangar suitable for a valve hall environment. The lightweight unmanned aerial vehicle and the automatic docking intelligent hangar comprise the lightweight unmanned aerial vehicle and the intelligent hangar, the lightweight unmanned aerial vehicle comprises a vehicle body, four vehicle arms, a charging plug, a core system, a function module and a data processing module, the core system comprises a power system and a flight control system; the function module comprises a time synchronization trigger module, an ultrahigh frequency partial discharge sensor, a micro thermal infrared imager and a micro electric field instrument; the data processing module comprises an input interface, a recognition center and an output interface. The intelligent machine library comprises a cabin body module, a main control system and a data transmission module. Wherein the cabin body module comprises a camera, four groups of photoelectric sensors, a take-off and landing platform cabin, a charging management cabin and an environment control cabin; the main control system is a microcontroller; the data transmission module comprises a Wi-Fi chip, a 4G industrial module and an SSD solid state disk.

Description

Technical Field

[0001] This utility model relates to the field of power inspection technology, specifically to a lightweight unmanned aerial vehicle (UAV) and an automatically docking intelligent hangar suitable for valve hall environments. Background Technology

[0002] Valve hall environments in power systems are characterized by strong electromagnetic interference, high voltage, enclosed dust, and complex equipment layouts. Traditional manual inspection methods are inefficient and pose safety risks such as high-voltage electric shock and accidental equipment contact. In recent years, drone inspections have been increasingly applied in the power industry, but existing technologies and solutions still have the following problems in valve hall environment inspections:

[0003] Electromagnetic interference affects the stability of flight control systems: Most existing UAV flight control systems are not designed for strong electromagnetic environments. The high proportion of metal components makes them susceptible to electromagnetic signals, which can lead to flight attitude deviations, navigation interruptions, and even the risk of crashes. Although some solutions use SLAM navigation, their positioning accuracy cannot meet the requirements due to reliance on lidar.

[0004] Heavy weight and insufficient battery life: To ensure payload capacity, most industrial drones weigh more than 2.5kg and are equipped with ordinary lithium batteries. When navigation mode is turned on, the battery life is generally less than 25 minutes, which cannot cover the duration of a single inspection process in the valve hall, and frequent interruptions to inspection and recharging are required.

[0005] Insufficient functional adaptability of intelligent hangars: Intelligent hangars lack protection and intelligent management mechanisms adapted to the valve hall environment;

[0006] Lagging data transmission during inspections: Existing technical solutions mostly rely on single-link wireless communication for data transmission. However, signal shielding in valve halls easily leads to data loss; inspection data is only uploaded to the cloud without local redundant storage design, making it impossible to trace back once the network is interrupted; furthermore, it is not adapted to the dedicated communication protocol of the power system, requiring additional converters to connect to the valve hall monitoring center, resulting in high integration costs. Therefore, there is an urgent need for a lightweight drone suitable for the valve hall environment and an automatically docking intelligent hangar to solve the current technical problems. Utility Model Content

[0007] To address the aforementioned issues, this invention provides a lightweight drone and an automatically docking intelligent hangar suitable for valve hall environments, addressing the specific needs of valve halls characterized by "strong electromagnetic interference, enclosed dust, lack of GPS, and dense equipment."

[0008] To achieve the above objectives, this utility model provides a lightweight drone and an automatic docking intelligent hangar suitable for valve hall environments, characterized in that it includes: a lightweight drone and an intelligent hangar;

[0009] The lightweight drone includes: a fuselage, four arms, a charging plug, a core system, functional modules, and a data processing module, wherein:

[0010] The four robotic arms are fixed to the body of the machine. The first ends of the four robotic arms are located in four different directions: east, south, west, and north of the machine body. The second ends of the four robotic arms intersect at a point above the machine body. The charging plug is fixed vertically downward at the central axis of the bottom of the machine body. The bottom end face of the charging plug is flush with the bottom end face of the machine body.

[0011] The core system includes: a power system and a flight control system;

[0012] The power system includes a low-magnetic brushless motor, an electronic speed controller, and four propellers. The low-magnetic brushless motor is fixed to the second end of the four arms via shock-absorbing brackets. The control line of the low-magnetic brushless motor is electrically connected to the electronic speed controller through an aluminum-magnesium alloy shielding tube inside the fuselage. The low-magnetic brushless motor is electrically connected to the four propellers via wires to drive the four propellers. The electronic speed controller is fixed in the central area inside the fuselage and attached to the heat dissipation fins on the inner wall of the fuselage with thermally conductive silicone. The four propellers are respectively fixed to the first end of the four arms via non-metallic self-locking propeller hubs. The flight control system includes a flight control module and a navigation and payload module.

[0013] The flight control module and the electronic speed controller are electrically connected via twisted-pair cables. The navigation and payload module includes a visual SLAM camera, an IMU (Inertial Measurement Unit), and four ultrasonic obstacle avoidance sensors. The flight control module and the IMU are directly connected via a board-to-board connector and are integrated into a single package. The IMU is connected to the flight control module via an I2C bus to transmit measured angular velocity and acceleration in real time. The visual SLAM camera is fixed to the underside of the fuselage and powered by a wire connected to the fuselage for spatial positioning. The four ultrasonic obstacle avoidance sensors are respectively installed at the four propellers and connected to the fuselage via wires. The data from the four ultrasonic obstacle avoidance sensors is connected to the ADC (Analog-to-Digital Converter) sampling terminal of the flight control module to transmit the detected distance data to the flight control module.

[0014] The functional modules include: a time synchronization trigger module, an ultra-high frequency partial discharge sensor, a miniature infrared thermal imager, and a miniature electric field meter; the ultra-high frequency partial discharge sensor adopts an open hinge snap-fit ​​structure and is fixed to the lower part of the right arm of the fuselage for discharge defect detection; the miniature infrared thermal imager is installed on the front left side of the fuselage for temperature anomaly detection; the miniature electric field meter is fixed to the top of the fuselage with epoxy resin adhesive for electric field strength detection; the analog signal output terminal of the miniature electric field meter is electrically connected to the ADC sampling terminal of the flight control module through a differential signal line for real-time transmission of electric field strength data;

[0015] The data processing module includes an input interface, a recognition center, and an output interface. The input interface includes a hardware interface and a communication interface. The recognition center includes an image processing chip or an embedded processor. The input interface is connected to the functional module. The hardware interface is directly connected to the image data receiving end of the recognition center via a high-speed differential cable. The communication interface is connected to the control signal end of the recognition center via a twisted-pair cable. The image from the recognition center is transmitted to the image signal end of the output interface via an LVDS interface. The control signal end of the output interface is connected to the navigation and payload module via a wire.

[0016] The intelligent hangar includes: a cabin module, a main control system, and a data transmission module;

[0017] The cabin module includes: a camera, four sets of photoelectric sensors, a takeoff and landing platform cabin, a charging management cabin, and an environmental control cabin; the takeoff and landing platform cabin, the charging management cabin, and the environmental control cabin are connected via an aviation connector; an electric lifting platform is installed inside the takeoff and landing platform cabin, and a charging interface slot is located in the center of the electric lifting platform, with six sets of gold-plated elastic pins fixed inside the charging interface slot; the camera is connected via an L... An aluminum alloy bracket is fixed to the crossbeam at the edge of the hatch of the take-off and landing platform cabin; the photoelectric sensor is a diffuse reflection infrared photoelectric sensor, and four sets of photoelectric sensors are symmetrically distributed on the east, south, west, and north edges of the electric lifting platform; the charging management cabin is equipped with a fast charging management board, a switching power supply, and a protection circuit; the charging output terminal of the fast charging management board is connected to six sets of gold-plated elastic pins fixed in the charging interface slot through shielded wires; the switching power supply is connected to the power supply circuit through an aviation plug; the output terminal of the switching power supply is connected to the power input terminal of the fast charging management board through copper core wires; the protection circuit is electrically connected to the switching power supply; the environmental control cabin is equipped with two semiconductor cooling chips, a PTC heating element, two centrifugal fans, and a temperature and humidity sensor; the two semiconductor cooling chips are symmetrically installed on the inner side wall of the environmental control cabin, with the cooling end of the semiconductor cooling chip facing inward and the heating end facing outward; the PTC... The heating element is installed at the top center of the inner side of the environmental control chamber and fixed by a high-temperature resistant ceramic bracket; the two centrifugal fans are respectively installed at the bottom of the front and rear side walls of the environmental control chamber; the temperature and humidity sensor is installed in the middle of the inner side of the environmental control chamber and fixed to the chamber wall by an L-shaped plastic bracket, with the probe of the temperature and humidity sensor facing the open area inside the chamber.

[0018] The main control system is a microcontroller, which is connected to the electric lifting platform, the charging management compartment, and the environmental control compartment via a CAN bus. The microcontroller is connected to an edge computing board via a PCIe interface. The edge computing board is installed in the interlayer space between the charging management compartment and the environmental control compartment. The PCIe interface of the edge computing board faces the charging management compartment and is connected to the PCIe interface of the main control system.

[0019] The data transmission module includes a Wi-Fi chip, a 4G industrial module, and an SSD solid-state drive; the Wi-Fi chip and the 4G industrial module are connected to the UART interface of the main control system; the SSD solid-state drive is directly connected to the SATA III interface of the main control system for reading / writing inspection data.

[0020] In one embodiment of this utility model, the analog signal input terminal of the flight control module is electrically connected to the signal output terminals of the four ultrasonic obstacle avoidance sensors via shielded cables, and the power supply of the four ultrasonic obstacle avoidance sensors is provided by the power supply terminal of the flight control module; the image data interface of the flight control module is electrically connected to the output interface of the visual SLAM camera via a shielded data cable to transmit real-time point cloud data; the synchronization signal terminal of the flight control module is electrically connected to the trigger terminal of the visual SLAM camera via a coaxial cable; the data collected by the ultra-high frequency partial discharge sensor and the four ultrasonic obstacle avoidance sensors are transmitted to the flight control module through the communication interface.

[0021] In one embodiment of this utility model, the time synchronization trigger module is attached to a pre-set plastic mounting base inside the body using high-temperature resistant double-sided adhesive to prevent vibrations from the body from being directly transmitted to the time synchronization trigger module. The external trigger signal input terminal of the time synchronization trigger module is connected to the frame synchronization output terminal of the visual SLAM camera via a coaxial cable to receive the original frame synchronization signal from the visual SLAM camera. The first synchronization signal output terminal of the time synchronization trigger module is connected to the external trigger input terminal of the miniature infrared thermal imager via a shielded twisted-pair cable to output a synchronization trigger signal, thereby controlling the frame rate of the miniature infrared thermal imager to be consistent with that of the visual SLAM camera. The grounding terminal of the outer casing of the time synchronization trigger module is connected to the grounding power inside the body via a copper wire.

[0022] In one embodiment of this utility model, the lens of the camera is tilted downwards at 45°, with the center point of the camera lens facing the center area of ​​the electric lifting platform inside the take-off and landing platform cabin, so that the field of view of the camera lens can completely cover the QR code positioning mark on the bottom of the lightweight drone; each set of gold-plated elastic pins corresponds to an independent wire, and the end of the independent wire is soldered to the PCB pad at the bottom of the gold-plated elastic pin to ensure stable current transmission; the status feedback terminal of the fast charging management board is connected to the I2CSDA terminal (pin 3) of the main control system through a twisted pair cable to transmit charging current, voltage and battery temperature data; the fault signal terminal of the protection circuit is connected to the GPO_IN1 (pin 5) of the main control system through a wire to send a low-level alarm signal to the main control system in the event of overcurrent, overvoltage or leakage faults.

[0023] In one embodiment of this utility model, the cooling end of the thermoelectric cooler is attached to an aluminum heat sink inside the environmental control cabin via thermally conductive silicone grease, and the heating end of the thermoelectric cooler is attached to a cooling fan outside the environmental control cabin via a thermally conductive silicone pad to ensure efficient heat exchange. The thermoelectric cooler is fixed to a pre-set mounting hole in the cabin wall of the environmental control cabin using stainless steel screws, with an insulating gasket between the screws and the cabin wall. A metal protective mesh is installed around the PTC heating element to prevent contact with foreign objects. The air inlet of the centrifugal fan faces the interior of the environmental control cabin, and the air outlet of the centrifugal fan extends to the exterior of the environmental control cabin via a duct. The temperature and humidity sensor is connected to the I2C interface of the main control system via DuPont wires.

[0024] In one embodiment of this utility model, the body and the arm are integrally formed from a mixture of T700 grade carbon fiber yarn woven into prepreg and ABS+PC engineering plastic granules; the surfaces of the body and the arm are vacuum-coated with oxygen-free copper foil after polishing, and the edges of the oxygen-free copper foil are bonded with copper wires by conductive adhesive, and the ends of the copper wires are connected to the grounding resistor inside the body.

[0025] In one embodiment of this utility model, four sets of infrared positioning transmitters are arranged in the electric lifting platform in the four directions corresponding to the four arms. The wavelength of the infrared positioning transmitters is 850nm and the transmission power is 50mW.

[0026] In one embodiment of this utility model, the ultra-high frequency partial discharge sensor is electrically connected to the input interface of the data processing module via a double-shielded coaxial cable consisting of an aluminum foil layer and a braided mesh layer, for transmitting partial discharge signals; the miniature infrared thermal imager is connected to the input interface via an SPI interface.

[0027] In one embodiment of this utility model, the protection circuit includes a transient suppression diode, a varistor, and a leakage protection module; wherein the transient suppression diode is connected in parallel to the output terminal of the switching power supply to suppress voltage spikes; the varistor is connected in parallel to the input terminal of the switching power supply to protect against lightning surges; and the leakage protection module is connected in series in the power supply circuit.

[0028] In one embodiment of this utility model, an annular groove is provided on the door and the mating surface of the cabin module and a fluororubber O-ring is embedded therein; the charging management cabin is wrapped with an aluminum-magnesium alloy shielding shell, and the aluminum-magnesium alloy shielding shell is grounded.

[0029] This utility model provides a lightweight drone and an automatic docking intelligent hangar suitable for valve hall environments. The drone's fuselage adopts a hybrid structure of carbon fiber composite material and engineering plastics to reduce weight and improve electromagnetic interference resistance. The drone is equipped with a visual SLAM positioning module and obstacle avoidance sensors, which improves the stability and reliability of the drone during inspection in the complex environment of valve halls. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of a lightweight unmanned aerial vehicle (UAV) and an automatically docking intelligent hangar suitable for valve hall environments, according to an embodiment of the present invention.

[0032] Figure 2 This is a schematic diagram of a lightweight unmanned aerial vehicle (UAV) structure according to an embodiment of the present invention.

[0033] Figure 3 This is a schematic diagram of the power system structure according to an embodiment of the present invention.

[0034] Figure 4 This is a schematic diagram of an automatic docking intelligent hangar structure according to an embodiment of the present invention.

[0035] Figure 5 This is a flowchart illustrating the docking process between a lightweight drone and an automated docking intelligent hangar, according to an embodiment of the present invention.

[0036] Figure 6 This is a schematic diagram of the main control system pinout according to an embodiment of the present invention.

[0037] Figure 7 This is a circuit diagram of a protection circuit according to an embodiment of the present invention.

[0038] Figure Label Explanation: FUSE - Fuse; MOV - Varistor; C1, C2, C3, C4 - Capacitors; TVS - Transient Voltage Suppressor Diode; L1 - Solenoid; CY1, CY2 - High Voltage Ceramic Capacitors; DC / DC - DC-DC Converter; LOAD - Load Terminal; 01 - Lightweight UAV; 02 - Intelligent Hangar; 101 - Fuselage; 102 - Arm; 103 - Propeller; 104 - Charging Plug; 105 - Power System; 106 - UHF Partial Discharge Sensor; 107 - Miniature Infrared Thermal Imager; 301 - Low Magnetism Brushless Motor; 302 - Electronic Speed ​​Controller; 201 - Takeoff and Landing Platform Cabin; 202 - Environmental Control Cabin; 203 - Charging Management Cabin; 204 - Charging Interface Slot; 205 - Photoelectric Sensor; 206 - Camera. Detailed Implementation

[0039] 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 of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0040] Figure 1 This is a schematic diagram of a lightweight unmanned aerial vehicle (UAV) suitable for valve hall environments and an automatically docking intelligent hangar, according to an embodiment of the present invention. Figure 2 This is a schematic diagram of a lightweight unmanned aerial vehicle (UAV) structure according to an embodiment of the present invention. Figure 3 This is a schematic diagram of the power system structure according to an embodiment of the present invention. Figure 4 This is a schematic diagram of an automatic docking intelligent hangar structure according to an embodiment of the present invention. Figure 6 This is a pin diagram of the main control system according to an embodiment of the present invention. Figure 7 This is a circuit diagram of a protection circuit according to an embodiment of the present invention. Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 6 and Figure 7 As shown, this utility model provides a lightweight drone and an automatic docking intelligent hangar suitable for valve hall environments, which includes: a lightweight drone 01 and an intelligent hangar 02.

[0041] The lightweight drone includes: a fuselage 101, four arms 102, a charging plug 104, a core system (not shown in the figure), functional modules (not shown in the figure), and a data processing module (not shown in the figure), wherein:

[0042] The four robotic arms 102 are fixed to the body 101. The first ends of the four robotic arms 102 are located in four different directions: east, south, west, and north of the body. The second ends of the four robotic arms intersect at a point above the body 101. The charging plug 104 is fixed vertically downward at the central axis of the bottom of the body 101. The outer shell of the charging plug 104 is made of insulating ceramic material. The bottom end face of the charging plug 104 must be flush with the bottom end face of the body 101.

[0043] In this embodiment, when preparing the body 101 and the arm 102, T700 grade carbon fiber yarn is woven into a prepreg and mixed with ABS+PC engineering plastic granules, for example, in a 6:4 ratio, and integrally molded by injection molding. After the molded body 101 and arm 102 are surface polished, oxygen-free copper foil is sprayed using a vacuum coating process. The edges of the oxygen-free copper foil are bonded with copper wires using conductive adhesive, and the ends of the copper wires are connected to the grounding resistor inside the body 101 to form electromagnetic shielding.

[0044] In this embodiment, the dimensions (length × width × height) of the lightweight drone when folded are 221 × 96.3 × 90.3 mm, and the dimensions (length × width × height) when unfolded are 347.5 × 283 × 107.7 mm. The diagonal wheelbase of the lightweight drone is 380.1 mm. The maximum takeoff weight of the lightweight drone without accessories is 1050 g. The maximum horizontal flight speed of the lightweight drone is 15 km / h, and the speed of the lightweight drone during cruise is 3-5 m / s. The maximum ascent speed of the lightweight drone in S mode is 8 m / s, and the maximum descent speed of the lightweight drone in S mode is 6 m / s. The maximum ascent speed of the lightweight drone in P mode is 6 m / s, and the maximum descent speed of the lightweight drone in P mode is 6 m / s. The maximum flight altitude of the lightweight drone in the valve hall is 6000 meters; the maximum flight time of the lightweight drone in a windless environment is 45 minutes; the maximum hovering time of the lightweight drone in a windless environment is 38 minutes; the suitable temperature of the lightweight drone in the valve hall environment is -10℃ to 40℃, but the present invention is not limited by the above parameters.

[0045] The core system includes: power system 105 and flight control system (not shown in the figure).

[0046] The power system includes: a low-magnetic brushless motor 301, an electronic speed controller 302, and four propellers 103; the low-magnetic brushless motor 301 is fixed to the second end of the four arms 102 by a shock-absorbing bracket; the control line of the low-magnetic brushless motor 301 is connected to the electronic speed controller 302 through an aluminum-magnesium alloy shielding tube inside the body 101; the low-magnetic brushless motor 301 is connected to the four propellers 103 by wires to drive the four propellers 103 to operate.

[0047] The electronic speed controller 302 is fixed to the central area inside the fuselage 101 and attached to the heat dissipation fins on the inner wall of the fuselage via thermally conductive silicone. The four propellers 103 are respectively fixed to the first ends of the four arms 102 via non-metallic self-locking rotor hubs. The flight control system includes a flight control module (not shown) and a navigation and payload module (not shown). The flight control module is connected to the electronic speed controller 302 via a twisted-pair cable. The navigation and payload module includes a visual SLAM camera (not shown), an IMU inertial measurement unit (not shown), and four ultrasonic obstacle avoidance sensors (not shown). The flight control module and the IMU inertial measurement unit are directly connected via a board-to-board connector and are integrated into a single package. The IMU inertial measurement unit is connected to the flight control module via an I2C bus to transmit the measured angular velocity and acceleration in real time. The visual SLAM... The camera is fixed to the bottom of the fuselage and connected to the fuselage via wires for power supply, and is used for spatial positioning; the four ultrasonic obstacle avoidance sensors are respectively installed at the four propellers and connected to the fuselage via wires; the data of the four ultrasonic obstacle avoidance sensors is connected to the ADC sampling terminal of the flight control module, and is used to transmit the detected distance data to the flight control module.

[0048] The analog signal input terminal of the flight control module is electrically connected to the signal output terminals of the four ultrasonic obstacle avoidance sensors via shielded cables. The power supply for the four ultrasonic obstacle avoidance sensors is provided by the power supply terminal of the flight control module. The image data interface of the flight control module is connected to the output interface of the visual SLAM camera via a shielded data cable for transmitting real-time point cloud data. The synchronization signal terminal of the flight control module is electrically connected to the trigger terminal of the visual SLAM camera via a coaxial cable.

[0049] In this embodiment, the inner side of the self-locking propeller hub is provided with anti-slip teeth, which are locked with the threaded hole at the end of the arm by nylon screws, and the locking torque is controlled at 0.8-1.2 N·m; at the same time, a nitrile rubber washer is added to the bottom of the self-locking propeller hub to buffer the radial vibration when the propeller rotates.

[0050] The functional modules include: a time synchronization trigger module (not shown in the figure), an ultra-high frequency partial discharge sensor 106, a miniature infrared thermal imager 107, and a miniature electric field meter (not shown in the figure); the ultra-high frequency partial discharge sensor 106 adopts an open hinge snap-fit ​​structure and is fixed to the lower part of the right arm of the fuselage for discharge defect detection; the miniature infrared thermal imager 107 is installed on the front left side of the fuselage for temperature anomaly detection; the miniature electric field meter is fixed to the top of the fuselage with epoxy resin and is used for electric field strength detection; the analog signal output terminal of the miniature electric field meter is electrically connected to the ADC sampling terminal of the flight control module through a differential signal line for real-time transmission of electric field strength data.

[0051] In this embodiment, the ultra-high frequency partial discharge sensor 106 is powered by the power supply terminal of the data processing module, and a self-resetting fuse is connected in series in the power supply line.

[0052] In this embodiment, the time synchronization trigger module is attached to a pre-set plastic mounting base inside the body using high-temperature resistant double-sided adhesive to prevent vibrations from the body from being directly transmitted to the time synchronization trigger module. The external trigger signal input terminal of the time synchronization trigger module is connected to the frame synchronization output terminal of the visual SLAM camera via a coaxial cable to receive the original frame synchronization signal from the visual SLAM camera. The first synchronization signal output terminal of the time synchronization trigger module is connected to the external trigger input terminal of the miniature infrared thermal imager via a shielded twisted-pair cable to output a synchronization trigger signal, thereby controlling the frame rate of the miniature infrared thermal imager 107 to be consistent with that of the visual SLAM camera. The grounding terminal of the time synchronization trigger module's outer casing is connected to the grounding power inside the body via a copper wire.

[0053] In this embodiment, the housing of the ultra-high frequency partial discharge sensor 106 can be made of polytetrafluoroethylene (PTFE) material, which also has high strength and high frequency electromagnetic wave transmittance to minimize signal attenuation.

[0054] The data processing module includes: an input interface (not shown in the figure), a recognition center (not shown in the figure), and an output interface (not shown in the figure); the input interface includes: a hardware interface (not shown in the figure) and a communication interface (not shown in the figure); the recognition center includes: an image processing chip or an embedded processor (not shown in the figure); the input interface is connected to the functional module; the hardware interface is directly connected to the image data receiving end of the recognition center via a high-speed differential line; the communication interface is connected to the control signal end of the recognition center via a twisted pair cable; the image of the recognition center is transmitted to the image signal end of the output interface via an LVDS interface; the control signal end of the output interface is connected to the navigation and payload module via a wire.

[0055] In this embodiment, the ultra-high frequency partial discharge sensor 106 is electrically connected to the input interface of the data processing module via a double-shielded coaxial cable consisting of an aluminum foil layer and a braided mesh layer for transmitting partial discharge signals; the aluminum foil layer is resistant to high-frequency interference, and the braided mesh layer is resistant to low-frequency interference; the miniature infrared thermal imager 107 is connected to the input interface via an SPI interface.

[0056] In this embodiment, the data collected by the ultra-high frequency partial discharge sensor 106 and the four ultrasonic obstacle avoidance sensors are transmitted to the flight control module through the communication interface.

[0057] In this embodiment, the output terminal of the identification center is connected to the control signal terminal of the output interface via an RS485 bus; the power supply terminal of the output interface provides DC power to the navigation and payload module.

[0058] The intelligent hangar 02 includes: a cabin module, a main control system (not shown in the figure), and a data transmission module (not shown in the figure).

[0059] The cabin module includes: a camera 206, four sets of photoelectric sensors 205, a landing platform cabin 201, a charging management cabin 203, and an environmental control cabin 202; the landing platform cabin 201, the charging management cabin 203, and the environmental control cabin 202 are connected by an aviation connector; an electric lifting platform is installed inside the landing platform cabin 201, and a charging interface slot 204 is provided in the center of the electric lifting platform, with six sets of gold-plated elastic pins (not shown in the figure) fixed in the charging interface slot 204; the camera 206 is fixed to the crossbeam on the edge of the hatch of the landing platform cabin 201 by an L-shaped aluminum alloy bracket, and the L-shaped aluminum alloy bracket is connected to the cabin body of the landing platform cabin 201 by stainless steel screws and an insulating gasket is added; the photoelectric sensors 205 are diffuse reflection infrared photoelectric sensors, and the four sets of photoelectric sensors 205 are symmetrically distributed on the east, south, west, and north edges of the electric lifting platform. The charging management compartment 203 houses a fast charging management board (not shown in the figure), a switching power supply (not shown in the figure), and a protection circuit (not shown in the figure). The charging output terminal of the fast charging management board is connected to six sets of gold-plated elastic pins fixed in the charging interface slot via shielded wires. The switching power supply is connected to the power supply circuit via an aviation plug, and a time-delay fuse is connected in series at the input terminal of the switching power supply. The output terminal of the switching power supply is connected to the power input terminal of the fast charging management board via copper core wires. The protection circuit is electrically connected to the switching power supply. The environmental control compartment 202 houses two thermoelectric coolers (not shown in the figure), a PTC heating element (not shown in the figure), two centrifugal fans (not shown in the figure), and a temperature and humidity sensor (not shown in the figure). The two thermoelectric coolers are symmetrically installed on the inner side wall of the environmental control compartment, with the cooling end of the thermoelectric cooler facing inward and the heating end facing outward. The PTC... The heating element is installed at the top center of the inner side of the environmental control chamber and fixed by a high-temperature resistant ceramic bracket; the two centrifugal fans are respectively installed at the bottom of the front and rear side walls of the environmental control chamber; the temperature and humidity sensor is installed in the middle of the inner side of the environmental control chamber and fixed to the chamber wall by an L-shaped plastic bracket, with the probe of the temperature and humidity sensor facing the open area inside the chamber.

[0060] In this embodiment, four sets of infrared positioning transmitters (not shown in the figure) are arranged around the electric lifting platform. The infrared positioning transmitters have a wavelength of 850nm and a transmission power of 50mW.

[0061] In this embodiment, the lens of the camera 206 is tilted downwards at 45°, and the center point of the lens of the camera 206 is directly opposite the center area of ​​the electric lifting platform inside the take-off and landing platform cabin 201. The field of view of the lens of the camera 206 can completely cover the QR code positioning mark on the bottom of the lightweight UAV 01.

[0062] In this embodiment, each group of gold-plated elastic pins corresponds to an independent wire, and the end of the independent wire is soldered to the PCB pad at the bottom of the gold-plated elastic pin to ensure stable current transmission.

[0063] In this embodiment, the protected circuit includes a transient suppression diode, a varistor, and a leakage protection module; wherein the transient suppression diode is connected in parallel to the output terminal of the switching power supply to suppress voltage spikes; the varistor is connected in parallel to the input terminal of the switching power supply to protect against lightning surges; and the leakage protection module is connected in series in the power supply circuit.

[0064] In this embodiment, the charging management compartment 203 is externally wrapped with an aluminum-magnesium alloy shielding shell, and the aluminum-magnesium alloy shielding shell is grounded.

[0065] In this embodiment, the centrifugal fan is secured to a pre-set centrifugal fan mounting frame on the wall of the environmental control cabin 202 by plastic clips; the air inlet of the centrifugal fan faces the interior of the environmental control cabin 202, and the air outlet of the centrifugal fan extends to the exterior of the environmental control cabin 202 through an air duct.

[0066] In this embodiment, the cooling end of the thermoelectric cooler is attached to the aluminum heat sink inside the environmental control chamber 202 via thermally conductive silicone grease, and the heating end of the thermoelectric cooler is attached to the cooling fan outside the environmental control chamber 202 via a thermally conductive silicone pad to ensure efficient heat exchange. The thermoelectric cooler is fixed to the pre-set mounting holes on the wall of the environmental control chamber 202 with stainless steel screws, and an insulating gasket is installed between the screws and the wall of the environmental control chamber. A metal protective mesh is installed around the PTC heating element to prevent contact with foreign objects.

[0067] In this embodiment, the QR code image captured by the camera 206 contains a built-in crosshair positioning frame. The main control system identifies the deviation between the center of the QR code image and the center of the crosshair positioning frame, converts it into an actual horizontal deviation, and feeds the deviation data back to the flight control module of the UAV to assist the lightweight UAV 01 in adjusting its horizontal position.

[0068] In this embodiment, the distance between each set of photoelectric sensors and the center of the lifting platform is 150mm, ensuring that the position of the robotic arm 102 can be detected synchronously. The outer shell of the photoelectric sensor 205 is covered with an aluminum-magnesium alloy shielding shell to prevent strong electromagnetic interference; a dust cover is installed on the probe surface of the photoelectric sensor 205 to avoid dust covering affecting the detection accuracy.

[0069] In this embodiment, when the lightweight UAV 01 lands and docks (descending from a height of 1m to the take-off and landing platform), the camera 206 records the docking video in real time (1080P resolution, stored on an SSD solid-state drive). If docking lag, position shift, or other abnormalities occur, the main control system can call up the video footage to trace the fault. At the same time, the video footage can be transmitted to the remote monitoring platform in real time through the Wi-Fi chip, but this is not a limitation.

[0070] In this embodiment, when the lightweight drone 01 descends to a position 50cm above the intelligent hangar 02, the photoelectric sensor 205 activates to detect the edge position of the robotic arm 102. If the robotic arm 102 is not aligned directly above the photoelectric sensor 205, the photoelectric sensor 205 outputs a deviation analog signal, which is transmitted to the main control system. During the descent of the lightweight drone 01, the photoelectric sensor 205 detects the change in distance between the robotic arm 102 and the probe of the photoelectric sensor 205, and outputs distance data to the main control system in real time.

[0071] The main control system is a microcontroller, which is connected to the electric lifting platform, the charging management compartment 203, and the environmental control compartment 202 via a CAN bus. The microcontroller is connected to an edge computing board via a PCIe interface. The edge computing board is installed in the mezzanine space between the charging management compartment and the environmental control compartment. The PCIe interface of the edge computing board faces the charging management compartment and is connected to the PCIe interface of the main control system.

[0072] In this embodiment, the status feedback terminal of the fast charging management board is connected to the I2CSDA terminal (pin 3) of the main control system via a twisted pair cable to transmit charging current, voltage and battery temperature data; the fault signal terminal of the protection circuit is connected to the GPO_IN1 (pin 5) of the main control system via a wire to send a low-level alarm signal to the main control system when an overcurrent, overvoltage or leakage fault occurs.

[0073] In this embodiment, the temperature and humidity sensor is connected to the I2C interface of the main control system via DuPont wires.

[0074] The data transmission module includes: a Wi-Fi chip (not shown in the figure), a 4G industrial module (not shown in the figure), and an SSD solid-state drive (not shown in the figure); the Wi-Fi chip and the 4G industrial module are connected to the UART interface of the main control system for issuing commands and transmitting data back; the SSD solid-state drive is directly connected to the SATAIII interface of the main control system for reading / writing inspection data.

[0075] In this embodiment, the Wi-Fi chip receives drone data via an antenna, the 4G industrial module accesses a dedicated network via a SIM card slot, and both the Wi-Fi chip and the 4G industrial module obtain power by connecting to the power supply interface of the cabin module via an aviation plug.

[0076] In this embodiment, an annular groove can be formed on the mating surface of the hatch and the cabin of the cabin module, and a fluororubber O-ring can be embedded therein.

[0077] In this embodiment, the inner surface of the outer shell of the cabin module can be coated with epoxy zinc-rich primer, and the outer surface of the outer shell of the cabin module can be coated with polyurethane antistatic topcoat to prevent electrostatic adsorption of dust.

[0078] In this embodiment, two drainage holes with a diameter of 10mm are provided at the lowest point of the bottom of the intelligent hangar 02. The drainage holes are equipped with a one-way drainage valve to prevent water accumulation inside the intelligent hangar.

[0079] Figure 5 This is a flowchart illustrating the automatic docking process between a lightweight unmanned aerial vehicle (UAV) and an intelligent hangar according to an embodiment of the present invention. Figure 5 As shown, the automatic docking process between the lightweight UAV and the intelligent hangar provided by this utility model includes, but is not limited to, the following: docking triggering, positioning guidance, docking execution, fault tolerance protection, and termination reset.

[0080] The docking trigger is as follows: After the lightweight UAV completes the valve hall inspection, it will send a return docking signal. The docking signal is received by the data transmission module of the intelligent hangar and transmitted to the main control system through the communication interface. When the main control system detects that the positioning of the lightweight UAV is ≤1m away from the coordinates of the intelligent hangar, it outputs a high-level signal to the electric lifting platform in the take-off and landing platform cabin. However, this is not a limitation, and the electric lifting platform can be reset.

[0081] The positioning guidance is as follows: When the lightweight UAV lands 1m above the intelligent hangar, the camera can start collecting the QR code positioning mark on the bottom of the lightweight UAV at a 45° tilt angle. The QR code positioning mark is transmitted to the main control system via the communication interface. At the same time, the photoelectric sensor can detect the horizontal deviation between the edge of the lightweight UAV fuselage and the take-off and landing platform cabin and output an analog signal to the flight control module. The flight control module can output the final horizontal deviation command to the flight control system of the lightweight UAV, but is not limited to this, guiding the lightweight UAV to gradually approach the take-off and landing platform cabin.

[0082] The four sets of ultrasonic sensors can detect the vertical distance between the bottom of the lightweight UAV and the landing platform surface in real time. When the vertical distance drops to 30cm, the ultrasonic sensors can output a trigger signal to the main control system. The main control system can control the infrared positioning transmitter to turn on. The four sets of infrared positioning transmitters can send infrared positioning coordinates to the lightweight UAV and can cooperate with the visual SLAM camera to form guidance, but not limited to this, until the lightweight UAV drops to 10cm above the landing platform surface.

[0083] The docking process is as follows: When the lightweight drone continues to descend to 5cm above the takeoff and landing platform, the charging plug can contact the charging interface slot. The charging interface slot can automatically correct deviations to prevent the drone charging plug from getting stuck. When the charging plug is inserted to a depth of 20mm, the charging plug contacts the six sets of floating pins in the charging interface slot, generating a pin contact signal. Under the pressure of the charging plug, the six sets of floating pins in the charging interface slot make tight contact with the contacts of the charging plug. At the same time, the insulated wire transmits current to the fast charging management board. When the main control system detects a contact resistance ≤50mΩ (but not limited to this), it determines that the docking is in place and starts the fast charging process.

[0084] The fault-tolerant protection is as follows: When the horizontal deviation of the lightweight UAV is > ±1.5mm, the main control system can output a fine-tuning command to the electric lifting platform, but this is not the only limitation. The electric lifting platform performs horizontal fine-tuning at 0.5mm / time and 0.3 seconds / interval. If the deviation is still > ±1.5mm after 3 horizontal fine-tunings, the main control system can trigger the audible and visual alarm module, but this is not the only limitation. The LED light flashes and the buzzer sounds an alarm. At the same time, a fault code is sent to the remote monitoring platform through the 4G industrial module, waiting for manual intervention.

[0085] When an abnormal attitude occurs during the landing of the drone, and the ultrasonic sensor detects that the vertical distance between the bottom of the lightweight drone and the landing platform surface is less than 10mm and no contact signal is detected from the pin, the ultrasonic sensor can squeeze the power supply with its housing to output a low-level signal to the electric lifting platform and cut off the power within 0.03 seconds, but this is not the only limit, to achieve an emergency stop; at the same time, the main control system controls the power supply of the charging interface slot to disconnect to prevent short circuit risk.

[0086] The main control system keeps a real-time timer. When the time for detecting the contact signal of the pin exceeds 10 seconds, the main control system can output a low-level signal, but this is not the limitation. It cuts off the power supply to the charging interface slot and sends a fault code through the Wi-Fi chip and 4G industrial module. After the timeout fault is cleared, but this is not the limitation, the main control system restarts the docking process through the protection circuit without the need for manual power-off reset.

[0087] The termination and reset process is as follows: When the charging management cabin detects that the lightweight drone's battery level has reached 90% (but this is not a limitation), the fast charging management board can output a "charging complete" signal to the main control system. The main control system then controls the electric lifting platform to descend by 50mm and simultaneously cuts off the power supply. The main control system can also control the camera and photoelectric sensor to stop working, and the six sets of floating pins in the charging interface slot will reset. The environmental control cabin can activate the centrifugal fan to exhaust the heat generated during the automatic docking process until the temperature difference between the environmental control cabin and the ambient temperature is ≤2℃ (but this is not a limitation). The intelligent hangar then enters standby mode, waiting for the next automatic docking trigger.

[0088] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of one embodiment, and the modules or processes shown in the drawings are not necessarily essential for implementing this utility model.

[0089] Those skilled in the art will understand that the modules in the apparatus of the embodiments can be distributed in the apparatus of the embodiments as described in the embodiments, or they can be located in one or more devices different from this embodiment with corresponding changes. The modules of the above embodiments can be combined into one module, or they can be further divided into multiple sub-modules.

[0090] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it; although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A lightweight unmanned aerial vehicle (UAV) and an automated docking intelligent hangar suitable for valve hall environments, characterized in that, include: A lightweight drone and a smart hangar; The lightweight drone includes: a fuselage, four arms, a charging plug, a core system, functional modules, and a data processing module, wherein: The four robotic arms are fixed to the body of the machine. The first ends of the four robotic arms are located in four different directions: east, south, west, and north of the machine body. The second ends of the four robotic arms intersect at a point above the machine body. The charging plug is fixed vertically downward at the central axis of the bottom of the machine body. The bottom end face of the charging plug is flush with the bottom end face of the machine body. The core system includes: a power system and a flight control system; The power system includes a low-magnetic brushless motor, an electronic speed controller, and four propellers. The low-magnetic brushless motor is fixed to the second end of the four arms via a shock-absorbing bracket. The control line of the low-magnetic brushless motor is electrically connected to the electronic speed controller through an aluminum-magnesium alloy shielding tube inside the fuselage. The low-magnetic brushless motor is electrically connected to the four propellers via wires to drive the four propellers. The electronic speed controller is fixed in the central area inside the fuselage and attached to the heat dissipation fins on the inner wall of the fuselage with thermally conductive silicone. The four propellers are respectively fixed to the first end of the four arms via non-metallic self-locking propeller hubs. The flight control system includes a flight control module and a navigation and payload module. The flight control module is electrically connected to the electronic speed controller via twisted-pair cables. The navigation and payload module includes a visual SLAM camera, an IMU (Inertial Measurement Unit), and four ultrasonic obstacle avoidance sensors. The flight control module and the IMU are directly connected via a board-to-board connector and are integrated into a single package. The IMU is connected to the flight control module via an I2C bus to transmit measured angular velocity and acceleration in real time. The visual SLAM camera is fixed to the underside of the fuselage and powered by a wire connected to the fuselage for spatial positioning. The four ultrasonic obstacle avoidance sensors are respectively installed at the four propellers and connected to the fuselage via wires. The data from the four ultrasonic obstacle avoidance sensors is connected to the ADC (Analog-to-Digital Converter) sampling terminal of the flight control module to transmit detected distance data to the flight control module. The functional modules include: a time synchronization trigger module, an ultra-high frequency partial discharge sensor, a miniature infrared thermal imager, and a miniature electric field meter; the ultra-high frequency partial discharge sensor adopts an open hinge snap-fit ​​structure and is fixed to the lower part of the right arm of the fuselage for discharge defect detection; the miniature infrared thermal imager is installed on the front left side of the fuselage for temperature anomaly detection; the miniature electric field meter is fixed to the top of the fuselage with epoxy resin adhesive for electric field strength detection; the analog signal output terminal of the miniature electric field meter is electrically connected to the ADC sampling terminal of the flight control module through a differential signal line for real-time transmission of electric field strength data; The data processing module includes an input interface, a recognition center, and an output interface. The input interface includes a hardware interface and a communication interface. The recognition center includes an image processing chip or an embedded processor. The input interface is connected to the functional module. The hardware interface is directly connected to the image data receiving end of the recognition center via a high-speed differential cable. The communication interface is connected to the control signal end of the recognition center via a twisted-pair cable. The image from the recognition center is transmitted to the image signal end of the output interface via an LVDS interface. The control signal end of the output interface is connected to the navigation and payload module via a wire. The intelligent hangar includes: a cabin module, a main control system, and a data transmission module; The cabin module includes: a camera, four sets of photoelectric sensors, a takeoff and landing platform cabin, a charging management cabin, and an environmental control cabin; the takeoff and landing platform cabin, the charging management cabin, and the environmental control cabin are connected via an aviation connector; an electric lifting platform is installed inside the takeoff and landing platform cabin, and a charging interface slot is located in the center of the electric lifting platform, with six sets of gold-plated elastic pins fixed inside the charging interface slot; the camera is connected via an L... An aluminum alloy bracket is fixed to the crossbeam at the edge of the hatch of the take-off and landing platform cabin; the photoelectric sensor is a diffuse reflection infrared photoelectric sensor, and four sets of photoelectric sensors are symmetrically distributed on the east, south, west, and north edges of the electric lifting platform; the charging management cabin is equipped with a fast charging management board, a switching power supply, and a protection circuit; the charging output terminal of the fast charging management board is connected to six sets of gold-plated elastic pins fixed in the charging interface slot through shielded wires; the switching power supply is connected to the power supply circuit through an aviation plug; the output terminal of the switching power supply is connected to the power input terminal of the fast charging management board through copper core wires; the protection circuit is electrically connected to the switching power supply; the environmental control cabin is equipped with two semiconductor cooling chips, a PTC heating element, two centrifugal fans, and a temperature and humidity sensor; the two semiconductor cooling chips are symmetrically installed on the inner side wall of the environmental control cabin, with the cooling end of the semiconductor cooling chip facing inward and the heating end facing outward; the PTC... The heating element is installed at the top center of the inner side of the environmental control chamber and fixed by a high-temperature resistant ceramic bracket; the two centrifugal fans are respectively installed at the bottom of the front and rear side walls of the environmental control chamber; the temperature and humidity sensor is installed in the middle of the inner side of the environmental control chamber and fixed to the chamber wall by an L-shaped plastic bracket, with the probe of the temperature and humidity sensor facing the open area inside the chamber. The main control system is a microcontroller, which is connected to the electric lifting platform, the charging management compartment, and the environmental control compartment via a CAN bus. The microcontroller is connected to an edge computing board via a PCIe interface. The edge computing board is installed in the interlayer space between the charging management compartment and the environmental control compartment. The PCIe interface of the edge computing board faces the charging management compartment and is connected to the PCIe interface of the main control system. The data transmission module includes a Wi-Fi chip, a 4G industrial module, and an SSD solid-state drive; the Wi-Fi chip and the 4G industrial module are connected to the UART interface of the main control system; the SSD solid-state drive is directly connected to the SATA III interface of the main control system for reading / writing inspection data.

2. The lightweight UAV and automatic docking intelligent hangar suitable for valve hall environments according to claim 1, characterized in that, The analog signal input terminal of the flight control module is electrically connected to the signal output terminals of the four ultrasonic obstacle avoidance sensors via shielded cables. The power supply for the four ultrasonic obstacle avoidance sensors is provided by the power supply terminal of the flight control module. The image data interface of the flight control module is electrically connected to the output interface of the visual SLAM camera via a shielded data cable to transmit real-time point cloud data. The synchronization signal terminal of the flight control module is electrically connected to the trigger terminal of the visual SLAM camera via a coaxial cable. The data collected by the ultra-high frequency partial discharge sensor and the four ultrasonic obstacle avoidance sensors are transmitted to the flight control module through the communication interface.

3. The lightweight UAV and automatic docking intelligent hangar suitable for valve hall environments according to claim 1, characterized in that, The time synchronization trigger module is attached to a pre-set plastic mounting base inside the body using high-temperature resistant double-sided adhesive to prevent vibrations from the body from being directly transmitted to the time synchronization trigger module. The external trigger signal input terminal of the time synchronization trigger module is connected to the frame synchronization output terminal of the visual SLAM camera via a coaxial cable to receive the raw frame synchronization signal from the visual SLAM camera. The first output terminal of the synchronization signal of the time synchronization trigger module is connected to the external trigger input terminal of the miniature infrared thermal imager via a shielded twisted pair cable to output a synchronization trigger signal to control the frame rate of the miniature infrared thermal imager to be consistent with that of the visual SLAM camera. The grounding terminal of the outer casing of the time synchronization trigger module is connected to the grounding power inside the body via a copper wire.

4. The lightweight UAV and automatic docking intelligent hangar suitable for valve hall environments according to claim 1, characterized in that, The camera lens is tilted downwards at a 45° angle, with the center point of the lens directly facing the center area of ​​the electric lifting platform inside the take-off and landing platform cabin. This ensures that the camera's field of view completely covers the QR code positioning mark on the bottom of the lightweight drone. Each set of gold-plated elastic pins corresponds to an independent wire, the end of which is soldered to the PCB pad at the bottom of the gold-plated elastic pin to ensure stable current transmission. The status feedback terminal of the fast charging management board is connected to the I2CSDA terminal of the main control system via a twisted pair cable to transmit charging current, voltage, and battery temperature data. The fault signal terminal of the protection circuit is connected to the GPO_IN1 terminal of the main control system via a wire to send a low-level alarm signal to the main control system in the event of overcurrent, overvoltage, or leakage faults.

5. The lightweight UAV and automatic docking intelligent hangar suitable for valve hall environments according to claim 1, characterized in that, The cooling end of the thermoelectric cooler is attached to the aluminum heat sink inside the environmental control cabin via thermally conductive silicone grease, while the heating end is attached to the cooling fan outside the environmental control cabin via a thermally conductive silicone pad to ensure efficient heat exchange. The thermoelectric cooler is fixed to the pre-drilled mounting holes in the cabin wall of the environmental control cabin using stainless steel screws, with an insulating gasket between the screws and the cabin wall. A metal protective mesh is installed around the PTC heating element to prevent contact with foreign objects. The air inlet of the centrifugal fan faces the interior of the environmental control cabin, and the air outlet of the centrifugal fan extends to the exterior of the environmental control cabin via a duct. The temperature and humidity sensor is connected to the I2C interface of the main control system via DuPont wires.

6. The lightweight UAV and automatic docking intelligent hangar suitable for valve hall environments according to claim 1, characterized in that, The body and the arm are integrally molded from a mixture of T700 grade carbon fiber yarn woven into prepreg and ABS+PC engineering plastic granules; the surfaces of the body and the arm are vacuum-coated with oxygen-free copper foil after polishing, and copper wires are attached to the edges of the oxygen-free copper foil with conductive adhesive, and the ends of the copper wires are connected to the grounding resistor inside the body.

7. The lightweight UAV and automatic docking intelligent hangar suitable for valve hall environments according to claim 1, characterized in that, The electric lifting platform is equipped with four sets of infrared positioning transmitters in the four directions corresponding to the four arms. The infrared positioning transmitters have a wavelength of 850nm and a transmission power of 50mW.

8. The lightweight UAV and automatic docking intelligent hangar suitable for valve hall environments according to claim 1, characterized in that, The ultra-high frequency partial discharge sensor is electrically connected to the input interface of the data processing module via a double-shielded coaxial cable consisting of an aluminum foil layer and a braided mesh layer, for transmitting partial discharge signals; the miniature infrared thermal imager is connected to the input interface via an SPI interface.

9. The lightweight UAV and automatic docking intelligent hangar suitable for valve hall environments according to claim 1, characterized in that, The protection circuit includes a transient suppression diode, a varistor, and a leakage protection module; wherein, the transient suppression diode is connected in parallel to the output terminal of the switching power supply to suppress voltage spikes; the varistor is connected in parallel to the input terminal of the switching power supply to protect against lightning surges; and the leakage protection module is connected in series in the power supply circuit.

10. The lightweight UAV and automatic docking intelligent hangar suitable for valve hall environments according to claim 1, characterized in that, The door and the mating surface of the cabin module are provided with an annular groove and a fluororubber O-ring is embedded therein; the charging management cabin is wrapped with an aluminum-magnesium alloy shielding shell, and the aluminum-magnesium alloy shielding shell is grounded.

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