CN-122018553-A - Motor boat cooperation-based photovoltaic inspection method and system

CN122018553ACN 122018553 ACN122018553 ACN 122018553ACN-122018553-A

Abstract

The invention discloses a motor boat-cooperation-based photovoltaic inspection method, which comprises the steps of dividing a photovoltaic panel in an inspection sea area into k inspection areas based on the number k of unmanned aerial vehicles used for inspection, determining the inspection sequence of each photovoltaic panel in the inspection areas, respectively determining the departure point and the recovery point of the unmanned aerial vehicle based on the inspection starting point and the inspection end point of each inspection area, carrying the unmanned aerial vehicle on an unmanned aerial vehicle, driving the unmanned aerial vehicle from a starting position to the departure point based on a planned path, releasing the unmanned aerial vehicle at the departure point, driving the unmanned aerial vehicle from the departure point to the inspection starting point based on the planned flight path, driving from the inspection starting point to the inspection end point, driving from the inspection end point to the recovery point, and driving the unmanned aerial vehicle from the departure point to the recovery point. The release point and the recovery point of the unmanned ship are dynamically determined based on the inspection starting point and the inspection ending point of the unmanned ship, so that the flight distance of the unmanned ship to the return parking point is reduced as much as possible, and the task execution efficiency of the unmanned ship is greatly improved.

Inventors

GE YUAN
Chen Haosu
TIAN YUAN
WANG CHAO
JIN ZAIQUAN
YANG ANDONG
FU GUANGYUAN
ZHONG QIAN
HU YONGJIE
LIU BO

Assignees

安徽工程大学
国网安徽省电力有限公司芜湖供电公司

Dates

Publication Date: 20260512
Application Date: 20251125

Claims (9)

1. A motor boat cooperation-based photovoltaic inspection method is characterized by comprising the following steps of: (1) Dividing a photovoltaic panel in a patrol sea area into k patrol areas based on the number k of unmanned aerial vehicles currently used for patrol, and distributing each patrol area to unmanned aerial vehicles; (2) Determining the inspection sequence of each photovoltaic panel in the inspection area; (3) Determining an unmanned aerial vehicle flying spot based on the inspection starting point of each inspection area, and determining an unmanned aerial vehicle recovery point based on the inspection ending point of each inspection area; (4) Planning a driving path from a starting position to an unmanned plane flying spot, from the unmanned plane flying spot to an unmanned plane recovery point, and planning a flying path from the unmanned plane flying spot to a routing inspection starting point, from the routing inspection starting point to a routing inspection terminal point and from the routing inspection terminal point to the unmanned plane recovery point; (5) The unmanned aerial vehicle is carried on the unmanned aerial vehicle, the unmanned aerial vehicle runs from a starting position to a departure point based on a planned path, the unmanned aerial vehicle on the unmanned aerial vehicle is released at the departure point, the unmanned aerial vehicle flies from the departure point to a routing inspection starting point based on the planned flight path, flies from the routing inspection starting point to a routing inspection terminal point, the routing inspection terminal point flies to a recovery point, and meanwhile the unmanned aerial vehicle flies from the departure point to the recovery point.
2. The method for inspecting photovoltaic panels based on motor boat cooperation according to claim 1, wherein the method for determining the inspection sequence of the photovoltaic panels in the inspection area is as follows: encoding the chromosomes based on various inspection sequences of the photovoltaic panels in the inspection areas, evaluating the merits of the chromosomes based on the fitness, and taking the inspection sequence of the photovoltaic panels corresponding to the optimal dyeing degree as the inspection sequence of the photovoltaic panels corresponding to the inspection areas, wherein the calculation formula of the fitness of the c-th chromosome is specifically as follows: ; Wherein, the 、 Representing the weight value; The energy consumption required by the corresponding inspection sequence of the c chromosome is represented; And (3) the smoothness of the corresponding inspection sequence of the chromosome c.
3. The method for determining the flying spot of the unmanned aerial vehicle based on motor boat cooperation as claimed in claim 1 is characterized in that the method for determining the flying spot of the unmanned aerial vehicle specifically comprises the following steps: (31) Extracting the inspection starting points of all the inspection areas, and constructing a minimum rectangular area containing all the inspection starting points; (32) Sampling the candidate points in the rectangular area; (33) And calculating the sum of the distances from all the inspection starting points to each candidate point, and taking the candidate point with the smallest sum of the distances as the flying point of the unmanned aerial vehicle.
4. The method for determining the recovery point of the unmanned aerial vehicle based on motor boat cooperation as claimed in claim 1 is characterized by comprising the following steps: (31) Extracting inspection terminals of all inspection areas, and constructing a minimum rectangular area containing all the inspection terminals; (32) Sampling the candidate points in the rectangular area; (33) And calculating the sum of the distances from all the inspection terminals to each candidate point, and taking the candidate point with the smallest sum of the distances as an unmanned aerial vehicle recovery point.
5. The method for photovoltaic inspection based on motor boat cooperation as claimed in claim 1, wherein the travel path of the unmanned ship is planned by an artificial potential field method, and the potential field is expressed as follows: ; Wherein, the Indicating that the unmanned ship is in position The gravitational field at the position of the magnetic field, Indicating that the unmanned ship is in position A repulsive force field at, wherein the repulsive force field is expressed as follows: ; Wherein, the Indicating the gain factor of the set gravitational field, The position of the object is indicated and, And representing the distance between the current position of the unmanned ship and the target position.
6. The method for inspecting a photovoltaic system based on motor boat cooperation according to claim 5, wherein the repulsive force field is expressed as follows: ; Wherein, the Respectively represent a repulsive force potential field generated by a static obstacle, a time-varying repulsive force potential field generated by a dynamic obstacle and a flow resistance potential field.
7. The method for photovoltaic inspection based on motor boat cooperation as claimed in claim 1, wherein the flight path planning methods are all the same, and specifically comprises the following steps: Dynamically sampling multiple sets of velocity pairs in velocity space , wherein, The method is characterized in that the method comprises the steps of simulating and predicting a plurality of candidate flight paths of a next time window by using the linear speed and the angular speed of the unmanned aerial vehicle; And scoring each candidate flight path, and taking the candidate path with the highest score as the flight path in the next time window.
8. The method for photovoltaic inspection based on motor boat cooperation as claimed in claim 7, wherein the i candidate flight path is scored The calculation formula is specifically as follows: ; Wherein, the 、、 Are all the weight coefficients of the two-dimensional space model, Indicating the alignment degree of the flight direction of the ith candidate flight path end point and the direction in which the path end point and the target position connecting line are located, A safety score representing the ith candidate flight path, Representing energy consumption of ith candidate flight path 。
9. A photovoltaic inspection system based on motor boat cooperation, the system comprising: one unmanned ship and m unmanned planes, m is greater than or equal to k; The control center is in remote communication connection with the unmanned ship and the unmanned plane, and the control center controls the unmanned ship and the unmanned plane to cooperatively execute the inspection task based on the motor boat-cooperation-based photovoltaic inspection method according to any one of claims 1 to 8.

Description

Motor boat cooperation-based photovoltaic inspection method and system Technical Field The invention belongs to the technical field of unmanned operation, and particularly relates to a motor boat-cooperation-based photovoltaic inspection method and system. Background Along with the large-scale construction of the photovoltaic panel on water, the photovoltaic panel has the characteristics of wide distribution, complex environment, high inspection difficulty and the like. Traditional manual inspection mode is low in efficiency and high in risk, and the existing unmanned aerial vehicle inspection method which mostly adopts unmanned aerial vehicles to inspect and includes the following steps: (1) The single unmanned aerial vehicle is used for inspection, the single unmanned aerial vehicle flies back to a fixed parking point after performing an inspection task, charging is carried out, and after the charging is completed, the inspection task is repeatedly executed; (2) The method comprises the steps that a plurality of unmanned aerial vehicles execute inspection operation simultaneously, inspection lines of the unmanned aerial vehicles are planned mainly according to the principle that the whole flight distance is shortest, and after the inspection task of the corresponding inspection lines is completed by a single unmanned aerial vehicle, the unmanned aerial vehicle flies back to a fixed parking point to charge; The unmanned aerial vehicle inspection method is limited by the problem of short unmanned aerial vehicle endurance, and when the electric quantity is insufficient, the unmanned aerial vehicle inspection method needs to return to a fixed parking point for charging, so that the problem of low task completion rate exists. Disclosure of Invention The present invention provides a photovoltaic inspection method based on motor boat synergy, which aims to improve at least one of the above problems. The invention is realized in such a way that a photovoltaic inspection method based on motor boat cooperation is realized, and the method specifically comprises the following steps: (1) Dividing the photovoltaic panels in the inspection sea area into k clusters based on the number k of unmanned aerial vehicles currently used for inspection, forming an inspection area by the photovoltaic panels in the clusters, distributing each inspection area to unmanned aerial vehicles, and enabling one unmanned aerial vehicle to correspond to one inspection area; (2) Determining the inspection sequence of each photovoltaic panel in the inspection area, taking the position of the first photovoltaic panel in the inspection sequence as an inspection starting point of the corresponding inspection area, and taking the position of the last photovoltaic panel in the inspection sequence as an inspection end point of the corresponding inspection area; (3) Determining an unmanned aerial vehicle flying spot based on the inspection starting point of each inspection area, and determining an unmanned aerial vehicle recovery point based on the inspection ending point of each inspection area; (4) Planning a driving path from a starting position to an unmanned plane flying spot, from the unmanned plane flying spot to an unmanned plane recovery point, and planning a flying path from the unmanned plane flying spot to a routing inspection starting point, from the routing inspection starting point to a routing inspection terminal point and from the routing inspection terminal point to the unmanned plane recovery point; (5) The unmanned aerial vehicle is carried on the unmanned aerial vehicle, the unmanned aerial vehicle runs from a starting position to a departure point based on a planned path, the unmanned aerial vehicle on the unmanned aerial vehicle is released at the departure point, the unmanned aerial vehicle flies from the departure point to a routing inspection starting point based on the planned flight path, flies from the routing inspection starting point to a routing inspection terminal point, the routing inspection terminal point flies to a recovery point, and meanwhile the unmanned aerial vehicle flies from the departure point to the recovery point. Further, the method for determining the inspection sequence of the photovoltaic panel in the inspection area comprises the following steps: encoding the chromosomes based on various inspection sequences of the photovoltaic panels in the inspection areas, evaluating the merits of the chromosomes based on the fitness, and taking the inspection sequence of the photovoltaic panels corresponding to the optimal dyeing degree as the inspection sequence of the photovoltaic panels corresponding to the inspection areas, wherein the calculation formula of the fitness of the c-th chromosome is specifically as follows: ; Wherein, the 、Representing the weight value; The energy consumption required by the corresponding inspection sequence of the c chromosome is represented; And (3) the smoothness of the co