CN113867400B - Unmanned aerial vehicle-based photovoltaic power generation equipment inspection processing method and system - Google Patents
Unmanned aerial vehicle-based photovoltaic power generation equipment inspection processing method and system Download PDFInfo
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- 238000007689 inspection Methods 0.000 title claims abstract description 41
- 238000010248 power generation Methods 0.000 title claims abstract description 12
- 238000003672 processing method Methods 0.000 title claims abstract description 8
- 238000000034 method Methods 0.000 claims abstract description 19
- 238000012549 training Methods 0.000 claims description 14
- 238000012986 modification Methods 0.000 claims description 9
- 230000004048 modification Effects 0.000 claims description 9
- 238000010801 machine learning Methods 0.000 claims description 8
- 238000012790 confirmation Methods 0.000 claims description 2
- 238000011156 evaluation Methods 0.000 abstract description 4
- 238000012545 processing Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 3
- 238000004590 computer program Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
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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
Abstract
The application discloses a photovoltaic power generation equipment inspection processing method and system based on an unmanned aerial vehicle, wherein the method comprises the following steps: acquiring the paving area of the photovoltaic panel in a preset area; acquiring the number of photovoltaic panels with the flight distance capable of being inspected according to the electric quantity of the unmanned aerial vehicle and the size of each photovoltaic panel; acquiring the number of unmanned aerial vehicles supported by an unmanned aerial vehicle base station, and determining the first number of photovoltaic panels which can be supported by each unmanned aerial vehicle base station according to the number of unmanned aerial vehicles supported by the unmanned aerial vehicle base station and the number of photovoltaic panels which can be inspected by each unmanned aerial vehicle base station; dividing the preset area into a plurality of subareas according to the paving area of the preset area. The application solves the problem caused by no reasonable evaluation on the deployment of the unmanned aerial vehicle base station in the prior art, thereby improving the rationality and scientificity of the unmanned aerial vehicle and the deployment of the base station for inspecting the photovoltaic equipment and providing support for improving the inspection efficiency of the unmanned aerial vehicle.
Description
Technical Field
The application relates to the field of photovoltaics, in particular to a photovoltaic power generation equipment inspection processing method and system based on an unmanned aerial vehicle.
Background
The photovoltaic system generally sets up the region that is relatively spacious, and the photovoltaic board can lay in a large tracts of land, can need inspect whether there is the foreign matter on the photovoltaic board this time, if there is the foreign matter can lead to the photovoltaic board to generate heat abnormally, can damage the photovoltaic board even.
Two modes of inspection are adopted, one is to inspect manually, and the cost of manual inspection is relatively high. In order to reduce cost, unmanned aerial vehicle inspection is currently used for replacing manual inspection, electric quantity and inspection modes of the unmanned aerial vehicle are considered, and in order to achieve the purpose of full-automatic inspection, base stations of the unmanned aerial vehicle are required to be distributed for calculation, and the base stations are used for charging the unmanned aerial vehicle. At present, no technical scheme is available for reasonably evaluating the deployment of an unmanned aerial vehicle base station and the unmanned aerial vehicle flight plan, so that the inspection time of the unmanned aerial vehicle to the photovoltaic panel is not accurate enough.
Disclosure of Invention
The embodiment of the application provides a photovoltaic power generation equipment inspection processing method and system based on an unmanned aerial vehicle, which at least solve the problem caused by the fact that the deployment of an unmanned aerial vehicle base station is not reasonably evaluated in the prior art.
According to one aspect of the application, a photovoltaic power generation equipment inspection processing method based on an unmanned aerial vehicle is provided, comprising the following steps: obtaining the paving area of a photovoltaic panel in a preset area, wherein the photovoltaic panel is paved in the preset area; acquiring the number of photovoltaic panels with the flight distance capable of being inspected according to the electric quantity of the unmanned aerial vehicle and the size of each photovoltaic panel; acquiring the number of unmanned aerial vehicles supported by an unmanned aerial vehicle base station, and determining the first number of photovoltaic panels which can be supported by each unmanned aerial vehicle base station according to the number of unmanned aerial vehicles supported by the unmanned aerial vehicle base station and the number of photovoltaic panels which can be inspected by each unmanned aerial vehicle base station; dividing the preset area into a plurality of subareas according to the paving area of the preset area, wherein the number of the photovoltaic panels included in each subarea is smaller than or equal to the first number; each sub-area is provided with one unmanned aerial vehicle base station, wherein the unmanned aerial vehicle base station is used for stopping unmanned aerial vehicles and charging unmanned aerial vehicles in the unmanned aerial vehicle base station.
Further, the method further comprises the following steps: and storing the division modes of the plurality of subareas in a server.
Further, the method further comprises the following steps: transmitting the division modes of the plurality of subareas to staff provided with the unmanned aerial vehicle base station; receiving the modification of the division mode by the staff; determining whether all unmanned aerial vehicles in each subarea can finish inspection of all photovoltaic panels in the subarea under the condition of no charging according to the modified dividing mode; and if the modified division mode can be completed, storing the modified division mode in the server.
Further, the method further comprises the following steps: if the division mode cannot be completed, prompt information is sent, wherein the prompt information is used for indicating that the staff has problems in modifying the division mode.
Further, the prompt information also carries identification information of the sub-area which does not meet the requirements, wherein the sub-area which does not meet the requirements is that all unmanned aerial vehicles in the sub-area cannot complete inspection of all photovoltaic panels in the sub-area at one time under the condition of not charging.
According to another aspect of the present application, there is also provided a photovoltaic power generation equipment inspection processing system based on an unmanned aerial vehicle, including: the photovoltaic panel laying system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring the laying area of the photovoltaic panel in a preset area, and the photovoltaic panel is laid in the preset area; the second acquisition module is used for acquiring the number of the photovoltaic panels, which can be inspected, of the flight distance of the unmanned aerial vehicle according to the electric quantity of the unmanned aerial vehicle and the size of each photovoltaic panel; the third acquisition module is used for acquiring the number of unmanned aerial vehicles supported by the unmanned aerial vehicle base station, and determining the first number of photovoltaic panels which can be supported by each unmanned aerial vehicle base station according to the number of unmanned aerial vehicles supported by the unmanned aerial vehicle base station and the number of photovoltaic panels which can be inspected by each unmanned aerial vehicle base station; the dividing module is used for dividing the preset area into a plurality of subareas according to the paving area of the preset area, wherein the number of the photovoltaic panels included in each subarea is smaller than or equal to the first number; each sub-area is provided with one unmanned aerial vehicle base station, wherein the unmanned aerial vehicle base station is used for stopping unmanned aerial vehicles and charging unmanned aerial vehicles in the unmanned aerial vehicle base station.
Further, the method further comprises the following steps: and the storage module is used for storing the division modes of the plurality of subareas in a server.
Further the save module is further configured to: transmitting the division modes of the plurality of subareas to staff provided with the unmanned aerial vehicle base station; receiving the modification of the division mode by the staff; determining whether all unmanned aerial vehicles in each subarea can finish inspection of all photovoltaic panels in the subarea under the condition of no charging according to the modified dividing mode; and if the modified division mode can be completed, storing the modified division mode in the server.
Further the save module is further configured to: if the division mode cannot be completed, prompt information is sent, wherein the prompt information is used for indicating that the staff has problems in modifying the division mode.
Further, the prompt information also carries identification information of the sub-area which does not meet the requirements, wherein the sub-area which does not meet the requirements is that all unmanned aerial vehicles in the sub-area cannot complete inspection of all photovoltaic panels in the sub-area at one time under the condition of not charging.
In the embodiment of the application, the paving area of the photovoltaic panel in a preset area is acquired, wherein the photovoltaic panel is paved in the preset area; acquiring the number of photovoltaic panels with the flight distance capable of being inspected according to the electric quantity of the unmanned aerial vehicle and the size of each photovoltaic panel; acquiring the number of unmanned aerial vehicles supported by an unmanned aerial vehicle base station, and determining the first number of photovoltaic panels which can be supported by each unmanned aerial vehicle base station according to the number of unmanned aerial vehicles supported by the unmanned aerial vehicle base station and the number of photovoltaic panels which can be inspected by each unmanned aerial vehicle base station; dividing the preset area into a plurality of subareas according to the paving area of the preset area, wherein the number of the photovoltaic panels included in each subarea is smaller than or equal to the first number; each sub-area is provided with one unmanned aerial vehicle base station, wherein the unmanned aerial vehicle base station is used for stopping unmanned aerial vehicles and charging unmanned aerial vehicles in the unmanned aerial vehicle base station. The application solves the problem caused by no reasonable evaluation on the deployment of the unmanned aerial vehicle base station in the prior art, thereby improving the rationality and scientificity of the unmanned aerial vehicle and the deployment of the base station for inspecting the photovoltaic equipment and providing support for improving the inspection efficiency of the unmanned aerial vehicle.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
fig. 1 is a flowchart of a photovoltaic power generation equipment inspection processing method based on an unmanned aerial vehicle according to an embodiment of the present application.
Detailed Description
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowcharts, in some cases the steps illustrated or described may be performed in an order other than that illustrated herein.
In this embodiment, a method for processing inspection of a photovoltaic power generation device based on an unmanned aerial vehicle is provided, fig. 1 is a flowchart of a method for processing inspection of a photovoltaic power generation device based on an unmanned aerial vehicle according to an embodiment of the present application, and as shown in fig. 1, the flowchart includes the following steps:
step S102, obtaining the paving area of a photovoltaic panel in a preset area, wherein the photovoltaic panel is paved in the preset area;
step S104, obtaining the number of the photovoltaic panels which can be inspected according to the electric quantity of the unmanned aerial vehicle and the size of each photovoltaic panel;
step S106, obtaining the number of unmanned aerial vehicles supported by an unmanned aerial vehicle base station, and determining the first number of photovoltaic panels which can be supported by each unmanned aerial vehicle base station according to the number of unmanned aerial vehicles supported by the unmanned aerial vehicle base station and the number of photovoltaic panels which can be inspected by each unmanned aerial vehicle base station;
Step S108, dividing the preset area into a plurality of subareas according to the paving area of the preset area, wherein the number of the photovoltaic panels included in each subarea is smaller than or equal to the first number; each sub-area is provided with one unmanned aerial vehicle base station, wherein the unmanned aerial vehicle base station is used for stopping unmanned aerial vehicles and charging unmanned aerial vehicles in the unmanned aerial vehicle base station.
The problems caused by the fact that reasonable evaluation is not carried out on deployment of the base station of the unmanned aerial vehicle in the prior art are solved through the steps, so that rationality and scientificity of deployment of the unmanned aerial vehicle and the base station of the inspection photovoltaic equipment are improved, and support is provided for improving inspection efficiency of the unmanned aerial vehicle.
In an alternative embodiment, the division manner of the plurality of sub-areas may also be stored in the server.
The division of the subareas can confirm to the staff, and the division modes of the subareas can be sent to the staff provided with the unmanned aerial vehicle base station; receiving the modification of the division mode by the staff; determining whether all unmanned aerial vehicles in each subarea can finish inspection of all photovoltaic panels in the subarea under the condition of no charging according to the modified dividing mode; and if the modified division mode can be completed, storing the modified division mode in the server. Optionally, if the modification of the division mode by the staff is not completed, a prompt message is sent, wherein the prompt message is used for indicating that the modification of the division mode by the staff is problematic. The prompt information can also carry identification information of the sub-area which does not meet the requirements, wherein the sub-area which does not meet the requirements is that all unmanned aerial vehicles in the sub-area cannot complete inspection of all photovoltaic panels in the sub-area at one time under the condition of not charging.
In an alternative embodiment, the flight route of each unmanned aerial vehicle may be further planned according to the number of unmanned aerial vehicles in each unmanned aerial vehicle base station and the number of battery boards in the subarea where the unmanned aerial vehicle base station is located, wherein the flight route of each unmanned aerial vehicle covers all battery boards in the subarea in the path through which the flight route of each unmanned aerial vehicle is added. After the flight route of each unmanned aerial vehicle is planned, the planned flight route is sent to the unmanned aerial vehicle base station, and the unmanned aerial vehicle base station sends the planned flight route to each unmanned aerial vehicle.
As another optional implementation manner, the weather of each day in a predetermined future time period may be obtained, the flight time of the unmanned aerial vehicle (i.e. the inspection time of the unmanned aerial vehicle) is determined according to the weather of each day, the determined inspection time of the unmanned aerial vehicle is sent to the unmanned aerial vehicle base station in the predetermined area, and the unmanned aerial vehicle base station controls the unmanned aerial vehicle to execute the flight route according to the received inspection time.
Judging whether the solar panel fails according to the image shot by the unmanned aerial vehicle, if yes, sending a flight command to an unmanned aerial vehicle base station for confirmation, controlling other unmanned aerial vehicles except the image to shoot the position where the image is located, and if the judging result in the re-shot image still fails, determining that the failure occurs.
There are many ways of judging faults, for example, gray processing is performed on images collected by unmanned aerial vehicles, single solar panels in gray image information are extracted and numbered, and angular point coordinate information of each solar panel is obtained; further, according to the corner coordinate information, the longitudinal and transverse slopes of two adjacent edges of the corresponding solar panel are obtained; judging whether the slopes of any two adjacent solar panels are equal, if not, judging that the solar panels have rotation faults; then extracting shadow areas of two adjacent solar panels, and acquiring shape characteristics of the shadow areas of the solar panels and/or change characteristics of the shadow areas under different time sequences; and finally judging the rotation fault type of the solar panel according to the shape characteristics of the shadow area and/or the change characteristics of the shadow area.
As another optional embodiment, a plurality of positions where the base station of the unmanned aerial vehicle is set in each sub-area are preconfigured, for example, in the case that the shape of the sub-area is a rectangle, the plurality of positions include a plurality of vertices of the rectangle and a center point of the rectangle; and setting the unmanned aerial vehicle base stations on each position respectively, calculating paths obtained by adding the flight paths of all unmanned aerial vehicles when the unmanned aerial vehicle of the unmanned aerial vehicle base stations traverses the subareas on each position, acquiring positions corresponding to the shortest paths, and determining positions corresponding to the shortest paths in the positions of the unmanned aerial vehicle base stations.
And saving the shape and the area of the preset area and the set position of the unmanned aerial vehicle base station as data, and uploading the data to a server. The server takes the shape and the area of the preset area as input data, takes the position set by the unmanned aerial vehicle base station as output data, and saves the input data and the output data as a group of training data; the server judges whether the number of the stored groups of training data exceeds a threshold value, if so, the server sends all the training data to a training server, the training server is used for training a machine learning engine, and after training convergence, the machine learning engine can be used. The area and shape of a region are input to the machine learning engine, and the machine learning engine data output sets the position of the unmanned aerial vehicle base station in the region.
The unmanned aerial vehicle base station supplies power through solar panels in the subareas where the unmanned aerial vehicle base station is located.
In this embodiment, there is provided an electronic device including a memory in which a computer program is stored, and a processor configured to run the computer program to perform the method in the above embodiment.
The above-described programs may be run on a processor or may also be stored in memory (or referred to as computer-readable media), including both permanent and non-permanent, removable and non-removable media, and information storage may be implemented by any method or technique. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
These computer programs may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks and/or block diagram block or blocks, and corresponding steps may be implemented in different modules.
Such an apparatus or system is provided in this embodiment. The system is called an unmanned aerial vehicle-based photovoltaic power generation equipment inspection processing system, and comprises: the photovoltaic panel laying system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring the laying area of the photovoltaic panel in a preset area, and the photovoltaic panel is laid in the preset area; the second acquisition module is used for acquiring the number of the photovoltaic panels, which can be inspected, of the flight distance of the unmanned aerial vehicle according to the electric quantity of the unmanned aerial vehicle and the size of each photovoltaic panel; the third acquisition module is used for acquiring the number of unmanned aerial vehicles supported by the unmanned aerial vehicle base station, and determining the first number of photovoltaic panels which can be supported by each unmanned aerial vehicle base station according to the number of unmanned aerial vehicles supported by the unmanned aerial vehicle base station and the number of photovoltaic panels which can be inspected by each unmanned aerial vehicle base station; the dividing module is used for dividing the preset area into a plurality of subareas according to the paving area of the preset area, wherein the number of the photovoltaic panels included in each subarea is smaller than or equal to the first number; each sub-area is provided with one unmanned aerial vehicle base station, wherein the unmanned aerial vehicle base station is used for stopping unmanned aerial vehicles and charging unmanned aerial vehicles in the unmanned aerial vehicle base station.
The system or the device is used for realizing the functions of the method in the above embodiment, and each module in the system or the device corresponds to each step in the method, which has been described in the method, and will not be described herein.
For example, it further includes: and the storage module is used for storing the division modes of the plurality of subareas in a server. Optionally, the saving module is further configured to: transmitting the division modes of the plurality of subareas to staff provided with the unmanned aerial vehicle base station; receiving the modification of the division mode by the staff; determining whether all unmanned aerial vehicles in each subarea can finish inspection of all photovoltaic panels in the subarea under the condition of no charging according to the modified dividing mode; and if the modified division mode can be completed, storing the modified division mode in the server.
For another example, the saving module is further configured to: if the division mode cannot be completed, prompt information is sent, wherein the prompt information is used for indicating that the staff has problems in modifying the division mode. Optionally, the prompt information further carries identification information of an unsatisfactory subarea, wherein the unsatisfactory subarea is that all unmanned aerial vehicles in the subarea cannot complete inspection of all photovoltaic panels in the subarea at one time under the condition of no charging.
The problem caused by the fact that reasonable evaluation is not carried out on deployment of the unmanned aerial vehicle base station in the prior art is solved through the method, so that rationality and scientificity of unmanned aerial vehicle and base station deployment of the inspection photovoltaic equipment are improved, and support is provided for improving inspection efficiency of the unmanned aerial vehicle.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.
Claims (5)
1. The inspection processing method of the photovoltaic power generation equipment based on the unmanned aerial vehicle is characterized by comprising the following steps of:
obtaining the paving area of a photovoltaic panel in a preset area, wherein the photovoltaic panel is paved in the preset area;
acquiring the number of photovoltaic panels with the flight distance capable of being inspected according to the electric quantity of the unmanned aerial vehicle and the size of each photovoltaic panel;
acquiring the number of unmanned aerial vehicles supported by an unmanned aerial vehicle base station, and determining the first number of photovoltaic panels which can be supported by each unmanned aerial vehicle base station according to the number of unmanned aerial vehicles supported by the unmanned aerial vehicle base station and the number of photovoltaic panels which can be inspected by each unmanned aerial vehicle base station;
Dividing the preset area into a plurality of subareas according to the paving area of the preset area, wherein the number of the photovoltaic panels included in each subarea is smaller than or equal to the first number; the unmanned aerial vehicle base station is arranged in each subarea, wherein the unmanned aerial vehicle base station is used for stopping unmanned aerial vehicles and charging unmanned aerial vehicles which are improved in the unmanned aerial vehicle base station;
planning a flight route of each unmanned aerial vehicle according to the number of unmanned aerial vehicles in each unmanned aerial vehicle base station and the number of battery boards in a subarea where the unmanned aerial vehicle base station is located, wherein the flight route of each unmanned aerial vehicle covers all battery boards in the subarea in a path through which the flight route of each unmanned aerial vehicle is added; after the flight route of each unmanned aerial vehicle is planned, the planned flight route is sent to an unmanned aerial vehicle base station, and the unmanned aerial vehicle base station sends the planned flight route to each unmanned aerial vehicle;
Acquiring daily weather in a preset time period in the future, determining the flight time of the unmanned aerial vehicle in each day according to the daily weather, wherein the flight time of the unmanned aerial vehicle is the inspection time of the unmanned aerial vehicle, transmitting the determined inspection time of the unmanned aerial vehicle to an unmanned aerial vehicle base station in the preset area, and controlling the unmanned aerial vehicle to execute a flight route according to the received inspection time by the unmanned aerial vehicle base station;
Judging whether a solar panel is faulty according to the image shot by the unmanned aerial vehicle, if the solar panel is faulty according to the image, sending a flight command to an unmanned aerial vehicle base station for confirmation, controlling other unmanned aerial vehicles except the image to shoot the position where the image is located by the unmanned aerial vehicle base station which receives the command, and if the judging result in the re-shot image is still faulty, determining that the fault is generated;
A plurality of positions of the unmanned aerial vehicle base station are arranged in each sub-area in advance, and the positions comprise a plurality of vertexes of the rectangle and a center point of the rectangle when the shape of the sub-area is the rectangle; setting the unmanned aerial vehicle base station at each position respectively, calculating paths obtained by adding up the flight paths of all unmanned aerial vehicles when the unmanned aerial vehicle of the unmanned aerial vehicle base station traverses the subarea at each position, obtaining the position corresponding to the shortest path, and determining the position corresponding to the shortest path in the positions where the unmanned aerial vehicle base station is arranged; the shape and the area of the preset area and the set position of the unmanned aerial vehicle base station are stored as data and uploaded to a server, wherein the server takes the shape and the area of the preset area as input data, the set position of the unmanned aerial vehicle base station as output data, and the input data and the output data are stored as a group of training data; the server judges whether the number of the stored groups of training data exceeds a threshold value, if so, the server sends all the training data to the training server, the training server is used for training a machine learning engine, the machine learning engine can be used after training is converged, the area and the shape of a certain area are input into the machine learning engine, and the machine learning engine data output sets the position of the unmanned aerial vehicle base station in the area.
2. The method as recited in claim 1, further comprising:
and storing the division modes of the plurality of subareas in a server.
3. The method as recited in claim 2, further comprising:
transmitting the division modes of the plurality of subareas to staff provided with the unmanned aerial vehicle base station;
receiving the modification of the division mode by the staff;
Determining whether all unmanned aerial vehicles in each subarea can finish inspection of all photovoltaic panels in the subarea under the condition of no charging according to the modified dividing mode;
and if the modified division mode can be completed, storing the modified division mode in the server.
4. A method according to claim 3, further comprising:
If the division mode cannot be completed, prompt information is sent, wherein the prompt information is used for indicating that the staff has problems in modifying the division mode.
5. The method of claim 4, wherein the prompt message further carries identification information of an unsatisfactory subarea, and the unsatisfactory subarea is that all unmanned aerial vehicles in the subarea cannot complete inspection of all photovoltaic panels in the subarea at one time under the condition of no charging.
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| CN117192288A (en) * | 2023-09-22 | 2023-12-08 | 河南蓝犀牛工业装备技术有限公司 | Smart distribution network fault positioning method and system |
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| WO2021102796A1 (en) * | 2019-11-28 | 2021-06-03 | 深圳市大疆创新科技有限公司 | Position determination method for unmanned aerial vehicle base station, terminal, and computer readable storage medium |
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| WO2020050461A1 (en) * | 2018-09-04 | 2020-03-12 | 주식회사 아이온커뮤니케이션즈 | Method and system for inspecting solar panel using drone |
| WO2021102796A1 (en) * | 2019-11-28 | 2021-06-03 | 深圳市大疆创新科技有限公司 | Position determination method for unmanned aerial vehicle base station, terminal, and computer readable storage medium |
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