CN116488323A - Distributed photovoltaic power station monitoring system and monitoring method based on Internet of things - Google Patents
Distributed photovoltaic power station monitoring system and monitoring method based on Internet of things Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00002—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by monitoring
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00001—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by the display of information or by user interaction, e.g. supervisory control and data acquisition systems [SCADA] or graphical user interfaces [GUI]
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00006—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment
- H02J13/00022—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment using wireless data transmission
- H02J13/00026—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment using wireless data transmission involving a local wireless network, e.g. Wi-Fi, ZigBee or Bluetooth
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00006—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment
- H02J13/00028—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment involving the use of Internet protocols
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00032—Systems characterised by the controlled or operated power network elements or equipment, the power network elements or equipment not otherwise provided for
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S50/00—Monitoring or testing of PV systems, e.g. load balancing or fault identification
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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- Engineering & Computer Science (AREA)
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- Computer Networks & Wireless Communication (AREA)
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- Remote Monitoring And Control Of Power-Distribution Networks (AREA)
Abstract
The invention discloses a distributed photovoltaic power station monitoring system and a monitoring method based on the Internet of things, wherein the distributed photovoltaic power station monitoring system based on the Internet of things comprises: the monitoring module, the network module and the cloud server; the cloud server and the monitoring module realize signal transmission through the network module; the monitoring module is used for acquiring real-time monitoring data acquired by the sensor and processing the monitoring data in real time; the network module is used for transmitting the monitoring data to the cloud server, and the remote server is used for storing, analyzing or calling the monitoring data.
Description
Technical Field
The invention belongs to the field of substation monitoring, and particularly relates to a distributed photovoltaic power station monitoring system and method based on the Internet of things.
Background
Because global climate warming and shortage of traditional fossil energy sources are brought about, renewable clean energy sources are focused on all countries of the world, photovoltaic power generation by converting solar energy into electric energy is one of renewable energy sources, the photovoltaic power stations can be divided into plain photovoltaic, water photovoltaic, mountain photovoltaic and roof photovoltaic according to distribution scenes, traditional photovoltaic power station monitoring is carried out by manual timing inspection, but because the photovoltaic power stations are wide in area, manual inspection is used for carrying out careful and comprehensive inspection on the photovoltaic power stations, time and labor are wasted, efficiency is low, monitoring requirements of the photovoltaic power stations are difficult to meet, accurate and comprehensive monitoring cannot be carried out on the photovoltaic power stations, in addition, in the existing photovoltaic power station monitoring process, remote sensing image collection is not adopted for analysis, and error is easy to occur in defect judgment of a monitoring photovoltaic module due to illumination influence, and monitoring results are influenced.
Disclosure of Invention
The invention aims to provide a distributed photovoltaic power station monitoring system based on the Internet of things, which aims to solve the technical problems that the monitoring efficiency is low, misjudgment is easy to occur and the intelligence is low in the prior art.
The invention aims to provide a distributed photovoltaic power station monitoring method based on the Internet of things.
In order to achieve one of the above objects, an embodiment of the present invention provides a distributed photovoltaic power station monitoring system based on the internet of things, including: the monitoring module, the network module and the cloud server;
the cloud server and the monitoring module realize signal transmission through the network module;
the monitoring module is used for acquiring real-time monitoring data acquired by the sensor and processing the monitoring data in real time;
the network module is used for transmitting the monitoring data to a cloud server, and the remote server is used for storing, analyzing or calling the monitoring data.
As a further improvement of an embodiment of the invention, the system further comprises a monitoring platform and a scheduling platform, wherein a plurality of unmanned aerial vehicles are arranged on the monitoring platform, and the scheduling platform is used for path planning and driving scheduling of the unmanned aerial vehicles.
As a further improvement of an embodiment of the invention, a plurality of unmanned aerial vehicles fly and monitor according to a preset array, and a plurality of remote sensing sensors are arranged on the unmanned aerial vehicles and are used for shooting remote sensing images of a photovoltaic substation.
As a further improvement of an embodiment of the invention, the plurality of unmanned aerial vehicles at least comprise a calibration unmanned aerial vehicle and a plurality of monitoring unmanned aerial vehicles, the calibration unmanned aerial vehicles perform regional calibration on the photovoltaic transformer substation by setting initial flight parameters through the dispatching platform, and transmit calibration information to the monitoring platform, and the monitoring platform formulates a flight monitoring path and a photographing point of the monitoring unmanned aerial vehicle.
As a further improvement of an embodiment of the present invention, the flight monitoring path of the unmanned monitoring plane includes one or a combination of two or more of zigzag, spiral or reciprocating type.
As a further improvement of an embodiment of the invention, the cloud server further comprises a client, wherein the client is electrically connected with the cloud server, and the client comprises a mobile phone or a computer.
As a further improvement of an embodiment of the present invention, the data transmission manner of the network module includes bluetooth, GPRS, WIFI, NB-IoT protocol or ZigBee protocol.
The network module comprises a ZigBee module for controlling the switching between a full-automatic mode and a semi-automatic mode of the monitoring platform;
in a full-automatic mode, the cloud server calls the whole area of the transformer substation calibrated by the calibration unmanned aerial vehicle, generates a flight path of the monitoring unmanned aerial vehicle according to the whole area parameter of the transformer substation, and monitors the whole area flight of the transformer substation according to the planned path;
in a semi-automatic mode, a monitoring area is set through a client, the unmanned aerial vehicle is calibrated according to the monitoring area set by the client, the scheduling platform controls the unmanned aerial vehicle to fly to the shooting point to remotely sense the monitoring area, and a shooting picture is transmitted to the monitoring platform.
In order to achieve one of the above objects, an embodiment of the present invention provides a distributed photovoltaic power station monitoring method based on the internet of things, where the distributed photovoltaic power station monitoring method based on the internet of things is applied to the distributed photovoltaic power station monitoring system based on the internet of things according to any one of the above claims; the distributed photovoltaic power station monitoring method based on the Internet of things comprises the following steps:
s1, acquiring a full-area remote sensing image of a photovoltaic substation, and preprocessing the full-area remote sensing image to obtain result information;
s2, a monitoring strategy is established according to the result information, an unmanned aerial vehicle monitoring path and monitoring points located on the monitoring path are generated according to the monitoring strategy, and scheduling information is generated;
s3, controlling the unmanned aerial vehicle to fly according to a preset monitoring path according to the scheduling information;
s4, acquiring the current position information of the unmanned aerial vehicle,
s5, comparing the current position information of the unmanned aerial vehicle with the position information of the corresponding monitoring point to obtain a position deviation rate;
s6, judging whether the position deviation rate is larger than a preset position deviation rate threshold value or not;
if the position of the unmanned aerial vehicle is larger than the preset value, adjusting flight parameters of the unmanned aerial vehicle, and correcting the position of the unmanned aerial vehicle;
if the monitoring information is smaller than the preset value, the unmanned aerial vehicle performs rotary flight in a preset area, and meanwhile, the unmanned aerial vehicle collects remote sensing images of the monitoring area to obtain the running state of the transformer substation and obtain the monitoring information of the photovoltaic transformer substation;
and S7, transmitting the monitoring information to the cloud server according to a preset mode.
As a further improvement of an embodiment of the present invention, the step S1 of "obtaining a full-area remote sensing image of a photovoltaic substation and preprocessing the full-area remote sensing image" includes:
s111, acquiring an edge line of a full-area remote sensing image, and dividing the full area of the photovoltaic substation into a plurality of monitoring subareas;
s112, a coordinate system is established according to the full-area remote sensing image, boundary point coordinate information of the monitoring sub-area is obtained, and the patrol task quantity of the monitoring sub-area is calculated according to the boundary point coordinate information;
s113, distributing the quantity of the inspection tasks, forming a monitoring group through the combination of a plurality of unmanned aerial vehicles, and distributing and monitoring a plurality of inspection tasks in a monitoring subarea through the monitoring group;
the method comprises the steps that a plurality of unmanned aerial vehicles in a monitoring group shoot the running states of photovoltaic modules in a monitoring subarea according to a certain sequence, and coverage type monitoring is carried out;
and S114, independently monitoring a plurality of monitoring subareas through a plurality of monitoring groups, and combining monitoring images in the monitoring subareas after the monitoring of each monitoring subarea is completed to form a full-area monitoring image of the photovoltaic substation.
As a further improvement of an embodiment of the invention, when the inspection task is executed, the unmanned aerial vehicle generates a task allocation strategy according to the planned path of the monitoring subarea;
sequencing the inspection sequence according to the weight values of the plurality of monitoring subareas, and inspecting the monitoring subareas one by one according to the inspection sequence and the planned path;
generating a plurality of sub-target points according to the path planning of the monitoring sub-region, carrying out point-by-point flight by the unmanned aerial vehicle until the last sub-target point on the path, and shooting images when the unmanned aerial vehicle reaches each sub-target point.
Compared with the prior art, the distributed photovoltaic power station monitoring system based on the Internet of things can collect operation data of a transformer substation in real time, monitor the photovoltaic transformer substation in real time, realize automatic operation of monitoring, and improve monitoring precision.
Drawings
Fig. 1 is a block diagram of a distributed photovoltaic substation monitoring system based on the internet of things in an embodiment of the present invention;
FIG. 2 is a schematic representation of a drone type in one embodiment of the invention;
FIG. 3 is a logic diagram of unmanned aerial vehicle driving scheduling performed by a scheduling platform according to an embodiment of the present invention;
fig. 4 is a flowchart of a method for monitoring a distributed photovoltaic substation based on the internet of things in an embodiment of the present invention;
FIG. 5 is a flowchart of a remote sensing image processing method according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a coordinate system established after image segmentation of a substation in an embodiment of the present invention;
Detailed Description
The present invention will be described in detail below with reference to specific embodiments shown in the drawings. These embodiments are not intended to limit the invention and structural, methodological, or functional modifications of these embodiments that may be made by one of ordinary skill in the art are included within the scope of the invention.
Example 1
As shown in fig. 1-3, the invention discloses a distributed photovoltaic power station monitoring system based on the internet of things, which is characterized by comprising: the monitoring module, the network module and the cloud server;
the cloud server and the monitoring module realize signal transmission through the network module;
the monitoring module is used for acquiring real-time monitoring data acquired by the sensor and processing the monitoring data in real time;
the network module is used for transmitting the monitoring data to the cloud server, and the remote server is used for storing, analyzing or calling the monitoring data.
According to the embodiment of the invention, the unmanned aerial vehicle monitoring system further comprises a monitoring platform and a dispatching platform, wherein the monitoring platform, the dispatching platform and the monitoring module are electrically connected, a plurality of unmanned aerial vehicles are arranged on the monitoring platform, and the dispatching platform is used for path planning and driving dispatching of the unmanned aerial vehicles.
According to the embodiment of the invention, a plurality of unmanned aerial vehicles fly and monitor according to the preset array, and a plurality of remote sensing sensors are arranged on the unmanned aerial vehicles and are used for shooting remote sensing images of a photovoltaic substation.
In particular, remote sensing is a comprehensive detection technology that uses a detection instrument, does not contact with a detection target, records electromagnetic wave characteristics of the target from a distance, and reveals characteristic properties and changes of the object through analysis.
According to the embodiment of the invention, the plurality of unmanned aerial vehicles at least comprise one calibration unmanned aerial vehicle and a plurality of monitoring unmanned aerial vehicles, the calibration unmanned aerial vehicles perform regional calibration on the photovoltaic transformer substation by setting initial flight parameters through the dispatching platform, the calibration information is transmitted to the monitoring platform, and the flight monitoring path and the photographing point of the monitoring unmanned aerial vehicles are formulated through the monitoring platform.
According to the embodiment of the invention, the flight monitoring path of the monitoring unmanned aerial vehicle comprises one or more than two of a Z shape, a spiral shape or a reciprocating shape.
It can be understood that the flight monitoring paths of the monitoring unmanned aerial vehicle in different areas of the transformer substation can be the same or different, so that various monitoring modes can be combined, and the monitoring precision is improved.
According to the embodiment of the invention, the cloud server is further provided with a client, the client is electrically connected with the cloud server, and the client comprises a mobile phone or a computer.
According to the embodiment of the invention, the data transmission mode of the network module comprises Bluetooth, GPRS, WIFI, NB-IoT protocol or ZigBee protocol.
Specifically, the ZigBee technology is a wireless communication technology applied to short distance and low rate, and is mainly used for data transmission between various electronic devices with short distance, low power consumption and low transmission rate, and typical applications with periodic data, intermittent data and low reaction time data transmission, where ZigBee is a wireless data transmission network platform formed by multiple wireless data transmission modules, in the whole network range, each ZigBee network data transmission module can communicate with each other, and the distance between each network node can be infinitely extended from 75m of the standard.
The network module comprises a ZigBee module for controlling the switching between a full-automatic mode and a semi-automatic mode of the monitoring platform;
in a full-automatic mode, the cloud server calls the whole area of the transformer substation calibrated by the calibration unmanned aerial vehicle, generates a flight path of the monitoring unmanned aerial vehicle according to the whole area parameter of the transformer substation, and monitors the whole area flight of the transformer substation according to the planned path by the monitoring unmanned aerial vehicle;
in a semi-automatic mode, a monitoring area is set through a client, the unmanned aerial vehicle is calibrated according to the monitoring area set by the client, the scheduling platform controls the unmanned aerial vehicle to fly to the shooting point to remotely sense the monitoring area, and a shooting picture is transmitted to the monitoring platform.
Example two
As shown in fig. 4 to fig. 6, in order to achieve one of the above objects, an embodiment of the present invention provides a distributed photovoltaic power station monitoring method based on the internet of things, and the distributed photovoltaic power station monitoring method based on the internet of things is applied to the distributed photovoltaic power station monitoring system based on the internet of things according to any one of the above claims; the distributed photovoltaic power station monitoring method based on the Internet of things comprises the following steps:
s1, acquiring a full-area remote sensing image of a photovoltaic substation, and preprocessing the full-area remote sensing image to obtain result information;
s2, a monitoring strategy is established according to the result information, an unmanned aerial vehicle monitoring path and monitoring points located on the monitoring path are generated according to the monitoring strategy, and scheduling information is generated;
s3, controlling the unmanned aerial vehicle to fly according to a preset monitoring path according to the scheduling information;
s4, acquiring the current position information of the unmanned aerial vehicle,
s5, comparing the current position information of the unmanned aerial vehicle with the position information of the corresponding monitoring point to obtain a position deviation rate;
s6, judging whether the position deviation rate is larger than a preset position deviation rate threshold value or not;
if the position of the unmanned aerial vehicle is larger than the preset value, adjusting flight parameters of the unmanned aerial vehicle, and correcting the position of the unmanned aerial vehicle;
if the monitoring information is smaller than the preset value, the unmanned aerial vehicle performs rotary flight in a preset area, and meanwhile, the unmanned aerial vehicle collects remote sensing images of the monitoring area to obtain the running state of the transformer substation and obtain the monitoring information of the photovoltaic transformer substation;
and S7, transmitting the monitoring information to the cloud server according to a preset mode.
According to an embodiment of the present invention, the step S1 of acquiring the full-area remote sensing image of the photovoltaic substation and preprocessing the full-area remote sensing image includes:
s111, acquiring an edge line of a full-area remote sensing image, and dividing the full area of the photovoltaic substation into a plurality of monitoring subareas;
s112, a coordinate system is established according to the full-area remote sensing image, boundary point coordinate information of the monitoring sub-area is obtained, and the patrol task quantity of the monitoring sub-area is calculated according to the boundary point coordinate information;
s113, distributing the quantity of the inspection tasks, forming a monitoring group through the combination of a plurality of unmanned aerial vehicles, and distributing and monitoring a plurality of inspection tasks in a monitoring subarea through the monitoring group;
the method comprises the steps that a plurality of unmanned aerial vehicles in a monitoring group shoot the running states of photovoltaic modules in a monitoring subarea according to a certain sequence, and coverage type monitoring is carried out;
and S114, independently monitoring a plurality of monitoring subareas through a plurality of monitoring groups, and combining monitoring images in the monitoring subareas after the monitoring of each monitoring subarea is completed to form a full-area monitoring image of the photovoltaic substation.
Specifically, obtaining the coordinates of boundary points of a region, calculating the center of gravity of the sub-region according to the coordinate information of the boundary points, and then calculating the patrol task quantity of the sub-region according to the calculated patrol task quantity of the sub-region;
the calculation formula of the inspection task quantity is as follows:
T＝k×s
in the formula, T represents a patrol task bar, s represents the area of the region, k represents the proportional coefficient of the monitored subarea, and the patrol task amount is calculated by monitoring the area of the subarea.
Further, when the number of unmanned aerial vehicles is multiple, only one unmanned aerial vehicle in the same monitoring subarea carries out cyclic photographing monitoring, and the same site simultaneously sends out the cyclic photographing monitoring, and the cyclic photographing monitoring respectively patrol a certain number of subareas according to a certain sequence, and after patrol, the cyclic photographing monitoring flies back to the starting point. When the last unmanned aerial vehicle flies back to the starting point, the inspection task is completed, one sub-area can only be inspected by one unmanned aerial vehicle, and one unmanned aerial vehicle can inspect a plurality of sub-areas.
Further, the method for establishing the coordinate system is as follows: the center of the full-area image of the transformer substation is taken as an origin of a coordinate system, the length direction of the full-area image is taken as an X axis of the coordinate system, the width direction of the full-area image is taken as a Y axis of the coordinate system, and the direction perpendicular to the X axis is taken as a Y axis of the coordinate system to establish the coordinate system.
In addition, the method of establishing the coordinate system may also establish the coordinate system by taking the center of the full-area image as the origin of coordinates, the direction in the right east or west in space as the X axis, and the direction in the right south or north as the Y axis.
The two coordinate systems can be established according to the actual use.
According to the embodiment of the invention, when the inspection task is executed, the unmanned aerial vehicle generates a task allocation strategy according to the planned path of the monitoring subarea;
sequencing the inspection sequence according to the weight values of the plurality of monitoring subareas, and inspecting the monitoring subareas one by one according to the inspection sequence and the planned path;
generating a plurality of sub-target points according to the path planning of the monitoring sub-region, carrying out point-by-point flight by the unmanned aerial vehicle until the last sub-target point on the path, and shooting images when the unmanned aerial vehicle reaches each sub-target point.
In another embodiment of the invention, the same monitoring subarea can be monitored by matching a plurality of unmanned aerial vehicles, and a plurality of unmanned aerial vehicles in the same monitoring subarea can shoot at different sub-target points at the same time to complete the monitoring of the same task, and can also enable a plurality of unmanned aerial vehicles to execute different monitoring tasks.
Specifically, when a flight task is executed, the unmanned aerial vehicle performs patrol on a zone-by-zone basis according to a task allocation scheme and a sub-zone patrol order generated by inter-zone path planning; and in each area, taking the path point generated by path planning in the area as a target point, carrying out point-by-point flight until the last path point of the last task area is reached, finishing the inspection, and returning to the starting point.
And (3) performing navigation flight by taking the starting point of the next task area as a target point from the ending point of the previous task area in the flight between the subareas. And the coordinates of the path points generated by the boundary information are utilized in the sub-region to serve as target points one by one for navigation flight, the path points are planned by using a path planning algorithm, and navigation is carried out according to the coordinates of the path points. The unmanned aerial vehicle flies towards the coordinates of the target path point, and the flying speed of the unmanned aerial vehicle is continuously adjusted according to the vector between the coordinates of the unmanned aerial vehicle and the coordinates of the target path point. Until the distance to the target is small to some extent, the target point is considered to have been reached, and next, a progression to the next target waypoint is started.
In addition, in the process of monitoring the photovoltaic transformer substation, remote sensing images are acquired according to planned paths through unmanned aerial vehicles, so that the photovoltaic transformer substation is accurately monitored, meanwhile, the whole area of the photovoltaic transformer substation is divided into a plurality of monitoring subareas, the monitoring subareas are monitored respectively, finally, the monitoring subareas are integrated into a whole area monitoring image, errors caused by overlarge area of the photovoltaic transformer substation are reduced, finally, the plurality of unmanned aerial vehicles can be arranged and combined to form a monitoring group, different monitoring tasks can be carried out by different monitoring groups, a plurality of unmanned aerial vehicles can be matched with each other between different monitoring groups, and the monitoring flexibility and efficiency can be improved by shooting a plurality of sub-target points according to a patrol order through the unmanned aerial vehicles.
It should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is for clarity only, and that the skilled artisan should recognize that the embodiments may be combined as appropriate to form other embodiments that will be understood by those skilled in the art.
The above list of detailed descriptions is only specific to practical embodiments of the present invention, and they are not intended to limit the scope of the present invention, and all equivalent embodiments or modifications that do not depart from the spirit of the present invention should be included in the scope of the present invention.
Claims (10)
1. Distributed photovoltaic power plant monitoring system based on thing networking, its characterized in that includes: the monitoring module, the network module and the cloud server;
the cloud server and the monitoring module realize signal transmission through the network module;
the monitoring module is used for acquiring real-time monitoring data acquired by the sensor and processing the monitoring data in real time;
the network module is used for transmitting the monitoring data to a cloud server, and the remote server is used for storing, analyzing or calling the monitoring data.
2. The distributed photovoltaic power station monitoring system based on the internet of things according to claim 1, further comprising a monitoring platform and a scheduling platform, wherein a plurality of unmanned aerial vehicles are arranged on the monitoring platform, and the scheduling platform is used for path planning and driving scheduling of the unmanned aerial vehicles.
3. The distributed photovoltaic power station monitoring system based on the internet of things according to claim 2, wherein a plurality of unmanned aerial vehicles fly and monitor according to a preset array, and a plurality of remote sensing sensors are arranged on the unmanned aerial vehicles and are used for shooting remote sensing images of a photovoltaic substation.
4. The distributed photovoltaic power station monitoring system based on the internet of things according to claim 2 or 3, wherein the plurality of unmanned aerial vehicles at least comprise a calibration unmanned aerial vehicle and a plurality of monitoring unmanned aerial vehicles, the calibration unmanned aerial vehicles set initial flight parameters through a dispatching platform to perform regional calibration on a photovoltaic transformer substation, and transmit calibration information to a monitoring platform, and the monitoring platform formulates a flight monitoring path and a photographing point of the monitoring unmanned aerial vehicles.
5. The internet of things-based distributed photovoltaic power plant monitoring system of claim 1, wherein the unmanned aerial vehicle's flight monitoring path comprises one or a combination of two or more of zigzags, spirals, or reciprocating.
6. The internet of things-based distributed photovoltaic power plant monitoring system of claim 4, further comprising a client, wherein the client is electrically connected to the cloud server, and wherein the client comprises a mobile phone or a computer.
7. The internet of things-based distributed photovoltaic power plant monitoring system of claim 6, wherein the data transmission mode of the network module comprises bluetooth, GPRS, WIFI, NB-IoT protocol or ZigBee protocol;
the network module comprises a ZigBee module for controlling the switching between a full-automatic mode and a semi-automatic mode of the monitoring platform;
in a full-automatic mode, the cloud server calls the whole area of the transformer substation calibrated by the calibration unmanned aerial vehicle, generates a flight path of the monitoring unmanned aerial vehicle according to the whole area parameter of the transformer substation, and monitors the whole area flight of the transformer substation according to the planned path;
in a semi-automatic mode, a monitoring area is set through a client, the unmanned aerial vehicle is calibrated according to the monitoring area set by the client, the scheduling platform controls the unmanned aerial vehicle to fly to the shooting point to remotely sense the monitoring area, and a shooting picture is transmitted to the monitoring platform.
8. The distributed photovoltaic power station monitoring method based on the Internet of things is characterized in that the distributed photovoltaic power station monitoring method based on the Internet of things is applied to the distributed photovoltaic power station monitoring system based on the Internet of things, which is described in any one of claims 3-7; the distributed photovoltaic power station monitoring method based on the Internet of things comprises the following steps:
s1, acquiring a full-area remote sensing image of a photovoltaic substation, and preprocessing the full-area remote sensing image to obtain result information;
s2, a monitoring strategy is established according to the result information, an unmanned aerial vehicle monitoring path and monitoring points located on the monitoring path are generated according to the monitoring strategy, and scheduling information is generated;
s3, controlling the unmanned aerial vehicle to fly according to a preset monitoring path according to the scheduling information;
s4, acquiring the current position information of the unmanned aerial vehicle,
s5, comparing the current position information of the unmanned aerial vehicle with the position information of the corresponding monitoring point to obtain a position deviation rate;
s6, judging whether the position deviation rate is larger than a preset position deviation rate threshold value or not;
if the position of the unmanned aerial vehicle is larger than the preset value, adjusting flight parameters of the unmanned aerial vehicle, and correcting the position of the unmanned aerial vehicle;
if the monitoring information is smaller than the preset value, the unmanned aerial vehicle performs rotary flight in a preset area, and meanwhile, the unmanned aerial vehicle collects remote sensing images of the monitoring area to obtain the running state of the transformer substation and obtain the monitoring information of the photovoltaic transformer substation;
and S7, transmitting the monitoring information to the cloud server according to a preset mode.
9. The method for monitoring the distributed photovoltaic power station based on the internet of things according to claim 8, wherein the step S1 of acquiring the full-area remote sensing image of the photovoltaic substation and preprocessing the full-area remote sensing image comprises:
s111, acquiring an edge line of a full-area remote sensing image, and dividing the full area of the photovoltaic substation into a plurality of monitoring subareas;
s112, a coordinate system is established according to the full-area remote sensing image, boundary point coordinate information of the monitoring sub-area is obtained, and the patrol task quantity of the monitoring sub-area is calculated according to the boundary point coordinate information;
s113, distributing the quantity of the inspection tasks, forming a monitoring group through the combination of a plurality of unmanned aerial vehicles, and distributing and monitoring a plurality of inspection tasks in a monitoring subarea through the monitoring group;
the method comprises the steps that a plurality of unmanned aerial vehicles in a monitoring group shoot the running states of photovoltaic modules in a monitoring subarea according to a certain sequence, and coverage type monitoring is carried out;
and S114, independently monitoring a plurality of monitoring subareas through a plurality of monitoring groups, and combining monitoring images in the monitoring subareas after the monitoring of each monitoring subarea is completed to form a full-area monitoring image of the photovoltaic substation.
10. The internet of things-based distributed photovoltaic power station monitoring method according to claim 9, wherein when the patrol task is executed, the unmanned aerial vehicle generates a task allocation strategy according to a planned path of the monitored subarea;
sequencing the inspection sequence according to the weight values of the plurality of monitoring subareas, and inspecting the monitoring subareas one by one according to the inspection sequence and the planned path;
generating a plurality of sub-target points according to the path planning of the monitoring sub-region, carrying out point-by-point flight by the unmanned aerial vehicle until the last sub-target point on the path, and shooting images when the unmanned aerial vehicle reaches each sub-target point.
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