WO2021212773A1 - Multi-rotor unmanned intelligent inspection system - Google Patents

Abstract

Disclosed is a multi-rotor unmanned intelligent inspection system, and by performing analysis and calculation on inspection values of preliminarily selected unmanned aerial vehicles to obtain an inspection unmanned aerial vehicle and by monitoring a communication signal of the inspection unmanned aerial vehicle and controlling the flying height of the inspection unmanned aerial vehicle, which system solves the problem of the inspection unmanned aerial vehicle being close to a transmission line and the communication transmission of the inspection unmanned aerial vehicle being thus affected. The multi-rotor unmanned intelligent inspection system comprises a data collection module, a server, an inspection distribution module, a path storage module, an intelligent inspection module, and an inspection power supply module. A communication signal of an inspection unmanned aerial vehicle is monitored and the flying height of the inspection unmanned aerial vehicle is controlled, so as to facilitate power inspection by the inspection unmanned aerial vehicle, and at the same time, an inspection image is transmitted to a background terminal, thereby preventing the inspection unmanned aerial vehicle from being close to a transmission line and affecting the communication transmission of the inspection unmanned aerial vehicle. The inspection power supply module is used to monitor the charge level of and supply power to the inspection unmanned aerial vehicle, such that power is supplied to the inspection unmanned aerial vehicle in a timely manner.

Description

Intelligent inspection system for multi-rotor UAV Technical field

The invention relates to the technical field of unmanned aerial vehicle detection for transmission lines, in particular to an intelligent inspection system for multi-rotor unmanned aerial vehicles.

Background technique

Transmission lines are distributed in many areas, with complex terrain and harsh natural environment. The traditional manual inspection method is not only a heavy workload but also difficult conditions, especially for mountainous areas and transmission lines crossing large rivers, as well as ice disasters, During floods, earthquakes, landslides, and line inspections at night, it takes a long time, high labor costs, great difficulties, and high risks. In 2014, the pilot application of UAV inspection on transmission lines was started. At present, UAV inspections are widely used in inspections and can also be used for positioning. The prospects are relatively broad.

The technology drones currently used in the market can realize GPS positioning, simple image processing, image transmission and other technologies. However, the transmission lines and the magnetic field of the tower interfere with the transmission signal of the drone, so the maintenance drone and power transmission are used. The height and distance of the line can effectively reduce interference and promote the smooth development of power transmission inspection work.

Summary of the invention

The purpose of the present invention is to provide a multi-rotor UAV intelligent inspection system; the present invention monitors the communication signal of the inspection drone and controls the flight height of the inspection drone, which is convenient for the inspection drone. Power inspection, while transmitting the inspection images to the background terminal, to avoid the proximity of the inspection drone and the transmission line, which affects the communication transmission of the inspection drone; the inspection drone is powered by the inspection power supply module Monitoring and power supply are convenient for patrol inspection drones to provide timely power supply.

The technical problems to be solved by the present invention are:

(1) How to obtain the inspection drone by analyzing and calculating the inspection values of the primary drones, and by monitoring the communication signals of the inspection drones and controlling the flight altitude of the inspection drones, Solve the problem that the inspection drone is close to the transmission line, which affects the communication transmission of the inspection drone;

The purpose of the present invention can be achieved by the following technical solutions: a multi-rotor UAV intelligent inspection system, including data acquisition module, server, inspection distribution module, UAV module, registration login module, path storage module, intelligent patrol Inspection module and patrol inspection power supply module;

The data collection module is used to collect the transmission line information to be inspected and send the transmission line information to the server, where the transmission line information includes the start position, end position, inspection time and transmission line of the transmission line to be inspected The height of the wire;

The patrol distribution module is used to perform UAV patrol and distribution on the transmission line to be processed, and the specific distribution steps are as follows:

Step 1: Mark the multi-rotor UAV in the inspection state as the primary UAV, represented by the symbol Wi, i=1, ..., n;

Step 2: Calculate the distance difference between the position of the primary drone and the starting position and ending position of the transmission line to be inspected to obtain the starting gap and ending gap, which are marked as G1 _Wi and G2 _{Wi respectively} ;

Step 3: Obtain the purchase time of the primary selected drone and calculate the time difference between it and the current time of the system to obtain the purchase time and mark it as T _Wi ;

Step 4: Set the battery capacity of the primary selected drone as U _Wi ;

Step 5: Use the formula

Obtain the inspection value F _{Wi of the} primary selected drone; among them, b1, b2, b3, b4, b5 and b6 are the preset scale factors, X _Wi is the number of inspections of the primary drone; H _Wi is Preliminary selection of the power supply value of the drone;

Step 6: Mark the primary drone with the largest inspection value as the inspection drone, and at the same time obtain the inspection path in the path storage module and the number of the inspection drone stored in the server, and set the inspection path Match with the starting position and end position of the transmission line to be inspected. When the start and end points of the inspection path coincide with the start and end positions of the transmission line to be inspected, the inspection path is marked as waiting. Execution path; otherwise, generate path collection instructions;

Step 7: The patrol distribution module sends the number of the patrol drone and the path to be executed or the path collection instruction to the intelligent patrol module;

The intelligent inspection module is used to inspect the transmission lines to be inspected by the drone for intelligent inspection, and the specific inspection process is as follows:

a: After the intelligent inspection module receives the number of the inspection drone and the path to be executed, the intelligent inspection module controls the inspection drone to fly to the starting position of the transmission line to be inspected, and then controls the inspection without The man-machine flies according to the path to be executed, and at the same time photographs the image of the transmission line to be inspected and sends it to the server;

b: After the intelligent inspection module receives the number and path acquisition instruction of the inspection drone, the intelligent inspection module controls the inspection drone to fly to the starting position of the transmission line to be inspected, and then controls the inspection without The man-machine flies along the transmission line to be inspected and shoots the image of the transmission line to be inspected and sends it to the server; at the same time, the intelligent inspection module collects the communication signal strength of the inspection drone. When the communication signal strength is lower than the setting Threshold, the inspection drone will be controlled to fly upwards so that the communication signal strength is equal to the set threshold; when the communication signal strength is greater than the set threshold, the inspection drone will be controlled to fly downwards so that the communication signal strength is equal to the set threshold. Threshold; when the communication signal strength is equal to the set threshold, the inspection drone will fly along the current altitude, and the starting position of the inspection drone and the communication signal strength of the inspection drone will be equal to the set threshold. And the end position of the inspection drone flight constitutes the inspection path; at the same time, the number of inspections of the inspection drone is increased by one, and the intelligent inspection module sends the inspection path through the server to the path storage module for storage.

Preferably, the registration and login module is used by the user to submit user information and drone information through a mobile phone terminal for registration and send the successfully registered user information and drone information to the server; user information includes name, mobile phone number, and location ; The UAV information includes the purchase time of the multi-rotor UAV, battery capacity and the model of the multi-rotor UAV. The server stores the user information and the UAV information after receiving the user information and the UAV information, and the multi-rotor UAV is numbered at the same time .

Preferably, the drone module is used by the user to submit the use start time and use end time of the multi-rotor drone through the mobile phone terminal, and the drone module compares the inspection time with the use of the multi-rotor drone submitted by the user. The start time and the end time of use are matched. When the inspection time is within the range of the use start time and end time of the multi-rotor UAV, and the time difference between the inspection time and the end time of use is greater than the set threshold, the The status of the multi-rotor drone is marked as the inspection status.

Preferably, the inspection power supply module is used to monitor and supply power to the inspection drone, and the specific steps are as follows:

Step 1: Obtain the power of the patrol drone. When the power value is equal to the set threshold, then the patrol drone will be allocated power;

Step 2: Obtain the current position of the inspection drone, obtain the current position and mark the user within the preset range as the primary user;

Step 3: Mark the primary user as Rj, j=1, ..., n; calculate the distance difference between the current position of the patrol drone and the primary user’s location to obtain the power supply distance, and mark it as E _Rj ;

Step 4: Obtain the charging times of the primary users and mark them as P _Rj ;

Step 5: Use the formula

Obtain the power supply priority value L _{Rj of the} primary selected user; where c1 and c2 are both preset proportional coefficients;

Step 6: Select the primary user with the largest power supply priority value as the selected user, and the patrol power supply module sends a charging reminder instruction to the mobile terminal of the selected user. When the selected user sends a consent command to the patrol power supply module through the mobile terminal, the power supply module is inspected The module controls the inspection drone to fly to the location of the selected user. The selected user provides power to the inspection drone. At the same time, the inspection drone sends the charging start time and charging end time to the inspection power supply module. The number of charging times of the user is increased by one; when the inspection power supply module does not receive the consent command within the preset time range, the primary user with the second priority value of power supply is selected and marked as the selected user;

Step 7: Calculate the charging start time and charging end time to obtain the single charging duration; sum all the single charging durations of the selected users to obtain the total charging duration, and mark it as T _Rj ;

Step 8: Use the formula H _Rj =T _Rj *c3+P _Rj *c4 to obtain the power supply value H _{Rj of the} selected user; where c3 and c4 are both preset proportional coefficients;

Step 9: The patrol power supply module sends the power supply value of the selected user to the server, and the server marks the power supply value of the selected user as the power supply value of the multi-rotor drone corresponding to the selected user.

The beneficial effects of the present invention:

(1) The data acquisition module of the present invention collects the transmission line information to be inspected and sends the transmission line information to the server. The inspection distribution module performs drone inspection and distribution on the transmission line to be inspected, and the multi-rotor in the inspection state is unmanned The drone is marked as the primary drone, and the patrol value of the primary drone is obtained by using the formula; the primary drone with the largest inspection value is marked as the patrol drone, and the patrol in the path storage module is obtained at the same time. The inspection path and the number of the inspection drone stored in the server. When the intelligent inspection module receives the number of the inspection drone and the path acquisition instruction, the intelligent inspection module controls the inspection drone to fly to the waiting tour Check the starting position of the transmission line, and then control the inspection drone to fly along the transmission line to be inspected and take the image of the transmission line to be inspected and send it to the server; at the same time, the intelligent inspection module collects and inspects the unmanned The communication signal strength of the patrol drone, the starting position of the patrol drone's flight, the height at which the patrol drone's communication signal strength is equal to the set threshold, and the end position of the patrol drone's flight constitute the inspection path; The patrol drone monitors the communication signal and controls the flight height of the patrol drone, which is convenient for the patrol drone to perform power patrol. At the same time, the patrol image is transmitted to the background terminal to avoid the patrol drone and the The transmission line is close, which affects the communication transmission of the inspection drone;

(2) The patrol power supply module of the present invention performs power monitoring and power supply on the patrol drone, selects the primary user with the largest power supply priority value as the selected user, and the patrol power supply module sends a charging reminder instruction to the mobile phone terminal of the selected user, and is elected The middle user sends the consent instruction to the inspection power supply module through the mobile phone terminal, then the inspection power supply module controls the inspection drone to fly to the location of the selected user, and the selected user powers the inspection drone through the inspection power supply module The power monitoring and power supply of the inspection drone are convenient for timely power supply of the inspection drone.

Description of the drawings

The present invention will be further described below in conjunction with the accompanying drawings.

Fig. 1 is a schematic block diagram of an intelligent inspection system for a multi-rotor UAV of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

Please refer to Figure 1, the present invention is a multi-rotor UAV intelligent inspection system, including data acquisition module, server, inspection distribution module, UAV module, registration login module, path storage module, intelligent inspection Module and inspection power supply module;

The data acquisition module is used to collect the transmission line information to be inspected and send the transmission line information to the server, where the transmission line information includes the starting position, end position, inspection time and wire of the transmission line to be inspected high;

The patrol distribution module is used to perform UAV patrol and distribution on the transmission lines to be processed. The specific distribution steps are as follows:

Step 1: Mark the multi-rotor UAV in the inspection state as the primary UAV, denoted by the symbol Wi, i=1, ..., n;

Step 2: Calculate the distance difference between the position of the primary drone and the starting position and ending position of the transmission line to be inspected to obtain the starting gap and ending gap, which are marked as G1 _Wi and G2 _{Wi respectively} ;

Step 3: Obtain the purchase time of the primary selected drone and calculate the time difference between it and the current time of the system to obtain the purchase time and mark it as T _Wi ;

Step 4: Set the battery capacity of the primary selected drone as U _Wi ;

Step 5: Use the formula

Obtain the inspection value F _{Wi of the} primary selected drone; among them, b1, b2, b3, b4, b5 and b6 are the preset scale factors, X _Wi is the number of inspections of the primary drone; H _Wi is Preliminary selection of the power supply value of the drone;

Step 6: Mark the primary drone with the largest inspection value as the inspection drone, and at the same time obtain the inspection path in the path storage module and the number of the inspection drone stored in the server, and set the inspection path Match with the starting position and ending position of the transmission line to be inspected. When the start and end points of the inspection path coincide with the starting position and end position of the transmission line to be inspected, mark the inspection path as waiting. Execution path; otherwise, generate path collection instructions;

Step 7: The patrol distribution module sends the number of the patrol drone and the path to be executed or the path collection instruction to the intelligent patrol module;

The intelligent inspection module is used to inspect the transmission lines to be inspected by the drone for intelligent inspection. The specific inspection process is as follows:

a: After the intelligent inspection module receives the number of the inspection drone and the path to be executed, the intelligent inspection module controls the inspection drone to fly to the starting position of the transmission line to be inspected, and then controls the inspection without The man-machine flies according to the path to be executed, and at the same time photographs the image of the transmission line to be inspected and sends it to the server;

b: After the intelligent inspection module receives the number and path acquisition instruction of the inspection drone, the intelligent inspection module controls the inspection drone to fly to the starting position of the transmission line to be inspected, and then controls the inspection without The man-machine flies along the transmission line to be inspected and shoots the image of the transmission line to be inspected and sends it to the server; at the same time, the intelligent inspection module collects the communication signal strength of the inspection drone. When the communication signal strength is lower than the setting Threshold, the inspection drone will be controlled to fly upwards so that the communication signal strength is equal to the set threshold; when the communication signal strength is greater than the set threshold, the inspection drone will be controlled to fly downwards so that the communication signal strength is equal to the set threshold. Threshold; when the communication signal strength is equal to the set threshold, the inspection drone will fly along the current altitude, and the starting position of the inspection drone and the communication signal strength of the inspection drone will be equal to the set threshold. And the end position of the inspection drone flight constitutes the inspection path; at the same time, the number of inspections of the inspection drone is increased by one, and the intelligent inspection module sends the inspection path through the server to the path storage module for storage;

The registration login module is used by the user to submit user information and drone information through the mobile terminal for registration and send the successfully registered user information and drone information to the server; user information includes name, mobile phone number, location; drone information Including the purchase time of the multi-rotor drone, battery capacity, and the model of the multi-rotor drone. The server stores the user information and drone information after receiving it, and at the same time numbers the multi-rotor drone;

The drone module is used by the user to submit the use start time and end time of the multi-rotor drone through the mobile terminal, and the drone module will inspect the inspection time with the user submitted the use start time and end of the use of the multi-rotor drone Match the time. When the inspection time is within the range of the use start time and end time of the multi-rotor drone, and the time difference between the inspection time and the end time is greater than the set threshold, the multi-rotor drone The status of is marked as inspection status;

The inspection power supply module is used to monitor and supply power to the inspection drone. The specific steps are as follows:

Step 1: Obtain the power of the patrol drone. When the power value is equal to the set threshold, then the patrol drone will be allocated power;

Step 2: Obtain the current position of the inspection drone, obtain the current position and mark the user within the preset range as the primary user;

Step 3: Mark the primary user as Rj, j=1, ..., n; calculate the distance difference between the current position of the patrol drone and the primary user’s location to obtain the power supply distance, and mark it as E _Rj ;

Step 4: Obtain the charging times of the primary users and mark them as P _Rj ;

Step 5: Use the formula

Obtain the power supply priority value L _{Rj of the} primary selected user; where c1 and c2 are both preset proportional coefficients;

Step 6: Select the primary user with the largest power supply priority value as the selected user, and the patrol power supply module sends a charging reminder instruction to the mobile terminal of the selected user. When the selected user sends a consent command to the patrol power supply module through the mobile terminal, the power supply module is inspected The module controls the inspection drone to fly to the location of the selected user, and the selected user provides power to the inspection drone. At the same time, the inspection drone sends the charging start time and charging end time to the inspection power supply module. The number of charging times of the user is increased by one; when the inspection power supply module does not receive the consent command within the preset time range, the primary user with the second priority value of power supply is selected and marked as the selected user;

Step 7: Calculate the charging start time and charging end time to obtain the single charging duration; sum all the single charging durations of the selected users to obtain the total charging duration, and mark it as T _Rj ;

Step 8: Use the formula H _Rj =T _Rj *c3+P _Rj *c4 to obtain the power supply value H _{Rj of the} selected user; where c3 and c4 are both preset proportional coefficients;

Step 9: The patrol power supply module sends the power supply value of the selected user to the server, and the server marks the power supply value of the selected user as the power supply value of the multi-rotor drone corresponding to the selected user; the user is the same as the multi-rotor drone One correspondence: The power monitoring and power supply of the patrol drone are carried out through the patrol power supply module to facilitate the timely power supply of the patrol drone.

The working principle of the present invention: the data acquisition module is used to collect the transmission line information to be inspected and send the transmission line information to the server; The multi-rotor UAV is marked as the primary UAV, and the distance difference between the position of the primary UAV and the starting and ending positions of the transmission line to be inspected is calculated to obtain the initial gap and the end gap, and obtain Preliminarily select the purchase time of the drone and calculate the time difference between it and the current time of the system to obtain the purchase time, using the formula

Obtain the inspection value F _Wi of the primary drone; mark the primary drone with the largest inspection value as the inspection drone, and acquire the inspection path in the path storage module and the inspection path stored in the server. Check the number of the drone, and match the inspection path with the starting and ending positions of the transmission line to be inspected. When the starting and ending points of the inspection path and the starting and ending positions of the transmission line to be inspected are one by one If coincide, the inspection path is marked as a path to be executed; if not, a path collection instruction is generated; the inspection distribution module sends the number of the inspection drone and the path to be executed or the path acquisition instruction to the intelligent inspection module; The inspection module is used to inspect the transmission lines of the drone to be inspected for intelligent inspection. When the intelligent inspection module receives the number of the inspection drone and the path acquisition instruction, the intelligent inspection module controls the inspection without people The aircraft flies to the starting position of the transmission line to be inspected, and then controls the inspection drone to fly along the transmission line to be inspected and take images of the transmission line to be inspected and send it to the server; at the same time, the intelligent inspection module Collect the communication signal strength of the inspection drone. When the communication signal strength is lower than the set threshold, control the inspection drone to fly upwards so that the communication signal strength is equal to the set threshold; when the communication signal strength is greater than the set threshold, Then control the inspection drone to fly down so that the communication signal strength is equal to the set threshold; when the communication signal strength is equal to the set threshold, the inspection drone will fly along the current altitude, and the inspection drone will fly The starting position of the inspection drone, the height at which the communication signal strength of the inspection drone is equal to the set threshold, and the end position of the inspection drone flight constitute the inspection path; the inspection drone is monitored and controlled by the communication signal The flying height of the drone is convenient for the inspection drone to perform power inspections, and at the same time, the inspection images are transmitted to the background terminal to avoid the proximity of the inspection drone and the transmission line, which affects the communication transmission of the inspection drone , The patrol power supply module is used to monitor and supply power to the patrol drone. The primary user with the largest power supply priority value is selected as the selected user. The patrol power supply module sends a charging reminder instruction to the mobile terminal of the selected user. Send the consent instruction to the inspection power supply module through the mobile terminal, then the inspection power supply module controls the inspection drone to fly to the location of the selected user, the selected user supplies power to the inspection drone, and the inspection power supply module provides The inspection drone performs power monitoring and power supply, which is convenient for the inspection drone to provide timely power supply.

The above content is merely an example and description of the structure of the present invention. Those skilled in the art make various modifications or additions to the specific embodiments described or use similar methods to replace them, as long as they do not deviate from the structure of the invention or Anything beyond the scope defined by the claims shall belong to the protection scope of the present invention.

Claims (4)

1. An intelligent inspection system for multi-rotor drones, which is characterized in that it includes a data acquisition module, a server, an inspection distribution module, an unmanned aerial vehicle module, a registration login module, a path storage module, an intelligent inspection module, and an inspection power supply module ；

   The data collection module is used to collect the transmission line information to be inspected and send the transmission line information to the server, where the transmission line information includes the start position, end position, inspection time and transmission line of the transmission line to be inspected The height of the wire;

   The patrol distribution module is used to perform UAV patrol and distribution on the transmission line to be processed, and the specific distribution steps are as follows:

   Step 1: Mark the multi-rotor UAV in the inspection state as the primary UAV, represented by the symbol Wi, i=1, ..., n;

   Step 2: Calculate the distance difference between the position of the primary drone and the starting position and ending position of the transmission line to be inspected to obtain the starting gap and ending gap, which are marked as G1 _Wi and G2 _{Wi respectively} ;

   Step 3: Obtain the purchase time of the primary selected drone and calculate the time difference between it and the current time of the system to obtain the purchase time and mark it as T _Wi ;

   Step 4: Set the battery capacity of the primary selected drone as U _Wi ;

   Step 5: Use the formula

   

   Obtain the inspection value F _{Wi of the} primary selected drone; among them, b1, b2, b3, b4, b5 and b6 are the preset scale factors, X _Wi is the number of inspections of the primary drone; H _Wi is Preliminary selection of the power supply value of the drone;

   Step 6: Mark the primary drone with the largest inspection value as the inspection drone, and at the same time obtain the inspection path in the path storage module and the number of the inspection drone stored in the server, and set the inspection path Match with the starting position and end position of the transmission line to be inspected. When the start and end points of the inspection path coincide with the start and end positions of the transmission line to be inspected, the inspection path is marked as waiting. Execution path; otherwise, generate path collection instructions;

   Step 7: The patrol distribution module sends the number of the patrol drone and the path to be executed or the path collection instruction to the intelligent patrol module;

   The intelligent inspection module is used to inspect the transmission lines to be inspected by the drone for intelligent inspection, and the specific inspection process is as follows:

   a: After the intelligent inspection module receives the number of the inspection drone and the path to be executed, the intelligent inspection module controls the inspection drone to fly to the starting position of the transmission line to be inspected, and then controls the inspection without The man-machine flies according to the path to be executed, and at the same time photographs the image of the transmission line to be inspected and sends it to the server;

   b: After the intelligent inspection module receives the number and path acquisition instruction of the inspection drone, the intelligent inspection module controls the inspection drone to fly to the starting position of the transmission line to be inspected, and then controls the inspection without The man-machine flies along the transmission line to be inspected and shoots the image of the transmission line to be inspected and sends it to the server; at the same time, the intelligent inspection module collects the communication signal strength of the inspection drone. When the communication signal strength is lower than the setting Threshold, the inspection drone will be controlled to fly upwards so that the communication signal strength is equal to the set threshold; when the communication signal strength is greater than the set threshold, the inspection drone will be controlled to fly downwards so that the communication signal strength is equal to the set threshold. Threshold; when the communication signal strength is equal to the set threshold, the inspection drone will fly along the current altitude, and the starting position of the inspection drone and the communication signal strength of the inspection drone will be equal to the set threshold. And the end position of the inspection drone flight constitutes the inspection path; at the same time, the number of inspections of the inspection drone is increased by one, and the intelligent inspection module sends the inspection path through the server to the path storage module for storage.
2. The intelligent inspection system for multi-rotor drones according to claim 1, wherein the registration and login module is used by users who submit user information and drone information for registration through a mobile phone terminal and users who have successfully registered Information and drone information are sent to the server; user information includes name, mobile phone number, location; drone information includes the purchase time of the multi-rotor drone, battery capacity, and model of the multi-rotor drone, and the server receives the user The information and UAV information are then stored, and the multi-rotor UAV is numbered at the same time.
3. The multi-rotor drone intelligent inspection system according to claim 1, wherein the drone module is used by a user to submit the use start time and use end time of the multi-rotor drone through a mobile phone terminal, The drone module will match the inspection time with the use start time and end time of the multi-rotor drone submitted by the user. When the inspection time is within the range of the use start time and end time of the multi-rotor drone, And the time difference between the inspection time and the end of use time is greater than the set threshold, the state of the multi-rotor UAV is marked as the inspection state.
4. The intelligent inspection system for a multi-rotor UAV according to claim 1, wherein the inspection power supply module is used to monitor and supply power to the inspection drone, and the specific steps are as follows:

   Step 1: Obtain the power of the patrol drone. When the power value is equal to the set threshold, then the patrol drone will be allocated power;

   Step 2: Obtain the current position of the inspection drone, obtain the current position and mark the user within the preset range as the primary user;

   Step 3: Mark the primary user as Rj, j=1, ..., n; calculate the distance difference between the current position of the patrol drone and the primary user’s location to obtain the power supply distance, and mark it as E _Rj ;

   Step 4: Obtain the charging times of the primary users and mark them as P _Rj ;

   Step 5: Use the formula

   

   Obtain the power supply priority value L _{Rj of the} primary selected user; where c1 and c2 are both preset proportional coefficients;

   Step 6: Select the primary user with the largest power supply priority value as the selected user, and the patrol power supply module sends a charging reminder instruction to the mobile terminal of the selected user. When the selected user sends a consent command to the patrol power supply module through the mobile terminal, the power supply module is inspected The module controls the inspection drone to fly to the location of the selected user. The selected user provides power to the inspection drone. At the same time, the inspection drone sends the charging start time and charging end time to the inspection power supply module. The number of charging times of the user is increased by one; when the inspection power supply module does not receive the consent command within the preset time range, the primary user with the second priority value of power supply is selected and marked as the selected user;

   Step 7: Calculate the charging start time and charging end time to obtain the single charging duration; sum all the single charging durations of the selected users to obtain the total charging duration, and mark it as T _Rj ;

   Step 8: Use the formula H _Rj =T _Rj *c3+P _Rj *c4 to obtain the power supply value H _{Rj of the} selected user; where c3 and c4 are both preset proportional coefficients;

   Step 9: The patrol power supply module sends the power supply value of the selected user to the server, and the server marks the power supply value of the selected user as the power supply value of the multi-rotor drone corresponding to the selected user.

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