CN110667842A - Unmanned inspection equipment and unmanned inspection machine group system - Google Patents
Unmanned inspection equipment and unmanned inspection machine group system Download PDFInfo
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
- B64C35/008—Amphibious sea planes
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M29/00—Scaring or repelling devices, e.g. bird-scaring apparatus
- A01M29/06—Scaring or repelling devices, e.g. bird-scaring apparatus using visual means, e.g. scarecrows, moving elements, specific shapes, patterns or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
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- B64C35/001—Flying-boats; Seaplanes with means for increasing stability on the water
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plant in aircraft; Aircraft characterised thereby
- B64D27/02—Aircraft characterised by the type or position of power plant
- B64D27/24—Aircraft characterised by the type or position of power plant using steam, electricity, or spring force
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Abstract
The invention discloses an unmanned inspection device, which comprises: the device comprises a device main body, and a control module, a camera module, a wireless communication positioning module, a driving device, a voice module and a power supply device which are arranged on the device main body, wherein the control module is connected with the camera module, the wireless communication positioning module, the driving device and the voice module, and the power supply device supplies power to the control module, the driving device, the voice module and the wireless communication positioning module; the device is characterized in that the device main body is also provided with a water body turbidity module which is connected with the control module and is used for detecting the water body turbidity. Unmanned patrol and examine equipment adopts unmanned aerial vehicle to float the formula and patrols and examines, carries on camera module, water turbidity module, voice module simultaneously and independently patrols and examines to target photovoltaic power plant on water, accomplishes tasks such as detection and bird repellent. The invention also provides an unmanned inspection machine group system.
Description
Technical Field
The invention relates to the technical field of photovoltaic power stations, in particular to unmanned inspection equipment and an unmanned inspection machine group system of an overwater photovoltaic power station.
Background
At present, the loading amount of a land photovoltaic power station is huge, more and more photovoltaic operation and maintenance and detection equipment for the ground power station are provided, and the inspection technology for the ground power station is mature by the aid of detection modules of automation, handholding and additional types. Photovoltaic power plant installations are now trending towards water, including fresh water and seawater. However, the scheme that patrols and examines to photovoltaic power plant on water and proposes at present adopts unmanned aerial vehicle to patrol and examine mostly, but unmanned aerial vehicle patrols and examines and has a great deal of problem, including need artificially to control, and need professional flight hand, check out test set also need carry on unmanned aerial vehicle, unmanned aerial vehicle's duration also reduces thereupon when increasing unmanned aerial vehicle overall weight, and needs the supplementary electric quantity of discontinuous or change the battery, so requirement to unmanned aerial vehicle is very high, its efficiency is also not optimistic. Therefore, photovoltaic power plant on water exists and patrols and examines that the scheme is few, the degree of difficulty is big and have unmanned aerial vehicle to patrol and examine efficiency not high, birds are nested and rest on a lot of problems such as rest.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide the unmanned inspection equipment which is energy-saving, environment-friendly and high in automation degree and is used for inspecting the photovoltaic power station on water.
Another object of the present invention is to provide an unmanned inspection fleet system for inspecting photovoltaic power plants above water.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the unmanned inspection equipment is characterized by comprising an equipment main body, a control module arranged on the equipment main body, a camera module, a wireless communication positioning module, a driving device for driving the equipment main body, a detection module and a power supply device, wherein the camera module, the wireless communication positioning module, the driving device, the detection module and the power supply device are respectively connected with the control module; the power supply device is respectively connected with the control module, the driving device, the detection module and the communication positioning module, the detection module comprises a water turbidity module for detecting the water turbidity and a high-power sound wave bird repelling module for repelling birds, and the unmanned inspection equipment inspects according to a control instruction received by the control module through the wireless communication positioning module and/or a preset instruction of the control module.
As a further explanation of the above solution, the apparatus main body is made of a buoyant material or provided with a floating device.
As a further explanation of the above scheme, the camera module comprises a live-action camera and an infrared hot spot detection camera.
As a further explanation of the above scheme, the power supply device includes a storage battery and a self-generating device, which can be externally connected to a power grid for charging; the self-generating device comprises a photovoltaic power generation board arranged at the top of the unmanned inspection equipment and an inverter connected with the photovoltaic power generation board; the inverter is connected to the battery.
As a further illustration of the above solution, the water turbidity module comprises: the detection head, a waterproof wire connecting the detection head and the control module and an A/D converter; the detection head is characterized in that a first infrared diode and a second infrared diode are fixedly arranged on the side wall of the upper end of the detection head, a corresponding first photoelectric detector and a corresponding second photoelectric detector are arranged on the side wall of the lower end of the detection head, and the first photoelectric detector and the second photoelectric detector are connected with the A/D converter through a mean value circuit.
As a further illustration of the above solution, the voice module is used for driving birds, and includes: one or more of a buzzer and a voice broadcasting device.
As a further explanation of the above scheme, the wireless communication positioning module includes a GPS module and a wireless communication module, and the wireless communication module is a 5G communication module or a 4G communication module.
An unmanned inspection machine group system is characterized by being applied to inspection of a photovoltaic power station on water, and comprising a plurality of unmanned inspection equipment, a background control center and a wireless charging parking space system for storing the above-water cruise equipment, wherein the unmanned inspection equipment is communicated with each other to form an inspection machine group and sends an inspection instruction to perform inspection according to the background control center; in the inspection process, each unmanned inspection device sends the information collected by the camera module and the water body turbidity module to the background control center through the wireless communication positioning module, and controls the voice module to be opened and closed according to the signal of the background control center.
As a further explanation of the above scheme, the background control center is provided with a route planning system, and the route planning system performs task allocation on all online unmanned inspection equipment of the inspection cluster, so that the corresponding unmanned inspection equipment performs on-water inspection on single-row or multi-row target photovoltaic modules.
As a further explanation of the above scheme, the charging stand system comprises a parking cabin for placing the above-water cruise equipment and a wireless charging device arranged in the parking cabin for charging the above-water cruise equipment; and a cabin door is hinged to the stopping cabin and is connected with a hydraulic telescopic rod, and the hydraulic telescopic rod is connected with the background control center.
The invention has the beneficial effects that:
the unmanned inspection equipment adopts an unmanned aerial vehicle to float and inspect, and carries a camera module, a water turbidity module and a voice module to autonomously inspect a target overwater photovoltaic power station, so that tasks such as detection and bird repelling are completed.
And secondly, the electric quantity of the unmanned inspection equipment is supplemented by adopting a bidirectional mechanism of the photovoltaic self-generating device and the charging system, so that the stable operation of the unmanned inspection equipment is ensured.
And thirdly, uniformly scheduling the cluster by adopting a background control center to issue a task execution command, distributing the tasks by a route preset planning system, and butting corresponding target components by each inspection device to execute the tasks, thereby improving the efficiency of executing the tasks.
Drawings
Fig. 1 is a structural diagram of the unmanned inspection apparatus according to the present invention.
Fig. 2 is a block diagram of the unmanned inspection device according to the present invention.
Fig. 3 is a schematic structural diagram of the unmanned inspection cluster system according to the present invention.
Fig. 4 is a flowchart of the unmanned inspection cluster system according to the present invention.
101: device main body, 102: camera module, 103: wireless communication positioning module, 104: self-power generation device, 105: a drive device.
Detailed Description
In the description of the present invention, it should be noted that, for the terms of orientation, such as "central", "lateral", "longitudinal", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., it indicates that the orientation and positional relationship shown in the drawings are based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated without limiting the specific scope of protection of the present invention.
Furthermore, if the terms "first" and "second" are used for descriptive purposes only, they are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. Thus, a definition of "a first" or "a second" feature may explicitly or implicitly include one or more of the feature, and in the description of the invention, "at least" means one or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "assembled", "connected", and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; or may be a mechanical connection; the two elements can be directly connected or connected through an intermediate medium, and the two elements can be communicated with each other. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific situations.
In the present invention, unless otherwise specified and limited, "above" or "below" a first feature may include the first and second features being in direct contact, and may also include the first and second features not being in direct contact but being in contact with each other through another feature therebetween. Also, the first feature being "above," "below," and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply an elevation which indicates a level of the first feature being higher than an elevation of the second feature. The first feature being "above", "below" and "beneath" the second feature includes the first feature being directly below or obliquely below the second feature, or merely means that the first feature is at a lower level than the second feature.
The following describes the embodiments of the present invention with reference to the drawings of the specification, so that the technical solutions and the advantages thereof are more clear and clear. The embodiments described below are exemplary and are intended to be illustrative of the invention, but are not to be construed as limiting the invention.
Example one
As shown in fig. 1 and 2, an unmanned inspection device includes: the device comprises a device body 101, and a control module, a camera module 102, a wireless communication positioning module 103, a driving device 105, a voice module and a power supply device which are arranged on the device body 101, wherein the control module is connected with the camera module 102, the wireless communication positioning module 103, the driving device 105 and the voice module, and the power supply device supplies power to the control module, the driving device, the voice module and the wireless communication positioning module; the device is characterized in that the device main body 101 is also provided with a water body turbidity module which is connected with the control module and is used for detecting the water body turbidity.
Wherein the apparatus body 101 is made of a buoyant material or provided with a floating device.
The water body turbidity module is a water body transparency detection device, and comprises: the device comprises a detection head arranged at the bottom of the device body, a waterproof lead wire for connecting the detection head with a control module and an A/D converter; the detection head is characterized in that a first infrared diode and a second infrared diode are fixedly arranged on the side wall of the upper end of the detection head, a corresponding first photoelectric detector and a corresponding second photoelectric detector are arranged on the side wall of the lower end of the detection head, and the first photoelectric detector and the second photoelectric detector are connected with the A/D converter through a mean value circuit. The working principle is as follows: the detection head extends into the water body, the first infrared diode and the second infrared diode emit infrared rays, the first photoelectric detector and the second photoelectric detector respond to the infrared rays penetrating through the water body to generate a circuit, an average value of the infrared rays is obtained through the average value circuit, then signal conversion is carried out through the A/D converter, and converted digital signals are transmitted to the control module to be processed.
The camera device 102 includes a live action camera and an infrared hot spot detection camera. The live-action camera is a Mijia panoramic camera. The infrared hot spot detection camera adopts a FLIR Vue airborne thermal infrared imager, only weighs about 100g, and does not influence the gravity center of the unmanned aerial vehicle or shorten the flight time. The FLIR Vue resolution can reach 640PPI multiplied by 512PPI, so that the visibility of the image is greatly enhanced; the working temperature is between-20 ℃ and +50 ℃, and the device can adapt to the severe outdoor environment; the device can be easily integrated with any platform through simple power input and video output connection, and can be used on a flight platform.
The control module adopts a Samsung S3C6410 processor to realize the functions of controlling the airborne thermal imager, transmitting images in real time and processing data. The S3C6410 processor is only 5cm multiplied by 6cm in length and width, and can be conveniently butted with the FLIR Vue movement. The S3C6410 processor has a plurality of data interfaces, so that the modules can be conveniently connected. As for the connection mode and connection circuit between the control module and each module, it is common technical knowledge known to those skilled in the art, and detailed description thereof is omitted here. For example, the GPS interface can be connected to a GPS module, and GPS information is superposed on the infrared hot spot image, so that the photovoltaic module of the fault can be conveniently positioned at the later stage; the real-time image transmission can be realized through a wireless network card interface, and the suspension shooting of a fault component is facilitated in the detection process to obtain detailed data; the SD card seat interface can be inserted into the SD card to realize storage of detection data and facilitate post processing.
The power supply device comprises a storage battery capable of being externally connected with a power grid for charging and a self-generating device 104.
Preferably, the self-power-generation device 104 comprises a photovoltaic power generation panel arranged on the top of the unmanned inspection equipment, and an inverter connected with the photovoltaic power generation panel; the inverter is connected to the battery.
The wireless communication positioning module 103 comprises a GPS module and a wireless communication module, and the wireless communication module is a 5G communication module or a 4G communication module.
The voice module is used for driving birds, and comprises: one or more of a buzzer and a voice broadcasting device. The voice module plays high-power sound waves to drive birds.
The driving device comprises a propeller arranged on the equipment main body and a motor connected with the propeller.
Compared with the prior art, the unmanned equipment of patrolling and examining that this embodiment provided has following characteristics: 1) unmanned patrol and examine equipment adopts unmanned aerial vehicle to float the formula and patrols and examines, carries on camera module, water turbidity module, voice module simultaneously and independently patrols and examines to target photovoltaic power plant on water, accomplishes tasks such as detection and bird repellent. 2) The bidirectional mechanism of the photovoltaic self-generating device and the charging system is adopted to supplement electric quantity to the unmanned inspection equipment, and stable operation of the unmanned inspection equipment is guaranteed.
Example two
As shown in fig. 3 and 4, an unmanned inspection machine group system is applied to inspection of photovoltaic power stations on water, and comprises: the system comprises a plurality of unmanned inspection equipment, a background control center and a wireless charging parking space system for storing the overwater cruising equipment, wherein the unmanned inspection equipment is communicated and matched with each other to form an inspection cluster and sends an inspection instruction to inspect according to the background control center; in the inspection process, each unmanned inspection device sends the information collected by the camera module and the water body turbidity module to the background control center through the wireless communication positioning module, and controls the voice module to be opened and closed according to the signal of the background control center.
The background control center is provided with a route planning system, and the route planning system is used for distributing tasks to all online unmanned inspection equipment of the inspection cluster, so that the corresponding unmanned inspection equipment can perform overwater inspection on single-row or multi-row target photovoltaic modules. The route planning system is realized by programming the control module, and the specific programming and planning method is common technical knowledge mastered by the technical personnel in the field, and can be seen in Chinese invention patent applications with publication numbers of CN109032182A and CN 108762308A; and will not be described in detail herein.
The background control center is an industrial control computer.
Preferably, the wireless charging parking space system comprises a parking cabin and a charging device which is arranged in the parking cabin and used for charging the unmanned inspection equipment. And a cabin door is hinged to the stopping cabin and is connected with a hydraulic telescopic rod, and the hydraulic telescopic rod is connected with the background control center. The charging device is a wireless charging device. The parking cabins are arranged in a honeycomb mode. When the electric quantity of the unmanned inspection equipment is insufficient or the dormant state is ready to be executed, the corresponding cabin door is opened, and the unmanned inspection equipment enters the cabin stopping state and enters the dormant, cruising, charging and stopping states. The wireless charging device is a prior art and is not described herein in detail.
When unmanned equipment of patrolling and examining electric power is abundant and do not have the executive task order, can float the standby work distribution of waiting on water, the photovoltaic module through from power generation facility carries out electric power continuation supply with solar energy conversion to the electric energy simultaneously, guarantees unmanned stability of patrolling and examining equipment performance. If the electric power is not enough, the unmanned inspection equipment goes to the wireless charging parking place for charging through the wireless communication positioning module, and can enter a dormant or standby state while charging. When the background control center issues a task execution command, the unmanned inspection cluster drives all unmanned inspection equipment with abundant electric power, and meanwhile, the route preset planning system performs task distribution on all online unmanned inspection equipment of the inspection cluster, namely corresponding single-row or multi-row target photovoltaic modules are distributed, and then the unmanned inspection equipment performs water inspection on the task photovoltaic power station. When the unmanned inspection equipment reaches a destination, the live-action camera and the infrared hot spot detection camera are opened to carry out various data acquisition on the target overwater photovoltaic power station, and if the overwater photovoltaic power station is found to have hot spot effect, bird dung, fallen leaves and other shelters or power station damage and other adverse conditions, the sampling data of the power station with the problem are fed back and reported to the background control center for human intervention judgment. Unmanned equipment of patrolling and examining opens water turbidity module, and the current quality of water of real-time detection avoids suspended solids such as plankton and colloidal matter to influence the photovoltaic power plant generated energy, can find through the sampling of outdoor scene camera whether have plankton climb on the mountain photovoltaic module simultaneously. After the inspection task is completed, the overwater inspection equipment does not receive the task instruction, returns to the wireless charging parking position system for power supplement or enters a sleep state, and part of unmanned inspection equipment with enough power can continuously float on the water surface to enter a standby state and receive the command at any time.
Compared with the prior art, the unmanned inspection cluster system provided by the embodiment has the following characteristics: 1) a background control center is adopted to uniformly schedule the cluster to issue a task execution command, a route preset planning system is used to distribute task power stations, and each inspection device is in butt joint with a corresponding target component to execute tasks, so that the task execution efficiency is improved. 2) The wireless charging parking space system is adopted to charge the unmanned inspection equipment, and places of dormancy, continuation of journey and shutdown are provided for the unmanned inspection cluster through the wireless charging parking space system.
It will be appreciated by those skilled in the art from the foregoing description of construction and principles that the invention is not limited to the specific embodiments described above, and that modifications and substitutions based on the teachings of the art may be made without departing from the scope of the invention as defined by the appended claims and their equivalents. The details not described in the detailed description are prior art or common general knowledge.
Claims (10)
1. An unmanned inspection device comprising: the device comprises a device main body, and a control module, a camera module, a wireless communication positioning module, a driving device, a voice module and a power supply device which are arranged on the device main body, wherein the control module is connected with the camera module, the wireless communication positioning module, the driving device and the voice module, and the power supply device supplies power to the control module, the driving device, the voice module and the wireless communication positioning module; the device is characterized in that the device main body is also provided with a water body turbidity module which is connected with the control module and is used for detecting the water body turbidity.
2. The unmanned inspection device according to claim 1, wherein the device body is made of a buoyant material or is provided with a floatation device.
3. The unmanned inspection device of claim 1, wherein the camera module includes a live action camera and an infrared hotspot detection camera.
4. The unmanned inspection device according to claim 1, wherein the power supply device includes a storage battery and a self-generating device, the storage battery and the self-generating device can be externally connected with a power grid for charging; the self-generating device comprises a photovoltaic power generation board arranged at the top of the unmanned inspection equipment and an inverter connected with the photovoltaic power generation board; the inverter is connected to the battery.
5. The unmanned inspection device of claim 1, wherein the water turbidity module includes: the detection head, a waterproof wire connecting the detection head and the control module and an A/D converter; the detection head is characterized in that a first infrared diode and a second infrared diode are fixedly arranged on the side wall of the upper end of the detection head, a corresponding first photoelectric detector and a corresponding second photoelectric detector are arranged on the side wall of the lower end of the detection head, and the first photoelectric detector and the second photoelectric detector are connected with the A/D converter through a mean value circuit.
6. The unmanned inspection device of claim 1, wherein the voice module is configured to propel birds, comprising: one or more of a buzzer and a voice broadcasting device.
7. The unmanned inspection device according to claim 1, wherein the wireless communication positioning module includes a GPS module and a wireless communication module, and the wireless communication module is a 5G communication module or a 4G communication module.
8. An unmanned inspection machine group system is characterized by being applied to inspection of an overwater photovoltaic power station and comprising a plurality of unmanned inspection devices according to any one of claims 1-7, a background control center and a wireless charging parking space system for storing the overwater cruising devices, wherein the unmanned inspection devices are communicated and matched with each other to form an inspection machine group and send an inspection instruction to perform inspection according to the background control center; in the inspection process, each unmanned inspection device sends the information collected by the camera module and the water body turbidity module to the background control center through the wireless communication positioning module, and controls the voice module to be opened and closed according to the signal of the background control center.
9. The unmanned aerial inspection cluster system of claim 8, wherein the background control center is provided with a route planning system, and the route planning system is configured to perform task allocation on all online unmanned aerial inspection devices of the unmanned aerial inspection cluster, so that the corresponding unmanned aerial inspection devices perform over-water inspection on single-row or multi-row target photovoltaic modules.
10. The unmanned inspection fleet system according to claim 8, wherein said charging park position system comprises a park cabin for placing said marine cruise facility and a wireless charging device disposed within said park cabin for charging said marine cruise facility; and a cabin door is hinged to the stopping cabin and is connected with a hydraulic telescopic rod, and the hydraulic telescopic rod is connected with the background control center.
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Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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