CN111998832A - Laser point cloud-based inspection method for accurately positioning target object by using unmanned aerial vehicle - Google Patents
Laser point cloud-based inspection method for accurately positioning target object by using unmanned aerial vehicle Download PDFInfo
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Abstract
The invention discloses a routing inspection method for accurately positioning a target object by using an unmanned aerial vehicle based on laser point cloud, which comprises the following steps: s1: the method comprises the following steps that (1) a station carries out forward survey and inclined surveying and mapping for the first time by using an unmanned aerial vehicle, and a station detailed drawing is constructed on a base map of a satellite map to form a base map model map; s2: overlapping the laser point cloud picture formed by scanning on the base map model picture to form a fine map; s3: marking a plurality of geographical coordinates on each target object of the station on the fine map to form a coordinate graph; s4: the inspection graph is overlapped on the coordinate graph, the geographic coordinates of the target object with the defect point are displayed on the base graph, and the defect target object is accurately positioned. The invention utilizes the unmanned aerial vehicle to patrol the target: the base map model diagram, the laser point cloud diagram and the inspection diagram are overlapped, and the positions of defective target objects in the inspection diagram in a coordinate diagram formed by the model diagram and the laser point cloud diagram are accurately marked, so that inspection personnel can find fault points quickly.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a laser point cloud-based inspection method for accurately positioning a target object by using an unmanned aerial vehicle.
Background
The unmanned aerial vehicle is not provided with a cockpit, but is provided with an automatic pilot, a program control device and other equipment. The personnel on the ground, the naval vessel or the mother aircraft remote control station can track, position, remotely control, telemeter and digitally transmit the personnel through equipment such as a radar.
The present application field of unmanned aerial vehicle is more and more, it is most extensive in the aspect of inspection tour, but at present to patrolling and examining the in-process relatively poor to unmanned aerial vehicle's use standardization, the operational reliability is low, traditional technique adopts unmanned aerial vehicle to patrol and examine the back, even discover phenomenons such as photovoltaic board fracture, but hardly find the concrete position of problem photovoltaic board in the very first time, because the photovoltaic board is generally concentrated in a large number and lays in a certain area, for example, the mountain area, hilly land, there is the defect target when utilizing unmanned aerial vehicle to discover the place, because the area is wide, the topography is complicated, the inspector hardly accurately finds the defect target, waste a large amount of manpowers, and is inefficient.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides the inspection method for accurately positioning the target object by using the unmanned aerial vehicle based on the laser point cloud, which can accurately position the defective target object at the first time, greatly standardizes the operation of the unmanned aerial vehicle, enhances the reliability and improves the inspection quality.
In order to achieve the purpose, the invention adopts the following technical scheme:
a patrol method for accurately positioning a target object by using an unmanned aerial vehicle based on laser point cloud comprises the following steps:
s1: and (3) inspection of the target: the method comprises the following steps that (1) a station carries out forward survey and inclined surveying and mapping for the first time by using an unmanned aerial vehicle, and a station detailed drawing is constructed on a base map of a satellite map to form a base map model map;
s2: carrying out laser point cloud scanning by using the unmanned aerial vehicle to carry laser radar equipment for the second time to form a laser point cloud picture; overlapping the laser point cloud picture formed by scanning on the base map model picture to form a fine map;
s3: marking a plurality of geographical coordinates on each target object of the station on the fine map to form a coordinate graph;
s4: when the unmanned aerial vehicle is patrolled and examined the flight, unmanned aerial vehicle carries on the camera and patrols at the station flight, and the picture of patrolling and examining after unmanned aerial vehicle flight is patrolled and examined and is accomplished overlaps on above-mentioned coordinate graph, and the geographical coordinate of the target object that has the defect point is shown on the base map, realizes accurate location defect target object.
Preferably, the specific flow of patrolling and examining that unmanned aerial vehicle patrolled and examined still includes:
(1) during inspection, firstly planning an unmanned aerial vehicle route;
(2) after the air route is planned, making the conditions of a flight plan, including the size of a flight area, the number of photos taken and the predicted time of flight;
(3) after the optimal air route plans the flight route, checking the operation condition of the unmanned aerial vehicle, and manually modifying or adjusting;
(4) the real route is compared with the simulation route by setting shooting parameters of a camera carried by the unmanned aerial vehicle, and the flight state of the unmanned aerial vehicle is checked in real time;
(5) videos and images shot by the unmanned aerial vehicle are transmitted to the edge computing node through the vehicle-mounted ground hangar for monitoring and identification, after defects are found, the unmanned aerial vehicle receives hangar commands, automatically adjusts flight postures and cradle head angles, carries out secondary shooting on the defects of the target object, carries out secondary defect identification on the hangar, and effectively improves the defect identification accuracy;
(6) after the unmanned aerial vehicle reaches the waypoint and completes the detection task, detection information is sent back to the video analysis platform through the processing of the edge computing node, and a detection report is formed in real time.
Preferably, the principle of patrolling and examining of unmanned aerial vehicle patrolling and examining does: checking before starting the unmanned aerial vehicle, confirming that the function and the surrounding environment are normal before taking off, monitoring the flight process in real time, and performing routing inspection according to the regulations, including normal routing inspection and special routing inspection;
and the normal inspection: the method is divided into two types of fast patrol and fine patrol:
(1) and (3) quick patrol: mainly patrolling the basic condition of a target object;
(2) fine patrol: the unmanned aerial vehicle carries out hovering inspection operation on the target object element by utilizing visible light equipment, and is suitable for stations for carrying out unmanned aerial vehicle inspection for the first time, stations with defects or abnormalities and stations for carrying out fine inspection according to periodic requirements;
the special patrol comprises the following steps: the special inspection is divided into fault inspection and disaster investigation;
(1) and (3) fault patrol: after a target object is in fault or defect, sending out an unmanned aerial vehicle according to the requirement to carry out fine inspection and searching operation on the field station section and the part which are possibly in fault or defect;
(2) disaster situation investigation: when natural disasters such as earthquakes, debris flows, mountain fire and severe icing occur, the unmanned aerial vehicle is sent out as required to carry out disaster investigation shooting and video recording evidence obtaining on disaster areas, and operations of damage of power transmission and transformation facilities and environment change conditions are collected.
Preferably, the shooting requirement for the quick patrol is as follows: a. the unmanned aerial vehicle is lifted to a target object by more than 15 meters, the camera is adjusted downwards, a photovoltaic square chart is shot, and at least one picture of visible light and one picture of infrared light are shot; b. after the photo of the target object is shot, the angle of the camera is adjusted in situ, the basic situation of the shot target object is overlooked, and at least one photo of visible light and infrared light is shot.
Preferably, the shooting requirement of the fine patrol is: aiming at a target object square matrix: the unmanned aerial vehicle needs the highest point of an obstacle near a defect of a target object to be more than 10m, at least 2 different directions are selected for shooting, and not less than three pictures are shot in each direction.
Preferably, the target may be, but is not limited to, one of a solar photovoltaic panel, a fan, and a wire.
Preferably, the inspection method further comprises data sorting, specifically: all data generated by unmanned aerial vehicle inspection must be stored and backed up for data query and data analysis.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention utilizes the unmanned aerial vehicle to patrol the target: the base map model diagram, the laser point cloud diagram and the inspection diagram are overlapped, and the positions of defective target objects in the inspection diagram in a coordinate diagram formed by the model diagram and the laser point cloud diagram are accurately marked, so that inspection personnel can find fault points quickly. 2. The unmanned aerial vehicle is refined in the specific application of quick inspection, fine inspection, fault inspection and disaster investigation, and the inspection shooting quality is greatly improved.
Drawings
FIG. 1 is a diagram of the unmanned aerial vehicle inspection system structure of the present invention;
FIG. 2 is a positioning diagram of a defect photovoltaic panel for unmanned aerial vehicle routing inspection according to the invention;
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as broadly as the present invention is capable of modification in various respects, all without departing from the spirit and scope of the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
A patrol method for accurately positioning a target object by using an unmanned aerial vehicle based on laser point cloud comprises the following steps:
s1: and (3) inspection of the target: the method comprises the following steps that (1) a station carries out forward survey and inclined surveying and mapping for the first time by using an unmanned aerial vehicle, and a station detailed drawing is constructed on a base map of a satellite map to form a base map model map;
s2: carrying out laser point cloud scanning by using the unmanned aerial vehicle to carry laser radar equipment for the second time to form a laser point cloud picture; overlapping the laser point cloud picture formed by scanning on the base map model picture to form a fine map;
s3: marking a plurality of geographical coordinates on each target object of the station on the fine map to form a coordinate graph;
s4: when the unmanned aerial vehicle is patrolled and examined the flight, unmanned aerial vehicle carries on the camera and patrols at the station flight, and the picture of patrolling and examining after unmanned aerial vehicle flight is patrolled and examined and is accomplished overlaps on above-mentioned coordinate graph, and the geographical coordinate of the target object that has the defect point is shown on the base map, realizes accurate location defect target object.
The specific flow of patrolling and examining that unmanned aerial vehicle patrolled and examined still includes:
(1) during inspection, firstly planning an unmanned aerial vehicle route;
(2) after the air route is planned, making the conditions of a flight plan, including the size of a flight area, the number of photos taken and the predicted time of flight;
(3) after the optimal air route plans the flight route, checking the operation condition of the unmanned aerial vehicle, and manually modifying or adjusting;
(4) the real route is compared with the simulation route by setting shooting parameters of a camera carried by the unmanned aerial vehicle, and the flight state of the unmanned aerial vehicle is checked in real time;
(5) videos and images shot by the unmanned aerial vehicle are transmitted to the edge computing node through the vehicle-mounted ground hangar for monitoring and identification, after defects are found, the unmanned aerial vehicle receives hangar commands, automatically adjusts flight postures and cradle head angles, carries out secondary shooting on the defects of the target object, carries out secondary defect identification on the hangar, and effectively improves the defect identification accuracy;
(6) after the unmanned aerial vehicle reaches the waypoint and finishes the detection task, the detection information is sent back to the video analysis platform through the processing of the edge computing node, a detection report is formed in real time, and personnel can be arranged to remove faults in time according to the inspection report, such as the number and the position of a detection object, the defect type, the severity and the like.
The principle of patrolling and examining that unmanned aerial vehicle patrolled and examined does: checking before starting the unmanned aerial vehicle, confirming that the function and the surrounding environment are normal before taking off, monitoring the flight process in real time, and performing routing inspection according to the regulations, including normal routing inspection and special routing inspection;
and the normal inspection: the method is divided into two types of fast patrol and fine patrol:
(1) and (3) quick patrol: mainly patrolling the basic condition of a target object;
(2) fine patrol: the unmanned aerial vehicle carries out hovering inspection operation on the target object element by utilizing visible light equipment, and is suitable for stations for carrying out unmanned aerial vehicle inspection for the first time, stations with defects or abnormalities and stations for carrying out fine inspection according to periodic requirements;
the special patrol comprises the following steps: the special inspection is divided into fault inspection and disaster investigation;
(1) and (3) fault patrol: after a target object is in fault or defect, sending out an unmanned aerial vehicle according to the requirement to carry out fine inspection and searching operation on the field station section and the part which are possibly in fault or defect;
(2) disaster situation investigation: when natural disasters such as earthquakes, debris flows, mountain fire and severe icing occur, the unmanned aerial vehicle is sent out as required to carry out disaster investigation shooting and video recording evidence obtaining on disaster areas, and operations of damage of power transmission and transformation facilities and environment change conditions are collected.
The shooting requirement of the rapid patrol is as follows: a. the unmanned aerial vehicle is lifted to a target object by more than 15 meters, the camera is adjusted downwards, a photovoltaic square chart is shot, and at least one picture of visible light and one picture of infrared light are shot; b. after the photo of the target object is shot, the angle of the camera is adjusted in situ, the basic situation of the shot target object is overlooked, and at least one photo of visible light and infrared light is shot. The shooting requirement of the fine tour is as follows: aiming at a target object square matrix: the unmanned aerial vehicle needs the highest point of an obstacle near a defect of a target object to be more than 10m, at least 2 different directions are selected for shooting, and not less than three pictures are shot in each direction.
The target may be, but is not limited to, one of a solar photovoltaic panel, a fan, and a wire.
The inspection method further comprises data sorting, and specifically comprises the following steps: all data generated by the unmanned aerial vehicle inspection tour must be stored and backed up so as to carry out data query and data analysis, and the affiliated operation and maintenance team verifies and eliminates suspected defects found by the unmanned aerial vehicle power operation.
Requirements of inspection work environment:
1. the taking-off and landing points should be selected from the ground which is flat in terrain and has no influence on landing, and the ground is covered, and the taking-off and landing points should be provided with a carpet for taking-off and landing if the taking-off and landing points on site cannot meet the requirements;
2. the relative humidity of the operation is less than or equal to 95 percent by using a hygrothermograph for measurement;
3. measuring with an anemometer, wherein the field wind speed is less than or equal to 7.9 m/s; fine inspection and fault point search, and suggesting that the wind speed on site is less than or equal to 5m/s (2 m away from the ground, instantaneous wind speed);
4. the operation can not be carried out in thunder and rain;
5. the visibility of the working environment under the cloud is not less than 3 km.
6. Before operation, factors influencing flight safety, such as whether blasting, shooting, target shooting, flyers, smog, flame, radio interference and the like exist along the line of the patrolled line, and countermeasures such as stopping flying or avoiding are adopted.
7. And fine inspection and fault point search are carried out, and the operating point is ensured to be within the sight distance without shielding.
Unmanned aerial vehicle operation in-process:
1. when the unmanned aerial vehicle is in patrol operation, if the crossing pole (tower) is required to be checked, the unmanned aerial vehicle needs to be lifted. The work is performed by passing the upper side of the pole (tower) and then descending the pole. Behaviors which endanger the safety of the unmanned aerial vehicle directly from a bottom phase, an interphase, a gap between jumper wires and the like are forbidden.
2. The unmanned aerial vehicle is strictly prohibited from passing through the transformer substation (station) and the power plant.
3. The drone is strictly prohibited from flying in the middle of the two-circuit line crossing.
4. When the unmanned aerial vehicle hovers and tours, the unmanned aerial vehicle should hover against the wind; if when the unmanned aerial vehicle posture is adjusted, the guardian reminds the unmanned aerial vehicle driver to pay attention to obstacles around the route.
5. During the operation of patrolling, the operation circuit must be seen all the time to unmanned aerial vehicle driver to know the trend of circuit, the distance of unmanned aerial vehicle and pole (tower) component, wire is strictly forbidden to be less than 2 m.
6. The operation of checking the distance between trees in the middle of the double-loop pole (tower) is needed, the unmanned aerial vehicle has to perform takeoff operation at a selected point in the middle of the double-loop pole (tower), and the takeoff operation at an off-line selected point is strictly forbidden.
7. When the unmanned aerial vehicle hovers, the unmanned aerial vehicle is strictly prohibited to enter the inner side of the line for hovering operation, and comprises a middle phase inner side of a horizontally arranged single-circuit straight line rod (tower) and a middle phase inner side of a triangular arranged single-circuit straight line rod (tower) between a lead and the rod (tower).
8. Adjustments are made depending on the type of drone, for example a nominal distance of 800 meters for graph transmission and a nominal duration of 25 minutes. The flight distance is recommended to be within 500 meters when the aircraft actually flies.
9. If the aircraft encounters a dangerous condition, the aircraft personnel shall be cool and obey the command of the guardian.
Embodiment 1, Fan inspection
Specific inspection of the fan: the multi-rotor unmanned aerial vehicle is used for carrying sensing equipment to patrol fan equipment, so that the patrol data acquisition efficiency is improved; the fan blade inspection method based on the fact that the unmanned aerial vehicle carries the optical camera and the thermal infrared camera to acquire the multi-type data of the fan unit achieves a fine inspection mode of the unmanned aerial vehicle, and replaces a traditional manual low-efficiency and extensive inspection mode.
The blades inevitably rub and collide with airborne dust and particles at high rotational speeds, causing the leading edges of the blades to become ground and the leading edge bonds to crack. In addition, with the increase of the operating life of the fan, the surface gel coat of the blade is worn and can generate sand holes and cracks after falling off. The sand hole can cause the blade resistance to increase and influence the generated energy, and once become to lead to the fact the lightning protection index to reduce after the chamber sand hole has been led to ponding. More and more wind power plants are installed at sea, and blades are easily corroded by seawater in the face of high salt fog. The detection that the fan was carried out to modes such as "people + car + telescope/digital camera/listening sound", "spider people", "maintenance platform" is patrolled and examined in the tradition manual work, generally use the quarterly to patrol and examine the cycle for single, efficiency is lower, the cost of labor, the fuel cost, equipment cost is all higher, it is also more extensive to patrol and examine the collection of data, data are not convenient for to be kept in reserve, lead to the trouble to exist for a long time, no matter there is great influence to the power generation benefit of fan or the life-span of fan equipment, and the tradition is patrolled and examined the mode and is mainly "passive form detection", just can discover after the trouble appears promptly, can't realize the accurate discovery of the discovery in advance of equipment trouble and slight trouble.
When the inspection method is adopted for inspection, the station carries out forward inspection and oblique surveying and mapping for the first time by using the unmanned aerial vehicle, and a power station detailed drawing of the fan is constructed on a base map of a satellite map to form a base map model map; carrying out laser point cloud scanning by using the unmanned aerial vehicle to carry laser radar equipment for the second time to form a laser point cloud picture; overlapping the laser point cloud picture formed by scanning on the base map model picture to form a fine map; marking a plurality of geographical coordinates on each fan of a fan power station on a fine map to form a coordinate graph; when patrolling and examining the flight, unmanned aerial vehicle carries on the camera and tours in the flight of station, carries out the defect detection to the fan, patrols and examines the picture to overlap on above-mentioned coordinate graph after unmanned aerial vehicle flight is tourd and is accomplished, and the geographical coordinate of defective fan is shown on the base map, realizes accurate location defect fan.
Example 2: photovoltaic panel inspection
The method comprises the following steps that (1) a station carries out forward survey and inclined surveying and mapping for the first time by using an unmanned aerial vehicle, and a station detailed drawing is constructed on a base map of a satellite map to form a base map model map; carrying out laser point cloud scanning by using the unmanned aerial vehicle to carry laser radar equipment for the second time to form a laser point cloud picture; overlapping the laser point cloud picture formed by scanning on the base map model picture to form a fine map; marking a plurality of geographic coordinates on each photovoltaic panel of the station on a fine map to form a coordinate graph; when patrolling and examining the flight, unmanned aerial vehicle carries on the thermal imaging camera and patrols at the flight of station, carries out the hot spot to the photovoltaic board and detects, and the hot spot that finishes unmanned aerial vehicle flight patrol is patrolled and is patrolled the picture and is overlapped on above-mentioned coordinate graph, and the geographical coordinate of the photovoltaic board that has the hot spot is shown on the base map, realizes accurate location defect photovoltaic board.
Taking the statistical result of the hot spot effect of the components of the Cangzhou shore photovoltaic power station as an example, the following table 1
| Type of failure | Number of | Ratio of occupation of |
| Hot spot | 69 blocks | 0.14％ |
| Bypass diode | 17 blocks | 0.03％ |
| Shielding | 4 blocks | 0.008％ |
| Total of | 90 blocks | 0.18％ |
Of the above 90 failures, 15 failures are spot-checked, wherein: plate fragments 6, diodes 2, hot spots 7. The accuracy of the spot check is 100%.
As shown in fig. 2, the overall view of the fault positions of the cangzhou shore photovoltaic power station assembly south region 2; table 2 is a list of failure points:
the above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (7)
1. A patrol method for accurately positioning a target object by using an unmanned aerial vehicle based on laser point cloud is characterized by comprising the following steps:
s1: and (3) inspection of the target: the method comprises the following steps that (1) a station carries out forward survey and inclined surveying and mapping for the first time by using an unmanned aerial vehicle, and a station detailed drawing is constructed on a base map of a satellite map to form a base map model map;
s2: carrying out laser point cloud scanning by using the unmanned aerial vehicle to carry laser radar equipment for the second time to form a laser point cloud picture; overlapping the laser point cloud picture formed by scanning on the base map model picture to form a fine map;
s3: marking a plurality of geographical coordinates on each target object of the station on the fine map to form a coordinate graph;
s4: when the unmanned aerial vehicle is patrolled and examined the flight, unmanned aerial vehicle carries on the camera and patrols at the station flight, and the picture of patrolling and examining after unmanned aerial vehicle flight is patrolled and examined and is accomplished overlaps on above-mentioned coordinate graph, and the geographical coordinate of the target object that has the defect point is shown on the base map, realizes accurate location defect target object.
2. The inspection method according to claim 1, wherein the specific inspection process of the unmanned aerial vehicle inspection further comprises:
(1) during inspection, firstly planning an unmanned aerial vehicle route;
(2) after the air route is planned, making the conditions of a flight plan, including the size of a flight area, the number of photos taken and the predicted time of flight;
(3) after the optimal air route plans the flight route, checking the operation condition of the unmanned aerial vehicle, and manually modifying or adjusting;
(4) the real route is compared with the simulation route by setting shooting parameters of a camera carried by the unmanned aerial vehicle, and the flight state of the unmanned aerial vehicle is checked in real time;
(5) videos and images shot by the unmanned aerial vehicle are transmitted to the edge computing node through the vehicle-mounted ground hangar for monitoring and identification, after defects are found, the unmanned aerial vehicle receives hangar commands, automatically adjusts flight postures and cradle head angles, carries out secondary shooting on the defects of the target object, carries out secondary defect identification on the hangar, and effectively improves the defect identification accuracy;
(6) after the unmanned aerial vehicle reaches the waypoint and completes the detection task, detection information is sent back to the video analysis platform through the processing of the edge computing node, and a detection report is formed in real time.
3. The inspection method based on the laser point cloud and using the unmanned aerial vehicle to accurately position the target object according to claim 1, wherein the inspection principle of the unmanned aerial vehicle inspection is as follows: checking before starting the unmanned aerial vehicle, confirming that the function and the surrounding environment are normal before taking off, monitoring the flight process in real time, and performing routing inspection according to the regulations, including normal routing inspection and special routing inspection;
and the normal inspection: the method is divided into two types of fast patrol and fine patrol:
(1) and (3) quick patrol: mainly patrolling the basic condition of a target object;
(2) fine patrol: the unmanned aerial vehicle carries out hovering inspection operation on the target object element by utilizing visible light equipment, and is suitable for stations for carrying out unmanned aerial vehicle inspection for the first time, stations with defects or abnormalities and stations for carrying out fine inspection according to periodic requirements;
the special patrol comprises the following steps: the special inspection is divided into fault inspection and disaster investigation;
(1) and (3) fault patrol: after a target object is in fault or defect, sending out an unmanned aerial vehicle according to the requirement to carry out fine inspection and searching operation on the field station section and the part which are possibly in fault or defect;
(2) disaster situation investigation: when natural disasters such as earthquakes, debris flows, mountain fire and severe icing occur, the unmanned aerial vehicle is sent out as required to carry out disaster investigation shooting and video recording evidence obtaining on disaster areas, and operations of damage of power transmission and transformation facilities and environment change conditions are collected.
4. The inspection method according to claim 3, wherein the rapid inspection shooting requirement is that: a. the unmanned aerial vehicle is lifted to a target object by more than 15 meters, the camera is adjusted downwards, a photovoltaic square chart is shot, and at least one picture of visible light and one picture of infrared light are shot; b. after the photo of the target object is shot, the angle of the camera is adjusted in situ, the basic situation of the shot target object is overlooked, and at least one photo of visible light and infrared light is shot.
5. The inspection method according to claim 3, wherein the shooting requirement for the fine inspection is that: aiming at a target object square matrix: the unmanned aerial vehicle needs the highest point of an obstacle near a defect of a target object to be more than 10m, at least 2 different directions are selected for shooting, and not less than three pictures are shot in each direction.
6. The inspection method according to claim 1, wherein the target object is selected from a group consisting of a solar photovoltaic panel, a fan, and a wire.
7. The inspection method according to claim 1, wherein the method comprises the following steps: the inspection method further comprises data sorting, and specifically comprises the following steps: all data generated by unmanned aerial vehicle inspection must be stored and backed up for data query and data analysis.
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| CN114265418A (en) * | 2021-09-03 | 2022-04-01 | 国家电投集团江苏新能源有限公司 | Unmanned aerial vehicle inspection and defect positioning system and method for photovoltaic power station |
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| CN114332658A (en) * | 2022-01-14 | 2022-04-12 | 北京铁科特种工程技术有限公司 | Railway engineering equipment and surrounding environment hidden danger investigation method based on unmanned aerial vehicle inspection |
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| CN115546170A (en) * | 2022-10-17 | 2022-12-30 | 风脉能源（武汉）股份有限公司 | Fan blade defect positioning method and system based on laser ranging |
| CN115546170B (en) * | 2022-10-17 | 2023-04-21 | 风脉能源（武汉）股份有限公司 | Fan blade defect positioning method and system based on laser ranging |
| CN115639842A (en) * | 2022-12-23 | 2023-01-24 | 北京中飞艾维航空科技有限公司 | Inspection method and system using unmanned aerial vehicle |
| CN117367429A (en) * | 2023-10-13 | 2024-01-09 | 黑龙江省水利科学研究院 | Remote sensing image-based working base map and unmanned aerial vehicle technology-based route image control point distribution algorithm |
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