CN115016528B - Photovoltaic board inspection system based on unmanned aerial vehicle - Google Patents
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Abstract
The invention discloses a photovoltaic panel inspection system based on an unmanned aerial vehicle, which is characterized in that a planning model of a controlled area is obtained through a route planning unit, then path analysis is carried out on the planning model by means of a comprehensive analysis unit, all paths of all audience objects inspected by the unmanned aerial vehicle are determined by means of the path analysis, and a target path is determined from all the paths; then, the processor is used for driving the unmanned aerial vehicle to patrol all target paths according to the target paths, when each target object is reached, the image acquisition unit is driven to acquire scene pictures of the corresponding target object, the scene pictures are subjected to abnormal analysis by the image analysis unit, suspicious pictures of all photovoltaic panels are obtained, and preliminary patrol is completed; the charging planning of the unmanned aerial vehicle during flying is realized by means of the processor, the power supply module and the photovoltaic panel, and the unmanned aerial vehicle can finish patrol in the shortest time and under the condition of electric quantity support synchronously according to related methods.
Description
Technical Field
The invention belongs to the field of photovoltaic panel inspection, and particularly relates to a photovoltaic panel inspection system based on an unmanned aerial vehicle.
Background
Patent publication No. CN113867400A discloses a photovoltaic power generation equipment patrol processing method and system based on an unmanned aerial vehicle, and the method comprises the following steps: acquiring the laying area of the photovoltaic panel in a preset area; acquiring the number of photovoltaic panels of which the flying distance of one unmanned aerial vehicle can be inspected according to the electric quantity of the unmanned aerial vehicle and the size of each photovoltaic panel; the method comprises the steps of obtaining the number of unmanned aerial vehicles supported by an unmanned aerial vehicle base station, and determining the first number of photovoltaic panels which can be supported by each unmanned aerial vehicle base station according to the number of the unmanned aerial vehicles supported by the unmanned aerial vehicle base station and the number of the photovoltaic panels which can be inspected by each unmanned aerial vehicle; dividing the predetermined area into a plurality of sub-areas according to the laying area of the predetermined area. Through the method and the device, the problem that the deployment of the base station of the unmanned aerial vehicle cannot be reasonably evaluated in the prior art is solved, so that the reasonability and the scientificity of the unmanned aerial vehicle for patrolling the photovoltaic equipment and the deployment of the base station are improved, and support is provided for improving the patrolling efficiency of the unmanned aerial vehicle.
The system provides a better unmanned aerial vehicle inspection system, but aiming at the inspection of photovoltaic panels with large batch and long distance, how to determine an inspection path and how to finish the inspection of a single unmanned aerial vehicle is a difficult problem, and based on the difficult problem, a solution is provided.
Disclosure of Invention
The invention aims to provide a photovoltaic panel inspection system based on an unmanned aerial vehicle.
The purpose of the invention can be realized by the following technical scheme:
photovoltaic board inspection system based on unmanned aerial vehicle includes
The route planning unit is used for acquiring a planning model of the controlled area, wherein the planning model comprises the body positions of all photovoltaic panels and the rising and falling positions of the unmanned aerial vehicle in the controlled area, and transmits the planning model to the comprehensive analysis unit, the comprehensive analysis unit receives the planning model transmitted by the route planning unit, performs path analysis on the planning model, determines all paths of all audience objects patrolled by the unmanned aerial vehicle by means of the path analysis, and determines a target path from all the paths; the audience object is a photovoltaic panel needing to be patrolled;
the comprehensive analysis unit transmits the target path to the processor through the information synchronization unit, the processor is used for driving the unmanned aerial vehicle to patrol all target paths according to the target path, and when the unmanned aerial vehicle reaches each audience object, the comprehensive analysis unit drives the image acquisition unit to acquire a scene picture of the corresponding audience object, and the scene picture is an integral picture of the audience object and the environment where the audience object is located;
the image acquisition unit is used for transmitting the scene pictures to the image analysis unit, and the image analysis unit is used for carrying out abnormal analysis on the scene pictures to obtain doubtful pictures of all photovoltaic panels.
Further, the specific way of path analysis is as follows:
the method comprises the following steps: acquiring a corresponding planning model;
step two: marking the takeoff position of the unmanned aerial vehicle as a starting point, and marking the landing position as a terminal point;
step three: acquiring all photovoltaic panels, and marking each photovoltaic panel to be patrolled as an audience object;
step four: then, automatically acquiring paths which can be realized when the unmanned aerial vehicle passes through all audience objects, and marking the paths as paths to be selected; acquiring the path lengths of all paths to be selected, marking the path lengths as the path lengths to be selected, sorting the paths from small to large according to the numerical values of the path lengths to be selected, selecting the corresponding paths to be selected which are sorted in the first ten rows, and marking the paths to be selected as divided paths;
step five: then acquiring all divided paths, and performing data interception on the divided paths to obtain all divided paths Li and corresponding path selection values Qi, i =1.. 10;
step six: and marking the divided path Li corresponding to the maximum value of the routing value Qi as a target path.
Further, the data interception in the step five is specifically as follows:
s1: acquiring all divided paths, and marking the divided paths as Li, i =1, 2, 3.. 10;
s2: then, automatically acquiring the length of each path of the divided path Li, and marking the length as the divided length Di, i =1.. 10;
s3: then, defining the foldback value in a specific mode
Acquiring the turning of the flight paths in all the divided paths and the included angle formed between the two paths, adding one to the specific numerical value of the turn-back value when the included angle is not more than ninety degrees, and marking the angle at the moment as the turn-back angle; otherwise, no processing is carried out;
s4: repeating the operation of the step S3, completing the turn-back value statistics of the divided path, then adding all turn-back angles, and marking the obtained value as a turn-back total angle;
s5: obtaining the turn-back values and the turn-back total angles of all the divided paths Li according to the principles of the steps S3-S4, wherein the corresponding marks are Fi and Zi, i =1.. 10, and Fi and Zi are in one-to-one correspondence with Li;
s6: then, the way selection value Qi is calculated by using a formula, wherein the specific calculation formula is as follows:
Qi＝0.37*Di+0.36*1/Fi+0.27*Zi；
in the formula, 0.37, 0.36 and 0.27 are all preset weights;
s7: all the divided paths Li and their corresponding routing values Qi are obtained.
Further, the included angle in step S3 refers to a portion equal to or less than one hundred and eighty degrees.
Further, the specific manner of the anomaly analysis is as follows:
step1: firstly, collecting an initial photo for all audience objects, marking the initial photo as a comparison photo, and marking the comparison photos of all the audience objects as a comparison photo group;
step2: then, carrying out similarity comparison on the scene picture acquired in real time and the contrast pictures in the corresponding contrast picture group;
step3: if the similarity of the two pictures is lower than B1, marking the pictures as suspicious photos; when the picture is a picture in doubt, the picture is automatically returned to the user, otherwise, the picture is not processed, and the corresponding scene picture is deleted;
here, B1 is determined in the following manner:
acquiring a plurality of pictures which are confirmed by a user to have abnormity on the photovoltaic panel, comparing the pictures with the contrast pictures to acquire similarity, then calculating the mean value of all the similarity, and marking the corresponding mean value as B1;
step4: and then, continuously analyzing the acquired scene pictures, and processing all the acquired scene pictures to obtain all the in-doubt pictures.
Further, also includes
The power supply module is wireless charging equipment arranged above the photovoltaic panel and used for supplementing the electric quantity of the unmanned aerial vehicle by means of the electric quantity of the photovoltaic panel;
when the processor receives the target path transmitted by the information synchronization unit, the processor is also used for carrying out power supply planning by combining the photovoltaic panel and the power supply module, and the specific mode of the power supply planning is as follows:
SS1: acquiring the current real-time electric quantity of the unmanned aerial vehicle, and generating a power-supplementing signal when the real-time electric quantity is lower than X1, wherein X1 is a preset electric quantity percentage;
and SS2: at the moment, the power consumption and the flight distance of the current unmanned aerial vehicle are automatically acquired, the power consumption is divided by the flight distance, and the obtained value is marked as apparent flight average power consumption;
and (4) SS3: then acquiring the total route of the remaining objects needing to finish flying all the audience objects to the end point, and marking the total route as the remaining route;
and SS4: the method comprises the steps of acquiring the total electricity storage quantity of the unmanned aerial vehicle, wherein the total electricity storage quantity is the electricity quantity corresponding to the maximum capacity which can be stored by the unmanned aerial vehicle, and calculating the full electricity distance by using a formula, wherein the specific formula is as follows:
full circuit pass = total charge/(apparent fly average consumption ·);
in the formula, α is a preset value, usually 1.2, and is used as a correction value, since the power consumption may be different under different conditions, a correction is made;
and SS5: and then, when the full-electricity distance is not less than the remaining distance, performing stage charging, wherein the specific charging electric quantity of the stage charging is calculated according to a formula, and the specific charging electric quantity is as follows:
the charge capacity = the remaining distance/(apparent fly average consumption β);
in the formula, the value of beta is more than or equal to alpha, and is generally 1.3;
according to the charging electric quantity, the charging is stopped after the electric quantity of the unmanned aerial vehicle is supplemented to the corresponding degree;
if the full circuit distance is smaller than the remaining distance, fully charging the electric quantity of the unmanned aerial vehicle;
and SS6: then, the electric quantity of the unmanned aerial vehicle is monitored in real time again, and when each electricity supplementing signal is generated, the analysis of the SS2-SS6 steps is repeated to determine the charging electric quantity each time;
furthermore, the device also comprises a management unit which is in communication connection with the processor and is used for recording all preset numerical values.
The invention has the beneficial effects that:
according to the method, a planning model of a controlled area is obtained through a route planning unit, then path analysis is carried out on the planning model through a comprehensive analysis unit, all paths of all audience objects of the unmanned aerial vehicle are determined through the path analysis, and a target path is determined from all the paths; then, the processor is used for driving the unmanned aerial vehicle to patrol all target paths according to the target paths, when each target object is reached, the image acquisition unit is driven to acquire scene pictures of the corresponding target object, the scene pictures are subjected to abnormal analysis by the image analysis unit, suspicious pictures of all photovoltaic panels are obtained, and preliminary patrol is completed;
the charging planning of the unmanned aerial vehicle during flying is realized by means of the processor, the power supply module and the photovoltaic panel, and the unmanned aerial vehicle can finish patrol in the shortest time and under the condition of electric quantity support synchronously according to related methods.
Drawings
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
FIG. 1 is a block diagram of the system of the present invention.
Detailed Description
As shown in fig. 1, a photovoltaic panel inspection system based on an unmanned aerial vehicle,
the system comprises a route planning unit, a comprehensive analysis unit, an information synchronization unit, a processor, an image acquisition unit, an image analysis unit and an information transmission unit;
the route planning unit is used for acquiring a planning model of the controlled area, the planning model comprises the body positions of all photovoltaic panels and the rising and falling positions of the unmanned aerial vehicle of the controlled area, the planning model is transmitted to the comprehensive analysis unit, the comprehensive analysis unit receives the planning model transmitted by the route planning unit and analyzes the route of the planning model, and the specific route analysis mode is as follows:
the method comprises the following steps: acquiring a corresponding planning model;
step two: marking the takeoff position of the unmanned aerial vehicle as a starting point, and marking the landing position as an end point;
step three: acquiring all photovoltaic panels, and marking each photovoltaic panel to be patrolled as an audience object;
step four: then, paths which can be realized by the unmanned aerial vehicle passing through all audience objects are automatically acquired and marked as paths to be selected, wherein the paths can be determined in a random arrangement and combination mode, or a mode of automatically searching the next shortest path through the path; acquiring the path lengths of all paths to be selected, marking the path lengths as the path lengths to be selected, sorting the paths from small to large according to the numerical values of the path lengths to be selected, selecting the corresponding paths to be selected which are sorted in the first ten rows, and marking the paths to be selected as divided paths;
step five: then all the divided paths are obtained, and data interception is carried out on the divided paths, wherein the specific data interception mode is as follows:
s1: acquiring all divided paths, and marking the divided paths as Li, i =1, 2, 3.. 10;
s2: then, automatically acquiring the length of each path of the divided path Li, and marking the length as the divided length Di, i =1.. 10;
s3: then, defining the foldback value in a specific mode
Acquiring an included angle formed between two paths corresponding to the turning of the flight paths in all the divided paths, wherein the included angle refers to a part smaller than one hundred and eighty degrees, and when the included angle is not more than ninety degrees, adding one to a specific numerical value of a turn-back value, and marking the angle at the moment as a turn-back angle; otherwise, no processing is carried out;
s4: repeating the operation of the step S3, completing the turn-back value statistics of the divided path, then adding all turn-back angles, and marking the obtained value as a turn-back total angle;
s5: obtaining the turn-back values and the turn-back total angles of all the divided paths Li according to the principle of the steps S3-S4, wherein the corresponding marks are Fi and Zi, i =1.. 10, and Fi and Zi are in one-to-one correspondence with Li;
s6: then, a way selection value Qi is calculated by using a formula, wherein the specific calculation formula is as follows:
Qi＝0.37*Di+0.36*1/Fi+0.27*Zi；
in the formula, 0.37, 0.36 and 0.27 are all preset weights, and are used for highlighting different importance of different factors;
s7: obtaining all the divided paths Li and corresponding routing values Qi;
step six: marking the divided path Li corresponding to the maximum numerical value of the route selection value Qi as a marked path;
the comprehensive analysis unit transmits the target path to the processor through the information synchronization unit, the processor is used for driving the unmanned aerial vehicle to patrol all target paths according to the target path, and when each audience object is reached, the image acquisition unit is driven to acquire the scene picture of the corresponding audience object, the scene picture is the whole picture of the audience object and the environment where the audience object is located, the image acquisition unit is used for transmitting the scene picture to the image analysis unit, the image analysis unit is used for carrying out abnormity analysis on the scene picture, and the abnormity analysis concrete mode is as follows:
step1: firstly, collecting an initial photo for all audience objects, marking the initial photo as a comparison photo, and marking the comparison photos of all the audience objects as a comparison photo group;
step2: then, carrying out similarity comparison on the scene picture acquired in real time and the contrast pictures in the corresponding contrast picture group;
step3: if the similarity of the two pictures is lower than B1, marking the pictures as suspicious pictures; when the picture is the in-doubt picture, automatically returning the picture to the user, otherwise, not processing the picture, and deleting the corresponding scene picture;
here, B1 is determined in the following manner:
acquiring a plurality of pictures which are confirmed by a user to have abnormity on the photovoltaic panel, comparing the pictures with the contrast pictures to acquire similarity, then calculating the mean value of all the similarity, and marking the corresponding mean value as B1;
step4: then, continuously analyzing the acquired scene pictures, and processing all the acquired scene pictures to obtain all the in-doubt pictures;
as another embodiment of the present application, the present application is different from the first embodiment in that,
the photovoltaic module also comprises a power supply module and a photovoltaic panel; the power supply module is wireless charging equipment arranged above the photovoltaic panel and used for supplying electric quantity to the unmanned aerial vehicle by means of the electric quantity of the photovoltaic panel;
when the processor receives the target path transmitted by the information synchronization unit, the processor is further used for carrying out power supply planning by combining the photovoltaic panel and the power supply module, wherein the specific mode of the power supply planning is as follows:
SS1: acquiring the current real-time electric quantity of the unmanned aerial vehicle, and generating a power-supplementing signal when the real-time electric quantity is lower than X1, wherein X1 is a preset electric quantity percentage;
and (4) SS2: at the moment, the consumed electric quantity and the flight distance of the current unmanned aerial vehicle are automatically acquired, the consumed electric quantity is divided by the flight distance, and the obtained value is marked as view flight average consumption;
and SS3: then acquiring the total route of the remaining audience objects which need to fly to the end point, and marking the total route as the remaining route;
and SS4: the method comprises the steps of acquiring the total electricity storage quantity of the unmanned aerial vehicle, wherein the total electricity storage quantity is the electricity quantity corresponding to the maximum capacity which can be stored by the unmanned aerial vehicle, and calculating the full electricity distance by using a formula, wherein the specific formula is as follows:
full circuit pass = total charge/(apparent fly average consumption ·);
in the formula, α is a preset value, usually 1.2, and is used as a correction value, since the power consumption may be different under different conditions, a correction is made;
and SS5: and then, when the full-electricity distance is not less than the remaining distance, performing stage charging, wherein the specific charging electric quantity of the stage charging is calculated according to a formula, and the specific charging electric quantity is as follows:
the charge capacity = the remaining distance/(apparent fly average consumption β);
in the formula, the value of beta is more than or equal to alpha, and is generally 1.3;
according to the charging electric quantity, the charging is stopped after the electric quantity of the unmanned aerial vehicle is supplemented to a corresponding degree; the method can ensure that the charging time is shortened, and the unmanned aerial vehicle can return to the terminal point to finish the patrol of all audience objects in a quicker time;
if the full circuit distance is smaller than the remaining distance, fully charging the electric quantity of the unmanned aerial vehicle;
and SS6: then, the electric quantity of the unmanned aerial vehicle is monitored in real time again, and when each electricity supplementing signal is generated, the analysis of the SS2-SS6 steps is repeated to determine the charging electric quantity each time;
the third embodiment of the present invention is different from the first and second embodiments in that the present invention further includes a management unit, and the management unit is in communication connection with the processor and is used for entering all preset values.
The foregoing is merely exemplary and illustrative of the present invention and various modifications, additions and substitutions may be made by those skilled in the art to the specific embodiments described without departing from the scope of the invention as defined in the following claims.
Claims (5)
1. Photovoltaic board inspection system based on unmanned aerial vehicle, its characterized in that includes
The route planning unit is used for acquiring a planning model of the controlled area, wherein the planning model comprises the body positions of all photovoltaic panels and the rising and falling positions of the unmanned aerial vehicle in the controlled area, and transmits the planning model to the comprehensive analysis unit, the comprehensive analysis unit receives the planning model transmitted by the route planning unit, performs path analysis on the planning model, determines all paths of all audience objects patrolled by the unmanned aerial vehicle by means of the path analysis, and determines a target path from all the paths; the audience object is a photovoltaic panel needing to be patrolled;
the comprehensive analysis unit transmits the target path to the processor through the information synchronization unit, the processor is used for driving the unmanned aerial vehicle to patrol all target paths according to the target path, and driving the image acquisition unit to acquire a scene picture of a corresponding audience object when the unmanned aerial vehicle reaches each audience object, wherein the scene picture is an integral picture of the audience object and the environment where the audience object is located;
the image acquisition unit is used for transmitting the scene picture to the image analysis unit, and the image analysis unit is used for carrying out exception analysis on the scene picture to obtain the in-doubt pictures of all photovoltaic panels;
the specific way of path analysis is as follows:
the method comprises the following steps: acquiring a corresponding planning model;
step two: marking the takeoff position of the unmanned aerial vehicle as a starting point, and marking the landing position as a terminal point;
step three: acquiring all photovoltaic panels, and marking each photovoltaic panel to be patrolled as an audience object;
step four: then, automatically acquiring paths which can be realized when the unmanned aerial vehicle passes through all audience objects, and marking the paths as paths to be selected; acquiring the path lengths of all paths to be selected, marking the path lengths as the path lengths to be selected, sorting the paths from small to large according to the numerical values of the path lengths to be selected, selecting the corresponding paths to be selected which are sorted in the first ten rows, and marking the paths to be selected as divided paths;
step five: then acquiring all divided paths, and performing data interception on the divided paths to obtain all divided paths Li and corresponding path selection values Qi, i =1.. 10;
step six: marking the divided path Li corresponding to the maximum value of the routing value Qi as a marked path;
the data interception in the step five is specifically as follows:
s1: acquiring all divided paths, and marking the divided paths as Li, i =1, 2, 3.. 10;
s2: then, automatically acquiring the length of each path of the divided paths Li, and marking the length as a divided length Di, wherein i =1.. 10;
s3: then, defining the foldback value in a specific mode
Acquiring the turning of the flight paths in all the divided paths and the included angle formed between the two paths, adding one to the specific numerical value of the turn-back value when the included angle is not more than ninety degrees, and marking the angle at the moment as a turn-back angle; otherwise, no processing is carried out;
s4: repeating the operation of the step S3, completing the turn-back value statistics of the divided path, then adding all turn-back angles, and marking the obtained value as a turn-back total angle;
s5: obtaining the turn-back values and the turn-back total angles of all the divided paths Li according to the principles of the steps S3-S4, wherein the corresponding marks are Fi and Zi, i =1.. 10, and Fi and Zi are in one-to-one correspondence with Li;
s6: then, the way selection value Qi is calculated by using a formula, wherein the specific calculation formula is as follows:
Qi＝0.37*Di+0.36*1/Fi+0.27*Zi；
in the formula, 0.37, 0.36 and 0.27 are all preset weights;
s7: all the divided paths Li and their corresponding routing values Qi are obtained.
2. The unmanned-aerial-vehicle-based photovoltaic panel inspection system of claim 1, wherein the included angle in step S3 is defined as a portion that is less than or equal to one hundred and eighty degrees.
3. The photovoltaic panel inspection system based on the unmanned aerial vehicle according to claim 1, wherein the specific manner of anomaly analysis is as follows:
step1: firstly, collecting an initial photo for all audience objects, marking the initial photo as a comparison photo, and marking the comparison photos of all the audience objects as a comparison photo group;
step2: then, carrying out similarity comparison on the scene picture acquired in real time and the contrast pictures in the corresponding contrast picture group;
step3: if the similarity of the two pictures is lower than B1, marking the pictures as suspicious photos; when the picture is the in-doubt picture, automatically returning the picture to the user, otherwise, not processing the picture, and deleting the corresponding scene picture;
here, B1 is determined in the following manner:
acquiring a plurality of pictures which are confirmed by a user to have abnormity on the photovoltaic panel, comparing the pictures with the contrast pictures to acquire similarity, then calculating the mean value of all the similarity, and marking the corresponding mean value as B1;
step4: and then, continuously analyzing the acquired scene pictures, and processing all the acquired scene pictures to obtain all the in-doubt pictures.
4. The unmanned-aerial-vehicle-based photovoltaic panel inspection system of claim 1, further comprising
The power supply module is wireless charging equipment arranged above the photovoltaic panel and used for supplementing the electric quantity of the unmanned aerial vehicle by means of the electric quantity of the photovoltaic panel;
when the processor receives the target path transmitted by the information synchronization unit, the processor is further used for carrying out power supply planning by combining the photovoltaic panel and the power supply module, wherein the specific mode of the power supply planning is as follows:
and (4) SS1: acquiring the current real-time electric quantity of the unmanned aerial vehicle, and generating a power-supplementing signal when the real-time electric quantity is lower than X1, wherein X1 is a preset electric quantity percentage;
and SS2: at the moment, the consumed electric quantity and the flight distance of the current unmanned aerial vehicle are automatically acquired, the consumed electric quantity is divided by the flight distance, and the obtained value is marked as view flight average consumption;
and (4) SS3: then acquiring the total route of the remaining audience objects which need to fly to the end point, and marking the total route as the remaining route;
and (4) SS: the method comprises the steps of acquiring the total electricity storage quantity of the unmanned aerial vehicle, wherein the total electricity storage quantity is the electricity quantity corresponding to the maximum capacity which can be stored by the unmanned aerial vehicle, and calculating the full electricity distance by using a formula, wherein the specific formula is as follows:
full circuit pass = total stored charge/(apparent fly average consumption ·);
in the formula, alpha is a preset value and is used as a correction value, and a correction is made because the power consumption amount may be different under different conditions;
SS5: and then, when the full-electricity distance is not less than the remaining distance, performing stage charging, wherein the specific charging electric quantity of the stage charging is calculated according to a formula, and the specific charging electric quantity is as follows:
the charge capacity = the remaining distance/(apparent fly average consumption β);
wherein the value of beta is more than or equal to alpha;
according to the charging electric quantity, the charging is stopped after the electric quantity of the unmanned aerial vehicle is supplemented to a corresponding degree;
if the full circuit distance is smaller than the remaining distance, fully charging the electric quantity of the unmanned aerial vehicle;
and SS6: and then, monitoring the electric quantity of the unmanned aerial vehicle in real time again, and repeating the analysis of the steps SS2-SS6 when each electricity supplementing signal is generated to determine the charging electric quantity each time.
5. The photovoltaic panel inspection system based on unmanned aerial vehicles according to any one of claims 1-4, further comprising a management unit, wherein the management unit is in communication connection with the processor and is used for recording all preset values.
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