CN107910927A - Patrol unmanned locomotive team calamity is for vehicle-mounted emergent charging system - Google Patents

Abstract

The invention relates to a vehicle-mounted emergency charging system for disaster recovery of a fleet of inspection drones. It includes a three-layer cabinet. The top floor of the cabinet is provided with an AC/DC module and a DC/AC module. Two vents with fans are provided on the two side walls of the top floor of the cabinet. The first monitoring camera and the first temperature sensor are also provided. module, the second floor of the cabinet is equipped with an intelligent charging circuit board, a second temperature sensor module, a lithium battery charging slot for placing the unmanned lithium battery that needs to be charged, and a second monitoring camera. Several storage battery packs are provided, and a third monitoring camera and a third temperature sensor module are also provided. The invention effectively improves the utilization efficiency of the UAV battery, reduces the number of spare batteries, greatly expands the battery life and cruising range of the UAV, and plays an important role in guaranteeing the post-disaster UAV inspection. The continuous power supply of battery energy at the field operation site of the aircraft also has a good guarantee effect.

Description

Inspection drone fleet disaster recovery vehicle emergency charging system

technical field

The invention relates to a vehicle-mounted emergency charging system for disaster recovery of a fleet of inspection drones.

Background technique

With the rapid development of the national economy and power system, the scale of the power grid is also expanding. In recent years, the coverage area of overhead transmission lines in my country has become wider and wider. It is estimated that by 2020, the total mileage of transmission lines will reach more than 1.59×10 ⁶ km, but it should be noted that more than 60% of these lines are located in mountainous areas. Corrosion of strands, breakage and cracking of insulators, tilting of towers and insufficient safety distance of line corridors and other equipment defects or potential safety hazards of passages. If these hidden dangers cannot be discovered and dealt with in time, serious accidents may occur, threatening the safety and stability of the power system. At present, the inspection of the line is mainly manual inspection, but due to the complex field environment, the traditional manual inspection needs a lot of time, manpower and financial resources, and is inefficient. With the development and application of UAV technology, more and more power companies have begun to use UAVs for automatic line inspection.

The UAV inspection of power transmission lines and power equipment has the advantages of being fast and fast, not limited by the terrain environment, high work efficiency, small accidents, high safety, strong mobility and flexibility, and high attendance rate. The development trend of power equipment inspection. However, UAV inspections also have the disadvantage of poor battery life. In the post-disaster power line inspections after natural disasters, UAVs are required to start inspections with high intensity and high frequency. The existing UAV charging devices are difficult. To meet the needs of post-disaster UAV emergency charging. The development of emergency charging devices for inspection drone fleets plays a very important role in safeguarding post-disaster drone inspections.

The UAV needs to rely on the battery to provide flight power when patrolling (inspecting). Currently, the battery capacity of the UAV is only for cruising for about 15 minutes. When the battery is exhausted, the UAV needs to fly back to recharge. Hour. Moreover, the charging life of the battery of the drone is limited, and the battery cannot be fully charged during normal maintenance. Generally, it is charged before the inspection task is confirmed, and the inspection is started after the charging is completed. This working mode has some problems in actual work. One is that there is often no battery charging condition in the field. If you want to conduct a long-term inspection, you need to provide multiple spare batteries, which is costly and limited in flexibility; In the event of an emergency, it is necessary to go out for inspections, and the battery must be fully charged before starting, and the time arrangement is greatly restricted.

Based on the emergency charging requirements of the battery during the UAV inspection process, the present invention develops an emergency charging system for the UAV fleet used in field inspections. The system is installed on the field emergency operation vehicle. When receiving an emergency task, the battery can be charged on the way to the emergency task site, and the backup battery can be continuously charged after arriving at the inspection site. The application of the emergency charging system can not only reduce the number of backup batteries, but also effectively use the time on the way of inspection, and effectively improve the utilization efficiency of drone batteries.

Contents of the invention

The purpose of the present invention is to provide a vehicle-mounted emergency charging system for disaster recovery of patrol drone fleets, which can effectively improve the utilization efficiency of drone batteries, reduce the number of spare batteries, and greatly expand the endurance and cruise range of drones. The post-disaster UAV inspection plays an important role in guarantee. In addition, it also plays a very good role in guaranteeing the continuous power supply of battery energy in other UAV field operations.

In order to achieve the above object, the technical solution of the present invention is: a vehicle-mounted emergency charging system for disaster recovery of the inspection drone fleet, comprising a three-layer cabinet fixed on the vehicle-mounted platform, and the top floor of the cabinet is provided with an AC/DC module , DC/AC module, two air vents are provided on the two side walls of the top floor of the cabinet, and two fans are respectively provided at the two air vents, and the first monitoring camera and the first temperature sensor module are also installed on the side walls of the top floor of the cabinet , the second floor of the cabinet is provided with an intelligent charging circuit board, a second temperature sensor module, and a lithium battery charging slot for placing the lithium battery of the drone to be charged, and the second floor of the cabinet is also provided with a second A monitoring camera, a plurality of battery packs are arranged on the bottom plate of the cabinet, and a third monitoring camera and a third temperature sensor module are also arranged on the bottom of the cabinet; when the vehicle is on the way and needs to be charged for the lithium battery of the drone, the intelligent charging circuit The board controls the battery pack to charge the lithium battery of the drone through the DC/DC charging module of the smart charging circuit board, and at the same time, the smart charging circuit board controls the battery pack to charge the 220V AC equipment carried by the emergency personnel through the DC/AC module; When the vehicle stops at the disaster recovery site and needs to charge the lithium battery of the drone, the smart charging circuit board controls the on-board generator to charge the lithium battery of the drone through the AC/DC module and the DC/DC charging module of the smart charging circuit board At the same time, the intelligent charging circuit board controls the on-board generator to charge the battery pack through the AC/DC module; when the first to third temperature sensor modules detect that the temperature in the cabinet is greater than the threshold, or the first to third monitoring cameras detect the temperature in the cabinet When a situation including fireworks occurs, the smart charging circuit board controls the fan to start.

In an embodiment of the present invention, the intelligent charging circuit board is also provided with a charging controller and a lithium battery state detection module connected to the charging controller for detecting the state of the lithium battery of the drone, for controlling the first to the temperature controller in the working state of the third temperature sensor module.

In an embodiment of the present invention, the second temperature sensor module includes 6 temperature sensors evenly distributed on the second floor of the cabinet.

In an embodiment of the present invention, the battery packs are formed by connecting two 12V lead-acid batteries in series.

In an embodiment of the present invention, the system is provided with a 24V DC bus to facilitate the charging and discharging between the vehicle generator, the battery pack, and the lithium battery of the drone; The AC/DC module and the second air switch are connected to the 24V DC bus; the battery pack is connected to the 24V DC bus through the third air switch; the DC/AC module is connected to the 24V DC bus through the fourth air switch The DC/DC charging module is connected to the 24V DC bus through the fifth air switch; the first to fifth air switches are all connected to the charging controller.

In an embodiment of the present invention, the AC/DC module includes an AC/DC main circuit module and an AC/DC control circuit module, and the AC/DC main circuit module includes sequentially connected input filter modules, interleaved parallel PFC rectification modules , a full-bridge LLC resonant converter module, an output rectification and filtering module, the AC/DC main circuit module also includes an auxiliary power supply, a PWM drive circuit module, and the AC/DC control circuit module includes a control module and a sampling module, and the control The module samples the fault signal and voltage and current signal of the AC/DC main circuit module through the sampling module, and the control module is also connected to the full-bridge LLC resonant converter module through the auxiliary power supply and PWM drive circuit module.

In an embodiment of the present invention, the interleaved parallel PFC rectifier module is an interleaved parallel BOOST PFC circuit; the full-bridge LLC resonant converter module is composed of a full-bridge inverter circuit, a resonant network and a rectification and filtering network.

In an embodiment of the present invention, the control module is a DSP digital processor composed of TMS320F28035 and TMS320F28033 digital control chips to control the full-bridge LLC resonant converter module and the interleaved parallel PFC rectifier module respectively.

In an embodiment of the present invention, the DC/AC module includes a DC/AC main circuit module and a DC/AC control circuit module, wherein the DC/AC main circuit module includes a push-pull boost circuit and a single-phase full-bridge inverter circuit , The DC/AC control circuit module includes a PWM drive circuit and a SPWM drive circuit.

In an embodiment of the present invention, the PWM driving circuit uses a UC2846 chip, and the SPWM driving circuit uses a PIC18F2331 chip.

Compared with the prior art, the present invention has the following beneficial effects: the present invention effectively improves the utilization efficiency of the UAV battery, reduces the number of spare batteries, greatly expands the endurance and cruising range of the UAV, and is effective for post-disaster UAV patrol. The inspection plays an important role in guarantee. In addition, it also plays a good role in guaranteeing the continuous power supply of battery energy in other UAV field operations.

Description of drawings

Fig. 1 is a schematic diagram of the structure of the cabinet of the vehicle emergency charging system for the disaster recovery of the inspection drone fleet of the present invention.

Fig. 2 is a functional block diagram of the emergency charging system of the present invention.

Fig. 3 is a functional block diagram of the emergency charging system of the present invention without using a backup gasoline generator.

Fig. 4 is a functional block diagram of the emergency charging system of the present invention without using a backup gasoline generator.

Fig. 5 is a block diagram of the AC/DC module of the present invention.

Fig. 6 is a schematic diagram of the AC/DC main circuit of the present invention.

FIG. 7 is a schematic diagram of a Boost PFC circuit with average current control in the present invention.

Fig. 8 is a functional block diagram of the main modules contained in the 28035 of the present invention.

Fig. 9 is a block diagram of the DC/AC module of the present invention.

Fig. 10 is a schematic diagram of the DC/AC main circuit of the present invention.

Figure 11 is the internal schematic diagram of UC2846.

Figure 12 is a block diagram of the control principle of the inverter circuit.

Detailed ways

The technical solution of the present invention will be specifically described below in conjunction with the accompanying drawings.

A vehicle-mounted emergency charging system for patrolling unmanned aerial vehicle fleet disaster recovery of the present invention includes a three-layer cabinet fixed on the vehicle-mounted platform, the top floor of the cabinet is provided with an AC/DC module and a DC/AC module, and the top layer of the cabinet has two The side wall is provided with two air vents, and the two air vents are respectively provided with two fans, the side wall of the top layer of the cabinet is also provided with a first monitoring camera and a first temperature sensor module, and the second floor of the cabinet is provided with a An intelligent charging circuit board, a second temperature sensor module, and a lithium battery charging slot for placing a lithium battery of an unmanned aerial vehicle to be charged are provided. The second layer of the cabinet is also provided with a second monitoring camera. There are several battery packs, and the third monitoring camera and the third temperature sensor module are installed on the bottom of the cabinet; when the vehicle is on the way and needs to charge the lithium battery of the drone, the intelligent charging circuit board controls the battery pack to pass through the intelligent charging circuit board. The DC/DC charging module charges the lithium battery of the UAV, and at the same time, the intelligent charging circuit board controls the battery pack to charge the 220V AC equipment carried by the disaster recovery emergency personnel through the DC/AC module; when the vehicle is parked at the disaster recovery site, it needs to When charging the lithium battery of the drone, the smart charging circuit board controls the on-board generator to charge the lithium battery of the drone through the AC/DC module and the DC/DC charging module of the smart charging circuit board, and the smart charging circuit board controls the on-board power generation The battery pack is charged through the AC/DC module; when the first to third temperature sensor modules detect that the temperature in the cabinet is greater than the threshold, or when the first to third monitoring cameras detect that there is smoke and fire in the cabinet, intelligent charging The circuit board controls the fan to start.

The intelligent charging circuit board is also provided with a charging controller and a lithium battery state detection module connected to the charging controller for detecting the state of the lithium battery of the drone, and for controlling the working state of the first to third temperature sensor modules. temperature controller.

The second temperature sensor module includes 6 temperature sensors evenly distributed on the second floor of the cabinet. The battery packs are all formed by connecting two 12V lead-acid batteries in series.

The system is equipped with a 24V DC bus to facilitate the charging and discharging among vehicle generators, battery packs, and drone lithium batteries; The switch is connected to the 24V DC bus; the battery pack is connected to the 24V DC bus through the third air switch; the DC/AC module is connected to the 24V DC bus through the fourth air switch; the DC/DC charging module connected to the 24V DC bus through a fifth air switch; the first to fifth air switches are all connected to the charging controller.

The AC/DC module includes an AC/DC main circuit module and an AC/DC control circuit module, and the AC/DC main circuit module includes an input filter module, an interleaved parallel PFC rectifier module, and a full-bridge LLC resonant converter module connected in sequence . Output rectification and filtering module, the AC/DC main circuit module also includes an auxiliary power supply and a PWM drive circuit module, the AC/DC control circuit module includes a control module and a sampling module, and the control module samples the AC through the sampling module Fault signals and voltage and current signals of the /DC main circuit module, the control module is also connected to the full-bridge LLC resonant converter module through the auxiliary power supply and the PWM drive circuit module. The interleaved parallel PFC rectifier module is an interleaved parallel BOOST PFC circuit; the full bridge LLC resonant converter module is composed of three parts: a full bridge inverter circuit, a resonant network and a rectifying and filtering network. The control module is a DSP digital processor composed of TMS320F28035 and TMS320F28033 digital control chips to control the full-bridge LLC resonant converter module and the interleaved parallel PFC rectifier module respectively.

The DC/AC module includes a DC/AC main circuit module and a DC/AC control circuit module, wherein the DC/AC main circuit module includes a push-pull boost circuit and a single-phase full-bridge inverter circuit, and the DC/AC control circuit module includes PWM driving circuit and SPWM driving circuit. The PWM drive circuit uses a UC2846 chip, and the SPWM drive circuit uses a PIC18F2331 chip.

The following is the specific implementation process of the present invention.

As shown in Figure 1-2, the vehicle-mounted emergency charging system for disaster recovery of the inspection drone fleet of the present invention can simultaneously charge six lithium batteries of drones. The whole set of emergency charging system consists of gasoline generator, power supply (lead-acid battery pack), rectifier module (AC/DC), inverter module (DC/AC), PL8 charging module (DC/DC), temperature monitoring module, Man-machine load lithium battery voltage intelligent detection module and other components.

When the vehicle is on the way and needs to charge the lithium battery of the drone, the intelligent charging circuit board controls the battery pack to charge the lithium battery of the drone through the DC/DC charging module of the intelligent charging circuit board, and at the same time the intelligent charging circuit board controls the battery The DC/AC module is assembled to charge the 220V AC equipment carried by the disaster recovery and emergency personnel; the specific engineering process is shown in Figure 3. In this working condition, the battery pack provides the charging power. Close the air breaker, and close the 8# and 11# air breakers at the same time, and the corresponding indicator lights of 9# and 12# will be on. You can use the energy stored in the battery to charge the lithium battery of the drone. When the battery is fully charged, it can provide a maximum of 9600VA of electrical energy, and can provide a regulated voltage and frequency 220V AC power supply.

When the vehicle stops at the disaster recovery site and needs to charge the lithium battery of the drone, the smart charging circuit board controls the on-board generator to charge the lithium battery of the drone through the AC/DC module and the DC/DC charging module of the smart charging circuit board At the same time, the intelligent charging circuit board controls the on-board generator to charge the battery pack through the AC/DC module; the specific engineering process is shown in Figure 4. In this working condition, the gasoline generator provides the charging power. Close the two inner circuit breakers, and at the same time close the 3#, 6#, 8#, 11# circuit breakers on the panel, and the corresponding 4#, 7#, 9#, 12# indicators are on. You can use the electric energy provided by the gasoline generator to charge the lithium battery of the drone, and provide a 220V AC power supply with stable voltage and frequency.

The specific implementation process of charging the lithium battery of the drone above is as follows:

When the PL8 charging module is working, before the lithium battery is charged, put the signal chip attached on the lithium battery close to the lithium battery intelligent detection module, so that the detection module can read the battery information. At this time, the screen on the cabinet will display The capacity and voltage of the battery

When the detection module successfully reads the battery information, connect the lithium battery to the charging board (that is, the intelligent charging circuit board), select the appropriate charging interface, and the lithium battery will start charging, and the charging information will be displayed on the screen

Since the on-board emergency charging system for the disaster recovery of the inspection drone fleet is the lithium battery of the drone, the temperature in the cabinet will rise, so six temperature monitoring probes are placed on the second floor of the cabinet. The top and bottom layers of the cabinet are respectively Place a temperature-controlled monitoring probe. When the charging temperature of the lithium battery or the operating temperature of the power supply is higher than the temperature set by the temperature detector, it can be set artificially (for example, 40 degrees and 50 degrees respectively), and the fan starts to work. When the temperature is higher than the safe working temperature (70 degrees), the buzzer will sound an alarm.

In order to realize real-time monitoring of the internal conditions of the cabinet (when there may be fireworks in the cabinet), each floor of the cabinet has a monitoring camera for real-time monitoring of the working status of each module and lithium battery charging. Real-time monitoring of each module of the cabinet can be realized by wirelessly connecting the tablet computer or mobile phone with the monitoring camera. The camera has a built-in data storage card. When the staff needs to view historical recordings, they can look back by reading the data in the memory card.

The rectifier module (AC/DC) and the inverter module (DC/AC) of the above-mentioned inspection UAV vehicle fleet disaster recovery vehicle emergency charging system of the present invention are unmanned. The specific part of the charging of the lithium-ion battery is described in detail as follows.

Rectifier module (AC/DC): Since the UAV charging power cabinet is often placed on the car, the shock resistance, airtightness, and temperature range of the power supply are all things to consider. Secondly, because it often works outdoors, it is required The power supply has the characteristics of high working efficiency, low grid harmonics, stable input and output, small size, high power density, excellent controllability, and relatively large output power level. And because when charging the battery, the voltage at both ends of the battery will change with the battery power, so the output voltage range of the rectifier module (AC/DC) should be wide.

According to performance requirements, etc., the structure of the rectifier module (AC/DC) includes the AC/DC main circuit module and the AC/DC control circuit module. DC (full-bridge LLC resonant converter module), output rectification and filtering module, AC/DC main circuit module also includes auxiliary power supply, PWM drive circuit module, AC/DC control circuit module includes control module, sampling module, the control module through The sampling module samples the fault signals and voltage and current signals of the AC/DC main circuit module, and the control module is also connected to the full-bridge LLC resonant converter module through the auxiliary power supply and the PWM driving circuit module.

The front stage adopts the interleaved parallel Boost PFC rectification technology, which can increase the power density while increasing the power, and has a small current ripple. The DC-DC part uses a full-bridge LLC resonant converter, which can not only realize the ZVS turn-on of the primary power switch tube within the full load range, but also realize the ZCS turn-off of the secondary rectifier diode, and also has a wide voltage output. The overall efficiency of the charging equipment is improved.

In the control part, the DC-DC adopts the digital control chip TMS320F28035 DSP of TI Company, and the PFC adopts the digital control chip TMS320F28033 DSP to realize the functions of voltage and current detection, control and protection, because the processing speed of DSP is very fast , which can make the entire charging device more convenient to control, so that the system stability of the charging device is better. The overall design structure is shown in Figure 5.

The circuit structure of the AC/DC main circuit of the present invention adopts a two-stage structure of an interleaved PFC circuit + a full-bridge LLC resonant circuit, and the specific circuit structure is shown in FIG. 6 . The interleaved parallel PFC circuit in the front stage of the circuit realizes AC/DC conversion, improves the input power factor and suppresses the high-order harmonics of the input current at the same time, and the LLC resonant conversion circuit in the latter stage realizes DC/DC conversion and adjusts the output and load phase. match, and realize the isolation of input and output. Due to the advantages of the interleaved parallel PFC circuit and the full-bridge LLC resonant circuit, the switching loss of the entire circuit is greatly reduced, so that the efficiency of the entire circuit is higher.

The circuit structure of the AC/DC control circuit of the present invention is divided into interleaved parallel PFC control and DC-DC circuit control. Among them, the current control of interleaved parallel PFC control in CCM mode can be divided into hysteresis current control (HCC); peak current control (Peak current mode control, PCMC); average current control (Average current mode control, ACMC). Because the average current control method has many advantages, such as smaller THD, smaller error between the average value and the peak value of the inductor current, higher gain bandwidth, smaller tracking error, and smaller distortion, etc., and is suitable for larger power applications, so The inductor current control method of this design adopts the average current control method, as shown in Figure 7, it is the schematic diagram of Boost PFC average current control. The DC-DC circuit control adopts TI's TMS320F28035 processor. 28035 is TI's piccolo series DSP, which has a traditional fixed-point C28x core and a coprocessor that supports single-precision floating-point operations - Control Law Accelerator (CLA). Both C28x core and CLA coprocessor support 60M main frequency. CLA coprocessor supports direct reading of AD and EPWM data and direct configuration of related modules, and supports automatic sleep. Compared with TMS320F28335, it maintains a strong At the same time of performance, the price is much lower, so the scheme proposed in this paper adopts this DSP as the main controller. The main functional block diagram of the chip is shown in Figure 8.

The inverter module (DC/AC) includes a DC/AC main circuit module and a DC/AC control circuit module, wherein the DC/AC main circuit module includes a push-pull boost circuit and a single-phase full-bridge inverter circuit, and a DC/AC control circuit The module includes PWM driving circuit and SPWM driving circuit. The PWM driving circuit adopts UC2846 chip, and the SPWM driving circuit adopts PIC18F2331 chip. The block diagram of the inverter module is shown in Figure 9. It mainly consists of four parts:

(1) DC boost circuit: It adopts a push-pull boost circuit, its main function is to boost the 24V DC output from the battery to 200V DC voltage.

(2) Inverter circuit: A single-phase full-bridge inverter circuit is used to convert the DC voltage into 220V 50Hz AC for easy use.

(3) Filtering circuit: through the LC filter, the high-order harmonics in the inverter output voltage are filtered out to reduce the influence of harmonics.

(4) Control circuit: The single-chip microcomputer is used as the main control chip to control the coordinated work of each module and realize various control algorithms to make the system work according to the set state.

The DC/AC main circuit module of the present invention adopts push-pull boost and full-bridge inverter two-stage conversion, as shown in FIG. 10 . The DC/AC main circuit module is a sine wave output inverter power supply controlled by a single-chip microcomputer. It takes the 24V DC power input from the battery pack as input and outputs 220V 50Hz sine wave AC power to meet the power supply needs of most conventional small appliances. The power supply adopts push-pull boost and full-bridge inverter two-stage conversion, and the front and rear stages are completely isolated. In the control circuit, the pre-stage push-pull boost circuit is controlled by the chip UC2846, and the voltage of the transformer winding is sampled for closed-loop feedback; the inverter part adopts the digital SPWM control method of the single chip microcomputer, and the output voltage is sampled for feedback control. Voltage protection, output overload, short circuit protection, overheat protection and other multiple protection function circuits enhance the reliability and safety of the power supply.

One end of the input voltage is connected to the center tap of the primary side of the transformer, and the other end is connected to the midpoint of the switch tubes S1 and S2. Control S1 and S2 to turn on in turn to form a high-frequency AC voltage on the primary side of the transformer, and get 200/400V DC voltage on the capacitor C1 through transformer boosting, rectification and filtering. Sinusoidal pulse width modulation is used for the inverter bridge composed of S3～S6. After the inverter output voltage is filtered by inductor L and capacitor C2, 220V 50Hz sine wave alternating current is finally obtained on the load. The high-frequency transformer is used to realize the isolation between the front and rear stages, which is beneficial to improve the safety of the system.

As shown in Figures 11 and 12, the DC/AC control circuit module of the present invention is also divided into two parts. The pre-stage push-pull boost circuit is controlled by PWM control chip UC2846, which samples the transformer winding voltage to realize voltage closed-loop feedback control. Input 24V DC voltage, the UC2846 PWM control circuit controls the two switch tubes in the high-frequency AC generating circuit to turn on in turn, forming a high-frequency AC voltage on the primary side of the transformer, and through the integration of the transformer, finally obtain 200V on the filter capacitor of DC voltage. The post-stage full-bridge inverter adopts unipolar SPWM modulation. Sinusoidal pulse width modulation (SPWM) technology has the advantages of linear voltage regulation and harmonic suppression, and is currently the most widely used pulse width modulation technology. The PIC18F2331 control drive circuit performs sinusoidal pulse width modulation on the four switching tubes in the main circuit of the inverter bridge sinusoidal pulse width modulation. After the DC voltage is output by the inverter circuit, a sine wave with a specified frequency and amplitude is finally obtained on the load. .

The above are the preferred embodiments of the present invention, and all changes made according to the technical solution of the present invention, when the functional effect produced does not exceed the scope of the technical solution of the present invention, all belong to the protection scope of the present invention.

Claims (10)

1. A vehicle-mounted emergency charging system for disaster recovery of an inspection unmanned aerial vehicle fleet, is characterized in that: it comprises a three-layer cabinet fixed on the vehicle-mounted platform, and the bottom plate of the top floor of the cabinet is provided with an AC/DC module and a DC/AC module, Two ventilation openings are arranged on the two side walls of the top floor of the cabinet, and two fans are respectively arranged at the two ventilation openings, and a first monitoring camera and a first temperature sensor module are also arranged on the side walls of the top floor of the cabinet. An intelligent charging circuit board, a second temperature sensor module, and a lithium battery charging slot for placing a lithium battery of an unmanned aerial vehicle to be charged are arranged on the bottom of the first floor, and the second layer of the cabinet is also provided with a second monitoring camera. There are several storage battery packs on the bottom floor, and the third monitoring camera and the third temperature sensor module are also installed on the bottom of the cabinet; when the vehicle is on the way and needs to charge the lithium battery of the drone, the intelligent charging circuit board controls the battery pack to pass through the intelligent The DC/DC charging module of the charging circuit board charges the lithium battery of the drone, and at the same time, the intelligent charging circuit board controls the battery pack to charge the 220V AC equipment carried by the disaster recovery and emergency personnel through the DC/AC module; when the vehicle is parked in the disaster recovery On site, when it is necessary to charge the lithium battery of the drone, the smart charging circuit board controls the on-board generator to charge the lithium battery of the drone through the AC/DC module and the DC/DC charging module of the smart charging circuit board, and the smart charging circuit board Control the on-board generator to charge the battery pack through the AC/DC module; when the first to third temperature sensor modules detect that the temperature in the cabinet is greater than the threshold, or the first to third monitoring cameras detect that there is a situation including fireworks in the cabinet , the smart charging circuit board controls the fan to start. 2. The vehicle-mounted emergency charging system for disaster recovery of the inspection drone fleet according to claim 1, characterized in that: the intelligent charging circuit board is also provided with a charging controller and connected to the charging controller for detecting A lithium battery state detection module for the lithium battery state of the drone, and a temperature controller for controlling the working states of the first to third temperature sensor modules. 3. The vehicle-mounted emergency charging system for disaster recovery of the inspection drone fleet according to claim 1, wherein the second temperature sensor module includes 6 temperature sensors evenly distributed on the second floor of the cabinet. 4. The vehicle-mounted emergency charging system for disaster recovery of the inspection drone fleet according to claim 1, characterized in that: the battery packs are composed of two 12V lead-acid batteries connected in series. 5. The on-board emergency charging system for disaster recovery of the inspection drone fleet according to claim 2 is characterized in that: the system is provided with a 24V DC bus to facilitate the connection between the vehicle generator, the storage battery pack, and the lithium battery of the drone. charging and discharging; the on-board generator is connected to the 24V DC bus through the aviation plug, the first air switch, the AC/DC module, and the second air switch; the battery pack is connected to the 24V DC bus through the third air switch; The DC/AC module is connected to the 24V DC bus through the fourth air switch; the DC/DC charging module is connected to the 24V DC bus through the fifth air switch; the first to fifth air switches are all connected to to the charge controller. 6. According to any one of claims 1 to 5, the on-board emergency charging system for disaster recovery of the inspection drone fleet, wherein the AC/DC module includes an AC/DC main circuit module and an AC/DC control circuit module , the AC/DC main circuit module includes sequentially connected input filter modules, interleaved parallel PFC rectification modules, full-bridge LLC resonant converter modules, and output rectification and filtering modules, and the AC/DC main circuit module also includes auxiliary power supplies, PWM Drive circuit module, the AC/DC control circuit module includes a control module and a sampling module, the control module samples the fault signal and voltage and current signal of the AC/DC main circuit module through the sampling module, and the control module also passes the sampling module The auxiliary power supply and the PWM drive circuit module are connected to the full-bridge LLC resonant converter module. 7. The on-board emergency charging system for disaster recovery of the inspection drone fleet according to claim 6 is characterized in that: the interleaved parallel PFC rectifier module is an interleaved parallel BOOST PFC circuit; the full bridge LLC resonant converter module consists of The full-bridge inverter circuit, the resonant network and the rectification and filtering network are composed of three parts. 8. The vehicle-mounted emergency charging system for disaster recovery of the inspection drone fleet according to claim 6 is characterized in that: the control module is a DSP digital processor, which is composed of TMS320F28035 and TMS320F28033 digital control chips to control the A full-bridge LLC resonant converter module and an interleaved parallel PFC rectifier module are described. 9. According to any one of claims 1 to 5, the on-board emergency charging system for disaster recovery of the inspection drone fleet, wherein the DC/AC module includes a DC/AC main circuit module and a DC/AC control circuit module , wherein the DC/AC main circuit module includes a push-pull boost circuit and a single-phase full-bridge inverter circuit, and the DC/AC control circuit module includes a PWM drive circuit and a SPWM drive circuit. 10. The vehicle-mounted emergency charging system for disaster recovery of the inspection drone fleet according to claim 9, wherein the PWM drive circuit uses a UC2846 chip, and the SPWM drive circuit uses a PIC18F2331 chip.