CN105700544A - UAV tour inspection system and implementation method for electrical equipment of photovoltaic power station - Google Patents
UAV tour inspection system and implementation method for electrical equipment of photovoltaic power station Download PDFInfo
- Publication number
- CN105700544A CN105700544A CN201610218499.2A CN201610218499A CN105700544A CN 105700544 A CN105700544 A CN 105700544A CN 201610218499 A CN201610218499 A CN 201610218499A CN 105700544 A CN105700544 A CN 105700544A
- Authority
- CN
- China
- Prior art keywords
- flight
- electrical equipment
- control
- photovoltaic plant
- unmanned vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention discloses a UAV (Unmanned Aerial Vehicle) tour inspection system and an implementation method for electrical equipment of a photovoltaic power station. The tour inspection system includes an onboard terminal, a ground terminal and a wireless communication module. The onboard terminal is arranged on a UAV and is used for controlling photo taking or controlling a monitoring device for collecting image data of the electrical equipment of the photovoltaic power station, and receiving control commands sent to the onboard terminal from the ground terminal at the same time. The ground terminal is arranged on a ground platform and is used for processing data sent by the onboard terminal, so that flight and photo taking operation of the UAV can be controlled on ground. The wireless communication terminal is used for implementing a function of transmitting flight control commands, flight state data and video data return between the onboard terminal and the ground terminal. The tour inspection system enables real time high-definition view of infrared images and visible light images, so that timely trouble shooting is facilitated. Through analyzing images on the ground terminal through mode recognition, sound-light alarm can be given after faults are found and fault point locations can be recorded at the same time, so that quick maintenance by maintenance workers is facilitated.
Description
Technical field
The present invention relates to photovoltaic plant and patrol and examine monitoring technical field, particularly to a kind of unmanned plane photovoltaic plant electrical equipment cruising inspection system and realize method。
Background technology
Along with the development of human society, the conventional energy resources such as human society is increasing to the demand of the energy, fossil energy are all extremely limited, the main energy sources that regenerative resource will be following human society。In new regenerative resource, solar energy power generating and wind-power electricity generation are with fastest developing speed。Yield and the photovoltaic module installed capacity rate of increase of photovoltaic cell component continue to increase, and the research of solar energy power generating increasingly comes into one's own。
Traditional photovoltaic plant routine inspection mode manual inspection pattern based on papery is master, and large-sized solar power plant is annual because making an inspection tour and replacing power generation plate, it is necessary to put into very huge manpower and fund。Often occur that personnel are not in place and patrol and examine situation not in time, thus causing that equipment obstacle management causes electric power accident not in time。
In order to solve these problems, what many unmanned plane products were gradually available for photovoltaic plant in recent years patrols and examines field。Such as, Skycatch company develops a unmanned plane, and a set of infrared camera of carry, by cruising in power generation plate overhead, shoots the temperature regime of every piece of power generation plate。The unmanned plane of enlightening intelligence Science and Technology Ltd. is attained in Beijing, photovoltaic panel take photo by plane inspection, booster stations equipment of inspection, power transmission tower of taking photo by plane can be carried out take photo by plane all kinds of patrol tasks such as inspection, and clear video and picture data reliably are provided, process and accident analysis for user's follow-up data。But there are some problems in the said goods
Summary of the invention
It is an object of the invention to overcome the shortcoming of prior art with not enough, it is provided that a kind of unmanned plane photovoltaic plant electrical equipment cruising inspection system and realize method。
According to disclosed embodiment, a first aspect of the present invention proposes a kind of unmanned plane photovoltaic plant electrical equipment cruising inspection system, it is characterised in that described cruising inspection system includes airborne end, ground surface end, wireless communication module,
Wherein said airborne end is equipped on unmanned vehicle, for controlling to take pictures or monitoring equipment gathers the view data of photovoltaic plant electrical equipment, receive described ground surface end simultaneously and send the control instruction to described airborne end, control take pictures or monitor the acquisition parameter of equipment and carry out capturing control, or control focusing and zooming, to obtain video image clearly；
Described ground surface end is arranged in ground surface platform, for the data that described airborne end collection transmission is returned being processed, it is achieved control flight and the shooting operation of unmanned vehicle on ground；
Described wireless communication module, being made up of two passages being operated in different frequency, low channel has been used between described airborne end and described ground surface end to transmit flight control instruction, Flight Condition Data, The Cloud Terrace angle and focal length of camera, the transmission of multiplying power control signal；Hf channel is for view data transmission。
Further, described airborne end includes flight control modules and airborne platform module,
Wherein, described flight control modules carries out flight location based on gps signal, remote control distributor and autonomous flight both of which are provided, it is responsible for the issue of the flight control instruction of described unmanned vehicle, control the autonomous flight of described unmanned vehicle, described flight control modules includes flight path control unit, flight avoidance obstacle unit and flight attitude control unit, wherein said flight path control unit is for controlling the flight path of described unmanned vehicle, described flight avoidance obstacle unit is used for controlling the flight avoidance of described unmanned vehicle and described flight attitude control unit for controlling the flight attitude of described unmanned vehicle；
Wherein, described airborne platform module is for controlling to take pictures or monitoring equipment gathers the view data of photovoltaic plant electrical equipment, including PCDUINO master controller, three axle holder for aerial photographings, thermal infrared imager, visible light camera。
Further, described three axle holder for aerial photographings include X, Y, Z tri-axle and electric rotating machine, cradle head control unit, this three axles holder for aerial photographing support carries out sidewindering, pitching, 360 degree of continuous rotations of horizontal direction, it is achieved the multi-angled shooting to photovoltaic plant electrical equipment。
Further, described three axle holder for aerial photographings also include gyroscope, and this three axle platform of taking photo by plane is remained stable for by described gyroscope, prevent, with this, photovoltaic plant electrical equipment image shake of taking photo by plane。
Further, described visible light camera support is recorded a video or manual camera function, supports either automatically or manually zoom zoom, and definition is at more than 720P；
Described thermal infrared imager support manual camera function, support either automatically or manually zoom zoom, pixel minimum for 320x240, heat sensitivity within 0.06 DEG C, object temperature scope-20 DEG C to+250 DEG C；
Further, the placement parallel with visible light camera, equidirectional of described thermal infrared imager is installed on described three axle holder for aerial photographing load-side, and described three axle holder for aerial photographings are arranged on below unmanned vehicle；
Data and the control port of described thermal infrared imager and visible light camera access described PCDUINO master controller。
Further, described ground surface end includes surface control module and floor treatment module,
Described surface control module is for being controlled described airborne end, control mode includes portable computer control and remote pilot, described remote pilot is for controlling the flight path of unmanned vehicle, adjusting unmanned vehicle flight attitude, described computer controls for controlling on unmanned vehicle taking pictures or monitoring the taking pictures of equipment, zoom, zoom of lift-launch；
The image of the described floor treatment module photovoltaic plant electrical equipment for being collected by described airborne end carries out real-time Treatment Analysis, and when local temperature exception occurs in solar panel, described floor treatment module can send alarm signal。
According to disclosed embodiment, a second aspect of the present invention proposes a kind of method that realizes of unmanned plane photovoltaic plant electrical equipment cruising inspection system, and the described method that realizes comprises the following steps:
Surface control module is controlled by portable computer and the airborne end being mounted in unmanned vehicle is controlled by remote pilot。It is used for controlling by remote pilot, starts aircraft flight, and adjust the flight path of unmanned vehicle after take off, adjust unmanned vehicle flight attitude；
Computer controls to send The Cloud Terrace action directive extremely airborne main control unit by radio communication device, after airborne main control unit receives The Cloud Terrace action directive, control three axle holder for aerial photographings by The Cloud Terrace movement controlling mechanism and carry out three axial actions and control taking pictures or monitoring the taking pictures of equipment, zoom, zoom of airborne end；
Unmanned vehicle flight control instruction and photographing instruction that surface control module is sent by the low channel of wireless communication module are sent to airborne end, complete autonomous flight and the camera function of unmanned vehicle；Airborne end is again by The Cloud Terrace X, Y, Z tri-angle parameter of axle simultaneously, it is seen that the focal length multiplying power parameter of light video camera and thermal infrared imager is transmitted back to ground surface end；
Three axle holder for aerial photographings in airborne platform module X, Y, Z tri-axle by the motor control instruction of respective shaft, it is then determined that this spindle motor needs the angle of displacement, according to angle calculation dutycycle, modulation (PWM) pulse control signal, the last pwm pulse signal RC input signaling interface to cradle head control unit being sent certain dutycycle by PCDUINO master controller, drives electric rotating machine to control the pitching of three axle holder for aerial photographings, roll, horizontal rotation angle by the drive circuit of cradle head control unit；
The visible light camera of unmanned vehicle lift-launch and thermal infrared imager carry out the adjustment of focal length and multiplying power after receiving the control signal of master controller, and photovoltaic plant electrical equipment are manually taken pictures and/or records a video；
The view data that airborne end gathers is transferred to ground surface end by the hf channel of wireless communication module；
The image of the photovoltaic plant electrical equipment that airborne end is collected by floor treatment module carries out real-time Treatment Analysis, sends alarm signal when local temperature exception occurs in solar panel。
Further, before photovoltaic plant electrical equipment is patrolled and examined by unmanned plane photovoltaic plant electrical equipment cruising inspection system, photovoltaic cell is numbered。
Further, described wireless communication module sets up the communication channel of airborne end and ground surface end based on wifi communication。
The present invention has such advantages as relative to prior art and effect:
(1) due to the fact that unmanned vehicle is the routine inspection mode aloft flown, adopt non-contact detection, patrolling and examining photovoltaic plant cell panel and other equipment can be completed when not affecting equipment normal operation。
(2) utilize aircraft can realize different angles electrical equipment is carried out thermometric, patrolled and examined as carrying platform, improve and patrol and examine efficiency and precision。
(3) support Aerial Images high definition real time inspection, once find fault, can immediately on this faulty equipment dummy section hovering, it is done further finer monitoring。
(4) unmanned vehicle gathers picture, video information data amount are very big, use that wifi transmission means distortion rate is little, efficiency of transmission is high and the time delay of transmission and the bit error rate must be very low, can meet the real-time of video and the clarity of image。
(5) in the present invention, airborne end is controlled by the portable stage such as available handsets or panel computer, and real time imaging is checked, largely facilitates and patrols and examines completing of work。
(6) patrol and examine in process and can autonomous failure judgement whether occur, can greatly improve work efficiency。
(7) it is adopted as photovoltaic cell numbering, the mode of Quick Response Code is set, effectively determines its positional information, be especially suitable for area big, the photovoltaic plant that equipment is numerous。
Accompanying drawing explanation
Fig. 1 is the structure composition frame chart of a kind of unmanned plane photovoltaic plant electrical equipment cruising inspection system disclosed by the invention。
Detailed description of the invention
For making the purpose of the present invention, technical scheme and advantage clearly, clearly, developing simultaneously referring to accompanying drawing, the present invention is described in more detail for embodiment。Should be appreciated that specific embodiment described herein is only in order to explain the present invention, is not intended to limit the present invention。
Embodiment
The open a kind of unmanned plane photovoltaic plant electrical equipment cruising inspection system of the present embodiment, its structure composition frame chart can refer to shown in accompanying drawing 1, mainly includes airborne end, ground surface end, wireless communication module three part。
Airborne end, for controlling to take pictures or other monitoring equipment gathers the view data of photovoltaic plant electrical equipment。Receiving ground surface end simultaneously and send the control instruction to airborne end, control is taken pictures or other are monitored the acquisition parameter of equipment and carry out capturing control, or controls focusing and zooming, with the video image that acquisition becomes apparent from。
Ground surface end, for processing the data that airborne end collection transmission is returned, it is achieved control flight and the shooting operation of unmanned vehicle on ground。
Wireless communication module, has been used between airborne end and ground surface end and has transmitted flight control instruction, Flight Condition Data, video return data function。
Unmanned vehicle flight control instruction ground surface end sent is sent to airborne end, completes the autonomous flight of unmanned vehicle, then airborne end gathers the data such as image and is transferred to ground surface end, completes gather the analysis of data and process work。
Wherein airborne end is equipped on unmanned vehicle, including flight control modules, airborne platform module。Ground surface end is arranged in ground surface platform, including surface control module, floor treatment module。
Wherein, flight control modules includes flight path control unit, flight avoidance obstacle unit and flight attitude control unit。Flight location is carried out, it is provided that remote control distributor and autonomous flight both of which based on gps signal。It is responsible for the issue of the flight control instruction of unmanned vehicle, is used for controlling the autonomous flight of unmanned vehicle, flight path, flight avoidance, flight attitude etc., to ensure that it accurately completes the shooting task of maintenance。
Flight control modules outfan and four wing load motors are connected, 22V lithium battery group be powered。
Wherein, airborne platform module includes: PCDUINO master controller, three axle holder for aerial photographings, thermal infrared imager, four parts of visible light camera。
Three axle holder for aerial photographings, it is made up of X, Y, Z tri-axle and electric rotating machine, cradle head control unit, three axle holder for aerial photographings are realize the patrolling and examining of solar-cell panel support, the patrolling and examining of solar panel, detect patrolling and examining of the equipment such as photovoltaic plant power transmission tower and boosting tower, holder for aerial photographing can carry out sidewindering, pitching, 360 degree of continuous rotations of horizontal direction, facilitate implementation the multi-angled shooting to photovoltaic plant electrical equipment, and remained stable for by gyroscope, prevent, with this, photovoltaic plant equipment flating of taking photo by plane。
Three axle holder for aerial photographings have X, Y, Z tri-axle, be controlled three axle holder for aerial photographings differentiating this axle corresponding to operation simultaneously。Therefore, first select and certain spindle motor is controlled, it is then determined that this spindle motor needs the angle of displacement, according to angle calculation dutycycle, modulation (PWM) pulse control signal, the last pwm pulse signal RC input signaling interface to cradle head control unit being sent certain dutycycle by PCDUINO master controller, drives electric rotating machine to control the pitching of The Cloud Terrace, roll, horizontal rotation angle by the drive circuit of cradle head control unit。
Three axle holder for aerial photographings are arranged on below aircraft, and holder for aerial photographing load-side can be used for lift-launch and takes pictures or other monitoring equipment。
The visible light camera that unmanned vehicle carries supports recording function, manual camera function。Autozoom zoom, also manually controllable zoom zoom can be carried out。In order to make captured equipment drawing picture clear, meet the requirement of looking up the fault, it is preferable that definition is at 720P and above。For the tropical island effect of autonomous classification solar panel more accurately, the convenient and reliable infra-red heat scattergram obtaining cell panel and other power equipment surfaces, thermal infrared imager must have manual camera function。Autozoom zoom, also manually controllable zoom anamorphosis function can be carried out, it is preferred that its pixel minimum for 320x240, heat sensitivity within 0.06 DEG C, object temperature scope-20 DEG C to+250 DEG C。
Thermal infrared imager, visible light camera are installed on above-mentioned three axle holder for aerial photographing load-side jointly。Data and control port access PCDUINO master controller, accessory power supply power。
The placement parallel, equidirectional of above-mentioned thermal infrared imager, visible light camera, to ensure the synchronicity of the photovoltaic plant electrical equipment of shooting。
Airborne end receives the control information of ground surface end by wireless communication module, the photovoltaic plant electrical equipment image real-time Transmission taken photo by plane to ground surface end。
Surface control module major function is that airborne end is controlled。Portable computer control and remote pilot is mainly included in controlling end selection。By the flight path of remote pilot aircraft, adjust attitude of flight vehicle etc.。Controlled aircraft by computer to take pictures, zoom, zoom。
Floor treatment module be by airborne platform system acquisition to the image of photovoltaic plant electrical equipment process。For improving fault diagnosis efficiency, solving the problem that fault not can recognise that, the present invention is according to image recognition principle, image is carried out real-time Treatment Analysis, and when local temperature exception occurs in solar panel, Ground Processing System can send a specific signal, for reporting to the police, and remind staff。
Wireless communication module is the communication channel of airborne end and ground surface end。The purpose of image monitored by photovoltaic plant electrical equipment for realizing ground surface end real time inspection high definition, it is preferred that for wifi mode。The picture, the video information data amount that gather due to unmanned vehicle are very big, and these data are to be sent to Ground Processing System by wireless transmission method, the clarity of real-time and image in order to meet video, special employing builds multiple data relay stations at photovoltaic plant, then a photovoltaic plant wifi network is built, cover whole photovoltaic plant, can be used for the monitor in real time of photovoltaic plant。Collection gained view data is sent to ground control centre by wireless wifi communication modes and processes by airborne end module。
Wireless communication module is by being arranged on airborne end and ground surface end two parts form, and airborne end is connected with PCDUINO master controller, and above ground portion is connected with surface control module, floor treatment module。
Unmanned plane photovoltaic plant electrical equipment cruising inspection system prepares before patrolling and examining, and groundwork includes:
The first, the route selection of photovoltaic apparatus is patrolled and examined in the parameter testing of ground installation and flight system and flight。Noting when patrolling and examining solaode, monitoring time is preferably selected after starting to generate electricity 1 hour, to ensure the reliability of temperature pattern。
The second, start aircraft flight, adjust The Cloud Terrace angle and flying height, arrange solar panel for the best once patrolling and examining 1-2, patrol and examine that according to circumstances need in process can targetedly closer or far from equipment。
3rd, after adjusting and terminating, namely patrol and examine route patrol and examine according in advance selected。If discovering device fault can control aircraft and hovers in faulty equipment overhead when patrolling and examining, the Quick Response Code of photovoltaic battery panel is scanned by Artificial Control aircraft, to determine its position。
4th, flight course should land in time as run into flight electric quantity of power supply deficiency, carry out battery altering, can work on after having changed。
This cruising inspection system provides infrared image and the viewing of visible images real-time high-definition, it is easy to the timely solution of fault, analyzes image by pattern recognition mode in ground surface end, sound and light alarm can be carried out after finding fault, record trouble point position simultaneously, it is simple to maintainer rapid-maintenance。In addition for ease of patrol officer, video captured by airborne end supports the real time inspection of intelligent mobile phone terminal。
What the present embodiment also provided for a kind of unmanned plane photovoltaic plant electrical equipment cruising inspection system realizes method, specifically includes the following step:
Surface control module is controlled by portable computer and the airborne end being mounted in unmanned vehicle is controlled by remote pilot, wherein said computer controls for controlling taking pictures or monitoring the taking pictures of equipment, zoom, zoom of airborne end, and wherein said remote pilot is for controlling the flight path of unmanned vehicle, adjusting unmanned vehicle flight attitude；
Unmanned vehicle flight control instruction and photographing instruction that surface control module is sent by wireless communication module are sent to airborne end, complete autonomous flight and the camera function of unmanned vehicle；
Three axle holder for aerial photographings in airborne platform module X, Y, Z tri-axle by the motor control instruction of respective shaft, it is then determined that this spindle motor needs the angle of displacement, according to angle calculation dutycycle, modulation (PWM) pulse control signal, the last pwm pulse signal RC input signaling interface to cradle head control unit being sent certain dutycycle by PCDUINO master controller, drives electric rotating machine to control the pitching of three axle holder for aerial photographings, roll, horizontal rotation angle by the drive circuit of cradle head control unit；
Photovoltaic plant electrical equipment is manually taken pictures and/or records a video by visible light camera and thermal infrared imager that unmanned vehicle carries；
The view data that airborne end gathers is transferred to ground surface end by wireless communication module；
The image of the photovoltaic plant electrical equipment that airborne end is collected by floor treatment module carries out real-time Treatment Analysis, sends alarm signal when local temperature exception occurs in solar panel。
Another preferred embodiment in, this realizes method and also comprises the following steps:
Before photovoltaic plant electrical equipment is patrolled and examined by unmanned plane photovoltaic plant electrical equipment cruising inspection system, photovoltaic cell being numbered, floor treatment module sends alarm signal。
Wherein, wireless communication module sets up the communication channel of airborne end and ground surface end based on wifi communication。
Above-described embodiment is the present invention preferably embodiment; but embodiments of the present invention are also not restricted to the described embodiments; the change made under other any spirit without departing from the present invention and principle, modification, replacement, combination, simplification; all should be the substitute mode of equivalence, be included within protection scope of the present invention。
Claims (10)
1. a unmanned plane photovoltaic plant electrical equipment cruising inspection system, it is characterised in that described cruising inspection system includes airborne end, ground surface end, wireless communication module,
Wherein said airborne end is equipped on unmanned vehicle, for controlling to take pictures or monitoring equipment gathers the view data of photovoltaic plant electrical equipment, receive described ground surface end simultaneously and send the control instruction to described airborne end, control take pictures or monitor the acquisition parameter of equipment and carry out capturing control, or control focusing and zooming, to obtain video image clearly；
Described ground surface end is arranged in ground surface platform, for the data that described airborne end collection transmission is returned being processed, it is achieved control flight and the shooting operation of unmanned vehicle on ground；
Described wireless communication module, being made up of two passages being operated in different frequency, low channel has been used between described airborne end and described ground surface end to transmit flight control instruction, Flight Condition Data, The Cloud Terrace angle and focal length of camera, the transmission of multiplying power control signal；Hf channel is for view data transmission。
2. a kind of unmanned plane photovoltaic plant electrical equipment cruising inspection system according to claim 1, it is characterised in that described airborne end includes flight control modules and airborne platform module,
Wherein, described flight control modules carries out flight location based on gps signal, remote control distributor and autonomous flight both of which are provided, it is responsible for the issue of the flight control instruction of described unmanned vehicle, control the autonomous flight of described unmanned vehicle, described flight control modules includes flight path control unit, flight avoidance obstacle unit and flight attitude control unit, wherein said flight path control unit is for controlling the flight path of described unmanned vehicle, described flight avoidance obstacle unit is used for controlling the flight avoidance of described unmanned vehicle and described flight attitude control unit for controlling the flight attitude of described unmanned vehicle；
Wherein, described airborne platform module is for controlling to take pictures or monitoring equipment gathers the view data of photovoltaic plant electrical equipment, including PCDUINO master controller, three axle holder for aerial photographings, thermal infrared imager, visible light camera。
3. a kind of unmanned plane photovoltaic plant electrical equipment cruising inspection system according to claim 2, it is characterized in that, described three axle holder for aerial photographings include X, Y, Z tri-axle and electric rotating machine, cradle head control unit, this three axles holder for aerial photographing support carries out sidewindering, pitching, 360 degree of continuous rotations of horizontal direction, it is achieved the multi-angled shooting to photovoltaic plant electrical equipment。
4. a kind of unmanned plane photovoltaic plant electrical equipment cruising inspection system according to claim 3, it is characterized in that, described three axle holder for aerial photographings also include gyroscope, and this three axle platform of taking photo by plane is remained stable for by described gyroscope, prevent, with this, photovoltaic plant electrical equipment image shake of taking photo by plane。
5. a kind of unmanned plane photovoltaic plant electrical equipment cruising inspection system according to claim 2, it is characterised in that described visible light camera support video recording or manual camera function, supports either automatically or manually zoom zoom, and definition is at more than 720P；
Described thermal infrared imager support manual camera function, support either automatically or manually zoom zoom, pixel minimum for 320x240, heat sensitivity within 0.06 DEG C, object temperature scope-20 DEG C to+250 DEG C。
6. a kind of unmanned plane photovoltaic plant electrical equipment cruising inspection system according to claim 2, it is characterized in that, the placement parallel with visible light camera, equidirectional of described thermal infrared imager is installed on described three axle holder for aerial photographing load-side, and described three axle holder for aerial photographings are arranged on below unmanned vehicle；
Data and the control port of described thermal infrared imager and visible light camera access described PCDUINO master controller。
7. a kind of unmanned plane photovoltaic plant electrical equipment cruising inspection system according to claim 1, it is characterised in that described ground surface end includes surface control module and floor treatment module,
Described surface control module is for being controlled described airborne end, control mode includes portable computer control and remote pilot, described remote pilot is for controlling the flight path of unmanned vehicle, adjusting unmanned vehicle flight attitude, described computer controls for controlling on unmanned vehicle taking pictures or monitoring the taking pictures of equipment, zoom, zoom of lift-launch；
The image of the described floor treatment module photovoltaic plant electrical equipment for being collected by described airborne end carries out real-time Treatment Analysis, and when local temperature exception occurs in solar panel, described floor treatment module can send alarm signal。
8. a unmanned plane photovoltaic plant electrical equipment cruising inspection system realize method, it is characterised in that the described method that realizes comprises the following steps:
Surface control module is controlled by portable computer and the airborne end being mounted in unmanned vehicle is controlled by remote pilot。It is used for controlling by remote pilot, starts unmanned vehicle flight, and adjust the flight path of unmanned vehicle after take off, adjust unmanned vehicle flight attitude；
Computer controls to send The Cloud Terrace action directive extremely airborne main control unit by radio communication device, after airborne main control unit receives The Cloud Terrace action directive, control three axle holder for aerial photographings by The Cloud Terrace movement controlling mechanism and carry out three axial actions and control taking pictures or monitoring the taking pictures of equipment, zoom, zoom of airborne end；
Unmanned vehicle flight control instruction and photographing instruction that surface control module is sent by the low channel of wireless communication module are sent to airborne end, complete autonomous flight and the camera function of unmanned vehicle；Airborne end is again by The Cloud Terrace X, Y, Z tri-angle parameter of axle simultaneously, it is seen that the focal length multiplying power parameter of light video camera and thermal infrared imager is transmitted back to ground surface end；
Three axle holder for aerial photographings in airborne platform module X, Y, Z tri-axle by the motor control instruction of respective shaft, it is then determined that this spindle motor needs the angle of displacement, according to angle calculation dutycycle, modulation (PWM) pulse control signal, the last pwm pulse signal RC input signaling interface to cradle head control unit being sent certain dutycycle by PCDUINO master controller, drives electric rotating machine to control the pitching of three axle holder for aerial photographings, roll, horizontal rotation angle by the drive circuit of cradle head control unit；
The visible light camera of unmanned vehicle lift-launch and thermal infrared imager carry out the adjustment of focal length and multiplying power after receiving the control signal of master controller, and photovoltaic plant electrical equipment are manually taken pictures and/or records a video；
The view data that airborne end gathers is transferred to ground surface end by the hf channel of wireless communication module；
The image of the photovoltaic plant electrical equipment that airborne end is collected by floor treatment module carries out real-time Treatment Analysis, sends alarm signal when local temperature exception occurs in solar panel。
9. a kind of unmanned plane photovoltaic plant electrical equipment cruising inspection system according to claim 8 realize method, it is characterised in that
Before photovoltaic plant electrical equipment is patrolled and examined by unmanned plane photovoltaic plant electrical equipment cruising inspection system, photovoltaic cell is numbered。
10. a kind of unmanned plane photovoltaic plant electrical equipment cruising inspection system according to claim 8 realize method, it is characterised in that
Described wireless communication module sets up the communication channel of airborne end and ground surface end based on wifi communication。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610218499.2A CN105700544A (en) | 2016-04-08 | 2016-04-08 | UAV tour inspection system and implementation method for electrical equipment of photovoltaic power station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610218499.2A CN105700544A (en) | 2016-04-08 | 2016-04-08 | UAV tour inspection system and implementation method for electrical equipment of photovoltaic power station |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105700544A true CN105700544A (en) | 2016-06-22 |
Family
ID=56218495
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610218499.2A Pending CN105700544A (en) | 2016-04-08 | 2016-04-08 | UAV tour inspection system and implementation method for electrical equipment of photovoltaic power station |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105700544A (en) |
Cited By (53)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106094867A (en) * | 2016-08-01 | 2016-11-09 | 深圳供电局有限公司 | A kind of multifunction power equipment-patrolling unmanned plane |
| CN106160659A (en) * | 2016-08-24 | 2016-11-23 | 河海大学常州校区 | A kind of photovoltaic plant region orientation method for diagnosing faults |
| CN106296860A (en) * | 2016-08-16 | 2017-01-04 | 上海许继电气有限公司 | Pilotless automatic aircraft is utilized to carry out the visualized O&M method that photovoltaic plant is patrolled and examined |
| CN106444555A (en) * | 2016-11-30 | 2017-02-22 | 厦门汉航精密科技有限公司 | Ground forwarding-based unmanned aerial vehicle medium-short distance remote control and remote measuring system |
| CN106504363A (en) * | 2016-10-19 | 2017-03-15 | 广东容祺智能科技有限公司 | A kind of airborne pair of light cruising inspection system stabilized platform automatic tracking method of intelligence |
| CN106598064A (en) * | 2016-10-19 | 2017-04-26 | 广东容祺智能科技有限公司 | Unmanned aerial vehicle circuit line intelligent identification device and method |
| CN106657794A (en) * | 2017-01-16 | 2017-05-10 | 广东容祺智能科技有限公司 | Automatic zooming type airborne holder system |
| CN106657885A (en) * | 2016-10-19 | 2017-05-10 | 广东容祺智能科技有限公司 | Intelligent airborne dual-optical inspection system |
| CN106682592A (en) * | 2016-12-08 | 2017-05-17 | 北京泛化智能科技有限公司 | Automatic image recognition system and method based on neural network method |
| CN106697309A (en) * | 2016-11-29 | 2017-05-24 | 广东容祺智能科技有限公司 | Small-scale unmanned aircraft system applied to news data collection under severe environment |
| CN106774322A (en) * | 2016-12-20 | 2017-05-31 | 杭州华电双冠能源科技有限公司 | A kind of photovoltaic plant cruising inspection system and its operation method |
| CN106791418A (en) * | 2016-12-30 | 2017-05-31 | 农业部南京农业机械化研究所 | A kind of free-standing holder for aerial photographing system and its control method |
| CN106872047A (en) * | 2017-04-26 | 2017-06-20 | 中国联合网络通信集团有限公司 | A kind of temperature testing method of battery, apparatus and system |
| CN106953596A (en) * | 2017-05-19 | 2017-07-14 | 甘肃上航电力运维有限公司 | A kind of photovoltaic plant fault detection system |
| CN106990784A (en) * | 2017-04-26 | 2017-07-28 | 大连理工大学 | A kind of system and method that unmanned vehicle is rescued for monitoring and controlling |
| CN107248153A (en) * | 2017-05-23 | 2017-10-13 | 上海东古航空科技有限公司 | A kind of unmanned plane and system for inspection wind-power electricity generation |
| CN107256034A (en) * | 2017-06-08 | 2017-10-17 | 西安交通大学 | A kind of changed into switchhouse multidrop environment data collecting system based on unmanned plane |
| CN107634721A (en) * | 2017-10-18 | 2018-01-26 | 镇江市鑫汉太阳能电力有限公司 | A kind of distributed power station detection device based on thermal imaging |
| CN107703964A (en) * | 2017-10-09 | 2018-02-16 | 常州工学院 | A kind of photovoltaic array cruising inspection system of unmanned plane |
| CN107728637A (en) * | 2017-12-02 | 2018-02-23 | 广东容祺智能科技有限公司 | A kind of UAS of intelligent adjustment camera angle |
| CN107941988A (en) * | 2017-10-16 | 2018-04-20 | 华南理工大学 | The unmanned machine equipment and monitoring method of a kind of detection gas pollution sources |
| CN108055003A (en) * | 2017-10-24 | 2018-05-18 | 北京利泽菲尔文化科技有限公司 | A kind of autonomous inspection device of unmanned plane based on double light intelligent loads |
| CN108123543A (en) * | 2018-04-19 | 2018-06-05 | 南方电网科学研究院有限责任公司 | A kind of power grid real-time monitoring system |
| CN108195470A (en) * | 2017-11-27 | 2018-06-22 | 国网上海市电力公司 | Grid equipment fault detection method, unmanned plane and unmanned aerial vehicle (UAV) control station |
| EP3372967A1 (en) * | 2017-03-08 | 2018-09-12 | vaireco GmbH | Method for detecting system errors of a photovoltaic system |
| CN108776953A (en) * | 2018-06-22 | 2018-11-09 | 理光软件研究所（北京）有限公司 | Improve the method and system of aeroplane photography specific location resolution ratio |
| WO2018205104A1 (en) * | 2017-05-08 | 2018-11-15 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle capture control method, unmanned aerial vehicle capturing method, control terminal, unmanned aerial vehicle control device, and unmanned aerial vehicle |
| CN108833773A (en) * | 2018-05-31 | 2018-11-16 | 深圳市易飞方达科技有限公司 | A kind of unmanned plane focus control system and method |
| CN108873921A (en) * | 2018-06-28 | 2018-11-23 | 朱诺 | A kind of safety control system and method for searching and rescuing unmanned plane |
| CN108919821A (en) * | 2018-06-12 | 2018-11-30 | 浙江大学 | A kind of unmanned plane automatic tour inspection system and method towards scale centralization photovoltaic plant |
| CN108988783A (en) * | 2018-07-25 | 2018-12-11 | 广东石油化工学院 | A kind of photovoltaic module On-line Fault monitoring system |
| CN109002048A (en) * | 2018-06-12 | 2018-12-14 | 浙江大学 | A kind of scale centralization photovoltaic plant image data acquiring method based on multi-rotor unmanned aerial vehicle |
| CN109018427A (en) * | 2017-06-08 | 2018-12-18 | 袁兵 | A kind of unmanned plane fault processing system |
| CN109194284A (en) * | 2018-09-18 | 2019-01-11 | 甘肃启远智能科技有限责任公司 | Photovoltaic plant cruising inspection system, ground based terminal and equipment of taking photo by plane |
| WO2019041191A1 (en) * | 2017-08-30 | 2019-03-07 | 深圳市大疆创新科技有限公司 | Method for detecting photovoltaic panel, ground station, control device, and unmanned aerial vehicle |
| WO2019061159A1 (en) * | 2017-09-28 | 2019-04-04 | 深圳市大疆创新科技有限公司 | Method and device for locating faulty photovoltaic panel, and unmanned aerial vehicle |
| CN109656266A (en) * | 2018-11-29 | 2019-04-19 | 河北宏龙环保科技有限公司 | A kind of information communication engineering monitoring system |
| CN109813716A (en) * | 2017-11-22 | 2019-05-28 | 北京汉能光伏投资有限公司 | Solar components fault detection system and method |
| WO2019127376A1 (en) * | 2017-12-29 | 2019-07-04 | 深圳市大疆创新科技有限公司 | Video acquisition method, control terminal, aircraft, and system |
| CN110033103A (en) * | 2019-04-12 | 2019-07-19 | 合肥佳讯科技有限公司 | A kind of photovoltaic panel cruising inspection system and method for inspecting |
| CN110207832A (en) * | 2019-06-26 | 2019-09-06 | 深圳市微纳集成电路与系统应用研究院 | High-tension line cruising inspection system and its method for inspecting based on unmanned plane |
| CN110320926A (en) * | 2019-07-24 | 2019-10-11 | 北京中科利丰科技有限公司 | A kind of power station detection method and power station detection system based on unmanned plane |
| CN110322462A (en) * | 2019-06-13 | 2019-10-11 | 暨南大学 | Unmanned aerial vehicle vision based on 5G network feels land method and system |
| CN110716576A (en) * | 2019-11-07 | 2020-01-21 | 浙江中光新能源科技有限公司 | Heliostat field inspection system and method based on unmanned aerial vehicle |
| CN110989671A (en) * | 2019-12-11 | 2020-04-10 | 中国南方电网有限责任公司超高压输电公司大理局 | Unmanned aerial vehicle-based power transmission line and tower shooting system and method |
| CN111028378A (en) * | 2019-12-10 | 2020-04-17 | 中国电建集团江西省电力建设有限公司 | Unmanned aerial vehicle inspection system and inspection method for fishing complementary photovoltaic power station |
| CN111309044A (en) * | 2020-04-22 | 2020-06-19 | 安徽东源电力有限公司 | Unmanned aerial vehicle inspection method for water surface photovoltaic power station |
| CN111966129A (en) * | 2020-08-31 | 2020-11-20 | 金陵科技学院 | Photovoltaic inspection unmanned aerial vehicle and ground-imitating flying method thereof |
| CN112180973A (en) * | 2020-09-21 | 2021-01-05 | 重庆中电自能科技有限公司 | Inspection system of photovoltaic power station and unmanned aerial vehicle system integration method |
| CN112817133A (en) * | 2021-01-13 | 2021-05-18 | 北京航空航天大学 | Unmanned aerial vehicle shooting system based on liquid zoom camera |
| CN114253299A (en) * | 2021-12-29 | 2022-03-29 | 南京敬天科技有限公司 | Many rotor unmanned aerial vehicle intelligence system of patrolling and examining |
| CN116107325A (en) * | 2022-12-02 | 2023-05-12 | 苏州博旭数据科技有限公司 | Inspection control system for carrying cradle head camera on unmanned aerial vehicle |
| CN117719716A (en) * | 2024-02-07 | 2024-03-19 | 华能澜沧江新能源有限公司 | Unmanned aerial vehicle mapping system and equipment for distributed photovoltaic three-dimensional modeling |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1645284A (en) * | 2004-12-17 | 2005-07-27 | 华北电力大学（北京） | Power circuit scanning test robot airplane and controlling system |
| US20120150364A1 (en) * | 2010-12-09 | 2012-06-14 | Tillotson Brian J | Unmanned vehicle and system |
| CN104571140A (en) * | 2014-11-20 | 2015-04-29 | 中国建材检验认证集团股份有限公司 | Photovoltaic module routing inspection photographing control system |
| CN204304922U (en) * | 2014-11-20 | 2015-04-29 | 中国建材检验认证集团股份有限公司 | A kind of photovoltaic module hot spot inspection device based on unmanned plane |
| CN104822052A (en) * | 2015-04-23 | 2015-08-05 | 暨南大学 | Substation electrical equipment inspection system and method |
| CN105263000A (en) * | 2015-10-16 | 2016-01-20 | 广西大学 | Large-scale photovoltaic power station inspection device based on double cameras carried on unmanned aerial vehicle |
-
2016
- 2016-04-08 CN CN201610218499.2A patent/CN105700544A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1645284A (en) * | 2004-12-17 | 2005-07-27 | 华北电力大学（北京） | Power circuit scanning test robot airplane and controlling system |
| US20120150364A1 (en) * | 2010-12-09 | 2012-06-14 | Tillotson Brian J | Unmanned vehicle and system |
| CN104571140A (en) * | 2014-11-20 | 2015-04-29 | 中国建材检验认证集团股份有限公司 | Photovoltaic module routing inspection photographing control system |
| CN204304922U (en) * | 2014-11-20 | 2015-04-29 | 中国建材检验认证集团股份有限公司 | A kind of photovoltaic module hot spot inspection device based on unmanned plane |
| CN104822052A (en) * | 2015-04-23 | 2015-08-05 | 暨南大学 | Substation electrical equipment inspection system and method |
| CN105263000A (en) * | 2015-10-16 | 2016-01-20 | 广西大学 | Large-scale photovoltaic power station inspection device based on double cameras carried on unmanned aerial vehicle |
Non-Patent Citations (1)
| Title |
|---|
| 程多祥: "《无人机移动测量数据快速获取与处理》", 30 September 2015, 北京，测绘出版社 * |
Cited By (65)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106094867A (en) * | 2016-08-01 | 2016-11-09 | 深圳供电局有限公司 | A kind of multifunction power equipment-patrolling unmanned plane |
| CN106296860A (en) * | 2016-08-16 | 2017-01-04 | 上海许继电气有限公司 | Pilotless automatic aircraft is utilized to carry out the visualized O&M method that photovoltaic plant is patrolled and examined |
| CN106160659A (en) * | 2016-08-24 | 2016-11-23 | 河海大学常州校区 | A kind of photovoltaic plant region orientation method for diagnosing faults |
| CN106504363A (en) * | 2016-10-19 | 2017-03-15 | 广东容祺智能科技有限公司 | A kind of airborne pair of light cruising inspection system stabilized platform automatic tracking method of intelligence |
| CN106598064A (en) * | 2016-10-19 | 2017-04-26 | 广东容祺智能科技有限公司 | Unmanned aerial vehicle circuit line intelligent identification device and method |
| CN106657885A (en) * | 2016-10-19 | 2017-05-10 | 广东容祺智能科技有限公司 | Intelligent airborne dual-optical inspection system |
| CN106697309A (en) * | 2016-11-29 | 2017-05-24 | 广东容祺智能科技有限公司 | Small-scale unmanned aircraft system applied to news data collection under severe environment |
| CN106444555A (en) * | 2016-11-30 | 2017-02-22 | 厦门汉航精密科技有限公司 | Ground forwarding-based unmanned aerial vehicle medium-short distance remote control and remote measuring system |
| CN106682592A (en) * | 2016-12-08 | 2017-05-17 | 北京泛化智能科技有限公司 | Automatic image recognition system and method based on neural network method |
| CN106682592B (en) * | 2016-12-08 | 2023-10-27 | 北京泛化智能科技有限公司 | Image automatic identification system and method based on neural network method |
| CN106774322A (en) * | 2016-12-20 | 2017-05-31 | 杭州华电双冠能源科技有限公司 | A kind of photovoltaic plant cruising inspection system and its operation method |
| CN106774322B (en) * | 2016-12-20 | 2020-12-08 | 华电电力科学研究院有限公司 | Photovoltaic power station inspection system and operation method thereof |
| CN106791418A (en) * | 2016-12-30 | 2017-05-31 | 农业部南京农业机械化研究所 | A kind of free-standing holder for aerial photographing system and its control method |
| CN106791418B (en) * | 2016-12-30 | 2024-02-02 | 农业部南京农业机械化研究所 | The method comprises the following steps of: independent type the method comprises the following steps of: independent type Table system control method |
| CN106657794A (en) * | 2017-01-16 | 2017-05-10 | 广东容祺智能科技有限公司 | Automatic zooming type airborne holder system |
| EP3372967A1 (en) * | 2017-03-08 | 2018-09-12 | vaireco GmbH | Method for detecting system errors of a photovoltaic system |
| CN106872047A (en) * | 2017-04-26 | 2017-06-20 | 中国联合网络通信集团有限公司 | A kind of temperature testing method of battery, apparatus and system |
| CN106990784B (en) * | 2017-04-26 | 2020-01-14 | 大连理工大学 | System and method for monitoring and controlling rescue unmanned vehicle |
| CN106990784A (en) * | 2017-04-26 | 2017-07-28 | 大连理工大学 | A kind of system and method that unmanned vehicle is rescued for monitoring and controlling |
| US11722647B2 (en) | 2017-05-08 | 2023-08-08 | SZ DJI Technology Co., Ltd. | Unmanned aerial vehicle imaging control method, unmanned aerial vehicle imaging method, control terminal, unmanned aerial vehicle control device, and unmanned aerial vehicle |
| US11290692B2 (en) | 2017-05-08 | 2022-03-29 | SZ DJI Technology Co., Ltd. | Unmanned aerial vehicle imaging control method, unmanned aerial vehicle imaging method, control terminal, unmanned aerial vehicle control device, and unmanned aerial vehicle |
| WO2018205104A1 (en) * | 2017-05-08 | 2018-11-15 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle capture control method, unmanned aerial vehicle capturing method, control terminal, unmanned aerial vehicle control device, and unmanned aerial vehicle |
| CN106953596A (en) * | 2017-05-19 | 2017-07-14 | 甘肃上航电力运维有限公司 | A kind of photovoltaic plant fault detection system |
| CN107248153A (en) * | 2017-05-23 | 2017-10-13 | 上海东古航空科技有限公司 | A kind of unmanned plane and system for inspection wind-power electricity generation |
| CN107256034B (en) * | 2017-06-08 | 2019-12-31 | 西安交通大学 | Change distribution room multiple spot environmental data collection system based on unmanned aerial vehicle |
| CN109018427A (en) * | 2017-06-08 | 2018-12-18 | 袁兵 | A kind of unmanned plane fault processing system |
| CN107256034A (en) * | 2017-06-08 | 2017-10-17 | 西安交通大学 | A kind of changed into switchhouse multidrop environment data collecting system based on unmanned plane |
| WO2019041191A1 (en) * | 2017-08-30 | 2019-03-07 | 深圳市大疆创新科技有限公司 | Method for detecting photovoltaic panel, ground station, control device, and unmanned aerial vehicle |
| WO2019061159A1 (en) * | 2017-09-28 | 2019-04-04 | 深圳市大疆创新科技有限公司 | Method and device for locating faulty photovoltaic panel, and unmanned aerial vehicle |
| US11334077B2 (en) | 2017-09-28 | 2022-05-17 | SZ DJI Technology Co., Ltd. | Method and device for locating faulty photovoltaic panel, and unmanned aerial vehicle |
| CN107703964A (en) * | 2017-10-09 | 2018-02-16 | 常州工学院 | A kind of photovoltaic array cruising inspection system of unmanned plane |
| CN107941988A (en) * | 2017-10-16 | 2018-04-20 | 华南理工大学 | The unmanned machine equipment and monitoring method of a kind of detection gas pollution sources |
| CN107634721A (en) * | 2017-10-18 | 2018-01-26 | 镇江市鑫汉太阳能电力有限公司 | A kind of distributed power station detection device based on thermal imaging |
| CN108055003A (en) * | 2017-10-24 | 2018-05-18 | 北京利泽菲尔文化科技有限公司 | A kind of autonomous inspection device of unmanned plane based on double light intelligent loads |
| CN109813716B (en) * | 2017-11-22 | 2024-03-08 | 东君新能源有限公司 | Solar module fault detection system and method |
| CN109813716A (en) * | 2017-11-22 | 2019-05-28 | 北京汉能光伏投资有限公司 | Solar components fault detection system and method |
| CN108195470A (en) * | 2017-11-27 | 2018-06-22 | 国网上海市电力公司 | Grid equipment fault detection method, unmanned plane and unmanned aerial vehicle (UAV) control station |
| CN107728637A (en) * | 2017-12-02 | 2018-02-23 | 广东容祺智能科技有限公司 | A kind of UAS of intelligent adjustment camera angle |
| WO2019127376A1 (en) * | 2017-12-29 | 2019-07-04 | 深圳市大疆创新科技有限公司 | Video acquisition method, control terminal, aircraft, and system |
| CN108123543A (en) * | 2018-04-19 | 2018-06-05 | 南方电网科学研究院有限责任公司 | A kind of power grid real-time monitoring system |
| CN108833773A (en) * | 2018-05-31 | 2018-11-16 | 深圳市易飞方达科技有限公司 | A kind of unmanned plane focus control system and method |
| CN109002048A (en) * | 2018-06-12 | 2018-12-14 | 浙江大学 | A kind of scale centralization photovoltaic plant image data acquiring method based on multi-rotor unmanned aerial vehicle |
| CN108919821A (en) * | 2018-06-12 | 2018-11-30 | 浙江大学 | A kind of unmanned plane automatic tour inspection system and method towards scale centralization photovoltaic plant |
| CN109002048B (en) * | 2018-06-12 | 2020-06-09 | 浙江大学 | Multi-rotor unmanned aerial vehicle large-scale centralized photovoltaic power station image data acquisition method |
| CN108776953A (en) * | 2018-06-22 | 2018-11-09 | 理光软件研究所（北京）有限公司 | Improve the method and system of aeroplane photography specific location resolution ratio |
| CN108873921A (en) * | 2018-06-28 | 2018-11-23 | 朱诺 | A kind of safety control system and method for searching and rescuing unmanned plane |
| CN108988783A (en) * | 2018-07-25 | 2018-12-11 | 广东石油化工学院 | A kind of photovoltaic module On-line Fault monitoring system |
| CN109194284A (en) * | 2018-09-18 | 2019-01-11 | 甘肃启远智能科技有限责任公司 | Photovoltaic plant cruising inspection system, ground based terminal and equipment of taking photo by plane |
| CN109656266A (en) * | 2018-11-29 | 2019-04-19 | 河北宏龙环保科技有限公司 | A kind of information communication engineering monitoring system |
| CN110033103A (en) * | 2019-04-12 | 2019-07-19 | 合肥佳讯科技有限公司 | A kind of photovoltaic panel cruising inspection system and method for inspecting |
| CN110322462A (en) * | 2019-06-13 | 2019-10-11 | 暨南大学 | Unmanned aerial vehicle vision based on 5G network feels land method and system |
| CN110322462B (en) * | 2019-06-13 | 2021-07-27 | 暨南大学 | Unmanned aerial vehicle visual landing method and system based on 5G network |
| CN110207832A (en) * | 2019-06-26 | 2019-09-06 | 深圳市微纳集成电路与系统应用研究院 | High-tension line cruising inspection system and its method for inspecting based on unmanned plane |
| CN110320926A (en) * | 2019-07-24 | 2019-10-11 | 北京中科利丰科技有限公司 | A kind of power station detection method and power station detection system based on unmanned plane |
| CN110716576A (en) * | 2019-11-07 | 2020-01-21 | 浙江中光新能源科技有限公司 | Heliostat field inspection system and method based on unmanned aerial vehicle |
| CN111028378A (en) * | 2019-12-10 | 2020-04-17 | 中国电建集团江西省电力建设有限公司 | Unmanned aerial vehicle inspection system and inspection method for fishing complementary photovoltaic power station |
| CN110989671A (en) * | 2019-12-11 | 2020-04-10 | 中国南方电网有限责任公司超高压输电公司大理局 | Unmanned aerial vehicle-based power transmission line and tower shooting system and method |
| CN111309044A (en) * | 2020-04-22 | 2020-06-19 | 安徽东源电力有限公司 | Unmanned aerial vehicle inspection method for water surface photovoltaic power station |
| CN111966129B (en) * | 2020-08-31 | 2022-08-02 | 金陵科技学院 | Photovoltaic inspection unmanned aerial vehicle and ground-imitating flying method thereof |
| CN111966129A (en) * | 2020-08-31 | 2020-11-20 | 金陵科技学院 | Photovoltaic inspection unmanned aerial vehicle and ground-imitating flying method thereof |
| CN112180973A (en) * | 2020-09-21 | 2021-01-05 | 重庆中电自能科技有限公司 | Inspection system of photovoltaic power station and unmanned aerial vehicle system integration method |
| CN112817133A (en) * | 2021-01-13 | 2021-05-18 | 北京航空航天大学 | Unmanned aerial vehicle shooting system based on liquid zoom camera |
| CN114253299A (en) * | 2021-12-29 | 2022-03-29 | 南京敬天科技有限公司 | Many rotor unmanned aerial vehicle intelligence system of patrolling and examining |
| CN116107325A (en) * | 2022-12-02 | 2023-05-12 | 苏州博旭数据科技有限公司 | Inspection control system for carrying cradle head camera on unmanned aerial vehicle |
| CN117719716A (en) * | 2024-02-07 | 2024-03-19 | 华能澜沧江新能源有限公司 | Unmanned aerial vehicle mapping system and equipment for distributed photovoltaic three-dimensional modeling |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105700544A (en) | UAV tour inspection system and implementation method for electrical equipment of photovoltaic power station | |
| CN204304922U (en) | A kind of photovoltaic module hot spot inspection device based on unmanned plane | |
| CN106468918B (en) | Standardized data acquisition method and system for line inspection | |
| CN106886225B (en) | Multifunctional unmanned aerial vehicle intelligent landing station system | |
| CN202043246U (en) | Remote data collector for fixed wing unmanned plane line inspection | |
| CN102570345B (en) | UAV (unmanned aerial vehicle) transmission-line patrolling system | |
| CN106909169A (en) | A kind of full automatic power patrol UAV system | |
| CN106527475A (en) | Distribution network inspection unmanned aerial vehicle and inspection method thereof | |
| KR101634937B1 (en) | System for automatic vision inspection, method using the same | |
| CN201998168U (en) | Visual servo-based accurate tripod head positioning system for movable robot | |
| CN112162565B (en) | Uninterrupted self-main-pole tower inspection method based on multi-machine collaborative operation | |
| CN204481394U (en) | A kind of power transmission line unmanned machine video monitoring system | |
| CN107147710A (en) | A kind of power network unmanned plane inspection management control device | |
| CN106094867A (en) | A kind of multifunction power equipment-patrolling unmanned plane | |
| CN104058099A (en) | Unmanned plane electro-optical pod | |
| CN110033103A (en) | A kind of photovoltaic panel cruising inspection system and method for inspecting | |
| CN104822052A (en) | Substation electrical equipment inspection system and method | |
| CN211087009U (en) | Contact net inspection device based on aircraft | |
| CN114261528B (en) | Unmanned aerial vehicle nest self-checking system and method | |
| CN202197057U (en) | UAV (unmanned aerial vehicle) aircraft patrol system for power transmission line | |
| CN105292475A (en) | Infrared aerial photographic system for large power station and infrared aerial photographic method | |
| CN115272888A (en) | Digital twin-based 5G + unmanned aerial vehicle power transmission line inspection method and system | |
| CN103473363A (en) | Base station high-altitude inspection system based on aircraft and inspection method of base station high-altitude inspection system | |
| CN110334820A (en) | A kind of power distribution network intelligent inspection system | |
| CN204291244U (en) | Electric power depopulated helicopter visible ray accurate detection system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160622 |