CN117873166A - Unmanned aerial vehicle inspection method and device based on mobile engine room - Google Patents

Abstract

The invention discloses a mobile cabin-based unmanned aerial vehicle inspection method and device, which are used for responding to an area reaching signal fed back by a mobile cabin to carry out environment detection on a first target inspection area, respectively transmitting corresponding inspection tasks to a plurality of unmanned aerial vehicles in the cabin when an environment detection result reaches a requirement, enabling each unmanned aerial vehicle to inspect the first target inspection area according to the corresponding inspection tasks and feed back inspection data, analyzing and processing the received inspection data, selecting an adjacent area to be inspected from a to-be-inspected list as a second target inspection area, generating a corresponding second inspection task and sending the second inspection task to the mobile cabin. According to the invention, the influence of environmental factors is avoided through environmental detection, and the accuracy and feasibility of the inspection data are improved; the movable cabin realizes centralized management of a plurality of unmanned aerial vehicles, so that unmanned aerial vehicle operation and maintenance personnel can conveniently carry out operation and maintenance management of the unmanned aerial vehicles, and the management convenience and operation and maintenance efficiency of the operation and maintenance personnel are improved.

Description

Unmanned aerial vehicle inspection method and device based on mobile engine room

Technical Field

The invention relates to the technical field of unmanned aerial vehicle inspection, in particular to an unmanned aerial vehicle inspection method and device based on a mobile cabin.

Background

Along with the rapid development of new energy, a large number of photovoltaic panels enter a maintenance stage, the number of the photovoltaic panels is huge, and operation and maintenance staff are extremely limited. Taking a 100MW photovoltaic power station as an example, the photovoltaic cell panels occupy one hundred thousand sheets, occupy 1500 mu of land, and have huge inspection workload by manual work, and are time-consuming and labor-consuming. Currently, more and more photovoltaic power stations adopt unmanned aerial vehicles to inspect the photovoltaic panel, and especially the centralized photovoltaic power station, the inspection efficiency is improved by more than ten times compared with manual work. However, the unmanned aerial vehicle is adopted to carry out the patrol and store the problem that the unmanned aerial vehicle is limited in duration, the actual duration is only twenty-thirty minutes generally, the unmanned aerial vehicle is enabled to fly uninterruptedly in a period of days or even tens of days for patrol and examine of a large-scale photovoltaic power station, a large amount of battery storage is needed for whole patrol and examine, and the whole still needs to consume more time.

Therefore, the unmanned aerial vehicle with the cabin is adopted in the prior art, the unmanned aerial vehicle with the cabin is fixedly matched with a photovoltaic area, when inspection is needed, the cabin is opened for inspection, and when the unmanned aerial vehicle is insufficient in power, the cabin is returned to charge. However, in actual situations, plots of many photovoltaic power stations are scattered, if one plot is matched with one unmanned aerial vehicle with a cabin, the cost is too high, the maintenance is inconvenient, and the actual applicability is low; if a plurality of plots are matched with one unmanned aerial vehicle, the distance between the plots exceeds the furthest distance that the unmanned aerial vehicle can fly, and the unmanned aerial vehicle cannot fly.

Disclosure of Invention

The invention provides a mobile cabin-based unmanned aerial vehicle inspection method and device, which have the technical effects of improving the unmanned aerial vehicle inspection efficiency, reducing the enterprise maintenance cost and improving the operation and maintenance efficiency of operation and maintenance personnel.

In order to solve the technical problems, the invention provides an unmanned aerial vehicle inspection method based on a mobile cabin, which comprises the following steps:

sending a first inspection task to a mobile cabin, so that the mobile cabin can travel to a first target inspection area in the first inspection task and feed back an area arrival signal;

responding to the area arrival signal, carrying out environment detection on the first target inspection area, and respectively transmitting corresponding inspection tasks to a plurality of unmanned aerial vehicles in the mobile cabin when an environment detection result meets the requirement, so that the plurality of unmanned aerial vehicles respectively inspect the first target inspection area according to the corresponding inspection tasks and feed back inspection data;

and receiving and analyzing the inspection data, selecting an adjacent area to be inspected from the list to be inspected according to the first target inspection area as a second target inspection area, generating a corresponding second inspection task and sending the corresponding second inspection task to the mobile cabin.

According to the unmanned aerial vehicle inspection method, first, a first inspection task is sent to the mobile cabin, so that the mobile cabin runs to a first target inspection area and then feeds back an area arrival signal to the system, and the system is triggered to detect the environment of the target inspection area. The system determines whether to continue to execute the inspection plan according to the environment detection result, so that the situation that unmanned aerial vehicle inspection fails or collected data cannot be identified due to unsuitable environment but unmanned aerial vehicle inspection is continued is avoided, the accuracy and feasibility of inspection data are improved, data support is provided for subsequent systems to analyze according to the inspection data, and meanwhile the accuracy of analysis report is also improved.

After the inspection data fed back by the unmanned aerial vehicle through the cabin are received, the system also determines the next inspection area according to the real-time position of the movable cabin, so that the redundant movement of the movable cabin is avoided, and a large amount of time and energy are consumed. The system determines the next inspection area of a plurality of unmanned aerial vehicles in the mobile cabin through the address information of the current inspection area of the mobile cabin and the address information of the area which is required to be inspected in the to-be-inspected list, so that the inspection line of the mobile cabin is optimized, the running efficiency of the mobile cabin is improved, and the inspection efficiency of the unmanned aerial vehicle is further improved.

Meanwhile, the mobile cabin realizes centralized management of a plurality of unmanned aerial vehicles, so that the unmanned aerial vehicle inspection method provided by the invention is also convenient for unmanned aerial vehicle operation and maintenance personnel to carry out unmanned aerial vehicle operation and maintenance management, and improves the management convenience and operation and maintenance efficiency of the operation and maintenance personnel.

As a preferred example, the performing environmental detection on the first target inspection area specifically includes:

sending an environmental data acquisition signal to an environmental monitor in the mobile cabin, so that the environmental monitor acquires and feeds back environmental data of the first target inspection area through each environmental data acquisition device; wherein the environmental data includes weather, temperature, humidity, total radiation, and wind speed;

receiving and comparing the environment data with preset environment threshold data, and determining whether the plurality of unmanned aerial vehicles in the mobile cabin can execute the inspection task according to a comparison result;

and if the plurality of unmanned aerial vehicles cannot execute the inspection task according to the comparison result, adding the first target inspection area into the list to be inspected, and terminating the inspection task.

Before determining to send the task of patrolling and examining to a plurality of unmanned aerial vehicle, the system at first still will carry out environmental detection to the first target area of patrolling and examining, confirm whether current environment satisfies unmanned aerial vehicle and carries out the environment of patrolling and examining the work, reduced unmanned aerial vehicle and when carrying out the work of patrolling and examining because environmental factor leads to unmanned aerial vehicle during operation to break down or the problem emergence that the data quality of patrolling and examining that gathers declines, improved the quality and the accuracy of data of patrolling and examining, and then improved the accuracy that follow-up system carried out analysis according to the data of patrolling and examining.

As a preferred example, the plurality of unmanned aerial vehicles respectively patrol the target patrol area according to the corresponding patrol task and feed back patrol data, and specifically includes:

each first unmanned aerial vehicle in the plurality of unmanned aerial vehicles moves to the starting point of the corresponding inspection route of the inspection task according to the received inspection task, and starts inspection according to the inspection route;

the method comprises the steps of monitoring a first residual electric quantity of a first unmanned aerial vehicle in real time, comparing the first residual electric quantity with a preset first electric quantity threshold value, storing a real-time position of the first unmanned aerial vehicle as a power-off position when the first residual electric quantity is smaller than or equal to the first electric quantity threshold value, and controlling the first unmanned aerial vehicle to return to the mobile cabin for charging;

and monitoring the second residual electric quantity of the first unmanned aerial vehicle in real time, and controlling the first unmanned aerial vehicle to move to the power-off position to continue to patrol according to the patrol route when the second residual electric quantity is determined to be larger than or equal to a preset second electric quantity threshold value.

In order to further improve the unmanned aerial vehicle inspection efficiency, the unmanned aerial vehicle inspection method provided by the invention further provides a charging function for the mobile cabin. Therefore, when the first unmanned aerial vehicle in the mobile cabin runs to the middle part on the inspection route but the residual electric quantity monitored in real time is insufficient to support the unmanned aerial vehicle to execute the subsequent inspection work, the unmanned aerial vehicle pauses the inspection work, the current power-off position serving as the unmanned aerial vehicle is stored into the system, the unmanned aerial vehicle returns to the mobile cabin to be charged in real time through the charging function, and the unmanned aerial vehicle is controlled to move to the power-off position to continue the unfinished inspection task after the system monitors in real time to determine that the residual electric quantity of the unmanned aerial vehicle reaches a certain electric quantity threshold.

Because portable cabin is located the area of patrolling and examining, therefore unmanned aerial vehicle returns the cabin and need move the distance nearer, and also improved unmanned aerial vehicle's efficiency of patrolling and examining through portable cabin's real-time function of charging. Meanwhile, as the movable engine room can bear a plurality of unmanned aerial vehicles, the inspection area can be inspected by the plurality of unmanned aerial vehicles at the same time, so that the inspection time of the unmanned aerial vehicles is reduced, the inspection efficiency of the unmanned aerial vehicles is improved, and the energy consumption of the unmanned aerial vehicles is optimized.

As a preferred example, the selecting, from the to-be-inspected list, an adjacent to-be-inspected area as the second target inspection area according to the first target inspection area specifically includes:

determining corresponding first address information according to the first target inspection area, sequentially and respectively carrying out path calculation on the first address information and the address information corresponding to each area to be inspected in the list to be inspected, and outputting a corresponding path calculation result;

and selecting one path from the path calculation results as a first path so that the first path is smaller than other paths except the first path in the path calculation results, and taking a region to be inspected corresponding to the first path as the second target inspection region.

In order to further optimize the energy consumption of the unmanned aerial vehicle, after determining that the mobile engine room has completed the inspection of the first target inspection area, the system firstly calculates and determines the path distance between the two inspection areas according to the address information of the first target inspection area and the address information of all the areas to be inspected in the to-be-inspected list respectively for selecting the second target inspection area, and outputs a corresponding path calculation result. And then selecting a to-be-inspected area corresponding to the path with the shortest path from the path calculation result as a second target inspection area, so that the optimization of the unmanned aerial vehicle inspection route in the mobile engine room is realized, and the energy consumption of the unmanned aerial vehicle is reduced.

As a preferred example, after the sending of the and generating the corresponding second inspection task to the mobile nacelle, it further comprises:

monitoring the operation data of the plurality of unmanned aerial vehicles in the mobile engine room in real time, comparing the operation data with a preset standard operation data range in sequence, and outputting corresponding comparison results;

if the comparison result shows that the operation data is within the standard operation data range, determining that the first unmanned aerial vehicle corresponding to the operation data operates normally, and storing the operation data into an operation database corresponding to the first unmanned aerial vehicle;

If the comparison result shows that the operation data is out of the standard operation data range, determining that the first unmanned aerial vehicle has a fault in operation, generating a corresponding fault detection report according to the operation data, sending the fault detection report to a first terminal, and adjusting the first unmanned aerial vehicle to a fault state.

In order to further improve the inspection efficiency of the unmanned aerial vehicle, the unmanned aerial vehicle inspection method provided by the invention also monitors the operation data of the unmanned aerial vehicle in real time when controlling the unmanned aerial vehicle to inspect, compares the operation data with the standard operation data range of the unmanned aerial vehicle, and determines whether the unmanned aerial vehicle has errors or faults according to the comparison result. If the unmanned aerial vehicle is determined to have faults or errors, corresponding fault detection reports are generated according to the operation data of the unmanned aerial vehicle and sent to the unmanned aerial vehicle operation and maintenance personnel, the operation and maintenance personnel are prompted to overhaul and remove the fault to the unmanned aerial vehicle, meanwhile, the operation state of the unmanned aerial vehicle is adjusted to be a fault state, and the fault problem of the unmanned aerial vehicle caused by the fact that the fault unmanned aerial vehicle continues to execute the inspection work is avoided from spreading.

Meanwhile, as the real-time position of the movable cabin can be provided by the system, the operation and maintenance personnel can directly determine the real-time position of the fault unmanned aerial vehicle, and the workload and the working pressure of the operation and maintenance personnel are reduced.

Correspondingly, the invention also provides an unmanned aerial vehicle inspection device based on the mobile cabin, which comprises a signal sending module, an unmanned aerial vehicle inspection module and an inspection area adjusting module;

the signal sending module is used for sending a first inspection task to the mobile cabin so that the mobile cabin can travel to a first target inspection area in the first inspection task and feed back an area arrival signal;

the unmanned aerial vehicle inspection module is used for responding to the area arrival signal, carrying out environment detection on the first target inspection area, and respectively transmitting corresponding inspection tasks to a plurality of unmanned aerial vehicles in the mobile engine room when the environment detection result meets the requirement, so that the plurality of unmanned aerial vehicles respectively inspect the first target inspection area according to the corresponding inspection tasks and feed back inspection data;

the inspection area adjusting module is used for receiving and analyzing the inspection data, selecting an adjacent area to be inspected from the to-be-inspected list according to the first target inspection area as a second target inspection area, generating a corresponding second inspection task and sending the corresponding second inspection task to the mobile cabin.

As a preferred example, the unmanned aerial vehicle inspection module performs environmental detection on the first target inspection area, and specifically includes:

sending an environmental data acquisition signal to an environmental monitor in the mobile cabin, so that the environmental monitor acquires and feeds back environmental data of the first target inspection area through each environmental data acquisition device; wherein the environmental data includes weather, temperature, humidity, total radiation, and wind speed;

receiving and comparing the environment data with preset environment threshold data, and determining whether the plurality of unmanned aerial vehicles in the mobile cabin can execute the inspection task according to a comparison result;

and if the plurality of unmanned aerial vehicles cannot execute the inspection task according to the comparison result, adding the first target inspection area into the list to be inspected, and terminating the inspection task.

As a preferred example, the unmanned aerial vehicle inspection module includes a power detection unit and a route control unit;

the electric quantity detection unit is used for monitoring the first residual electric quantity of the first unmanned aerial vehicle in real time, comparing the first residual electric quantity with a preset first electric quantity threshold value, storing the real-time position of the first unmanned aerial vehicle as a power-off position when the first residual electric quantity is smaller than or equal to the first electric quantity threshold value, and controlling the first unmanned aerial vehicle to return to the mobile cabin for charging;

The route control unit is used for monitoring the second residual electric quantity of the first unmanned aerial vehicle in real time, and controlling the first unmanned aerial vehicle to move to the power-off position to continue inspection according to the inspection route when the second residual electric quantity is determined to be larger than or equal to a preset second electric quantity threshold value.

As a preferred example, the inspection area adjustment module selects an adjacent area to be inspected from the list to be inspected according to the first target inspection area as a second target inspection area, and specifically includes:

determining corresponding first address information according to the first target inspection area, sequentially and respectively carrying out path calculation on the first address information and the address information corresponding to each area to be inspected in the list to be inspected, and outputting a corresponding path calculation result;

and selecting one path from the path calculation results as a first path so that the first path is smaller than other paths except the first path in the path calculation results, and taking a region to be inspected corresponding to the first path as the second target inspection region.

As a preferred example, the unmanned aerial vehicle inspection device further comprises a fault monitoring module;

The fault monitoring module is used for monitoring the operation data of the plurality of unmanned aerial vehicles in the mobile cabin in real time, comparing the operation data with a preset standard operation data range in sequence and outputting corresponding comparison results;

if the comparison result shows that the operation data is within the standard operation data range, determining that the first unmanned aerial vehicle corresponding to the operation data operates normally, and storing the operation data into an operation database corresponding to the first unmanned aerial vehicle;

if the comparison result shows that the operation data is out of the standard operation data range, determining that the first unmanned aerial vehicle has a fault in operation, generating a corresponding fault detection report according to the operation data, sending the fault detection report to a first terminal, and adjusting the first unmanned aerial vehicle to a fault state.

Drawings

Fig. 1: a flow diagram of one embodiment of a mobile cabin-based unmanned aerial vehicle inspection method provided by the invention;

fig. 2: the invention provides a structural schematic diagram of one embodiment of an unmanned aerial vehicle inspection device based on a mobile cabin;

fig. 3: the structure schematic diagram of one embodiment of the automatic inspection system for the photovoltaic cell panel is provided by the invention;

Fig. 4: the function schematic diagram among all modules in the automatic inspection system of the photovoltaic cell panel is provided by the invention.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Example 1

Referring to fig. 1, a schematic flow chart of an embodiment of a mobile cabin-based unmanned aerial vehicle inspection method provided by the present invention includes steps 101 to 103, where the steps are as follows:

step 101: and sending a first inspection task to the mobile cabin so that the mobile cabin can travel to a first target inspection area in the first inspection task and feed back an area arrival signal.

Step 102: responding to the area arrival signal, carrying out environment detection on the first target inspection area, and respectively transmitting corresponding inspection tasks to a plurality of unmanned aerial vehicles in the mobile engine room when an environment detection result meets the requirement, so that the plurality of unmanned aerial vehicles respectively inspect the first target inspection area according to the corresponding inspection tasks and feed back inspection data.

According to the unmanned aerial vehicle inspection method provided by the embodiment of the invention, a first inspection task is sent to the mobile engine room, so that the mobile engine room travels to the first target inspection area and then feeds back an area arrival signal to the system, and the system is triggered to perform environment detection on the target inspection area. The system determines whether to continue to execute the inspection plan according to the environment detection result, so that the situation that unmanned aerial vehicle inspection fails or collected data cannot be identified due to unsuitable environment but unmanned aerial vehicle inspection is continued is avoided, the accuracy and feasibility of inspection data are improved, data support is provided for subsequent systems to analyze according to the inspection data, and meanwhile the accuracy of analysis report is also improved.

Meanwhile, the mobile cabin realizes centralized management of a plurality of unmanned aerial vehicles, so that the unmanned aerial vehicle inspection method provided by the invention is also convenient for unmanned aerial vehicle operation and maintenance personnel to carry out unmanned aerial vehicle operation and maintenance management, and improves the management convenience and operation and maintenance efficiency of the operation and maintenance personnel.

In this embodiment, as shown in fig. 3, fig. 3 is a schematic structural diagram of an embodiment of the automatic inspection system for a photovoltaic panel provided by the invention. The vehicle-mounted unmanned aerial vehicle intelligent cabin shown in fig. 3 is the mobile cabin according to the embodiment, the inspection control center shown in fig. 3 is the unmanned aerial vehicle inspection device based on the mobile cabin according to the embodiment, and the photovoltaic panel automatic inspection system shown in fig. 3 comprises the mobile cabin, the inspection control center and the inspection unmanned aerial vehicle.

As shown in fig. 3, the inspection unmanned aerial vehicle in this embodiment includes an autonomous flight module, an image acquisition module, a battery management module, a GPS positioning module, a data transmission module, and a communication module; the vehicle-mounted unmanned aerial vehicle intelligent cabin comprises an openable top cover, an in-cabin parking apron, a charging system, a communication module and an environment monitoring module; the inspection control center comprises a controller and a display, wherein the controller is internally provided with an unmanned aerial vehicle group route planning module, a data transmission module, a data processing module and a communication module, and the display comprises an unmanned aerial vehicle task setting module and an inspection result display module.

In the embodiment, the vehicle-mounted unmanned aerial vehicle intelligent cabin is pulled by a head of an off-road large truck, and the head and the cabin are combined into a photovoltaic inspection vehicle. The cabin contains can open the top cap of opening and shutting will take off when landing at unmanned aerial vehicle, and the apron is used for parking unmanned aerial vehicle in the cabin, and charging system includes energy storage battery and arm, the arm is used for drawing unmanned aerial vehicle to the interface that charges, and energy storage battery then is used for the reserve electric quantity.

According to the embodiment of the invention, the centralized management of the unmanned aerial vehicle group is realized through the vehicle-mounted unmanned aerial vehicle intelligent cabin, convenience is provided for maintenance personnel to maintain and manage equipment, a plurality of unmanned aerial vehicles are simultaneously inspected through the unmanned aerial vehicle group, charging in the cabin is supported after inspection, the problem of low inspection efficiency caused by short unmanned aerial vehicle endurance is effectively solved, meanwhile, the mobility of the photovoltaic inspection vehicle is realized, a plurality of photovoltaic power stations are maintained by supporting one photovoltaic inspection vehicle, the inspection efficiency of the photovoltaic power stations is improved, the inspection cost of the power stations is reduced, and the overall benefit of the power stations is improved.

Exemplary, the detecting the environment of the first target inspection area according to the embodiment specifically includes:

sending an environmental data acquisition signal to an environmental monitor in the mobile cabin, so that the environmental monitor acquires and feeds back environmental data of the first target inspection area through each environmental data acquisition device; wherein the environmental data includes weather, temperature, humidity, total radiation, and wind speed;

receiving and comparing the environment data with preset environment threshold data, and determining whether the plurality of unmanned aerial vehicles in the mobile cabin can execute the inspection task according to a comparison result;

and if the plurality of unmanned aerial vehicles cannot execute the inspection task according to the comparison result, adding the first target inspection area into the list to be inspected, and terminating the inspection task.

Before determining to send the task of patrolling and examining to a plurality of unmanned aerial vehicle, the system at first still will carry out environmental detection to the first target area of patrolling and examining, confirm whether current environment satisfies unmanned aerial vehicle and carries out the environment of patrolling and examining the work, reduced unmanned aerial vehicle and when carrying out the work of patrolling and examining because environmental factor leads to unmanned aerial vehicle during operation to break down or the problem emergence that the data quality of patrolling and examining that gathers declines, improved the quality and the accuracy of data of patrolling and examining, and then improved the accuracy that follow-up system carried out analysis according to the data of patrolling and examining.

In this embodiment, the environment monitoring module in the intelligent nacelle of the vehicle-mounted unmanned aerial vehicle described in fig. 3 is responsible for performing environment detection on the target inspection area, and feeding various environmental data including weather W, temperature T, humidity H, total radiation R, wind speed S, etc. back to the inspection control center, where the inspection control center determines whether to continue to perform the inspection task.

The environment monitoring module shown in fig. 3 comprises environment monitoring inside and outside the cabin, and is used for adjusting the temperature and humidity according to the condition of monitoring the temperature and humidity aiming at the environment detection inside the cabin, so that the internal environment is kept stable in the proper environment of the unmanned aerial vehicle; and the environment detection for the outside of the cabin is used for judging whether the external environment is suitable for unmanned aerial vehicle operation. After the environment monitoring module collects corresponding environment data, the environment data are fed back to the inspection control center, and whether an inspection task is issued to the unmanned aerial vehicle is determined by the inspection control center.

The inspection control center judges whether inspection can be performed according to the environment monitoring information; if the weather can not be inspected, the inspection is abandoned; and if the inspection can be performed, transmitting the inspection task to the unmanned aerial vehicle group.

Further, in this embodiment, the plurality of unmanned aerial vehicles respectively patrol the target patrol area according to the corresponding patrol task and feed back patrol data, and specifically includes:

Each first unmanned aerial vehicle in the plurality of unmanned aerial vehicles moves to the starting point of the corresponding inspection route of the inspection task according to the received inspection task, and starts inspection according to the inspection route;

the method comprises the steps of monitoring a first residual electric quantity of a first unmanned aerial vehicle in real time, comparing the first residual electric quantity with a preset first electric quantity threshold value, storing a real-time position of the first unmanned aerial vehicle as a power-off position when the first residual electric quantity is smaller than or equal to the first electric quantity threshold value, and controlling the first unmanned aerial vehicle to return to the mobile cabin for charging;

and monitoring the second residual electric quantity of the first unmanned aerial vehicle in real time, and controlling the first unmanned aerial vehicle to move to the power-off position to continue to patrol according to the patrol route when the second residual electric quantity is determined to be larger than or equal to a preset second electric quantity threshold value.

In order to further improve the inspection efficiency of the unmanned aerial vehicle, the mobile cabin further provides a charging function in the inspection method of the unmanned aerial vehicle. Therefore, when the first unmanned aerial vehicle in the mobile cabin runs to the middle part on the inspection route but the residual electric quantity monitored in real time is insufficient to support the unmanned aerial vehicle to execute the subsequent inspection work, the unmanned aerial vehicle pauses the inspection work, the current power-off position serving as the unmanned aerial vehicle is stored into the system, the unmanned aerial vehicle returns to the mobile cabin to be charged in real time through the charging function, and the unmanned aerial vehicle is controlled to move to the power-off position to continue the unfinished inspection task after the system monitors in real time to determine that the residual electric quantity of the unmanned aerial vehicle reaches a certain electric quantity threshold.

Because portable cabin is located the area of patrolling and examining, therefore unmanned aerial vehicle returns the cabin and need move the distance nearer, and also improved unmanned aerial vehicle's efficiency of patrolling and examining through portable cabin's real-time function of charging. Meanwhile, as the movable engine room can bear a plurality of unmanned aerial vehicles, the inspection area can be inspected by the plurality of unmanned aerial vehicles at the same time, so that the inspection time of the unmanned aerial vehicles is reduced, the inspection efficiency of the unmanned aerial vehicles is improved, and the energy consumption of the unmanned aerial vehicles is optimized.

The unmanned aerial vehicle patrols and examines that this embodiment provided includes autonomous flight module, image acquisition module, battery management module, GPS orientation module, data transmission module and communication module. Therefore, the inspection unmanned aerial vehicle can collect visible light and infrared thermal imaging photos through the image acquisition module, and upload the visible light and infrared thermal imaging photos to the inspection control center as inspection data, so as to be used for monitoring the surface condition of the photovoltaic cell panel and the temperature of the photovoltaic cell panel respectively. The battery management module comprises unmanned aerial vehicle residual capacity detection and is used for enabling the unmanned aerial vehicle to fly back to the cabin to charge independently when the power is insufficient. The GPS positioning module is used for positioning the real-time position of the unmanned aerial vehicle when the condition of insufficient electric quantity occurs in the inspection and feeding back the real-time position of the failed unmanned aerial vehicle to the inspection control center when the unmanned aerial vehicle fails and cannot continue flying. The data transmission module is used for transmitting the inspection data to the inspection control center; the communication module is used for receiving the instruction sent by the inspection control center.

In this embodiment, after the inspection unmanned aerial vehicle group receives the inspection task, the take-off moves to the start point of the task to start to execute the inspection task, the inspection is automatically performed in the inspection areas allocated respectively according to the planned route, that is, the inspection route in this embodiment, the visible light photo and the infrared photo of the photovoltaic panel are collected, and the collected photo, the geographical coordinates of the photo and other relevant data information are transmitted to the inspection control center.

Suppose that the photovoltaic power station has A, B, C, D and E five photovoltaic plots, and the inspection route of the A photovoltaic plot set by the inspection control center comprises A01, A02 and A03 … An. When the photovoltaic inspection vehicle is driven to the photovoltaic land parcel A, after the inspection control center judges that the environmental condition can execute the inspection task according to the data of the environmental monitoring module, the inspection control center sends the inspection tasks A01, A02 and A03 … An to unmanned aerial vehicles such as D1 and D1 … Dn in the unmanned aerial vehicle group one by one respectively, and each unmanned aerial vehicle in the unmanned aerial vehicle group D1 and D1 … Dn receives the respective inspection task respectively, if D1 receives A01 and Dn receives An.

If the unmanned aerial vehicle Dn finds that the power is insufficient in the middle of inspection, the unmanned aerial vehicle Dn automatically returns to the Dn apron in the engine room, the charging module mechanical arm automatically pulls the unmanned aerial vehicle Dn to the charging interface for charging, and after the charging is finished, the unmanned aerial vehicle Dn automatically returns to the breakpoint or the power-off position according to the stored power-off position, so that the inspection task is continuously executed. After the inspection of the photovoltaic land parcel A is finished, the whole unmanned aerial vehicle returns to the cabin, the charging module is used for charging, the photovoltaic inspection vehicle starts to inspect the photovoltaic land parcel of the land parcel B next, inspection is started again, and the circulation operation is performed until the inspection of the five photovoltaic land parcel A, B, C, D, E is finished, so that the inspection efficiency is improved, and the manual pressure of photovoltaic operation and maintenance is reduced.

Step 103: and receiving and analyzing the inspection data, selecting an adjacent area to be inspected from the list to be inspected according to the first target inspection area as a second target inspection area, generating a corresponding second inspection task and sending the corresponding second inspection task to the mobile cabin.

After the inspection data fed back by the unmanned aerial vehicle through the cabin are received, the system also determines the next inspection area according to the real-time position of the movable cabin, so that the redundant movement of the movable cabin is avoided, and a large amount of time and energy are consumed. The system determines the next inspection area of a plurality of unmanned aerial vehicles in the mobile cabin through the address information of the current inspection area of the mobile cabin and the address information of the area which is required to be inspected in the to-be-inspected list, so that the inspection line of the mobile cabin is optimized, the running efficiency of the mobile cabin is improved, and the inspection efficiency of the unmanned aerial vehicle is further improved.

Exemplary, in this embodiment, selecting, from the to-be-inspected list, an adjacent to-be-inspected area as the second target inspection area according to the first target inspection area specifically includes:

determining corresponding first address information according to the first target inspection area, sequentially and respectively carrying out path calculation on the first address information and the address information corresponding to each area to be inspected in the list to be inspected, and outputting a corresponding path calculation result;

And selecting one path from the path calculation results as a first path so that the first path is smaller than other paths except the first path in the path calculation results, and taking a region to be inspected corresponding to the first path as the second target inspection region.

In order to further optimize the energy consumption of the unmanned aerial vehicle, after determining that the mobile engine room has completed the inspection of the first target inspection area, the system firstly calculates and determines the path distance between the two inspection areas according to the address information of the first target inspection area and the address information of all the areas to be inspected in the to-be-inspected list respectively for selecting the second target inspection area, and outputs a corresponding path calculation result. And then selecting a to-be-inspected area corresponding to the path with the shortest path from the path calculation result as a second target inspection area, so that the optimization of the unmanned aerial vehicle inspection route in the mobile engine room is realized, and the energy consumption of the unmanned aerial vehicle is reduced.

In this embodiment, the inspection control center includes a controller and a display, where the controller is embedded with an unmanned aerial vehicle group route planning module, a data transmission module, a data processing module and a communication module; the display is used for setting tasks to be executed by the unmanned aerial vehicle, starting the tasks, displaying data and analyzing results.

The route scale module of the inspection control center comprises path planning and task setting; the data transmission module of the inspection control center is used for transmitting a flight route to the unmanned aerial vehicle and transmitting shooting information of the unmanned aerial vehicle back to the control center; the inspection control center data processing module is used for processing and analyzing photos shot by the unmanned aerial vehicle, identifying abnormal photovoltaic panels, specifically comprises the steps of performing defect diagnosis analysis on the photovoltaic panel photos, generating a diagnosis report of each photovoltaic panel of the photovoltaic land block, and displaying the diagnosis report on a display.

In summary, as shown in fig. 4, fig. 4 is a schematic diagram illustrating the function of each module in the automatic inspection system for photovoltaic panels provided by the invention. The inspection unmanned aerial vehicle feeds back the photovoltaic panel photo and related data to the inspection control center, the inspection control center sends an inspection task and a breakpoint cruising task to the inspection unmanned aerial vehicle and simultaneously controls the top cover of the intelligent cabin of the vehicle-mounted unmanned aerial vehicle to be opened or closed, the intelligent cabin of the vehicle-mounted unmanned aerial vehicle also can provide charging and transportation functions for the inspection unmanned aerial vehicle when transmitting environmental information to the inspection control center, and the inspection unmanned aerial vehicle also transmits electric quantity information to the intelligent cabin of the vehicle-mounted unmanned aerial vehicle. Through the circulation among the three devices of each item of data, the unmanned aerial vehicle inspection method of the embodiment is realized, and the problems that the photovoltaic cell panel inspection efficiency is limited, the input-output ratio of a power station is not matched, and the convenience of the inspection device is maintained by operation and maintenance personnel, which are lacked in the prior art, are solved.

Further, after generating the corresponding second inspection task and sending the second inspection task to the mobile nacelle, the method further includes:

monitoring the operation data of the plurality of unmanned aerial vehicles in the mobile engine room in real time, comparing the operation data with a preset standard operation data range in sequence, and outputting corresponding comparison results;

if the comparison result shows that the operation data is within the standard operation data range, determining that the first unmanned aerial vehicle corresponding to the operation data operates normally, and storing the operation data into an operation database corresponding to the first unmanned aerial vehicle;

if the comparison result shows that the operation data is out of the standard operation data range, determining that the first unmanned aerial vehicle has a fault in operation, generating a corresponding fault detection report according to the operation data, sending the fault detection report to a first terminal, and adjusting the first unmanned aerial vehicle to a fault state.

In order to further improve the inspection efficiency of the unmanned aerial vehicle, the unmanned aerial vehicle inspection method provided by the embodiment of the invention also monitors the operation data of the unmanned aerial vehicle in real time when controlling the unmanned aerial vehicle to inspect, compares the operation data with the standard operation data range of the unmanned aerial vehicle, and determines whether the unmanned aerial vehicle has errors or faults according to the comparison result. If the unmanned aerial vehicle is determined to have faults or errors, corresponding fault detection reports are generated according to the operation data of the unmanned aerial vehicle and sent to the unmanned aerial vehicle operation and maintenance personnel, the operation and maintenance personnel are prompted to overhaul and remove the fault to the unmanned aerial vehicle, meanwhile, the operation state of the unmanned aerial vehicle is adjusted to be a fault state, and the fault problem of the unmanned aerial vehicle caused by the fact that the fault unmanned aerial vehicle continues to execute the inspection work is avoided from spreading.

In order to better explain the working principle and the step flow of the unmanned aerial vehicle inspection method and device based on the mobile cabin, the invention can be but not limited to the related description.

Correspondingly, as shown in fig. 2, fig. 2 is a schematic structural diagram of an embodiment of the unmanned aerial vehicle inspection device based on a mobile cabin provided by the invention. The unmanned aerial vehicle inspection device comprises a signal sending module 201, an unmanned aerial vehicle inspection module 202, an inspection area adjusting module 203 and a fault monitoring module 204.

The signal sending module 201 is configured to send a first inspection task to a mobile nacelle, so that the mobile nacelle travels to a first target inspection area in the first inspection task and feeds back an area arrival signal.

The unmanned aerial vehicle inspection module 202 is configured to respond to the area arrival signal, perform environmental detection on the first target inspection area, and respectively transmit corresponding inspection tasks to a plurality of unmanned aerial vehicles in the mobile cabin when an environmental detection result meets a requirement, so that the plurality of unmanned aerial vehicles respectively inspect the first target inspection area according to the corresponding inspection tasks and feed back inspection data.

Further, the unmanned aerial vehicle inspection module 202 performs environmental detection on the first target inspection area, and specifically includes:

sending an environmental data acquisition signal to an environmental monitor in the mobile cabin, so that the environmental monitor acquires and feeds back environmental data of the first target inspection area through each environmental data acquisition device; wherein the environmental data includes weather, temperature, humidity, total radiation, and wind speed; receiving and comparing the environment data with preset environment threshold data, and determining whether the plurality of unmanned aerial vehicles in the mobile cabin can execute the inspection task according to a comparison result; and if the plurality of unmanned aerial vehicles cannot execute the inspection task according to the comparison result, adding the first target inspection area into the list to be inspected, and terminating the inspection task.

Further, the unmanned aerial vehicle inspection module 202 further includes a power detection unit 202A and a route control unit 202B;

the electric quantity detection unit 202A is configured to monitor a first residual electric quantity of the first unmanned aerial vehicle in real time, compare the first residual electric quantity with a preset first electric quantity threshold, store a real-time position of the first unmanned aerial vehicle as a power-off position when determining that the first residual electric quantity is less than or equal to the first electric quantity threshold, and control the first unmanned aerial vehicle to return to the mobile cabin for charging.

The route control unit 202B is configured to monitor a second remaining power of the first unmanned aerial vehicle in real time, and control the first unmanned aerial vehicle to move to the power-off position to continue inspection according to the inspection route when determining that the second remaining power is greater than or equal to a preset second power threshold.

The inspection area adjustment module 203 is configured to receive and analyze the inspection data, and select an adjacent area to be inspected from the list to be inspected according to the first target inspection area as a second target inspection area, and generate a corresponding second inspection task to send to the mobile nacelle.

Further, the inspection area adjustment module 203 selects an adjacent area to be inspected from the list to be inspected according to the first target inspection area as a second target inspection area, which specifically includes:

determining corresponding first address information according to the first target inspection area, sequentially and respectively carrying out path calculation on the first address information and the address information corresponding to each area to be inspected in the list to be inspected, and outputting a corresponding path calculation result; and selecting one path from the path calculation results as a first path so that the first path is smaller than other paths except the first path in the path calculation results, and taking a region to be inspected corresponding to the first path as the second target inspection region.

The fault monitoring module 204 is configured to monitor operation data of the plurality of unmanned aerial vehicles in the mobile nacelle in real time, compare the operation data with a preset standard operation data range in sequence, and output a corresponding comparison result;

if the comparison result shows that the operation data is within the standard operation data range, determining that the first unmanned aerial vehicle corresponding to the operation data operates normally, and storing the operation data into an operation database corresponding to the first unmanned aerial vehicle; if the comparison result shows that the operation data is out of the standard operation data range, determining that the first unmanned aerial vehicle has a fault in operation, generating a corresponding fault detection report according to the operation data, sending the fault detection report to a first terminal, and adjusting the first unmanned aerial vehicle to a fault state.

In summary, the embodiment of the invention provides a method and a device for inspecting unmanned aerial vehicle based on a mobile cabin, which are used for performing environment detection on a first target inspection area in response to an area reaching signal fed back by the mobile cabin, respectively transmitting corresponding inspection tasks to a plurality of unmanned aerial vehicles in the cabin when an environment detection result reaches a requirement, enabling each unmanned aerial vehicle to inspect the first target inspection area according to the corresponding inspection tasks and feed back inspection data, analyzing and processing the received inspection data, selecting an adjacent area to be inspected from a to-be-inspected list as a second target inspection area, generating a corresponding second inspection task, and sending the corresponding second inspection task to the mobile cabin. According to the invention, the influence of environmental factors is avoided through environmental detection, and the accuracy and feasibility of the inspection data are improved; the movable cabin realizes centralized management of a plurality of unmanned aerial vehicles, so that unmanned aerial vehicle operation and maintenance personnel can conveniently carry out operation and maintenance management of the unmanned aerial vehicles, and the management convenience and operation and maintenance efficiency of the operation and maintenance personnel are improved.

The foregoing embodiments have been provided for the purpose of illustrating the general principles of the present invention, and are not to be construed as limiting the scope of the invention. It should be noted that any modifications, equivalent substitutions, improvements, etc. made by those skilled in the art without departing from the spirit and principles of the present invention are intended to be included in the scope of the present invention.

Claims (10)

1. The unmanned aerial vehicle inspection method based on the movable cabin is characterized by comprising the following steps of:

sending a first inspection task to a mobile cabin, so that the mobile cabin can travel to a first target inspection area in the first inspection task and feed back an area arrival signal;

responding to the area arrival signal, carrying out environment detection on the first target inspection area, and respectively transmitting corresponding inspection tasks to a plurality of unmanned aerial vehicles in the mobile cabin when an environment detection result meets the requirement, so that the plurality of unmanned aerial vehicles respectively inspect the first target inspection area according to the corresponding inspection tasks and feed back inspection data;

And receiving and analyzing the inspection data, selecting an adjacent area to be inspected from the list to be inspected according to the first target inspection area as a second target inspection area, generating a corresponding second inspection task and sending the corresponding second inspection task to the mobile cabin.

2. The unmanned aerial vehicle inspection method based on the mobile cabin according to claim 1, wherein the environmental detection of the first target inspection area specifically comprises:

sending an environmental data acquisition signal to an environmental monitor in the mobile cabin, so that the environmental monitor acquires and feeds back environmental data of the first target inspection area through each environmental data acquisition device; wherein the environmental data includes weather, temperature, humidity, total radiation, and wind speed;

receiving and comparing the environment data with preset environment threshold data, and determining whether the plurality of unmanned aerial vehicles in the mobile cabin can execute the inspection task according to a comparison result;

and if the plurality of unmanned aerial vehicles cannot execute the inspection task according to the comparison result, adding the first target inspection area into the list to be inspected, and terminating the inspection task.

3. The unmanned aerial vehicle inspection method based on the mobile cabin according to claim 1, wherein the plurality of unmanned aerial vehicles respectively inspect the target inspection area and feed back inspection data according to the corresponding inspection tasks, specifically comprising:

each first unmanned aerial vehicle in the plurality of unmanned aerial vehicles moves to the starting point of the corresponding inspection route of the inspection task according to the received inspection task, and starts inspection according to the inspection route;

the method comprises the steps of monitoring a first residual electric quantity of a first unmanned aerial vehicle in real time, comparing the first residual electric quantity with a preset first electric quantity threshold value, storing a real-time position of the first unmanned aerial vehicle as a power-off position when the first residual electric quantity is smaller than or equal to the first electric quantity threshold value, and controlling the first unmanned aerial vehicle to return to the mobile cabin for charging;

and monitoring the second residual electric quantity of the first unmanned aerial vehicle in real time, and controlling the first unmanned aerial vehicle to move to the power-off position to continue to patrol according to the patrol route when the second residual electric quantity is determined to be larger than or equal to a preset second electric quantity threshold value.

4. The unmanned aerial vehicle inspection method based on the mobile cabin according to claim 1, wherein the selecting an adjacent area to be inspected from the list to be inspected according to the first target inspection area as the second target inspection area specifically comprises:

determining corresponding first address information according to the first target inspection area, sequentially and respectively carrying out path calculation on the first address information and the address information corresponding to each area to be inspected in the list to be inspected, and outputting a corresponding path calculation result;

and selecting one path from the path calculation results as a first path so that the first path is smaller than other paths except the first path in the path calculation results, and taking a region to be inspected corresponding to the first path as the second target inspection region.

5. A mobile cabin based drone inspection method as in claim 1, further comprising, after the and generating the corresponding second inspection task is sent to the mobile cabin:

monitoring the operation data of the plurality of unmanned aerial vehicles in the mobile engine room in real time, comparing the operation data with a preset standard operation data range in sequence, and outputting corresponding comparison results;

If the comparison result shows that the operation data is within the standard operation data range, determining that the first unmanned aerial vehicle corresponding to the operation data operates normally, and storing the operation data into an operation database corresponding to the first unmanned aerial vehicle;

if the comparison result shows that the operation data is out of the standard operation data range, determining that the first unmanned aerial vehicle has a fault in operation, generating a corresponding fault detection report according to the operation data, sending the fault detection report to a first terminal, and adjusting the first unmanned aerial vehicle to a fault state.

6. The unmanned aerial vehicle inspection device based on the mobile cabin is characterized by comprising a signal sending module, an unmanned aerial vehicle inspection module and an inspection area adjusting module;

the signal sending module is used for sending a first inspection task to the mobile cabin so that the mobile cabin can travel to a first target inspection area in the first inspection task and feed back an area arrival signal;

the unmanned aerial vehicle inspection module is used for responding to the area arrival signal, carrying out environment detection on the first target inspection area, and respectively transmitting corresponding inspection tasks to a plurality of unmanned aerial vehicles in the mobile engine room when the environment detection result meets the requirement, so that the plurality of unmanned aerial vehicles respectively inspect the first target inspection area according to the corresponding inspection tasks and feed back inspection data;

The inspection area adjusting module is used for receiving and analyzing the inspection data, selecting an adjacent area to be inspected from the to-be-inspected list according to the first target inspection area as a second target inspection area, generating a corresponding second inspection task and sending the corresponding second inspection task to the mobile cabin.

7. The unmanned aerial vehicle inspection device based on the mobile cabin according to claim 6, wherein the unmanned aerial vehicle inspection module performs environmental detection on the first target inspection area, and specifically comprises:

sending an environmental data acquisition signal to an environmental monitor in the mobile cabin, so that the environmental monitor acquires and feeds back environmental data of the first target inspection area through each environmental data acquisition device; wherein the environmental data includes weather, temperature, humidity, total radiation, and wind speed;

receiving and comparing the environment data with preset environment threshold data, and determining whether the plurality of unmanned aerial vehicles in the mobile cabin can execute the inspection task according to a comparison result;

and if the plurality of unmanned aerial vehicles cannot execute the inspection task according to the comparison result, adding the first target inspection area into the list to be inspected, and terminating the inspection task.

8. A mobile cabin based unmanned aerial vehicle inspection device as claimed in claim 6, wherein the unmanned aerial vehicle inspection module comprises an electrical quantity detection unit and a route control unit;

the electric quantity detection unit is used for monitoring the first residual electric quantity of the first unmanned aerial vehicle in real time, comparing the first residual electric quantity with a preset first electric quantity threshold value, storing the real-time position of the first unmanned aerial vehicle as a power-off position when the first residual electric quantity is smaller than or equal to the first electric quantity threshold value, and controlling the first unmanned aerial vehicle to return to the mobile cabin for charging;

the route control unit is used for monitoring the second residual electric quantity of the first unmanned aerial vehicle in real time, and controlling the first unmanned aerial vehicle to move to the power-off position to continue inspection according to the inspection route when the second residual electric quantity is determined to be larger than or equal to a preset second electric quantity threshold value.

9. The unmanned aerial vehicle inspection device based on the mobile cabin according to claim 6, wherein the inspection area adjustment module selects an adjacent area to be inspected from the list to be inspected according to the first target inspection area as a second target inspection area, and specifically comprises:

Determining corresponding first address information according to the first target inspection area, sequentially and respectively carrying out path calculation on the first address information and the address information corresponding to each area to be inspected in the list to be inspected, and outputting a corresponding path calculation result;

and selecting one path from the path calculation results as a first path so that the first path is smaller than other paths except the first path in the path calculation results, and taking a region to be inspected corresponding to the first path as the second target inspection region.

10. A mobile cabin based unmanned aerial vehicle inspection device as claimed in claim 6, wherein the unmanned aerial vehicle inspection device further comprises a fault monitoring module;

the fault monitoring module is used for monitoring the operation data of the plurality of unmanned aerial vehicles in the mobile cabin in real time, comparing the operation data with a preset standard operation data range in sequence and outputting corresponding comparison results;

if the comparison result shows that the operation data is within the standard operation data range, determining that the first unmanned aerial vehicle corresponding to the operation data operates normally, and storing the operation data into an operation database corresponding to the first unmanned aerial vehicle;

If the comparison result shows that the operation data is out of the standard operation data range, determining that the first unmanned aerial vehicle has a fault in operation, generating a corresponding fault detection report according to the operation data, sending the fault detection report to a first terminal, and adjusting the first unmanned aerial vehicle to a fault state.