CN110470279A - A kind of centralized photovoltaic plant battery component defect cruising inspection system based on multi-rotor unmanned aerial vehicle - Google Patents
A kind of centralized photovoltaic plant battery component defect cruising inspection system based on multi-rotor unmanned aerial vehicle Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/0096—Radiation pyrometry, e.g. infrared or optical thermometry for measuring wires, electrical contacts or electronic systems
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S50/00—Monitoring or testing of PV systems, e.g. load balancing or fault identification
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J2005/0077—Imaging
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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Abstract
The invention discloses a kind of centralized photovoltaic plant battery component defect cruising inspection system based on multi-rotor unmanned aerial vehicle, belong to centralized photovoltaic plant to maintain equipment technical field, high definition camera is carried using the quadrotor drone with RTK equipment to be shot, the high definition map of power station entirety is spliced into according to photo, inspection course line is drawn on this map, it is sent to unmanned plane, unmanned plane is according to airline operation, and picture shooting assembly photo, shooting result uploads backstage, testing staff can accurately correspond on map the problem of finding on shooting result, entire detection process high degree of automation, user is low using bearing, all results realize digitlization, it is traceable, it is convenient to check, testing staff is not necessarily to each component of artificial detection, detection operating efficiency greatly improves, the safety of testing staff has been ensured simultaneously, it simultaneously can be straight for owner It sees and power station health condition is presented, to arrange cleaning or maintenance activity in time.
Description
Technical field
It is specially a kind of based on multi-rotor unmanned aerial vehicle the invention belongs to centralized photovoltaic plant to maintain equipment technical field
Centralized photovoltaic plant battery component defect cruising inspection system.
Background technique
Centralized photovoltaic plant is connected with public electric wire net and the solar photovoltaic power plant of shared power supply task, such
Power station takes up a large area, and lays a large amount of photovoltaic cell components, passes through direct current conflux case, direct-current power distribution cabinet, gird-connected inverter, boosting
It stands, electric energy is finally sent into power grid, the power demand of peak of power consumption on daytime is effectively relieved.Since such power station takes up a large area,
Therefore, idle lake, hillside, discarded mining area etc. can be used as the addressing place of centralized photovoltaic plant.
The equipment in photovoltaic plant photovoltaic area has numerous electric components such as case change, inverter, header box, cable, component, works as light
When lying prostrate component faults itself, its own resistance becomes larger, and heat is caused to gather.Since photovoltaic area is weedy, overlay area is wide,
It tends not to timely be cleared up, in dry season, Yi Yinfa photovoltaic area fire.After fire occurs, the air-flow of formation, meeting
Keep the intensity of a fire more and more, there arose a mighty wind and the fire went rolling and blazing, and wind helps fiery prestige.It arranges unreasonable and personnel to cooperate when fire fighting insufficient, is difficult quickly to eliminate
Fire behavior will cause very huge economic loss.
As multi-rotor unmanned aerial vehicle uses increased, more rotations in directions such as geographical mapping, electric inspection process, emergency disaster relief
The technology of wing unmanned plane is more mature, and flight stability greatly improves, and accident rate gradually reduces, and the sensor of carry is more small-sized
Change, RTK module can be used to realize that the flight of centimetre class precision positions for the quadrotor drone of 700mm wheelbase, and can be red with carry
Outside with the double light cameras of visible light, the visible radiograph of high definition and thermal imaging photo are shot.
Thousand seek position using network RTK scheme, based on the basis Beidou satellite system (compatible with GPS, GLONASS, Galileo)
Location data realizes stable, consistent Centimeter Level high accuracy positioning.In service range, it is not necessarily to self-built base station, domestic external pelivimetry
RTK terminal device accesses at any time, and service procedure is changed online, and measurement work operations efficiency and quality can be substantially improved.
There are two main classes for the method for prior art searching component defect, and one is record each group of string by header box
Power generation situation compares each group of string generated energy under it using big data method, when apparent power generation occurs in a group string
When amount decline, it may be determined that the group string exists abnormal.
Another kind is that testing staff carries thermal imaging apparatus to scene, using thermal imaging apparatus picture shooting assembly, passes through shooting
As a result check whether component temperature is uniform, (i.e. the spot temperature is apparently higher than if there is the hot spots of the shapes such as mottled, strip
Peripheral temperature) or component temperature when being apparently higher than other perimeter component temperature, illustrate the component there are problem, needs to carry out
Maintenance.
In the method in the prior art for finding component defect, using the side of analysis header box generated energy discovery component exception
Method has data reporting ability firstly the need of header box, proposes higher requirement to header box equipment itself, versatility is poor, no
Different with the device characteristics of producer, the mode that data are presented is different, and to some older power stations, header box does not simultaneously have this
The function of sample.Furthermore since this method is a kind of statistical inspection method, problem is found to have certain delay
Property, it can not be in the abnormal conditions of first time discovery component.In addition, this method can only be directed toward a group string to the positioning of problem,
Which the component for being unable to directly point out specifically to go wrong is, it is still necessary to which testing staff to scene is in problem set string
Each component is checked.It can be found the problem component using thermal imaging apparatus to on-site test, but if being testing staff's carrying
Handheld device is detected, entire detection process low efficiency, especially the overhead component in ground, the component installed on the water surface, mountain
The component installed on slope, testing staff want to take component process it is very cumbersome with it is time-consuming, some producers use at present
Unmanned plane carries infrared equipment and searches in the sky problem component, due to positioning accuracy problem, although can quickly send out
Existing problem, but problem generation position deviation is big, increases maintenance personnel's pressure.
Summary of the invention
It is an object of the invention to: in order to solve to converge in the method in the prior art for finding component defect using analysis
The method for flowing case generated energy discovery component exception has data reporting ability firstly the need of header box, mentions to header box equipment itself
Higher requirement out, versatility is poor, and the device characteristics of different manufacturers are different, and the mode that data are presented is different, and to it is some compared with
Old power station, header box simultaneously do not have such function.Furthermore since this method is a kind of statistical inspection method, because
This problem is found to have certain time delay, can not be in the abnormal conditions of first time discovery component.In addition, this method
A group string can only be directed toward to the positioning of problem, which the component for being unable to directly point out specifically to go wrong is, it is still necessary to be examined
Survey personnel check each of problem set string part to scene.It can be found the problem using thermal imaging apparatus to on-site test
Component, but if being that testing staff carries handheld device and detects, entire detection process low efficiency, especially ground is overhead
The component installed on the component installed on component, the water surface, hillside, the process that testing staff wants to take component are very cumbersome
With it is time-consuming, at present some producers using unmanned plane carry infrared equipment problem component is searched in the sky, but due to positioning
The problem of precision problem, although can quickly find the problem, problem generation position deviation is big, increases maintenance personnel's pressure, mentions
For a kind of centralized photovoltaic plant battery component defect cruising inspection system based on multi-rotor unmanned aerial vehicle.
The technical solution adopted by the invention is as follows:
A kind of centralized photovoltaic plant battery component defect cruising inspection system based on multi-rotor unmanned aerial vehicle, including field operation equipment
Framework and interior industry function structure, the field operation equipment frame include unmanned plane, PAD, X5S holder camera, XT holder camera, nobody
Set remote-controller and PAD can access thousand base stations Cors for seeking position, and the interior industry function structure includes front end and backstage, the front end
Function shown by Web page form, page function include project and task management module, picture uploading module, artwork
Block, course line drafting module, problem labeling module, repair feedback module, the backstage include two-server, wherein one
For image processing server, another is data management server.
Wherein, described thousand to seek the station Cors include thousand seeking and knowing that half a step step network RTD service is sought in cun network RTK service and thousand.
A kind of centralized photovoltaic plant battery component defect method for inspecting based on multi-rotor unmanned aerial vehicle, including following step
It is rapid:
Step S: surveyor creates power station project in the front end, then creates and just penetrates task, draws in the course line
Course sector is planned in module.
Step S: outdoor workers carry the equipment such as the unmanned plane and reach power station scene, and terminating will after the unmanned plane assembles
The station Cors is sought in the unmanned controller access described thousand, is sought using described thousand and is known unmanned plane positioning accurate described in cun functional promotion
Degree, then downloads course sector on the PAD, just penetrates course line using the APP generation built in the PAD, APP passes through the nothing
Course line is uploaded the unmanned plane by man-machine remote controler, and the unmanned plane is automatically performed airline operation by course line.
Step S: the X5S holder camera presses default spacing and shoots photo, and when shooting, the RTK of carry is by position on fuselage
Information is written in photo, and shooting result uploads described image processing server by the photo upload module on webpage.
Step S: after photo upload, described image processing server grab photo, according to photograph image feature with
Photo is spliced into a high definition map by the location information built in photo.
Step S: just penetrating after the completion of map, and surveyor creates patrol task, by map importing task, based on high definition
Module position on figure draws course line.
Step S: the X5S holder camera is changed to the XT holder camera by outdoor workers, is downloaded and is patrolled on the PAD
Inspection task course line uploads the unmanned plane by the unmanned controller, and the unmanned plane will fly according to the course line
Operation is taken pictures in each specified destination in flight course, obtains the infrared and visible radiograph of the position, after the completion of task
Described image processing server is uploaded by the photo upload module on webpage again.
Step S: surveyor checks infrared and visible radiograph with comparison, confirms site problems type, and specified corresponding
Maintenance task.
Step S: maintenance personnel obtains that half a step step network RTD service is sought in PAD access thousand after task, thus obtain it is accurate
Self-position and faulty components position, can quickly reach abort situation, working progress, realization task are closed after the completion of maintenance
Ring.
Wherein, the unmanned plane is modified according to demand, uses Phantom instead using aircraft when such as map is just being penetrated in shooting
4 RTK etc..
Wherein, the carry camera is modified according to demand.
Wherein, the positioning system establishes mode and modifies according to demand, such as uses other networks RTK supplier, or
Know that the position of cun network signal uses base station type RTK in local seek without thousand.
Wherein, the ground control equipment is modified as needed, such as uses cell phone apparatus.
Wherein, the unmanned controller is sought using thousand knows a cun network RTK service, provides difference base station number for unmanned plane
According to.
Wherein, the maintenance personnel needs a PAD, the PAD to seek half a step step network RTD using thousand and service.
In conclusion by adopting the above-described technical solution, the beneficial effects of the present invention are:
For centralized photovoltaic plant area, big, distribution dissipates the present invention, and component faults find difficult, location difficulty need
It asks, high definition camera is carried using the quadrotor drone with RTK (Real-time kinematic) equipment, obtains and has position
The high definition photo of confidence breath, is then based on the high definition map that these photos are spliced into power station entirety；Testing staff is on this map
Inspection course line is drawn, then these course lines are sent to unmanned plane, unmanned plane is using the double light cameras of infrared and visible light according to course line
Flight, and according to pre-determined distance interval shooting component photo, also includes location information in photo, after the completion of aerial mission, will be appointed
Information of being engaged in and shooting result upload backstage, shooting result can be presented on map, testing staff has found on shooting result
The problem of can accurately correspond on map.Entire detection process high degree of automation, user is low using bearing, and all results are real
It now digitizes, can be traced, it is convenient to check, testing staff is not necessarily to each component of artificial detection, particularly with construction in mountainous region, the water surface
On power station, detection operating efficiency greatly improves, while having ensured the safety of testing staff, while can intuitively present for owner
Power station health condition, to arrange cleaning or maintenance activity in time.
Detailed description of the invention
Fig. 1 is field operation equipment frame figure in the present invention；
Fig. 2 is interior industry functional frame composition in the present invention；
Fig. 3 is operation process chart of the invention；
Fig. 4 is system block diagram of the invention；
Fig. 5 is application method figure of the invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.
Referring to a kind of Fig. 4 centralized photovoltaic plant battery component defect based on multi-rotor unmanned aerial vehicle combined with Figure 1 and Figure 2,
Cruising inspection system, including field operation equipment frame 01 and interior industry function structure 02, field operation equipment frame include unmanned plane 010, PAD011,
X5S holder camera 012, XT2 holder camera 013, unmanned controller 014 and PAD can access thousand base stations Cors for seeking position
015, interior industry function structure 02 includes front end 021 and backstage 022, and the function of front end 021 is shown by Web page form, the page
Function includes project and task management module 0210, picture uploading module 0211, mapping module 0212, course line drafting module
0213, problem labeling module 0214, repair feedback module 0215 include two-server from the background, wherein one is image
Processing server 0221, another is data management server 0222, and thousand to seek the station Cors 015 include thousand seeking and knowing cun network RTK clothes
Half a step step network RTD service is sought in business and thousand.
Referring to Fig. 5 combination Fig. 3, a kind of centralized photovoltaic plant battery component defect inspection system based on multi-rotor unmanned aerial vehicle
System, application method the following steps are included:
Step S1: surveyor creates power station project in front end 021, then creates and just penetrates task, in course line drafting module
Course sector is planned in 0213.
Step S2: outdoor workers carry the equipment such as unmanned plane 010 and reach power station scene, and terminating will after unmanned plane 010 assembles
The station Cors 015 is sought in the access of unmanned controller 014 thousand, is sought using thousand and is known cun 010 positioning accuracy of functional promotion unmanned plane, then exists
Course sector is downloaded on PAD011, just penetrates course line using the APP generation built in PAD011, APP will by unmanned controller 014
Course line uploads unmanned plane 010, and unmanned plane 010 is automatically performed airline operation by course line.
Step S3:X5S holder camera 012 presses default spacing and shoots photo, and when shooting, the RTK of carry is by position on fuselage
Information is written in photo, and shooting result uploads image processing server 0221 by the photo upload module 0211 on webpage.
Step S4: after photo upload, image processing server 0221 grab photo, according to photograph image feature with
Photo is spliced into a high definition map by the location information built in photo.
Step S5: just penetrating after the completion of map, and surveyor creates patrol task, by map importing task, is based on high definition
Module position on map draws course line.
Step S6: X5S holder camera 012 is changed to XT2 holder camera 013 by outdoor workers, is downloaded and is patrolled on PAD011
Inspection task course line uploads unmanned plane 010 by unmanned controller 014, and unmanned plane 010 will carry out flight work according to the course line
Industry is taken pictures in each specified destination in flight course, obtains the infrared and visible radiograph of the position, after the completion of task again
Image processing server 0221 is uploaded by the photo upload module 0211 on webpage.
Step S7: surveyor checks infrared and visible radiograph with comparison, confirms site problems type, and specified corresponding
Maintenance task.
Step S8: maintenance personnel obtains that half a step step network RTD service is sought in PAD011 access thousand after task, thus obtain it is accurate
Self-position and faulty components position, can quickly reach abort situation, working progress, realization task are closed after the completion of maintenance
Ring.
Specifically, unmanned plane 010 is modified according to demand, used instead when such as map is just being penetrated in shooting using aircraft
4 RTK of Phantom etc..Carry camera is modified according to demand.Positioning system establishes mode and modifies according to demand, such as
Know that the position of cun network signal uses base station type RTK using other networks RTK supplier, or in local seek without thousand.Ground control
Control equipment is modified as needed, such as uses cell phone apparatus.Unmanned controller 014 is sought using thousand knows a cun network RTK service,
Difference base station data are provided for unmanned plane 010, maintenance personnel needs a PAD011, the PAD011 to seek half a step step network using thousand
RTD service.
Working principle: surveyor creates power station project in front end 021, then creates and just penetrates task, draws mould in course line
It plans that course sector, outdoor workers carry the equipment such as unmanned plane 010 and reach power station scene in block 0213, terminates 010 group of unmanned plane
The station Cors 015 is sought into the access of unmanned controller 014 thousand after dress, is sought using thousand and knows cun 010 positioning accuracy of functional promotion unmanned plane,
Then course sector is downloaded on PAD011, just penetrates course line using the APP generation built in PAD011, APP passes through no-manned machine distant control
Course line is uploaded unmanned plane 010 by device 014, and unmanned plane 010 is automatically performed airline operation by course line, and X5S holder camera 012 is by default
Spacing shoots photo, and when shooting, location information is written in photo the RTK of carry on fuselage, and shooting result passes through on webpage
Photo upload module 0211 uploads image processing server 0221, and after photo upload, image processing server 0221 is grabbed
Photo is taken, photo is spliced into a high definition map by the location information built in photograph image feature and photo, just penetrates map
After the completion, surveyor creates patrol task, by map importing task, draws boat based on the module position on high definition map
X5S holder camera 012 is changed to XT2 holder camera 013 by line, outdoor workers, and patrol task course line is downloaded on PAD011, is led to
Cross unmanned controller 014 and upload unmanned plane 010, unmanned plane 010 will carry out flight operation according to the course line, in flight course
Each specified destination is taken pictures, and is obtained the infrared and visible radiograph of the position, is passed through the photograph on webpage after the completion of task again
Piece uploading module 0211 uploads image processing server 0221, and surveyor checks infrared and visible radiograph, confirmation with comparison
Site problems type, and specify corresponding maintenance task, maintenance personnel obtain that half a step step network is sought in PAD011 access thousand after task
RTD service, to obtain accurate self-position and faulty components position, can quickly reach abort situation, after the completion of maintenance
Working progress, realize task closed loop, the present invention use with RTK (Real-time kinematic) equipment quadrotor nobody
Machine carries high definition camera, obtains the high definition photo for having location information, is then based on the height that these photos are spliced into power station entirety
Clear map；Testing staff draws inspection course line on this map, then these course lines are sent to unmanned plane 010, and unmanned plane 010 makes
With infrared light cameras double with visible light according to airline operation, and according to pre-determined distance interval shooting component photo, also wrapped in photo
Containing location information, after the completion of aerial mission, mission bit stream and shooting result is uploaded into backstage, shooting result can be presented on ground
On figure, testing staff can accurately correspond on map the problem of finding on shooting result.Entire detection process the degree of automation
Height, user is low using bearing, and all results realize digitlization, can be traced, and it is convenient to check, testing staff is every without artificial detection
A component, particularly with power station of the construction on mountainous region, the water surface, detection operating efficiency is greatly improved, while having ensured detection people
The safety of member, while power station health condition can intuitively be presented for owner, to arrange cleaning or maintenance activity in time.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (9)
1. a kind of centralized photovoltaic plant battery component defect cruising inspection system based on multi-rotor unmanned aerial vehicle, including field operation equipment structure
Frame (01) and interior industry function structure (02), it is characterised in that: the field operation equipment frame include unmanned plane (010), PAD (011),
X5S holder camera (012), XT2 holder camera (013), unmanned controller (014) and PAD can access thousand Cors for seeking position
Base station (015), the interior industry function structure (02) include front end (021) and backstage (022), and the function of the front end (021) is logical
Web page form is crossed to show, page function include project and task management module (0210), picture uploading module (0211),
Module (0212), course line drafting module (0213), problem labeling module (0214), repair feedback module (0215), institute
Stating backstage (022) includes two-server, wherein one is image processing server (0221), another is data management service
Device (0222).
2. a kind of centralized photovoltaic plant battery component defect inspection system based on multi-rotor unmanned aerial vehicle as described in claim 1
System, it is characterised in that: described thousand to seek the station Cors (015) include thousand seeking and knowing that half a step step network RTD clothes are sought in cun network RTK service and thousand
Business.
3. a kind of centralized photovoltaic plant battery component defect inspection system based on multi-rotor unmanned aerial vehicle as described in claim 1
System, application method the following steps are included:
Step S1: surveyor creates power station project in the front end (021), then creates and just penetrates task, draws in the course line
Course sector is planned in molding block (0213).
Step S2: outdoor workers carry the equipment such as the unmanned plane (010) and reach power station scene, terminate the unmanned plane (010)
The station Cors (015) is sought into the unmanned controller (014) access described thousand after assembling, is sought using described thousand and knows a cun functional promotion
Unmanned plane (010) positioning accuracy, then downloads course sector on the PAD (011), built-in using the PAD (011)
APP generation just penetrate course line, APP is uploaded in course line the unmanned plane (010) by the unmanned controller (014), described
Unmanned plane (010) is automatically performed airline operation by course line.
Step S3: the X5S holder camera (012) presses default spacing and shoots photo, and when shooting, the RTK of carry is by position on fuselage
In confidence breath write-in photo, shooting result uploads described image processing clothes by the photo upload module (0211) on webpage
It is engaged in device (0221).
Step S4: after photo upload, described image processing server (0221) grabs photo, according to photograph image feature
Photo is spliced into a high definition map with the location information built in photo.
Step S5: just penetrating after the completion of map, and surveyor creates patrol task, by map importing task, is based on high definition map
On module position draw course line.
Step S6: the X5S holder camera (012) is changed to the XT2 holder camera (013) by outdoor workers, in the PAD
(011) download patrol task course line on, the unmanned plane (010) uploaded by the unmanned controller (014), it is described nobody
Machine (010) will carry out flight operation according to the course line, take pictures in flight course in each specified destination, obtain the position
Infrared and visible radiograph, task are uploaded at described image by the photo upload module (0211) on webpage again after the completion
It manages server (0221).
Step S7: surveyor checks infrared and visible radiograph with comparison, confirms site problems type, and specified corresponding dimension
Shield task.
Step S8: maintenance personnel obtains that half a step step network RTD service is sought in the PAD (011) access thousand after task, to obtain standard
True self-position and faulty components position can quickly reach abort situation, and working progress, realization task are closed after the completion of maintenance
Ring.
4. a kind of centralized photovoltaic plant battery component defect inspection system based on multi-rotor unmanned aerial vehicle as claimed in claim 3
System, it is characterised in that: the unmanned plane (010) is modified according to demand, is used instead when such as map is just being penetrated in shooting using aircraft
Phantom 4RTK etc..
5. a kind of centralized photovoltaic plant battery component defect inspection system based on multi-rotor unmanned aerial vehicle as claimed in claim 3
System, it is characterised in that: the carry camera is modified according to demand.
6. a kind of centralized photovoltaic plant battery component defect inspection system based on multi-rotor unmanned aerial vehicle as claimed in claim 3
System, it is characterised in that: the positioning system establishes mode and modifies according to demand, such as uses other networks RTK supplier, or
Know that the position of cun network signal uses base station type RTK in local seek without thousand.
7. a kind of centralized photovoltaic plant battery component defect inspection system based on multi-rotor unmanned aerial vehicle as claimed in claim 3
System, it is characterised in that: the ground control equipment is modified as needed, such as uses cell phone apparatus.
8. a kind of centralized photovoltaic plant battery component defect inspection system based on multi-rotor unmanned aerial vehicle as claimed in claim 3
System, it is characterised in that: the unmanned controller (014) is sought using thousand knows a cun network RTK service, provides for unmanned plane (010)
Difference base station data.
9. a kind of centralized photovoltaic plant battery component defect inspection system based on multi-rotor unmanned aerial vehicle as claimed in claim 3
System, it is characterised in that: the maintenance personnel needs a PAD (011), which seeks half a step step network RTD using thousand and service.
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