CN112180973A - Inspection system of photovoltaic power station and unmanned aerial vehicle system integration method - Google Patents
Inspection system of photovoltaic power station and unmanned aerial vehicle system integration method Download PDFInfo
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Abstract
The invention provides a method for integrating a routing inspection system of a photovoltaic power station and an unmanned aerial vehicle system, which belongs to the field of routing inspection systems and comprises the following steps: distributing an unmanned aerial vehicle system access token for the inspection system, and synchronizing and exchanging basic information of the unmanned aerial vehicle system with the inspection system; determining a routing inspection flow according to the routing inspection requirement; synchronously defining the specifications and parameter settings of the operation instructions of the unmanned aerial vehicle system and the inspection system in the inspection process; a request is initiated from the inspection system and the drone system provides a response. The problem of among the prior art unmanned aerial vehicle and the integrated customization development that needs of system of patrolling and examining alone, work load is big, the repetition rate is high is solved.
Description
Technical Field
The invention relates to photovoltaic inspection, in particular to an integration method of an inspection system and an unmanned aerial vehicle system of a photovoltaic power station.
Background
In photovoltaic power plant production operation in-process, in order to promote the generating efficiency, need carry out daily the patrolling and examining to the photovoltaic board, whether the inspection photovoltaic board is in normal operating condition, including whether the photovoltaic board has the drop, whether have the anomaly to shelter from, whether have fracture, whether the photovoltaic support has the deformation, emptys, whether normal etc. to the light direction. The general photovoltaic power station area is wide, and few hundreds of acres, many thousands of acres. The inspection workload is large and the difficulty is high in such a wide range by manually inspecting. And the unmanned aerial vehicle system automatically completes the gradual establishment of the application mode of the inspection work of the photovoltaic power station. The photovoltaic power station inspection management system and the unmanned aerial vehicle system are various in product types, different manufacturers have different technical routes, and integration among products of different types and manufacturers needs to be customized and developed independently; after the inspection system plans an inspection task and formulates an inspection scheme, the unmanned aerial vehicle system is required to specifically formulate a specific operation scheme and edit a program; the inspection method is not practical due to insufficient experience, an inspection scheme needs to be formulated again, and even an inspection task needs to be planned again, so that the workload is large, and the repetition rate is high.
Disclosure of Invention
The invention aims to provide a photovoltaic inspection system and unmanned aerial vehicle system integration method aiming at the defects in the background technology, and solves the problems that in the prior art, the unmanned aerial vehicle and inspection system integration needs to be customized and developed independently, the workload is large, and the repetition rate is high.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a photovoltaic power plant's system of patrolling and examining and unmanned aerial vehicle system integration method which characterized in that includes the following step:
distributing an unmanned aerial vehicle system access token for the inspection system, and synchronizing and exchanging basic information of the unmanned aerial vehicle system with the inspection system; determining a routing inspection flow according to the routing inspection requirement; synchronously defining the specifications and parameter settings of the operation instructions of the unmanned aerial vehicle system and the inspection system in the inspection process; a request is initiated from the inspection system and the drone system provides a response.
Compared with the prior art, the invention has the beneficial effects that:
an unmanned aerial vehicle system access token is pre-distributed to the inspection system, so that the inspection system can read and write basic information of the unmanned aerial vehicle system, and information synchronization and exchange of the inspection system and the unmanned aerial vehicle system are completed and serve as an integration foundation; starting from the inspection requirement, performing an inspection flow, and synchronously defining operation instructions related in the inspection flow, so that the unmanned aerial vehicle system can directly identify and execute the request initiated by the inspection system based on the self function without repeatedly editing and converting the request to the unmanned aerial vehicle system after the inspection system formulates an inspection scheme; the unmanned aerial vehicle system can meet the basic requirements of inspection and can certainly complete all functions in the inspection process, so that the method can be adopted for integration, the targeted design is not needed, and the workload is greatly reduced; the synchronous definition is made for the polling process, and the specification and operation of a plurality of irrelevant operation instructions are also eliminated.
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FIG. 1 is a flow chart of the present invention.
Detailed Description
The technical solution of the present invention is further illustrated by the following examples in conjunction with the accompanying drawings.
The invention provides a method for integrating a routing inspection system and an unmanned aerial vehicle system of a photovoltaic power station, which comprises the following steps:
distributing an unmanned aerial vehicle system access token for the inspection system, and synchronizing and exchanging basic information of the unmanned aerial vehicle system with the inspection system; determining a routing inspection flow according to the routing inspection requirement; synchronously defining the specifications and parameter settings of the operation instructions of the unmanned aerial vehicle system and the inspection system in the inspection process; a request is initiated from the inspection system and the drone system provides a response.
The basic information of synchronization includes the contents of hangars, unmanned planes, air routes, waypoints and the like. The method is used as a basis for subsequently integrating the inspection system and the unmanned aerial vehicle system and specifically executing the operation instructions.
The basic information of the hangar comprises hangar codes, hangar names, hangar brands, record numbers, the number of batteries in the hangar, the longitude of the position of the hangar and the latitude of the position of the hangar; if the information is in the unmanned aerial vehicle system parameters, the information is synchronous, and if the information is not in the unmanned aerial vehicle system parameters, the information does not need to be synchronous; when the hangars are not unique, the hangars at least comprise hangar codes and position information, and routing inspection tasks and designing inspection schemes are convenient; the machine library code is set by self, and the position information is input according to the actual situation.
The basic information of the unmanned aerial vehicle comprises an unmanned aerial vehicle code, an unmanned aerial vehicle name, an unmanned aerial vehicle brand, an unmanned aerial vehicle model, a filing number and the like; the position and the state information of the unmanned aerial vehicle are changed, the unmanned aerial vehicle system and the inspection system are connected in real time and synchronously, and the position of the unmanned aerial vehicle is determined according to the feedback condition of the unmanned aerial vehicle system.
The synchronization of the basic information of the unmanned aerial vehicle to the routing inspection basic information enables the routing inspection capability of the unmanned aerial vehicle system to be fully considered when routing inspection task planning and routing inspection scheme making are carried out; can make more reasonable, the scheme that can carry out, increase unmanned aerial vehicle system's effective utilization.
The inspection flow is determined according to the inspection requirement, the functions needed by the unmanned aerial vehicle system in the execution process are also determined, after the operation instructions needed by the realization of the functions are standardized and synchronously defined, the parameters in the operation instructions can be directly edited through the inspection system, then the response of the unmanned aerial vehicle system can be obtained by initiating the request from the inspection system, repeated editing and conversion work of the inspection scheme on the unmanned aerial vehicle system is not needed, and the workload is reduced. These functions are the basic demand of patrolling and examining, and the unmanned aerial vehicle system who possesses corresponding function just can be purchased, consequently, all unmanned aerial vehicle systems all possess the function in this flow, and the unmanned aerial vehicle system of different producers and model is applicable to this standard and synchronous definition, need not the development of pertinence, has significantly reduced work load and repetitive operation.
Furthermore, the polling process may include issuing a polling task; controlling the inspection equipment; tracking the state of the equipment; and returning result data to the inspection system. The inspection task is issued to be conveniently executed, wherein an operation instruction and parameters thereof are involved, and after synchronization specification and definition are carried out, the unmanned aerial vehicle system is directly executed based on self functions according to the operation instruction and the parameters, state tracking of inspection equipment runs through the whole inspection execution process, and the unmanned aerial vehicle system timely transmits the acquired environment state and self state to the inspection system, so that emergency situations can be conveniently dealt with, and the execution process is ensured; the inspection equipment is controlled, and unexpected conditions can be responded in time. And the result is transmitted back, so that the subsequent processing of the data is facilitated, and the overall situation of the photovoltaic power station is known.
On the basis that the inspection system and the unmanned aerial vehicle system complete basic information synchronization, the inspection system issues interface standard definition rules through the inspection task, the inspection task is issued to the inorganic system, the unmanned aerial vehicle system receives the task, relevant validity check and verification are completed, and scheduling execution of the received inspection task is completed according to the current equipment state and the external environment condition of the unmanned aerial vehicle. The method mainly comprises the steps of issuing a polling task, suspending the polling task, recovering the polling task, canceling the polling task, inquiring the polling task and deleting the historical record of the polling task.
When the routing inspection task is changed, the routing information can be added, modified and deleted; the course information needs to be edited; therefore, the basic information also comprises route editing information, and the routing information is added, modified or deleted by the routing inspection system to the unmanned aerial vehicle system when the basic information is synchronized and exchanged, so that the routing inspection system can add, modify and delete the route information. The edition of the airline information requires defining the airline information editing interface specification; editing is not an operation required for each inspection, and can be synchronized to an inspection system after being edited by an unmanned aerial vehicle system so as to facilitate the issuing of tasks; meanwhile, the staff may have the requirement of inquiring and deleting the routing inspection record, if the course information in the unmanned aerial vehicle system comprises the content, the course information is synchronous, and if the course information does not comprise the content, the course information is ignored, the information can be simplified, but the longitude, the latitude, the altitude, the hovering time, the horizontal angle, the pitching angle and the flying speed of the shot waypoint, and the navigation angle and the navigation speed of the course route are ensured to have
The airline information comprises airline numbers, airline names, creation time, personnel created by airline planning, whether airlines are effective or not, availability, airline mileage, planned photographing number and the like;
the course information comprises waypoint information and course information, the waypoint information is set to be accurately taken into consideration, and the course is more prone to sailing paths and modes; all the waypoint information object arrays under the air route, wherein each array element comprises the following attributes, waypoint codes, waypoint serial numbers, waypoint longitudes, waypoint latitudes, waypoint heights, hovering time, whether a photographed waypoint, a horizontal angle of a holder, a pitching angle of the holder, zooming parameters, a yaw angle of a flying next waypoint, a horizontal speed of the flying next waypoint, a vertical speed of the flying next waypoint, photographing overlapping rates in the flying next waypoint, whether the flying waypoint is a surrounding flying waypoint, a flying radius, a flying direction, clockwise and anticlockwise. Of the above information, the longitude, latitude, altitude, hover time, horizontal angle, pitch angle, and flight speed of the waypoint are basic information that each drone system must possess.
Furthermore, the inspection state tracking is established based on the long connection of the inspection system and the state of the unmanned aerial vehicle system, the real-time state in the task execution process is inspected, the unmanned aerial vehicle system is synchronously updated to the inspection system through the long connection, and meanwhile, the inspection result can be conveniently checked in real time. The inspection state tracking can support various interface protocols to complete synchronization, such as the description of inspection state tracking interface specifications based on an HTTP protocol, a WebSocket protocol and a JSON data format.
In the process of finishing the inspection task of the unmanned aerial vehicle system, the current real-time running state of the equipment synchronously pushes the inspection system for the monitoring function of managers, and the real-time state pushing is carried out by the established state updating long connection. The content that can be provided by a particular drone system may specifically include environmental conditions, such as: weather conditions, temperature, humidity, wind speed, wind direction, air pressure and rainfall; power state: power supply type, commercial power, battery, UPS, voltage, frequency, remaining capacity percentage, remaining capacity duration, whether to charge or not and charge full remaining duration; the equipment state: a cabin door state, a push-pull rod state, a lifter state and a mechanical arm state; unmanned aerial vehicle state: unmanned plane code, unmanned plane state, flight mode (manual, automatic), flight duration, flight mileage, horizontal velocity, vertical velocity, and number of pictures taken; unmanned aerial vehicle position information: gps state, waypoint longitude, waypoint latitude, waypoint altitude, distance from hangar and hangar altitude; the battery state: voltage, percentage of remaining power, duration of remaining power and percentage of recommended return remaining power; device object state: unmanned aerial vehicle driftage angle, roll angle, cloud platform horizontal angle, cloud platform every single move angle and zoom the parameter. Among the above-mentioned parameter, the system of patrolling and examining all can dispose, and whether unmanned aerial vehicle system looks self system possess corresponding parameter setting and select synchronous.
The unmanned aerial vehicle system is arranged on the base, the unmanned aerial vehicle. An unmanned aerial vehicle probably corresponds a plurality of cameras, when selecting unmanned aerial vehicle, can select the camera code earlier, acquires the unmanned aerial vehicle code that corresponds again, when acquireing camera information, then the corresponding camera code of direct selection is found and is corresponded the camera and acquire corresponding information.
Patrol and examine equipment control and refer to in photovoltaic power plant managers daily work, through patrolling and examining the relevant interface of system, accomplish the basic control to equipment such as the hangar of unmanned aerial vehicle system, unmanned aerial vehicle, avoid power plant managers must operate on equipment such as unmanned aerial vehicle, hangar. The control of the airplane hangar and the unmanned aerial vehicle entering into the emergency stop and recovering from the emergency stop is mainly carried out. The inspection equipment can support various interface protocols to complete control. The main functions include: the inspection system issues a control instruction to the unmanned aerial vehicle system to control the unmanned aerial vehicle system equipment (a hangar and an unmanned aerial vehicle) to enter an emergency stop state, and when the unmanned aerial vehicle system receives the instruction, the same function and logic of an emergency stop button provided on the unmanned aerial vehicle system equipment are pressed for processing to complete emergency stop processing of related equipment. Or controlling the unmanned aerial vehicle system equipment (a hangar and an unmanned aerial vehicle) to recover to a normal working state from an emergency stop state, and when the unmanned aerial vehicle system receives an instruction, processing according to the same function and logic of the emergency stop recovery provided by the unmanned aerial vehicle system equipment to complete the emergency stop recovery processing of the related equipment.
The inspection result acquisition is the output of the inspection system and the unmanned aerial vehicle system which are integrated to complete the automatic inspection task, and is a data source for the inspection system to perform subsequent abnormity and fault identification analysis. In the process that the unmanned aerial vehicle system finishes the routing inspection task issued by the routing inspection system, photo shooting and video recording are finished in the routing inspection process of the unmanned aerial vehicle according to the routing inspection task requirement, and after the unmanned aerial vehicle returns to the routing inspection process, the unmanned aerial vehicle system takes the photo and the video shot in the routing inspection process as routing inspection task result data and returns the data to the routing inspection system to finish subsequent work. The inspection result acquisition can be completed by supporting various interface protocols, for example, the inspection result acquisition interface specification is described based on the HTTP protocol, the JSON data format and the binary data format.
According to the scheme, the inspection process steps are redefined according to the automatic inspection requirements of the photovoltaic power station; based on the logic of the step, interfaces and specifications required by the inspection system and the unmanned aerial vehicle system are designed and defined; the system is independent of the type of the unmanned aerial vehicle product, integrates the necessary general functions with the inspection system, eliminates the intermediate steps of acquisition, translation and the like from the inspection plan making to the inspection execution, reduces the workload and reduces the repeated work; and meanwhile, the synchronization and the exchange of basic information are realized, and a reliable basis is provided for the formulation of the routing inspection plan.
With known functions, designing and defining the required interfaces and specifications per se is a person skilled in the art can do, the specific processes are not described one by one, and the following shows by taking route information synchronization and exchange and route editing as examples:
airline information interface specification
Request parameters:
and response results are as follows:
lane information editing interface specification:
request parameters
And (4) responding to the result:
finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (10)
1. The utility model provides a photovoltaic power plant's system of patrolling and examining and unmanned aerial vehicle system integration method which characterized in that includes the following step:
distributing an unmanned aerial vehicle system access token for the inspection system, and synchronizing and exchanging basic information of the unmanned aerial vehicle system with the inspection system; determining a routing inspection flow according to the routing inspection requirement; synchronously defining the specifications and parameter settings of the operation instructions of the unmanned aerial vehicle system and the inspection system in the inspection process; a request is initiated from the inspection system and the drone system provides a response.
2. The method for integrating the inspection system of the photovoltaic power station with the unmanned aerial vehicle system according to claim 1, wherein: the routing inspection process comprises issuing a routing inspection task; controlling the inspection equipment; tracking the state of the equipment; and returning result data to the inspection system.
3. The inspection system for photovoltaic power plants and the unmanned aerial vehicle system integration method according to claim 2, wherein the basic information includes unmanned aerial vehicle basic information and route basic information; the basic information of the unmanned aerial vehicle comprises the position and state information of the unmanned aerial vehicle, and the basic information of the air route comprises waypoint information and course information.
4. The inspection system for photovoltaic power plants and the unmanned aerial vehicle system integration method according to claim 3, wherein the basic information further comprises hangar basic information and camera basic information; the basic information of the hangar comprises hangar position information and hangar codes; the camera basic information comprises a camera code and a camera video stream address.
5. The inspection system for photovoltaic power plants and the integration method of the unmanned aerial vehicle system of claim 3, wherein the basic information further comprises route editing information, and the addition, modification or deletion of route information by the inspection system is synchronized to the unmanned aerial vehicle system during the synchronization and exchange of the basic information.
6. The inspection system for photovoltaic power plants and the integration method of the unmanned aerial vehicle system according to claim 3, wherein the waypoint information includes longitude, latitude, altitude, hovering time, horizontal angle, pitch angle and flight speed of the waypoint, and the heading information includes navigation angle and navigation speed.
7. The inspection system of photovoltaic plants and the method of integration of unmanned aerial vehicle systems according to any of claims 1 to 6, characterized in that the unmanned aerial vehicle system and the inspection system are synchronized and exchanged in real time through long connections.
8. The photovoltaic power plant inspection system and unmanned aerial vehicle system integration method of claim 2, wherein the routing inspection tasks include task routing, task suspension, task resumption, and task cancellation commands.
9. The inspection system and the unmanned aerial vehicle system integration method for the photovoltaic power station as claimed in claim 2, wherein the inspection state tracking comprises environmental state tracking, unmanned aerial vehicle state tracking and camera state tracking, and the unmanned aerial vehicle state comprises electric quantity, communication state, flight position and flight state information; the camera state includes a shooting angle and zoom parameters.
10. The inspection system and the unmanned aerial vehicle system integration method of the photovoltaic power station as claimed in claim 9, wherein the inspection equipment control comprises the inspection system issuing an emergency stop instruction to the unmanned aerial vehicle system to control the unmanned aerial vehicle system equipment to enter an emergency stop state; the emergency stop instruction is synchronous with the emergency stop instruction of the unmanned aerial vehicle system, and when the unmanned aerial vehicle system receives the emergency stop instruction, the emergency stop instruction is processed according to the same function and logic of emergency stop recovery provided on the unmanned aerial vehicle system equipment, so that the emergency stop recovery processing of the related equipment is completed.
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