CN111766895A - Unmanned aerial vehicle inspection system and method for photovoltaic power station - Google Patents
Unmanned aerial vehicle inspection system and method for photovoltaic power station Download PDFInfo
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- 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
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
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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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01W—METEOROLOGY
- G01W1/00—Meteorology
- G01W1/02—Instruments for indicating weather conditions by measuring two or more variables, e.g. humidity, pressure, temperature, cloud cover or wind speed
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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
Abstract
The invention discloses a system and a method for unmanned aerial vehicle inspection of a photovoltaic power station in the technical field of unmanned aerial vehicle inspection, the system comprises the inspection unmanned aerial vehicle, the field charging stations and the control center, the invention reasonably distributes a plurality of groups of field charging stations in the photovoltaic power station, so that the unmanned aerial vehicle can select a charging station nearby for charging or storing, the homing flight distance is reduced, the invention can reduce the probability of accidents of the unmanned aerial vehicle and improve the cruising and inspection efficiency of the unmanned aerial vehicle to a certain extent, when the control center loses control on the unmanned aerial vehicle, the main controller is replaced in time to take over and control the unmanned aerial vehicle, the unmanned aerial vehicle is controlled to return to the nest at the first time, the loss caused by the uncontrolled flight of the unmanned aerial vehicle is avoided, multiple flight tracks are designed by taking the field charging station as a base point, so that the routing inspection path of the unmanned aerial vehicle can be more reasonable.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle inspection, in particular to an unmanned aerial vehicle inspection system for a photovoltaic power station.
Background
Photovoltaic power stations are generally built in remote areas such as deserts, gobi and grasslands with wide areas and sufficient illumination. In the power generation operation process, the photovoltaic panel of the photovoltaic power station is easily damaged by different degrees under the influence of natural environment factors such as wind sand, snow rain, bird dung and the like, so that the power generation efficiency of a power generation system is influenced, and the service life of the system is shortened. Therefore, the photovoltaic panel needs to be maintained daily, damaged and repaired in time. The maintenance mode commonly used at present is for artifical patrolling and examining, and the personnel of need patrolling and examining carry equipment to the photovoltaic board on-the-spot and detect, and not only work load is big, and efficiency is lower moreover. In recent years, unmanned aerial vehicles rely on the advantages of flexibility, convenience and air vision, and are more and more applied to the inspection task of the photovoltaic power station. However, in the inspection process, skilled personnel are required to manually control the unmanned aerial vehicle to fly in the sight distance range. Control personnel need good training and exercise, and these factors have increased the application threshold of unmanned aerial vehicle in the task is patrolled and examined to photovoltaic power plant, have restricted the efficiency of patrolling and examining of application in-process, have hindered the application and the popularization of unmanned aerial vehicle technique in photovoltaic power plant operation and maintenance field.
Patent number CN201911143958.5 discloses photovoltaic power plant unmanned aerial vehicle system of patrolling and examining, include: the inspection unmanned aerial vehicle is provided with a flight control module, and a power module, a wireless communication module, a visible light camera and an infrared thermal imaging camera which are electrically connected with the flight control module; the unmanned aerial vehicle hangar is provided with an inner cavity capable of containing the inspection unmanned aerial vehicle and a data transmission module, and the data transmission module can be in wireless communication with the wireless communication module; unmanned aerial vehicle management center, including data processing server and terminal equipment, data processing server can with data transmission module communication, terminal equipment is provided with display module. It learns whether the photovoltaic board breaks down or damages and its position through the image information and the corresponding flight information that unmanned aerial vehicle shot, makes maintainer need not to control on the spot, can accomplish and patrol and examine the task, improves and patrols and examines efficiency.
The system is provided with the unmanned aerial vehicle hangars at the photovoltaic power station for charging and storing the unmanned aerial vehicle, and can realize remote inspection control of the unmanned aerial vehicle, but the system also has some problems, in practical situations, the photovoltaic power station generally occupies a large area, the number of the unmanned aerial vehicle hangars arranged by the system is small, when the unmanned aerial vehicle flies midway or far away, and meets unexpected situations, such as insufficient electric quantity or sudden severe weather, the unmanned aerial vehicle can return to the unmanned aerial vehicle hangars for charging and continuing a journey only by flying a far distance, the probability of accidents of the unmanned aerial vehicle is increased easily by long-distance return-to-nest flight, and the detection efficiency is reduced by long return-to-nest flight time; meanwhile, the system is also lack of an emergency protection system, when the unmanned aerial vehicle management center loses control over the unmanned aerial vehicle due to circuit problems, the unmanned aerial vehicle flies out of control to bring economic loss.
Based on the above, the invention designs the unmanned aerial vehicle inspection system for the photovoltaic power station, so as to solve the problems.
Disclosure of Invention
The invention aims to provide a photovoltaic power station unmanned aerial vehicle inspection system to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: an unmanned aerial vehicle inspection system for a photovoltaic power station comprises an inspection unmanned aerial vehicle, a field charging station and a control center;
the inspection unmanned aerial vehicle comprises a flight and control module, a data acquisition module, a GPS (global positioning system) positioning module, a first wireless communication module, a rechargeable battery and a battery management module, wherein the flight and control module, the data acquisition module, the GPS positioning module, the first wireless communication module and the battery management module are electrically connected with the rechargeable battery;
the field charging station is distributed in a photovoltaic power station area and comprises a wireless charging platform, a field meteorological monitoring module, a second wireless communication module and an emergency control module, wherein the field meteorological monitoring module and the emergency control module are electrically connected with the second wireless communication module;
the control center comprises a main controller and a display, wherein the main controller comprises a data transmission module, a data processing module and a track control module;
the first wireless communication module and the second wireless communication module are in communication connection with the data transmission module.
Preferably, the data acquisition module comprises a thermal imager and a visible light camera, the visible light camera is used for detecting the surface condition of the photovoltaic panel, the thermal imager is used for detecting the surface temperature of the photovoltaic panel, and the visible light camera is additionally provided with a natural light filtering lens.
Preferably, the rechargeable battery is a wireless rechargeable battery matched with the wireless charging platform.
Preferably, the battery management module includes an electric quantity detection module for detecting the electric quantity of the rechargeable battery and feeding back the electric quantity data to the control center.
Preferably, the field charging station has the multiunit, the multiunit field charging station reasonable distribution is at photovoltaic power plant's border, field charging station passes through photovoltaic power plant power storage module and the dual power supply of commercial power, field charging station is for preventing wind and rain-proof structure, field charging station exit is equipped with automatically controlled gate and is used for unmanned aerial vehicle's sealed storage, the last all-day surveillance camera head that is equipped with of field charging station.
Preferably, the emergency control module comprises a standby storage battery and an emergency control system, and the emergency control module is used for controlling the inspection unmanned aerial vehicle to autonomously fly back to the field charging station under emergency.
Preferably, the control center supplies power doubly through the commercial power and the photovoltaic power station power storage module.
An unmanned aerial vehicle inspection method for a photovoltaic power station comprises the following steps:
s1, setting a plurality of groups of track flight data by taking the field charging station as a base point, and recording the track flight data into the main controller through the track control module;
s2, the field weather monitoring module monitors the field weather of the photovoltaic power station in real time and sends weather information data to the main controller, the main controller judges whether the weather can be used for unmanned aerial vehicle inspection on the day, and if not, the unmanned aerial vehicle inspection is stopped in a field charging station; if yes, carrying out the next step;
s3, according to the station position of the on-site charging station where the inspection unmanned aerial vehicle is parked, the main controller adapts the track flight data of the corresponding station to the inspection unmanned aerial vehicle, and the inspection unmanned aerial vehicle receives the track flight data and flies according to the set track;
s4, acquiring data of the photovoltaic panel by the inspection unmanned aerial vehicle in the flying process, and sending the data information of the photovoltaic panel and the position coordinates of the corresponding information to the main controller;
s5, the main controller receives the data information of the photovoltaic panel and the position coordinates of the corresponding information, judges whether the photovoltaic panel at the position is normal or not, and if the abnormality is found, the main controller reminds maintenance personnel to maintain through the display screen.
Preferably, if emergence emergency leads to control center to become invalid, control center loses the control to patrolling and examining unmanned aerial vehicle, and emergent emergency control module in time perceives emergency this moment to independently send the command control unmanned aerial vehicle and return to nearest on-the-spot charging station in.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, multiple groups of field charging stations are reasonably distributed in the photovoltaic power station, so that the unmanned aerial vehicle can select the charging stations nearby for charging or storing, the return nest flight distance is reduced, the probability of accidents of the unmanned aerial vehicle is reduced, and meanwhile, the cruising inspection efficiency of the unmanned aerial vehicle can be improved to a certain extent;
2. according to the invention, the emergency control module with the emergency self-power supply function is arranged in the field charging station, so that when the control center loses control over the unmanned aerial vehicle, the main controller can be replaced in time to take over control over the unmanned aerial vehicle, the unmanned aerial vehicle is controlled to return to the nest at the first time, and loss caused by the fact that the unmanned aerial vehicle is out of control and flies is avoided;
3. according to the invention, various flight tracks are designed by taking the field charging station as a base point, so that the routing inspection path of the unmanned aerial vehicle can be more reasonable.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a block diagram of the present invention;
FIG. 2 is a block diagram of a master controller according to the present invention;
FIG. 3 is a block diagram of a data acquisition module according to the present invention;
FIG. 4 is a block diagram of the on-site weather monitoring module of the present invention;
FIG. 5 is a block diagram of an emergency control module according to the present invention;
fig. 6 shows a distribution of field charging station designs according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-6, the present invention provides a technical solution: an unmanned aerial vehicle inspection system for a photovoltaic power station comprises an inspection unmanned aerial vehicle, a field charging station and a control center;
the inspection unmanned aerial vehicle comprises a flight and control module, a data acquisition module, a GPS (global positioning system) positioning module, a first wireless communication module, a rechargeable battery and a battery management module, wherein the flight and control module, the data acquisition module, the GPS positioning module, the first wireless communication module and the battery management module are electrically connected with the rechargeable battery;
the field charging station is distributed in a photovoltaic power station area and comprises a wireless charging platform, a field meteorological monitoring module, a second wireless communication module and an emergency control module, wherein the field meteorological monitoring module and the emergency control module are electrically connected with the second wireless communication module;
the control center comprises a main controller and a display, wherein the main controller comprises a data transmission module, a data processing module and a track control module;
the first wireless communication module and the second wireless communication module are in communication connection with the data transmission module.
Furthermore, the data acquisition module comprises a thermal imager and a visible light camera, the visible light camera is used for detecting the surface condition of the photovoltaic panel, the thermal imager is used for detecting the surface temperature of the photovoltaic panel, and the visible light camera is additionally provided with a natural light filtering lens.
Further, the rechargeable battery is a wireless rechargeable battery matched with the wireless charging platform.
Furthermore, the battery management module comprises an electric quantity detection module for detecting the electric quantity of the rechargeable battery and feeding back the electric quantity data to the control center.
Further, the on-site charging station has the multiunit, the multiunit on-site charging station rational distribution is at photovoltaic power plant's border, on-site charging station passes through photovoltaic power plant power storage module and the dual power supply of commercial power, on-site charging station is for preventing wind and rain-proof structure, on-site charging station exit is equipped with automatically controlled gate and is used for unmanned aerial vehicle's sealed storage, on-site charging station is last to be equipped with all-weather surveillance camera head, avoids the artificial unmanned aerial vehicle that steals.
Further, emergency control module is including reserve battery and emergency control system, emergency control module is used for controlling under the emergency and patrols and examines unmanned aerial vehicle and independently flies back to on-the-spot charging station.
Furthermore, the control center supplies power through the commercial power and the photovoltaic power station power storage module in a dual mode, and the capability of the control center for resisting the power failure risk is improved.
An unmanned aerial vehicle inspection method for a photovoltaic power station comprises the following steps:
s1, setting a plurality of groups of track flight data by taking the field charging station as a base point, and recording the track flight data into the main controller through the track control module;
s2, the field weather monitoring module monitors the field weather of the photovoltaic power station in real time and sends weather information data to the main controller, the main controller judges whether the weather can be used for unmanned aerial vehicle inspection on the day, and if not, the unmanned aerial vehicle inspection is stopped in a field charging station; if yes, carrying out the next step;
s3, according to the station position of the on-site charging station where the inspection unmanned aerial vehicle is parked, the main controller adapts the track flight data of the corresponding station to the inspection unmanned aerial vehicle, and the inspection unmanned aerial vehicle receives the track flight data and flies according to the set track;
s4, acquiring data of the photovoltaic panel by the inspection unmanned aerial vehicle in the flying process, and sending the data information of the photovoltaic panel and the position coordinates of the corresponding information to the main controller;
s5, the main controller receives the data information of the photovoltaic panel and the position coordinates of the corresponding information, judges whether the photovoltaic panel at the position is normal or not, and if the abnormality is found, the main controller reminds maintenance personnel to maintain through the display screen.
Further, if the emergency situation happens and leads to the control center to become invalid, the control center loses the control over the inspection unmanned aerial vehicle, and the emergency control module senses the emergency situation in time and autonomously sends out a command to control the unmanned aerial vehicle to return to the nearest field charging station.
In the process of patrolling and examining, when battery management module discovers that unmanned aerial vehicle's rechargeable battery electric quantity is less than the setting value, can signal and inform main control unit, main control unit is according to unmanned aerial vehicle's positional information at that time, judge the nearest field charging station apart from unmanned aerial vehicle, and control unmanned aerial vehicle flies to nearest field charging station (traditional unmanned aerial vehicle is when the electric quantity is not enough, can accelerate to return the nest and close and patrol and examine the module simultaneously, it does not have the function of patrolling and examining to return to, it measures to wait to still need the original route to return after the electricity is filled, efficiency of patrolling and examining has been influenced, and requirement to flight path control module is higher), this in-process can keep patrolling and examining the working attitude flight, also can close data acquisition module flight, the flight state depends on the position of.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (10)
1. The utility model provides a photovoltaic power plant unmanned aerial vehicle system of patrolling and examining which characterized in that: the system comprises an inspection unmanned aerial vehicle, a field charging station and a control center;
the inspection unmanned aerial vehicle comprises a flight and control module, a data acquisition module, a GPS (global positioning system) positioning module, a first wireless communication module, a rechargeable battery and a battery management module, wherein the flight and control module, the data acquisition module, the GPS positioning module, the first wireless communication module and the battery management module are electrically connected with the rechargeable battery;
the field charging station is distributed in a photovoltaic power station area and comprises a wireless charging platform, a field meteorological monitoring module, a second wireless communication module and an emergency control module, wherein the field meteorological monitoring module and the emergency control module are electrically connected with the second wireless communication module;
the control center comprises a main controller and a display, wherein the main controller comprises a data transmission module, a data processing module and a track control module;
the first wireless communication module and the second wireless communication module are in communication connection with the data transmission module.
2. The photovoltaic power plant unmanned aerial vehicle inspection system of claim 1, characterized in that: the data acquisition module comprises a thermal imager and a visible light camera, the visible light camera is used for detecting the surface condition of the photovoltaic panel, the thermal imager is used for detecting the surface temperature of the photovoltaic panel, and a natural light filtering lens is additionally arranged on the visible light camera.
3. The photovoltaic power plant unmanned aerial vehicle inspection system of claim 1, characterized in that: the rechargeable battery is a wireless rechargeable battery matched with the wireless charging platform.
4. The photovoltaic power plant unmanned aerial vehicle inspection system of claim 1, characterized in that: the battery management module comprises an electric quantity detection module for detecting the electric quantity of the rechargeable battery and feeding back the electric quantity data to the control center.
5. The photovoltaic power plant unmanned aerial vehicle inspection system of claim 1, characterized in that: the field charging station has the multiunit, the multiunit field charging station rational distribution is at photovoltaic power plant's border, field charging station passes through photovoltaic power plant power storage module and the dual power supply of commercial power, field charging station is for preventing wind and rain-proof structure, field charging station exit is equipped with automatically controlled gate and is used for unmanned aerial vehicle's sealed storage, the last all-day surveillance camera head that is equipped with of field charging station.
6. The photovoltaic power plant unmanned aerial vehicle inspection system of claim 1, characterized in that: the on-site meteorological monitoring module comprises a wind speed sensor, a temperature sensor, a humidity sensor and a rainfall sensor.
7. The photovoltaic power plant unmanned aerial vehicle inspection system of claim 1, characterized in that: the emergency control module comprises a standby storage battery and an emergency control system, and the emergency control system is used for controlling the inspection unmanned aerial vehicle to autonomously fly back to the field charging station under emergency conditions.
8. The photovoltaic power plant unmanned aerial vehicle inspection system of claim 1, characterized in that: and the control center supplies power doubly through the commercial power and the photovoltaic power station power storage module.
9. The unmanned aerial vehicle inspection method for the photovoltaic power station is characterized by comprising the following steps:
s1, setting a plurality of groups of track flight data by taking the field charging station as a base point, and recording the track flight data into the main controller through the track control module;
s2, the field weather monitoring module monitors the field weather of the photovoltaic power station in real time and sends weather information data to the main controller, the main controller judges whether the weather can be used for unmanned aerial vehicle inspection on the day, and if not, the unmanned aerial vehicle inspection is stopped in a field charging station; if yes, carrying out the next step;
s3, according to the station position of the on-site charging station where the inspection unmanned aerial vehicle is parked, the main controller adapts the track flight data of the corresponding station to the inspection unmanned aerial vehicle, and the inspection unmanned aerial vehicle receives the track flight data and flies according to the set track;
s4, acquiring data of the photovoltaic panel by the inspection unmanned aerial vehicle in the flying process, and sending the data information of the photovoltaic panel and the position coordinates of the corresponding information to the main controller;
s5, the main controller receives the data information of the photovoltaic panel and the position coordinates of the corresponding information, judges whether the photovoltaic panel at the position is normal or not, and if the abnormality is found, the main controller reminds maintenance personnel to maintain through the display screen.
10. The photovoltaic power station unmanned aerial vehicle inspection method according to claim 9, characterized in that: if the emergency situation happens, the control center loses the control over the inspection unmanned aerial vehicle, the emergency control module senses the emergency situation in time and sends out a command to control the unmanned aerial vehicle to return to the nearest field charging station.
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| CN112311872A (en) * | 2020-10-29 | 2021-02-02 | 山东翔迈智能科技有限公司 | Unmanned aerial vehicle nest autonomous cruise network system |
| CN113077561A (en) * | 2021-03-29 | 2021-07-06 | 北京智盟信通科技有限公司 | Intelligent inspection system for unmanned aerial vehicle |
| CN113989952A (en) * | 2021-10-22 | 2022-01-28 | 国网山东省电力公司利津县供电公司 | Power equipment inspection system based on distributed power supply network points |
| CN114155694A (en) * | 2021-12-27 | 2022-03-08 | 北京卓翼智能科技有限公司 | Automatic cruise and have high temperature early warning function unmanned aerial vehicle |
| WO2022082660A1 (en) * | 2020-10-22 | 2022-04-28 | 华为数字能源技术有限公司 | Power station inspection system and power station inspection method |
| DE102022115285A1 (en) | 2022-06-20 | 2023-12-21 | E.ON Digital Technology GmbH | Station network for autonomous and/or semi-autonomous unmanned aircraft and methods for controlling autonomous or semi-autonomous unmanned aircraft |
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