CN208873046U - A kind of UAV system UWB photovoltaic array faulty components Precise Position System - Google Patents
A kind of UAV system UWB photovoltaic array faulty components Precise Position System Download PDFInfo
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- CN208873046U CN208873046U CN201821946952.2U CN201821946952U CN208873046U CN 208873046 U CN208873046 U CN 208873046U CN 201821946952 U CN201821946952 U CN 201821946952U CN 208873046 U CN208873046 U CN 208873046U
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 14
- 238000012545 processing Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 14
- 238000007689 inspection Methods 0.000 abstract description 6
- 238000001514 detection method Methods 0.000 abstract description 3
- 238000003745 diagnosis Methods 0.000 abstract description 3
- 238000012544 monitoring process Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000003703 image analysis method Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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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
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The utility model provides a kind of UAV system UWB photovoltaic array faulty components Precise Position System, including unmanned plane, earth station, base station；Unmanned plane includes infrared camera, label and flight control system；Base station at least two is respectively arranged in the surrounding of photovoltaic array；Base station, label constitute UWB positioning system；Unmanned plane is above photovoltaic array when inspection, infrared camera acquires the image of photovoltaic array below unmanned plane, whether flight control system detection image has hot spot phenomenon, the infrared image that hot spot will be present in unmanned plane is sent to earth station, while the location information of unmanned plane is sent to earth station and calculates its two-dimensional coordinate by UWB positioning system.Complete the position fixing process of faulty components.Relative to existing photovoltaic plant fault monitoring method, the utility model improves the accuracy of faulty components positioning and the accuracy of fault diagnosis, reduces the O&M cost of photovoltaic plant, guarantees photovoltaic plant efficient operation.
Description
Technical field
The utility model relates to photovoltaic plant fault detections and O&M field, more particularly to one kind to be based on UAV system UWB
Photovoltaic array faulty components Precise Position System.
Background technique
China has a vast territory, and the potentiality of solar energy resources very abundant, development and utilization are very wide.In recent years, with ring
The consciousness of guarantor is rooted in the hearts of the people, and domestic solar energy power generating problem receives extensive attention, and more and more photovoltaic plants are built up
And it comes into operation.Currently, mainly use manual inspection for photovoltaic plant failure routine inspection mode, inefficiency and safety is not
It is high.
In this background, the fault diagnosis of photovoltaic system starts of interest by many scholars, generally has based on mathematical modulo
Type method, monitoring system method, infrared image analysis method etc., although the above method can detect photovoltaic system to a certain extent
Failure, but there are still certain defects, such as: he implementation cost is higher, can not detection system internal fault, location information it is not quasi- enough
Really etc..
In recent years, with the fast development of unmanned air vehicle technique, the various testing equipments of matched application come into being.
Using light-duty UAV flight's infrared video camera and UWB positioning system, photovoltaic array can not only be fast and accurately detected
Inside and outside failure, additionally it is possible to which more accurate positioning failure component specific location, this positioning system substantially increase one
The operational efficiency in a large-sized photovoltaic power station.
Utility model content
Purpose of utility model: being directed to the above-mentioned prior art, proposes a kind of based on UAV system UWB photovoltaic array faulty components
Precise Position System.
To achieve the above objectives, the present invention adopts the following technical solutions:
A kind of UAV system UWB photovoltaic array faulty components Precise Position System, including the nothing being wirelessly connected between each other
Man-machine, earth station and UWB locating base station；The unmanned plane includes infrared camera, UWB positioning label and flight control system；It is described
UWB locating base station at least two is respectively arranged in the surrounding of photovoltaic array, and height is different；The infrared camera connection
Flight control system, and the image of the photovoltaic array below the unmanned plane shot is sent to flight control system, is equipped in flight control system
Trained image recognition algorithm can identify that heat will be present in the image there are hot spot, unmanned plane from received image
The image of spot is sent to earth station in real time；The UWB locating base station and UWB positioning label constitute UWB positioning system, for measuring
The distance between unmanned plane and each UWB locating base station, and range information is sent to earth station, earth station calculates unmanned plane
The two-dimensional coordinate at current time.
Further, the flight control system includes STM32F103C8T6 chip, six axis gyroscopes, baroceptor, electronics
Compass and servo driving module；The sensors such as six axis gyroscopes, baroceptor, electronic compass are used to acquire unmanned plane during flying shape
State data, and be transmitted to STM32F103C8T6 chip are computed after processing and export command adapted thereto and give servo driving module；
It is stored with trained image recognition algorithm in the STM32F103C8T6 chip, can recognize that the image of hot spot；Institute
Infrared camera connection STM32F103C8T6 chip is stated, and gives captured image transmitting to STM32F103C8T6 chip.
Further, the UWB locating base station includes STM32F407ZGT6 chip, base station DWM1000 module, base station string
Mouth mold block, ethernet module, the base station DWM1000 module, base station serial port module, ethernet module are separately connected
STM32F407ZGT6 chip；The UWB positioning label includes label DWM1000 module, label serial port module；The label
DWM1000 module, label serial port module are separately connected STM32F407ZGT6 chip；The base station DWM1000 module and label
It is wirelessly connected between DWM1000 module.
The utility model has the advantages that unmanned plane inspection above photovoltaic array in the utility model, shoots photovoltaic by infrared camera
The image of array, the image of hot spot is identified by image recognition algorithm, and is sent to earth station in real time, while passing through UWB
Positioning system orients the two-dimensional coordinate at unmanned plane current time, and the two-dimensional coordinate of the moment unmanned plane is hot spot fault bit
It sets.Relative to existing photovoltaic plant fault monitoring method, the utility model improves the accuracy and event of faulty components positioning
The accuracy for hindering diagnosis reduces the O&M cost of photovoltaic plant, guarantees photovoltaic plant efficient operation.
Detailed description of the invention
Fig. 1 is the general system set-up figure of the utility model；
Fig. 2 is base station composition schematic diagram；
Fig. 3 is label composition schematic diagram；
Fig. 4 is that UWB positions schematic diagram；
Fig. 5 is flight control system composition schematic diagram；
Fig. 6 is that faulty components are accurately positioned flow chart.
Specific embodiment
Further explanation is done to the utility model below with reference to embodiment.
Photovoltaic battery plate in case of a failure, will lead to photovoltaic panel some regions occur short circuit, short circuit caused by
Huge current flow can cause with high heat, so that hot spot phenomenon is generated on the infrared image of shooting, according to hot spot position
Judge the specific location of failure.
As shown in Figure 1, the utility model includes three unmanned plane, earth station and UWB positioning system parts, unmanned plane is uploaded
Some infrared cameras are used to shoot the image of photovoltaic array below unmanned plane, and UWB positioning system relies primarily on UWB positioning label
Positioning to unmanned plane is completed in communication between UWB locating base station, flight control system according to each sensor it is collected nobody
Machine flying quality provides more accurate direction and flying quality, unmanned plane are led to earth station by wireless transport module
Letter, power module are powered to entire unmanned plane.
As shown in Fig. 2, UWB locating base station include STM32F407ZGT6 chip, base station DWM1000 module, serial port module,
LED light, ethernet module.When the work of UWB locating base station, pass through UWB locating base station serial port module or Ethernet mould
Block power supply, LED light lights, STM32F407ZGT6 chip controls base station DWM1000 module receiving and transmitting signal, later by with
Too position data is transmitted to earth station by net module.
As shown in figure 3, UWB positioning label includes label DWM1000 module, serial port module, LED light.When UWB is positioned
It when labeling task, is powered by the power module on unmanned plane, LED light is lighted.When positioning, STM32F103C8T6 chip
Abstract factory DWM1000 module receives base station signal, sends data back to base station by label DWM1000 module later.
As shown in figure 4, two base stations to be separately fixed to the surrounding of certain photovoltaic array, the position of base station is not when UWB is positioned
The position coordinates of base station can be recorded in the same plane, the label on unmanned plane is the target of base station location.
Position fixing process is broadly divided into ranging and earth station resolves two steps:
Ranging process: label is communicated with each base station three times respectively, and the timestamp communicated every time is recorded simultaneously in base station
The distance between outgoing label and base station are calculated according to timestamp.Distance measurement result is transferred to earth station by base station, when earth station obtains
After to the distance measurement result of two base stations and label, these distance measurement results can be resolved, the coordinate two dimension for obtaining label is sat
Mark.
Solution process: solution process uses least square method, since it is known that the specific coordinate and label of two base stations
With the distance measurement result between two base stations, the coordinate of two base stations can be set as (x1, y1), (x2, y2), label and two base stations it
Between distance be d1, d2, can have following equation:
(x-x1)2+(y-y1)2=d12
(x-x2)2+(y-y2)2=d22
The coordinate (x, y) of outgoing label can be solved according to equation group.
As shown in figure 5, flight control system is by six axis gyroscopes, electronic compass, baroceptor, main control unit
STM32F103C8T6 chip and servo driving module composition.Wherein six axis gyroscopes mainly acquire the motion information of unmanned plane, packet
Include three axis angular rates, acceleration and magnetic induction intensity information, and using included DMP directly by initial data resolve quaternary number and
Posture alleviates the operation pressure of main control unit without carrying out additional mathematical operation.Six axis gyroscopes and electronic compass phase
Connect and pass through the read-write for carrying out data between integrated control bus IIC and main control unit, it is too many that main control chip will not be occupied in this way
Pin, baroceptor mainly provides the relevant information of drone flying height, and main control chip analyzes these data
It handles and issues instruction to servo driving module and provide more accurate flight attitude and direction for unmanned plane.Main control unit storage
There is trained image recognition algorithm, the image there are hot spot can be identified from received image.There are the figures of hot spot
As being sent to earth station by the radio receiver on unmanned plane.
As shown in fig. 6, the faulty components Precise Position System implementation steps of the utility model are as follows:
1) two base sub-systems are set around photovoltaic array.
2) unmanned plane is during inspection, when unmanned plane flies to the positive overhead of target area, is obtained by infrared camera
The infrared image of target area, at the same containing label obtained between each base station in real time by DWM1000 module
Range information, and the range information that will acquire send to earth station and is resolved, and obtains the two-dimensional coordinate of the unmanned plane, this coordinate can
For the accurate control to unmanned plane during flying path.
3) flight control system is analyzed and processed infrared image, detects whether its picture has hot spot phenomenon；If there is hot spot
Phenomenon performs the next step rapid；Otherwise it flies to next target area and carries out inspection.
4) infrared image of hot spot will be present in unmanned plane and its shooting time is sent to earth station, and unmanned plane is in infrared image
The two-dimensional coordinate of shooting time present position, the as two-dimensional coordinate of faulty components so far complete the position fixing process of faulty components.
Claims (3)
1. a kind of UAV system UWB photovoltaic array faulty components Precise Position System, which is characterized in that including wireless between each other
Unmanned plane, earth station and the UWB locating base station of connection；The unmanned plane includes infrared camera, UWB positioning label and flies to control system
System；Described UWB locating base station at least two is respectively arranged in the surrounding of photovoltaic array, and height is different；It is described infrared to take the photograph
As head connection flight control system, and the image of the photovoltaic array below the unmanned plane shot is sent to flight control system, flies control system
It is equipped with trained image recognition algorithm in system, the image there are hot spot, unmanned plane can be identified from received image
The image that hot spot will be present is sent to earth station in real time；The UWB locating base station and UWB positioning label constitute UWB positioning system,
It is sent to earth station for measuring the distance between unmanned plane and each UWB locating base station, and by range information, earth station resolves
The two-dimensional coordinate at unmanned plane current time out.
2. a kind of UAV system UWB photovoltaic array faulty components Precise Position System according to claim 1, feature exist
In the flight control system includes STM32F103C8T6 chip, six axis gyroscopes, baroceptor, electronic compass and servo driving
Module；The sensors such as six axis gyroscopes, baroceptor, electronic compass are used to acquire unmanned plane during flying status data, and by its
It is transferred to STM32F103C8T6 chip, command adapted thereto is exported after being computed processing and gives servo driving module；It is described
It is stored with trained image recognition algorithm in STM32F103C8T6 chip, can recognize that the image of hot spot；It is described red
Outer camera connects STM32F103C8T6 chip, and gives captured image transmitting to STM32F103C8T6 chip.
3. a kind of UAV system UWB photovoltaic array faulty components Precise Position System according to claim 2, feature exist
In the UWB locating base station includes STM32F407ZGT6 chip, base station DWM1000 module, base station serial port module, Ethernet mould
Block, the base station DWM1000 module, base station serial port module, ethernet module are separately connected STM32F407ZGT6 chip；It is described
It includes label DWM1000 module, label serial port module that UWB, which positions label,；The label DWM1000 module, label serial port module
It is separately connected STM32F407ZGT6 chip；It is wirelessly connected between the base station DWM1000 module and label DWM1000 module.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111174792A (en) * | 2020-01-16 | 2020-05-19 | 上海电机学院 | UWB-based unmanned aerial vehicle indoor pipeline detection image acquisition method |
| CN113552904A (en) * | 2021-08-18 | 2021-10-26 | 上海同陆云交通科技有限公司 | Improved bridge bottom detection system for unmanned aerial vehicle |
-
2018
- 2018-11-22 CN CN201821946952.2U patent/CN208873046U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111174792A (en) * | 2020-01-16 | 2020-05-19 | 上海电机学院 | UWB-based unmanned aerial vehicle indoor pipeline detection image acquisition method |
| CN113552904A (en) * | 2021-08-18 | 2021-10-26 | 上海同陆云交通科技有限公司 | Improved bridge bottom detection system for unmanned aerial vehicle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: NANJING HAIZHIHAN INTELLIGENT TECHNOLOGY CO.,LTD. Assignor: NANJING INSTITUTE OF TECHNOLOGY Contract record no.: X2024980001969 Denomination of utility model: A precise positioning system for faulty components of unmanned aerial vehicle UWB photovoltaic array Granted publication date: 20190517 License type: Common License Record date: 20240205 |
|
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: NANJING CHUANGYI INTELLIGENT TECHNOLOGY Co.,Ltd. Assignor: NANJING INSTITUTE OF TECHNOLOGY Contract record no.: X2024980003129 Denomination of utility model: A precise positioning system for faulty components of unmanned aerial vehicle UWB photovoltaic array Granted publication date: 20190517 License type: Common License Record date: 20240322 |
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| EE01 | Entry into force of recordation of patent licensing contract |