Distributed photovoltaic power station surveying system based on unmanned aerial vehicle

Abstract

The invention discloses a distributed photovoltaic power station surveying system based on an unmanned aerial vehicle. The distributed photovoltaic power station surveying system comprises an RTK unmanned aerial vehicle, an intelligent remote controller, a pan-tilt camera and a personal computer. According to the invention, the aerial triangulation processing technology is used for carrying out quality inspection on the pictures obliquely collected by the RTK unmanned aerial vehicle, and is used for carrying out high-precision three-dimensional reconstruction on the original building, so that the working efficiency is improved; and meanwhile, a plurality of high-resolution panoramic photos obliquely collected by the unmanned aerial vehicle are combined with a virtual scene synthesis technology to generate an immersive VR virtual scene, so that more visual and vivid project scene perception is provided for project related personnel, and deep communication and cooperation of all parties can be promoted.

Description

Technical Field

[0001] The present invention relates to the technical field of exploration equipment, and in particular to a distributed photovoltaic power station exploration system based on an unmanned aerial vehicle. Background Art

[0002] With the increasing attention paid to renewable energy around the world, distributed photovoltaic power generation, as a clean and efficient form of energy, is rapidly becoming an important part of energy transformation. In the implementation of photovoltaic projects, accurate design is the key to ensure the success of the project. At present, the existing survey method for photovoltaic engineering projects uses a quadcopter drone with a built-in high-definition camera to collect photos with GNSS coordinates of the shooting location for three-dimensional reconstruction, and generates point cloud data and three-dimensional models, among which the point cloud data is further automatically identified and calculated, and the three-dimensional model is handed over to the user for measurement and rendering results; and the building area environment of the photovoltaic power generation project is detected by drones, and the building area is screened after the shadow analysis of the established three-dimensional model. At the same time, the image data collected by the drone is analyzed to obtain the confidence coefficient corresponding to each building area, and the order of further on-site surveys is arranged according to the confidence coefficient.

[0003] However, these measures currently adopted contain at least the following three problems: 1) Poor visualization effect: The existing PV project survey method provides on-site environment information by constructing a three-dimensional model of the PV project site environment when visualizing the on-site environment of the PV project. However, the three-dimensional model cannot intuitively and vividly display the panoramic information of the project site environment, nor can it provide sufficient on-site perception and intuitive visual experience for project-related personnel; 2) The positioning accuracy is not accurate enough. The existing photovoltaic project survey method uses GNSS positioning technology to measure the position coordinates of the drone. However, there is a differential error between the drone position coordinates measured by GNSS positioning technology and the actual position coordinates of the drone. Therefore, GNSS positioning technology cannot measure the drone position coordinates with high accuracy. 3) Low efficiency: When the existing photovoltaic project survey method surveys the on-site environment of photovoltaic engineering projects, the image data collected by the drone is analyzed and the confidence coefficient corresponding to each building area is obtained before the on-site environment survey sequence can be further arranged. This photovoltaic project survey method needs to determine the survey sequence and conduct the survey through the confidence coefficient, and cannot intuitively and quickly obtain information on the on-site environment of the photovoltaic engineering project. Summary of the invention

[0004] In view of the above three problems, the purpose of the present invention is to propose a distributed photovoltaic power station survey system based on drones. The system utilizes the real-time dynamic positioning technology based on carrier phase observation values ​​of the RTK drone to overcome the problems of low efficiency and inaccurate positioning in the existing photovoltaic engineering project survey methods; at the same time, the system uses virtual site synthesis technology to conduct efficient and safe surveys of the photovoltaic engineering project site environment and generate a more intuitive and vivid virtual panorama of the project site.

[0005] This is achieved through the following technical solutions: A distributed photovoltaic power station survey system based on unmanned aerial vehicles includes an RTK unmanned aerial vehicle, an intelligent remote controller, a pan-tilt camera and a personal computer; the RTK unmanned aerial vehicle has a real-time dynamic positioning technology based on carrier phase observation values, which is used to provide the position information of the RTK unmanned aerial vehicle in the flight route in real time; the intelligent remote controller is used to plan the survey area, automatically generate the flight route, and upload the planned flight route to the RTK unmanned aerial vehicle; the pan-tilt camera integrates a fixed-focus lens, a full-frame image sensor and a three-axis pan-tilt, and the pan-tilt camera is installed on the RTK unmanned aerial vehicle for real-time shooting; the personal computer is used to perform three-dimensional reconstruction on multiple photos collected by the RTK unmanned aerial vehicle, and to obtain multiple panoramic photos from multiple photos and synthesize VR virtual scenes. The present invention improves the efficiency and accuracy of photovoltaic power station surveys through the real-time dynamic positioning technology based on carrier phase observation values ​​and the virtual scene synthesis technology of the RTK unmanned aerial vehicle, and at the same time provides sufficient on-site perception and intuitive visual experience for project-related personnel, and promotes communication and exchanges among all parties.

[0006] Preferably, the gimbal camera integrates a fixed-focus lens, a full-frame image sensor and a three-axis gimbal, wherein the full-frame image sensor captures multiple original building images during real-time shooting through the fixed-focus lens; the three-axis gimbal is used to keep the camera stably fixed on the RTK drone. The full-frame image sensor can obtain better imaging quality and higher image quality performance by shooting in real time through a fixed-focus lens, and using a three-axis gimbal to fix the camera can achieve more stable camera control.

[0007] Preferably, the survey method of the distributed photovoltaic power station survey system based on a drone specifically comprises the following steps: S1. Perform a pre-flight check and set the return altitude, loss of connection behavior, height limit, distance limit, return point, joystick mode, battery alarm threshold and obstacle avoidance behavior before the RTK drone flies; S2. After the settings are completed, create a new flight route, first select the survey range, then enter the load setting, switch the camera's focus mode to the calibrated focus value focus, automatically generate the flight route, and modify the route name, collection aspect and flight altitude of the route; then upload the newly created flight route to the RTK drone, and the RTK drone will start to perform the flight mission; S3. After the flight mission is completed, the multiple photos collected by the RTK drone with tilt are pre-processed and aerial triangulation processed in sequence, and each photo that meets the 3D reconstruction quality requirements is imported into the 3D reconstruction software. The 3D reconstruction software is used to perform 3D reconstruction on the multiple photos collected by the RTK drone with tilt during the flight mission, and the 3D reconstruction of the original building of a project is completed; S4. Use panoramic production software to integrate multiple panoramic photos collected by RTK drones during flight missions to complete VR virtual scene synthesis of a project.

[0008] The system uses RTK drones, smart remote controls, gimbal cameras and personal computers to solve the problems of inaccurate positioning and low efficiency in the current survey methods of distributed photovoltaic power station projects. It provides project-related personnel with more accurate data information and a more intuitive visual experience, while promoting communication and collaboration among teams and further improving work efficiency.

[0009] Preferably, in step S1, the loss of connection behavior of the RTK drone includes: signal interruption, GPS signal loss, battery exhaustion, and flying into a restricted area. Setting the loss of connection behavior of the RTK drone can predict the behavior of the RTK drone in real time, so as to detect whether the RTK drone is in a loss of connection state.

[0010] Preferably, in step S1, the obstacle avoidance behavior of the RTK drone during flight includes: using sensors to detect obstacles in front of, on the sides of, and below the RTK drone; automatically starting the return program to return to a safe area when encountering obstacles that cannot be safely avoided; automatically stopping forward when an obstacle is identified and deciding to continue flying or change direction after evaluating the situation. Setting the obstacle avoidance behavior of the RTK drone enables the RTK drone to identify and detect obstacles during flight, reducing collision accidents during flight.

[0011] Preferably, in step S3, when preprocessing the multiple photos collected by the RTK drone at an angle, the multiple photo data collected by the RTK drone at an angle and taken manually in the flight route area are sorted in the same folder; each preprocessed photo is then imported into the three-dimensional reconstruction software, and firstly air triangulation is performed and a quality report is generated to determine whether the quality of each photo collected by the RTK drone at an angle meets the requirements of three-dimensional reconstruction, and each photo that meets the quality requirements is used for three-dimensional reconstruction and the corresponding 3D digital model format is exported. Preprocessing the multiple photos collected by the RTK drone at an angle facilitates the management and search of photo data in different flight route areas in the later stage, so that the photo data files in different flight route areas can be selected efficiently and quickly in the subsequent stage, and the photos can be reconstructed in three dimensions. At the same time, centralized management of photo data can better ensure the security of data; and the original building is reconstructed in three dimensions using the three-dimensional reconstruction software, and the obtained three-dimensional reconstruction model of the original building can observe the photovoltaic power station more efficiently, thereby improving work efficiency.

[0012] Preferably, when synthesizing a VR virtual scene from multiple panoramic photos collected by the RTK drone in step S4, the multiple panoramic photos collected by the RTK drone in an oblique manner are uploaded to the panoramic production software, and the system is waiting to upload and generate, and the panoramic photo names, the order of the panoramic photos are moved, and the panoramic photos are previewed or removed. After the upload is completed, a VR virtual scene of a project is obtained. The VR virtual scene of the project can be accessed through the project's virtual scene, providing project-related personnel with a more intuitive and vivid project site perception, which is conducive to promoting in-depth communication and collaboration among all parties.

[0013] Compared with the prior art, the present invention has the following beneficial effects: The technical solution of the present invention uses an RTK drone with real-time dynamic positioning technology based on carrier phase observation values ​​to survey the photovoltaic power station environment, and can perform high-precision positioning of the RTK drone in the flight route in real time, and then use three-dimensional reconstruction software to perform three-dimensional reconstruction of multiple photos obliquely collected by the RTK drone, so as to more efficiently observe the photovoltaic power station and improve work efficiency; at the same time, by combining multiple high-resolution panoramic photos obliquely collected by the RTK drone with virtual scene synthesis technology, an immersive VR virtual scene is obtained, which provides project-related personnel with a more intuitive and vivid project site perception, which is conducive to promoting in-depth communication and collaboration among all parties. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a flow chart of the overall solution of a distributed photovoltaic power station survey system based on drones; Figure 2 It is a schematic diagram of the execution process of a distributed photovoltaic power station survey system based on drones; Figure 3 This is a schematic diagram of the RTK UAV survey operation process of a UAV-based distributed photovoltaic power station survey system; Figure 4 This is a schematic diagram of the 3D reconstruction process of a distributed photovoltaic power station survey system based on a drone; Figure 5 The figure is a schematic diagram of the VR virtual site synthesis process of a distributed photovoltaic power station survey system based on drones. DETAILED DESCRIPTION

[0015] The technical solutions in the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0016] like Figure 1 As shown in the figure, it is a flow chart of the overall solution of the distributed photovoltaic power station survey system based on drones. Figure 2 The following is a schematic diagram of the execution process of a distributed photovoltaic power station survey system based on drones. Figure 1 and Figure 2 , using RTK drones, smart remote controls, gimbal cameras and personal computers to survey the original building and its surrounding environment; the RTK drone is used to provide the survey system with real-time location information of the RTK drone in the flight route; the smart remote control is used to plan the survey area, the survey area covers the photovoltaic power station, automatically generates the flight route, and uploads the planned flight route to the RTK drone; the gimbal camera integrates a fixed-focus lens, a full-frame image sensor and a three-axis gimbal, and the gimbal camera is installed on the RTK drone for real-time shooting; the personal computer is used to perform three-dimensional reconstruction of multiple photos collected by the RTK drone at an angle, and to obtain multiple panoramic photos from multiple photos and synthesize VR virtual scenes.

[0017] The specific contents of the system include the following: The system includes an RTK drone, a smart remote controller, a gimbal camera, and a personal computer; RTK drones have built-in real-time dynamic positioning technology based on carrier phase observations. The working principle of this technology is based on the principle of carrier phase difference. The ground base station receives signals from multiple satellites and calculates their precise position and carrier phase observations. The base station then sends these data to the mobile station on the RTK drone in real time through radio or mobile communication networks. The mobile station also receives signals from satellites and performs carrier phase difference calculations in combination with the differential data sent by the base station to eliminate most of the common errors, thereby obtaining high-precision position information. Common errors include: satellite orbit errors, ionospheric delays, and tropospheric delays. Carrier phase difference technology is a differential method for real-time processing of carrier phase observations of two stations. This method calculates the real-time three-dimensional coordinates of the RTK drone by using the carrier phase difference between the base station and the RTK drone. This method can obtain centimeter-level positioning accuracy in real time, greatly improving the accuracy and efficiency of RTK drone positioning.

[0018] like Figure 3 The figure shows a schematic diagram of the RTK UAV survey operation process of a distributed photovoltaic power station survey system based on a UAV. Before flight, the return altitude, loss of connection behavior, height limit, distance limit, return point, joystick mode, power alarm threshold and obstacle avoidance behavior of the RTK UAV are set before flight; after the settings are completed, a new flight route is created, the survey range is first selected, and then the load setting is entered, the focus mode of the camera is switched to the calibrated focus value focus, the flight route is automatically generated, and the route name, collection aspect and route flight altitude are modified; then the newly created flight route is uploaded to the RTK UAV, and the RTK UAV starts to perform the flight mission. After the flight mission is completed, multiple photos collected by the RTK UAV are uploaded.

[0019] The smart remote controller is used to plan the survey area. First, establish a flight route task, select the survey area range, then enter the load setting, switch the camera's focus mode to calibrated focus value focus, automatically generate a flight route, and modify the parameters. The parameters include: route name, collection aspect and route flight altitude. Then upload the newly created flight route to the RTK drone, and the RTK drone will start to perform the flight mission. After the flight mission is completed, upload multiple photos collected by the RTK drone at an angle.

[0020] The gimbal camera integrates a fixed-focus lens, a full-frame image sensor and a three-axis gimbal. The gimbal camera is installed on the RTK drone for real-time shooting. The full-frame image sensor can capture multiple original building images of the distributed photovoltaic power station through a fixed-focus lens during real-time shooting. After the full-frame image sensor obtains the light signal reflected by the original building, the light signal is focused onto the photosensitive element of the full-frame image sensor through the lens and converted into an electrical signal to form an image. The three-axis gimbal includes: a pitch axis, a yaw axis and a roll axis. The pitch axis is used to control vertical picture shooting, the yaw axis is used to achieve left and right rotation when shooting moving objects, and the roll axis is used to control the lateral rolling of the stabilizer. The three-axis gimbal keeps the camera stably fixed on the RTK drone through the coordinated work of the three axes, thereby achieving more stable camera control.

[0021] The photosensitive element is the core component of the full-frame image sensor. It contains many tiny pixels, each of which has a photosensitive diode. When light passes through the lens and focuses on the surface of the photosensitive element, the photosensitive diode absorbs photons and generates electrons. These electrons are collected and converted into electrical signals, thereby realizing the conversion of light signals into electrical signals and forming an image, providing better imaging quality and higher image quality performance for the full-frame image sensor to capture multiple original building images.

[0022] The personal computer is used to pre-process multiple photos collected by the RTK drone, and organize the multiple photo data collected by the RTK drone and manually taken in the flight route area in the same folder; then import each pre-processed photo into the 3D reconstruction software, first set the aerial triangulation parameters to perform aerial triangulation and generate a quality report, judge whether the quality of each photo collected by the RTK drone meets the requirements of 3D reconstruction, use each photo that meets the quality requirements for 3D reconstruction and export the corresponding 3D digital model format to perform 3D reconstruction on the multiple photos collected by the RTK drone, and use it to synthesize a VR virtual scene from the multiple panoramic photos collected by the RTK drone, upload the multiple panoramic photos collected by the RTK drone to the panoramic production software, wait for the system to upload and generate, and edit the name of the panoramic photo, move the order of the panoramic photos, preview or remove the panoramic photos. After the upload is completed, a VR virtual scene of a project is obtained.

[0023] like Figure 4As shown, it is a schematic diagram of the 3D reconstruction process of a distributed photovoltaic power station survey system based on a drone. Multiple photos collected by the RTK drone are preprocessed, and multiple photo data collected by the RTK drone and manually taken in the flight route area are sorted in the same folder to establish a visible light task document; each preprocessed photo is then imported into a professional 3D reconstruction software such as DJI Terra, and the aerial triangulation parameters are set first to perform aerial triangulation and generate a quality report to determine whether the quality of each photo collected by the RTK drone meets the requirements of 3D reconstruction; when the number of photos that successfully participate in the aerial triangulation that meet the quality requirements accounts for less than 95%, it means that the shooting quality does not meet the requirements of 3D reconstruction and data needs to be re-collected; when the number of photos that successfully participate in the aerial triangulation that meet the quality requirements accounts for more than 95%, the original 3D model automatically generated based on oblique photography is selected and the 3D model parameters are set, and then each photo that meets the quality requirements is imported into the 3D reconstruction software, and the original building and its surrounding environment are 3D reconstructed to obtain the 3D reconstruction model of the original building and export the corresponding 3D digital model format.

[0024] The survey method of the distributed photovoltaic power station survey system based on drones specifically includes the following steps: S1. Perform a pre-flight check and set basic parameters, including the return altitude, loss of connection behavior, height limit, distance limit, return point, joystick mode, battery alarm threshold, and obstacle avoidance behavior of the RTK drone before flight; among them, the loss of connection behavior of the RTK drone includes: signal interruption, GPS signal loss, battery exhaustion, and flying into restricted areas; the obstacle avoidance behavior of the RTK drone during flight includes: using sensors to detect obstacles in front of, on the sides of, and below the RTK drone; automatically starting the return program to return to a safe area when encountering obstacles that cannot be safely avoided; automatically stopping when an obstacle is identified and evaluating the situation before deciding to continue flying or change direction.

[0025] S2. After the settings are completed, create a new flight route task, first select the survey area, then enter the load setting, switch the camera's focus mode to the calibrated focus value, automatically generate the flight route, and modify the parameters, where the parameters include: route name, collection aspect and route flight altitude; then upload the newly created flight route to the RTK drone, and the RTK drone will start to perform the flight mission. After the flight mission is completed, upload multiple photos collected by the RTK drone at an angle.

[0026] S3. When preprocessing multiple photos collected by the RTK UAV, organize the multiple photo data collected by the RTK UAV and manually taken in the flight route area in the same folder; then import each preprocessed photo into the 3D reconstruction software, perform aerial triangulation first and generate a quality report to determine whether the quality of each photo collected by the RTK UAV meets the requirements of 3D reconstruction, and use each photo that meets the quality requirements for 3D reconstruction and export the corresponding 3D digital model format.

[0027] S4. When synthesizing a VR virtual scene from multiple panoramic photos collected by an RTK drone at an angle, upload the multiple panoramic photos collected by the RTK drone at an angle to the panoramic production software, wait for the system to upload and generate, edit the name of the panoramic photos, move the order of the panoramic photos, preview or remove the panoramic photos, and after the upload is completed, obtain a VR virtual scene of a project.

[0028] like Figure 5 The figure shows a flow chart of VR virtual scene synthesis of a distributed photovoltaic power station survey system based on drones. In the panoramic production software, the specific process is as follows: select a new project, enter the panoramic photo upload page, select "Add from local files", add multiple panoramic photos from the local area, wait for the system to upload and generate, edit the panoramic photo name, move the panoramic photo order, preview or remove the panoramic photo; after uploading, fill in the work information, click Submit, and the work can be successfully published, completing the VR virtual scene synthesis of a project; then click Go to Edit Work to enter the work function editing page to perform scene management, panoramic photo perspective setting, and hotspot-based switching between photos.

[0029] In this embodiment, aerial triangulation technology is used to perform photo matching, image control point import and editing, and photo alignment optimization on multiple photos collected by RTK drones at an angle. The ultimate goal is to improve the quality of photos taken by RTK drones, reduce the transmission effect of errors, and improve the reliability and credibility of measurement results.

[0030] In this embodiment, the system uses panoramic production software to perform VR virtual scene synthesis on the original building and its surrounding environment. The obtained project VR virtual scene works not only provide project-related personnel with sufficient on-site perception and intuitive visual experience, but also promote team communication and collaboration, and improve work efficiency; at the same time, VR virtual scene works can be shared on various social media in the form of links and QR codes, and shared and communicated with friends.

[0031] To sum up, the purpose of the present invention is to provide a distributed photovoltaic power station survey system based on drones to solve the problems of insufficient positioning accuracy and low efficiency that occur in the measurement process of distributed photovoltaic power station project surveyors raised in the above background technology, and to synthesize VR virtual scenes based on fixed-point panoramic photos, thereby providing a more intuitive and vivid project site perception, which is significantly progressive.

[0032] The above embodiments are only for illustrating the technical idea of ​​the present invention, and cannot be used to limit the protection scope of the present invention. Any changes made on the basis of the technical solution in accordance with the technical idea proposed by the present invention shall fall within the protection scope of the present invention.

Claims

1. A distributed photovoltaic power station survey system based on drones, characterized in that: Includes RTK drone, smart remote controller, gimbal camera and personal computer: The intelligent remote controller is used to plan the survey area, automatically generate the flight route, and upload the flight route to the RTK drone; The RTK UAV is used to provide the position information of the RTK UAV in the flight route in real time; The gimbal camera integrates a fixed-focus lens, a full-frame image sensor and a three-axis gimbal, and the gimbal camera is installed on the RTK drone for real-time shooting; The personal computer is used to perform three-dimensional reconstruction on multiple photos collected by the RTK drone at an angle, and to obtain multiple panoramic photos from the multiple photos and synthesize a VR virtual scene.

2. A distributed photovoltaic power station survey system based on drone according to claim 1, characterized in that: The full-frame image sensor captures multiple original building images in real time through a fixed-focus lens; a three-axis gimbal is used to keep the camera stable and fixed on the RTK drone.

3. The distributed photovoltaic power station survey system based on drone according to claim 1 is characterized in that: The survey method of the distributed photovoltaic power station survey system based on a drone specifically includes the following steps: S1. Perform a pre-flight check and set the return altitude, loss of connection behavior, height limit, distance limit, return point, joystick mode, battery alarm threshold and obstacle avoidance behavior before the RTK drone flies; S2. After the settings are completed, create a new flight route, first select the survey range, then enter the load setting, switch the camera's focus mode to the calibrated focus value focus, automatically generate the flight route, and modify the route name, collection aspect and flight altitude of the route; then upload the newly created flight route to the RTK drone, and the RTK drone will start to perform the flight mission; S3. After the flight mission is completed, the multiple photos collected by the RTK drone with tilt are pre-processed and aerial triangulation processed in sequence, and each photo that meets the 3D reconstruction quality requirements is imported into the 3D reconstruction software. The 3D reconstruction software is used to perform 3D reconstruction on the multiple photos collected by the RTK drone with tilt during the flight mission, and the 3D reconstruction of the original building of a project is completed; S4. Use panoramic production software to integrate multiple panoramic photos collected by RTK drones during flight missions to complete VR virtual scene synthesis of a project.

4. A distributed photovoltaic power station survey system based on drone according to claim 3, characterized in that: In step S1, the loss of connection behaviors of the RTK drone include: signal interruption, GPS signal loss, battery exhaustion, and flying into a restricted area.

5. The distributed photovoltaic power station survey system based on drone according to claim 3 is characterized in that: In step S1, the obstacle avoidance behavior of the RTK drone during flight includes: using sensors to detect obstacles in front, on the sides, and below the RTK drone; automatically starting the return program to return to a safe area when encountering obstacles that cannot be safely avoided; and automatically stopping when an obstacle is identified and deciding whether to continue flying or change direction after evaluating the situation.

6. The distributed photovoltaic power station survey system based on drone according to claim 3 is characterized in that: When preprocessing the multiple photos collected by the RTK drone in a tilted manner in step S3, the multiple photo data collected by the RTK drone in a tilted manner and manually taken in the flight route area are sorted in the same folder; then each preprocessed photo is imported into the 3D reconstruction software, and aerial triangulation is first performed and a quality report is generated to determine whether the quality of each photo collected by the RTK drone in a tilted manner meets the requirements of 3D reconstruction, and each photo that meets the quality requirements is used for 3D reconstruction and exported in the corresponding 3D digital model format.

7. The distributed photovoltaic power station survey system based on drone according to claim 3 is characterized in that: When synthesizing the VR virtual scene from the multiple panoramic photos collected by the RTK drone at an angle in step S4, the multiple panoramic photos collected by the RTK drone at an angle are uploaded to the panoramic production software, and the system is waited for uploading and generating. At the same time, the panoramic photo names, the order of the panoramic photos are moved, and the panoramic photos are previewed or removed. After the upload is completed, a VR virtual scene of a project is obtained.

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