Optimization Of UAV Patrol Path For Photovoltaic Power Station

In recent years,climate issues have become increasingly important around the world.As a representative of new energy,solar energy has received high attention in China,and photovoltaic industry is booming.Unmanned aerial vehicle(UAV)has been widely used in the field of inspection because it is not restricted by space.In photovoltaic power stations,drone inspection has gradually replaced manual inspection and become the mainstream inspection method.With the development of UAV technology and the in-depth application of UAV photovoltaic inspection,higher requirements are put forward for UAV path planning.In view of the refined requirements of UAV photovoltaic inspection path planning,this paper conducts a preliminary study in three aspects: area division,UAV path planning and vehiclevehicle cooperative path planning.Firstly,the minimum enclosing rectangle method is adopted to approximate the distortion of the quadrilateral of the original data,and the rectangles are divided into each corner area according to the Angle of the long side.At the same time,considering the inflexibility of equal-interval corner division method,a corner division method based on density clustering is proposed.Then,considering the distribution characteristics of photovoltaic panels in the power station,a hierarchical clustering method is proposed for the close distribution of the partition.Then,the shortcomings of the previous path planning algorithm are analyzed,and the point target method using coordinates is adopted,and the point target is approximated as a line target by considering the distribution characteristics of group string.Then,aiming at the matching problem of the camera field of view and the actual size of the array,an adaptive method is proposed from the vertical and horizontal dimensions.Aiming at the data inaccuracy of component-level path planning,a correction method is proposed.A method to solve the component identification problem is proposed in the path planning stage.Then,considering that each partition has four kinds of inspection routes,the genetic algorithm is used to solve the variation of the traveling salesman problem for the inspection order problem between different partitions.Finally,the characteristics of vehicle-vehicle coordination problem are analyzed,and a modeling method is proposed for photovoltaic field.Then a two-stage algorithm is used to solve the vehicle-machine cooperative path planning problem.In the first stage,A* algorithm is used to calculate the vehicle path length,and in the second stage,genetic algorithm is used to solve the path planning problem.