Design Of Uav Photovoltaic Inspection System Based On Hign And Low Altitude Cooperation

Based on the national key research and development plan "distributed photovoltaic system intelligent operation and maintenance technology",aiming at the demand of photovoltaic image acquisition in photovoltaic inspection,the paper takes the ground station as the transit hub,and adopts the cooperation mode of high and low altitude UAV inspection successively to improve the efficiency and misjudgment rate of manual inspection.This paper mainly studies the following issues: calibration of inspection parameters and hardware vibration reduction of high altitude UAV,GNSS / INS Integrated Navigation and positioning of high altitude aircraft based on visible image improvement,photovoltaic image inspection guided by ground signs of low altitude aircraft,inspection planning research of multiple fault points of low altitude aircraft,design and development of inspection simulation software platform.For system parameter calibration and hardware vibration reduction,firstly,according to the function definition of high altitude and low altitude UAV,the error rate constraint of high altitude UAV and the number constraint of photovoltaic module strings in low altitude UAV vision are set,and the inspection heights of 15 meters and 2 meters of low altitude UAV are obtained through experiments;then the vibration reduction materials and weight of counterweight are selected,and the vibration resistance of hardware vibration reduction is verified through experimental analysis It can effectively improve the distribution and the clarity of the collected image.For the inspection and positioning of aerial vehicles,the error mean square deviation and the maximum error of GNSS positioning are not satisfied with the requirements of aerial vehicles through experiments;then the GNSS / INS loose integrated navigation is realized based on EKF,and the maximum error of this positioning method is not satisfied with the requirements through experiments;finally,the front and back frame image splicing is realized based on coordinate system transformation,and the visible image assisted GNSS / INS positioning is completed Through experiments,it is verified that this positioning method can meet the needs of aerial inspection.For the inspection of low altitude aircraft,firstly,according to the selection basis of the marker and the feature extraction algorithm,the excavated isosceles right triangle is selected as the ground marker and the orb is selected as the feature extraction algorithm;secondly,the position angle calibration of low altitude aircraft is realized based on the marker,and the independent tracking of PV module string is realized based on the edge characteristics of the battery board,which is verified by experiments that the inspection accuracy of low altitude aircraft is full Finally,based on the situation of many fault points,the paper studies the patrol planning of quantity first,suspicious degree first and comprehensive priority,and obtains the patrol performance and applicable scenarios of three targets through simulation experiments.For UAV patrol data and simulation software platform,the main design and development of the administrator module,high altitude aircraft path planning module,low altitude aircraft patrol planning module;finally,the basic test of each module to meet the functional requirements.The high and low altitude UAV inspection system designed in this paper improves the inspection process in the photovoltaic environment,improves the inspection efficiency and accuracy,and improves the automation level in the field of photovoltaic inspection.