CN-122018537-A - Intelligent unmanned aerial vehicle inspection cleaning method and system for photovoltaic power station

CN122018537ACN 122018537 ACN122018537 ACN 122018537ACN-122018537-A

Abstract

The invention relates to the technical field of photovoltaic power stations, and particularly discloses an intelligent unmanned aerial vehicle inspection cleaning method and system for a photovoltaic power station. The method comprises the steps of obtaining an offset reference value, analyzing the color offset degree of a region to be detected based on the offset reference value to determine a pollution region, compensating illumination non-uniformity caused by inclination angle and illumination change to eliminate ambient illumination interference, grouping the region to be cleaned, determining pollution risk level, sequencing by combining weight parameters to generate a cleaning sequence, and integrating the position of the region to be cleaned, the height data of obstacles and auxiliary measuring points to generate a path set. According to the method, the cleaning sequence is optimized, the invalid flight distance and energy consumption of the unmanned aerial vehicle are reduced, the overall operation efficiency and economy are improved, and the collision risk is avoided while the optimal distance is realized by determining the optimal candidate cleaning path.

Inventors

LONG LONG
LU WENXUAN
WANG CHAO

Assignees

江苏智领信息科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260119

Claims (10)

1. An intelligent unmanned aerial vehicle inspection cleaning method for a photovoltaic power station is characterized in that when the pollution risk level of a region to be detected is determined to be higher than a preset risk threshold value, the method is carried out: the method comprises the steps of generating a cleaning task for the unmanned aerial vehicle, deploying the cleaning task to control the unmanned aerial vehicle to execute cleaning operation on a region to be cleaned according to a cleaning sequence and a cleaning path; The method comprises the steps of generating a cleaning task for the unmanned aerial vehicle, wherein the cleaning task comprises the steps of determining a cleaning sequence of an area to be cleaned and determining a cleaning path reaching the area to be cleaned for the unmanned aerial vehicle; The method comprises the steps of determining a cleaning sequence of a region to be cleaned, namely acquiring three-dimensional center points of the region to be cleaned, calculating horizontal distances and vertical distances between the three-dimensional center points, dividing the region to be cleaned into a same group of regions and different groups of regions based on the horizontal distances and the vertical distances, determining weight parameters of the region to be cleaned based on pollution risk levels of the region to be cleaned, and sequencing the region to be cleaned based on the weight parameters and the groups to generate the cleaning sequence; The method comprises the steps of determining a cleaning path reaching a region to be cleaned for an unmanned aerial vehicle, determining the center of gravity of a corresponding plane image of the region to be cleaned as a center point, determining auxiliary measuring points around the region to be cleaned, acquiring height data of surrounding buildings, generating a path set containing candidate cleaning paths based on the center point, the auxiliary measuring points and the height data, and screening out the candidate cleaning paths with the shortest length from the path set as cleaning paths.
2. The intelligent unmanned aerial vehicle inspection cleaning method for a photovoltaic power station according to claim 1, wherein determining the pollution risk level of the area to be detected comprises: The method comprises the steps of obtaining a plane image of a region to be detected, analyzing the color deviation degree of the plane image to determine a pollution region with the color deviation degree higher than a preset color deviation threshold value, calculating the area of the pollution region, and determining the pollution risk level of the region to be detected based on the area and the preset area threshold value.
3. The intelligent unmanned aerial vehicle inspection cleaning method for a photovoltaic power station according to claim 2, wherein calculating the area of the contaminated area comprises: The method comprises the steps of carrying out in-plane projection on a polluted area to generate a projection area, splitting the projection area into subareas, calculating the areas of the subareas and summing the areas to obtain the area of the polluted area.
4. The intelligent unmanned aerial vehicle inspection and cleaning method for a photovoltaic power station according to claim 2, wherein analyzing the color shift level of the planar image to determine a contaminated area with a color shift level higher than a preset color shift threshold comprises: the method comprises the steps of obtaining an offset reference value, extracting color parameters in a plane image, calculating color offset of points based on the color parameters, calculating the ratio of the color offset to the offset reference value to obtain an average color offset amplitude, and defining the average color offset amplitude as a color offset degree.
5. The intelligent unmanned aerial vehicle inspection cleaning method for a photovoltaic power station of claim 4, wherein obtaining the offset reference value comprises: The method includes the steps of obtaining a cleaning area and determining the cleaning area as a calibration reference surface, setting comparison surfaces with different inclination angles, measuring average illumination values on the comparison surfaces, calculating average illumination difference values of the comparison surfaces and the calibration reference surface to obtain color deviation values, obtaining illumination transmission difference values under different inclination angles, and adding the color deviation values and the illumination transmission difference values to generate an offset reference value.
6. The intelligent unmanned aerial vehicle inspection cleaning method for a photovoltaic power station according to claim 1, wherein the sorting of the areas to be cleaned based on the weight parameters and the grouping to generate the cleaning sequence includes that the areas to be cleaned with high pollution risk level are prioritized over the areas to be cleaned with low pollution risk level, and the areas to be cleaned in the same group of areas are prioritized over the areas to be cleaned in the different group of areas.
7. The intelligent unmanned aerial vehicle inspection and cleaning method for a photovoltaic power station according to claim 1, wherein determining auxiliary measuring points around the area to be cleaned comprises: if the area to be cleaned is positioned above the preset reference level, auxiliary measuring points with different offset heights are set on the basis of the vertical plane of the building where the area to be cleaned is positioned, and if the area to be cleaned is positioned below the preset reference level, the positions of the auxiliary measuring points are determined by adopting different plane elevation angles, and the plane elevation angles are adjusted on the basis of the solar elevation angles.
8. A cleaning system is patrolled and examined to intelligent unmanned aerial vehicle for photovoltaic power plant, a serial communication port, include: The pollution identification module is used for analyzing the color deviation degree of the area to be detected so as to determine the pollution risk level of the area to be detected; the cleaning task planning module is used for generating a cleaning task for the unmanned aerial vehicle in response to the pollution risk level determined by the pollution identification module being higher than a preset risk threshold, wherein the cleaning task comprises a cleaning sequence of a region to be cleaned and a cleaning path reaching the region to be cleaned; the unmanned aerial vehicle task deployment module is used for deploying the cleaning task generated by the cleaning task planning module so as to control the unmanned aerial vehicle to execute cleaning operation according to the cleaning sequence and the cleaning path.
9. The intelligent unmanned aerial vehicle inspection and cleaning system for a photovoltaic power plant of claim 8, wherein analyzing the degree of color shift of the area to be inspected to determine the pollution risk level of the area to be inspected comprises: acquiring three-dimensional point cloud data of a region to be detected in a photovoltaic power station, and constructing a three-dimensional model based on the three-dimensional point cloud data; The method comprises the steps of obtaining a plane image of an area defined by a three-dimensional model, analyzing the color shift degree based on the plane image to determine a pollution area with the color shift degree higher than a preset color shift threshold value, calculating the area of the pollution area, and determining the pollution risk level of the area to be detected based on the area and the preset area threshold value.
10. The intelligent drone patrol cleaning system for a photovoltaic power plant of claim 8, wherein generating a cleaning task for a drone in response to the pollution risk level determined by the pollution identification module being above a preset risk threshold comprises: And generating a path set comprising candidate cleaning paths based on the central point of the to-be-cleaned area, the auxiliary measuring points and the height data of the surrounding buildings, and determining the candidate cleaning path with the shortest length as the cleaning path reaching the to-be-cleaned area.

Description

Intelligent unmanned aerial vehicle inspection cleaning method and system for photovoltaic power station Technical Field The invention belongs to the technical field of photovoltaic power stations, and particularly relates to an intelligent unmanned aerial vehicle inspection cleaning method and system for a photovoltaic power station. Background The surface cleanliness of the photovoltaic module directly affects the photoelectric conversion efficiency of the photovoltaic module, and further affects the stable operation of a large-scale photovoltaic power station and the stability of energy supply, and as the large-scale photovoltaic power station is in a wide-ranging environment, the unmanned aerial vehicle is high in mobility and convenience by virtue of the surface cleanliness of the photovoltaic module, and becomes one of means for executing the inspection and cleaning tasks of the photovoltaic power station. In the prior art, a mode of carrying out operation and maintenance of a photovoltaic power station by using an unmanned aerial vehicle is generally adopted as a mutually independent task for treatment of inspection and cleaning, wherein cleaning decisions are carried out mostly based on a preset plan, and the lack of analysis of the surface pollution degree of a photovoltaic panel leads to unnecessary cleaning operation of a photovoltaic module with only slight or small area pollution, wastes the cruising and cleaning resources of the unmanned aerial vehicle and increases the abrasion of equipment; in addition, when the cleaning path is planned, the shortest cleaning flight distance is used as a single optimization target, and the inspection path which is being executed by the unmanned aerial vehicle is ignored, so that the unmanned aerial vehicle needs to return to an inspection interruption point to continue inspection after the cleaning task is completed, the total flight time and the energy consumption of the single task are increased, the effective inspection coverage rate of unit flight frame times is reduced, and the operation and maintenance benefits of the photovoltaic power station are difficult to improve. In view of the above, the application provides an intelligent unmanned aerial vehicle inspection cleaning method and system for a photovoltaic power station. Disclosure of Invention The invention aims to provide an intelligent unmanned aerial vehicle inspection cleaning method and system for a photovoltaic power station, which can judge whether an area to be cleaned exists in the photovoltaic power station while the unmanned aerial vehicle is inspected, plan a corresponding cleaning path after determining the area to be cleaned, and then generate a corresponding cleaning instruction so that the unmanned aerial vehicle can finish cleaning operation in the inspection process. In order to achieve the above purpose, the invention adopts the following technical scheme: an intelligent unmanned aerial vehicle inspection cleaning method for a photovoltaic power station, when determining that the pollution risk level of a region to be detected is higher than a preset risk threshold value, executing: the method comprises the steps of generating a cleaning task for the unmanned aerial vehicle, deploying the cleaning task to control the unmanned aerial vehicle to execute cleaning operation on a region to be cleaned according to a cleaning sequence and a cleaning path; The method comprises the steps of generating a cleaning task for the unmanned aerial vehicle, wherein the cleaning task comprises the steps of determining a cleaning sequence of an area to be cleaned and determining a cleaning path reaching the area to be cleaned for the unmanned aerial vehicle; The method comprises the steps of determining a cleaning sequence of a region to be cleaned, namely acquiring three-dimensional center points of the region to be cleaned, calculating horizontal distances and vertical distances between the three-dimensional center points, dividing the region to be cleaned into a same group of regions and different groups of regions based on the horizontal distances and the vertical distances, determining weight parameters of the region to be cleaned based on pollution risk levels of the region to be cleaned, and sequencing the region to be cleaned based on the weight parameters and the groups to generate the cleaning sequence; The method comprises the steps of determining a cleaning path reaching a region to be cleaned for an unmanned aerial vehicle, determining the center of gravity of a corresponding plane image of the region to be cleaned as a center point, determining auxiliary measuring points around the region to be cleaned, acquiring height data of surrounding buildings, generating a path set containing candidate cleaning paths based on the center point, the auxiliary measuring points and the height data, and screening out the candidate cleaning paths with the shortest length from the path set as cleanin