Unmanned aerial vehicle multi-dimensional coupling modeling method and system for photovoltaic power station

Abstract

The invention relates to the technical field of unmanned aerial vehicle survey, in particular to an unmanned aerial vehicle multi-dimensional coupling modeling method and system for a photovoltaic power station, and the method comprises the steps: calculating a block aerial photography airspace according to the area of a single-frame photographing region, calculating a block air route sequence of the block aerial photography airspace, and obtaining a block air route sequence set; performing route adjacent multi-dimensional coupling on the block route sequence set according to the standard route sequence to obtain a merged route sequence, performing route segmentation on the merged route to obtain a segmented route sequence, counting multi-dimensional merged values of route segments, calculating multiple groups of aerial photography frequency sequences according to the multi-dimensional merged values, and performing aerial photography according to the multiple groups of aerial photography frequency sequences. And performing unmanned aerial vehicle shooting on the to-be-built area of the photovoltaic power station according to the multiple groups of aerial photographing frequency sequences to obtain an aerial photographing image set, and performing three-dimensional reconstruction according to the aerial photographing image set to obtain a three-dimensional reconstruction model of the to-be-built area of the photovoltaic power station. According to the invention, the environment investigation efficiency and investigation precision of the distributed photovoltaic power station can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of UAV surveying and mapping, and particularly to a multi-dimensional coupling modeling method and system for UAVs used in photovoltaic power stations. Background Art

[0002] With the accelerating transformation of the global energy structure, distributed photovoltaic power generation systems have become the fastest-growing form of distributed power generation at home and abroad in recent years due to their significant advantages such as flexible power generation methods, high energy utilization efficiency, and low environmental pollution, and have gradually become an important supplement to the traditional power grid system.

[0003] In the initial stage of the construction of a distributed photovoltaic power station, roof survey is a crucial basic link, and key parameters such as roof structure dimensions, house orientation and height, surrounding occlusion conditions, and grid connection distance need to be accurately obtained. These data are directly related to the design rationality and power generation efficiency of the power station. However, traditional roof survey methods rely on manual climbing and measurement. Therefore, when surveying the environment of a distributed photovoltaic power station, there are problems of low survey efficiency and low survey accuracy. Summary of the Invention

[0004] The present invention provides a multi-dimensional coupling modeling method and system for UAVs used in photovoltaic power stations, and its main purpose is to improve the environmental survey efficiency and survey accuracy of distributed photovoltaic power stations.

[0005] To achieve the above object, a multi-dimensional coupling modeling method for UAVs used in photovoltaic power stations provided by the present invention includes: Obtain the area to be built of the photovoltaic power station, divide the area to be built of the photovoltaic power station into blocks, and obtain a set of blocks to be built of the photovoltaic power station; Assign shooting intensities to the blocks to be built in the set of blocks to be built of the photovoltaic power station to obtain a set of block shooting intensities; Obtain the area of a single-frame shooting area of the UAV, and calculate the aerial photography airspace of the blocks to be built of the photovoltaic power station according to the area of the single-frame shooting area; Calculate the block flight path sequence of the aerial photography airspace of the blocks to be built of the photovoltaic power station according to the block shooting intensity of the blocks to be built of the photovoltaic power station to obtain a set of block flight path sequences; Obtain a standard flight path sequence, and perform multi-dimensional coupling of flight path proximity on the set of block flight path sequences according to the standard flight path sequence to obtain a merged flight path sequence, where multi-dimensional coupling of flight path proximity refers to translating the block flight paths in the set of block flight path sequences along the vertical flight direction to the nearest standard flight path; Segment the merged flight paths in the merged flight path sequence to obtain a segmented flight path sequence, where each segmented flight path in the segmented flight path sequence contains n flight path segments, and the length of the flight path segment is m times the length of the block flight path; Statistically segment the multi-dimensional merging values of each route section in the segmented route, calculate the aerial photography frequency of the route section according to the multi-dimensional merging values, and obtain multiple sets of aerial photography frequency sequences. Among them, the multi-dimensional merging value refers to the number of block routes merged into the route section. Perform drone photography on the area to be built of the photovoltaic power station according to multiple sets of aerial photography frequency sequences to obtain an aerial photography image set. Perform 3D reconstruction based on the aerial photography image set to obtain a 3D reconstruction model of the area to be built of the photovoltaic power station.

[0006] Optionally, the block division of the area to be built of the photovoltaic power station to obtain a set of blocks to be built of the photovoltaic power station includes: Calculate the block area according to the preset modeling accuracy by using the pre-constructed block area formula. The block area formula is as follows: ; Among them, represents the block area, represents the block division weight, represents the block index base, represents the modeling accuracy; Construct a block segmentation grid according to the block area, and use the block segmentation grid to divide the area to be built of the photovoltaic power station to obtain a set of blocks to be built of the photovoltaic power station. The block segmentation grid is a square grid.

[0007] Optionally, the assignment of the shooting intensity to the blocks to be built of the photovoltaic power station in the set of blocks to be built of the photovoltaic power station to obtain a set of block shooting intensities includes: Obtain the standard aerial photography map of the area to be built of the photovoltaic power station; Identify the block map to be built of the blocks to be built of the photovoltaic power station in the standard aerial photography map; Identify the installation image area where photovoltaic panels can be installed in the block map to be built; Calculate the installation area of the installation image area and identify the block area of the block map to be built; Calculate the proportion of the installation area in the block map to be built according to the installation area and the block area; According to the proportion of the installation area, calculate the block shooting intensity of the blocks to be built of the photovoltaic power station by using the pre-constructed shooting intensity formula to obtain a set of block shooting intensities. The shooting intensity formula is as follows: ; Among them, represents the block shooting intensity, represents the shooting intensity weight, represents the block logarithm base, represents the proportion of the installation area.

[0008] Optionally, obtaining the area of a single-frame shooting area of the drone includes: Calculating the aerial photography height according to the modeling accuracy by using a pre-constructed aerial photography height formula, where the aerial photography height formula is as follows: ; Wherein, represents the aerial photography height, represents the aerial photography height weight, represents the aerial photography height threshold, represents the natural constant; Performing fixed-height shooting on the area to be built of the photovoltaic power station according to the aerial photography height to obtain a fixed-height shooting area image, where the fixed-height shooting area image is a square image; Identifying the image area corresponding to the fixed-height shooting area image in the area to be built of the photovoltaic power station, and taking the image area as the area of the single-frame shooting area.

[0009] Optionally, calculating the aerial photography airspace of the block to be built of the photovoltaic power station according to the area of the single-frame shooting area includes: Identifying the first block vertex, the second block vertex, the third block vertex, and the fourth block vertex of the block to be built of the photovoltaic power station; Respectively identifying the first vertex position, the second vertex position, the third vertex position, and the fourth vertex position of the first block vertex, the second block vertex, the third block vertex, and the fourth block vertex, where the first vertex position, the second vertex position, the third vertex position, and the fourth vertex position respectively refer to the positions of the first block vertex, the second block vertex, the third block vertex, and the fourth block vertex in the area to be built of the photovoltaic power station; Calculating the side length of the single-frame shooting area according to the area of the single-frame shooting area, and calculating the diagonal length of the single-frame shooting area according to the side length of the single-frame shooting area; Calculating the first area vertex according to the diagonal length of the single-frame shooting area and the third vertex position by using a preset first area orientation; Calculating the second area vertex according to the diagonal length of the single-frame shooting area and the fourth vertex position by using a preset second area orientation; Calculating the third area vertex according to the diagonal length of the single-frame shooting area and the first vertex position by using a preset third area orientation; Calculating the fourth area vertex according to the diagonal length of the single-frame shooting area and the second vertex position by using a preset fourth area orientation; Determining the aerial photography projection area according to the first area vertex, the second area vertex, the third area vertex, and the fourth area vertex; Determine the aerial photography airspace of the block according to the aerial photography projection area and the aerial photography height, wherein the vertical distance between the aerial photography airspace of the block and the aerial photography projection area is the aerial photography height.

[0010] Optionally, calculating the block route sequence of the aerial photography airspace of the block according to the block shooting intensity of the to-be-built block of the photovoltaic power station, and obtaining a set of block route sequences, including: Calculating the route spacing according to the block shooting intensity by using a pre-constructed route spacing formula, wherein the route spacing formula is as follows: ; wherein, represents the route spacing, represents the route spacing weight, represents the route index base; Identifying the airspace course boundary line position of the aerial photography airspace of the block, and calculating the block route line position sequence according to the airspace course boundary line position and the route spacing by using a pre-constructed block route formula, wherein the block route formula is as follows: ; wherein, represents the th block route line position in the block route line position sequence, represents the airspace course boundary line position; Determine the block route sequence according to the block route line position sequence, and obtain a set of block route sequences.

[0011] Optionally, performing route adjacent multi-dimensional coupling on the set of block route sequences according to the standard route sequence to obtain a merged route sequence, including: Sequentially extracting block routes in the set of block route sequences, and extracting the adjacent block route closest to the block route in the standard route sequence; Identifying the vertical course direction of the to-be-built area of the photovoltaic power station, wherein the vertical course direction refers to the direction perpendicular to the course; Translating the block route along the vertical course direction to the adjacent block route to obtain a merged route sequence.

[0012] Optionally, calculating the aerial photography frequency of the route section according to the multi-dimensional merging value to obtain multiple sets of aerial photography frequency sequences, including: Obtaining the initial aerial photography frequency, and calculating the aerial photography frequency of the route section according to the initial aerial photography frequency and the multi-dimensional merging value by using a pre-constructed aerial photography frequency formula to obtain an aerial photography frequency sequence, wherein the aerial photography frequency formula is as follows: ; wherein, Indicates the aerial photography frequency, Indicates the initial aerial photography frequency, Indicates the base number of the aerial photography index, Indicates the multi-dimensional merging value; Collect the aerial photography frequency sequences of each segmented flight path in the segmented flight path sequence to obtain multiple groups of aerial photography frequency sequences.

[0013] Optionally, the method of using the multiple groups of aerial photography frequency sequences to perform drone shooting on the area to be built of the photovoltaic power station to obtain an aerial photography image set includes: Obtain the initial aerial photography site of the area to be built of the photovoltaic power station; Identify the initial flight path section where the initial aerial photography site is located, and extract the initial aerial photography frequency corresponding to the initial flight path section from the multiple groups of aerial photography frequency sequences; Perform drone shooting on the area to be built of the photovoltaic power station according to the initial aerial photography frequency and the preset standard flight speed, and monitor the real-time aerial photography site, where the real-time aerial photography site refers to the real-time navigation site of the drone during the drone shooting of the area to be built of the photovoltaic power station; Judge whether the drone shooting of the area to be built of the photovoltaic power station is completed according to the real-time aerial photography site; If the drone shooting of the area to be built of the photovoltaic power station is not completed, update the initial aerial photography site with the real-time aerial photography site and return to the step of identifying the initial flight path section where the initial aerial photography site is located; If the drone shooting of the area to be built of the photovoltaic power station is completed, obtain the aerial photography image set.

[0014] To achieve the above object, the present invention also provides a drone multi-dimensional coupling modeling system for a photovoltaic power station, including: A block shooting intensity set acquisition module, which is used to obtain the area to be built of the photovoltaic power station, divide the area to be built of the photovoltaic power station into blocks to obtain a set of blocks to be built of the photovoltaic power station; assign shooting intensities to the blocks to be built of the photovoltaic power station in the set of blocks to be built of the photovoltaic power station to obtain a block shooting intensity set; A block flight path sequence set acquisition module, which is used to obtain the area of a single-frame shooting area of the drone, calculate the block aerial photography airspace of the blocks to be built of the photovoltaic power station according to the area of the single-frame shooting area; calculate the block flight path sequence of the block aerial photography airspace according to the block shooting intensity of the blocks to be built of the photovoltaic power station to obtain a block flight path sequence set; A multi-group aerial photography frequency sequence calculation module, which is used to obtain a standard route sequence, perform route adjacent multi-dimensional coupling on a block route sequence set according to the standard route sequence to obtain a merged route sequence. Among them, route adjacent multi-dimensional coupling means translating the block routes in the block route sequence set along the vertical course direction to the nearest standard route; segmenting the merged routes in the merged route sequence to obtain a segmented route sequence. Among them, each segmented route in the segmented route sequence contains n route sections, and the length of the route section is m times the length of the block route; counting the multi-dimensional merging values of each route section in the segmented route, and calculating the aerial photography frequency of the route section according to the multi-dimensional merging values to obtain a multi-group aerial photography frequency sequence. Among them, the multi-dimensional merging value refers to the number of block routes merged into the route section. An aerial photography image set three-dimensional reconstruction module, which is used to perform drone shooting on the area to be built of the photovoltaic power station according to the multi-group aerial photography frequency sequences to obtain an aerial photography image set; perform three-dimensional reconstruction according to the aerial photography image set to obtain a three-dimensional reconstruction model of the area to be built of the photovoltaic power station.

[0015] To solve the above problems, the present invention also provides an electronic device, which includes: A memory that stores at least one instruction; and a processor that executes the instruction stored in the memory to implement the above-mentioned drone multi-dimensional coupling modeling method for a photovoltaic power station.

[0016] To solve the above problems, the present invention also provides a computer-readable storage medium, in which at least one instruction is stored, and the at least one instruction is executed by a processor in an electronic device to implement the above-mentioned drone multi-dimensional coupling modeling method for a photovoltaic power station.

[0017] To solve the problems described in the background art, the present invention first needs to determine the shooting intensity of each block to be built in a photovoltaic power station, and set a block flight path sequence set according to the shooting intensity of the block. When determining the shooting intensity of the block, it is necessary to first obtain the area to be built in the photovoltaic power station, then divide the area to be built in the photovoltaic power station into blocks to obtain a set of blocks to be built in the photovoltaic power station, and then assign a shooting intensity value to each block to be built in the set of blocks to be built in the photovoltaic power station to obtain a set of block shooting intensities. When setting the block flight path sequence, it is necessary to first obtain the area of a single-frame shooting area of the unmanned aerial vehicle, and then calculate the aerial photography airspace of the block to be built in the photovoltaic power station according to the area of the single-frame shooting area. At this time, the block flight path sequence of the aerial photography airspace of the block to be built in the photovoltaic power station can be calculated to obtain a set of block flight path sequences. When the set of block flight path sequences is obtained, it is necessary to calculate the aerial photography frequency of the flight path section. First, obtain the standard flight path sequence. Since it is necessary to perform aerial photography of the unmanned aerial vehicle according to the standard flight path sequence, it is necessary to perform multi-dimensional coupling of the flight path proximity on the set of block flight path sequences according to the standard flight path sequence to obtain a merged flight path sequence. Among them, the flight path proximity multi-dimensional coupling refers to translating the block flight paths in the set of block flight path sequences along the vertical flight direction to the nearest standard flight path. In order to adjust the shooting frequency during the flight, it is necessary to first segment the merged flight paths in the merged flight path sequence to obtain a segmented flight path sequence, and then count the multi-dimensional merged values of each flight path section in the segmented flight path. Since the larger the multi-dimensional merged value, the greater the aerial photography intensity, the aerial photography frequency of the flight path section can be calculated according to the multi-dimensional merged value to obtain multiple sets of aerial photography frequency sequences. Among them, the multi-dimensional merged value refers to the number of block flight paths merged into the flight path section. Finally, perform unmanned aerial vehicle shooting on the area to be built in the photovoltaic power station according to multiple sets of aerial photography frequency sequences to obtain an aerial photography image set; perform three-dimensional reconstruction according to the aerial photography image set to obtain a three-dimensional reconstruction model of the area to be built in the photovoltaic power station. Therefore, the present invention can improve the environmental survey efficiency and survey accuracy of distributed photovoltaic power stations. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic flowchart of a method for multi-dimensional coupling modeling of an unmanned aerial vehicle for a photovoltaic power station provided by an embodiment of the present invention; Figure 2 is a schematic diagram of a block flight path and a standard flight path provided by an embodiment of the present invention; Figure 3 is a functional module diagram of a multi-dimensional coupling modeling system of an unmanned aerial vehicle for a photovoltaic power station provided by an embodiment of the present invention; Figure 4 is a schematic structural diagram of an electronic device for implementing the method for multi-dimensional coupling modeling of an unmanned aerial vehicle for a photovoltaic power station provided by an embodiment of the present invention.

[0019] Description of the reference numerals: 1. Electronic device; 10. Processor; 11. Memory; 12. Bus.

[0020] The implementation, functional features and advantages of the present invention will be further described in conjunction with embodiments with reference to the accompanying drawings. Detailed implementation manners

[0021] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0022] An embodiment of the present application provides a multi-dimensional coupling modeling method for an unmanned aerial vehicle in a photovoltaic power station. The execution subject of the multi-dimensional coupling modeling method for the unmanned aerial vehicle in the photovoltaic power station includes, but is not limited to, at least one of electronic devices such as a server, a terminal, etc. that can be configured to execute the method provided in the embodiment of the present application. In other words, the multi-dimensional coupling modeling method for the unmanned aerial vehicle in the photovoltaic power station can be executed by software or hardware installed on a terminal device or a server device, and the software can be a blockchain platform. The server includes, but is not limited to: a single server, a server cluster, a cloud server, or a cloud server cluster, etc.

[0023] Refer to Figure 1 As shown, it is a schematic flowchart of a multi-dimensional coupling modeling method for an unmanned aerial vehicle in a photovoltaic power station provided by an embodiment of the present invention. In this embodiment, the multi-dimensional coupling modeling method for the unmanned aerial vehicle in the photovoltaic power station includes: S1. Obtain the area to be built in the photovoltaic power station, divide the area to be built in the photovoltaic power station into blocks, and obtain a set of blocks to be built in the photovoltaic power station.

[0024] Furthermore, the area to be built in the photovoltaic power station refers to the area where solar photovoltaic panels need to be designed and installed and a distributed photovoltaic power station needs to be built. Since it is necessary to design and install solar photovoltaic panels on the roofs of residential areas, it is necessary to conduct surveys on the roofs of residential areas to obtain detailed information about the roofs. The detailed information includes parameters such as roof structure dimensions, house orientation and height, and the access distance between the roof and the power grid, etc., so as to design and install solar photovoltaic panels on the roofs. The set of blocks to be built in the photovoltaic power station refers to multiple block areas obtained after dividing the area to be built in the photovoltaic power station into blocks.

[0025] In the embodiment of the present invention, the step of dividing the area to be built in the photovoltaic power station into blocks to obtain a set of blocks to be built in the photovoltaic power station includes: According to a preset modeling accuracy, use a pre-constructed block area formula to calculate the block area, where the block area formula is as follows: ; Where represents the block area, represents the block division weight, Represents the base of the block exponent, Represents the modeling accuracy; Construct a block segmentation grid according to the block area, and use the block segmentation grid to divide the area to be built of the photovoltaic power station to obtain a set of blocks to be built of the photovoltaic power station, where the block segmentation grid is a square grid.

[0026] It can be understood that the modeling accuracy refers to the modeling fineness of three-dimensional modeling of the area to be built of the photovoltaic power station, which can be: 1, 2, 3, 4, 5. The block area refers to the area of a single block for dividing the area to be built of the photovoltaic power station. The block segmentation grid refers to a grid with the area of the unit grid being the block area and used to divide the area to be built of the photovoltaic power station.

[0027] S2. Assign shooting intensities to the blocks to be built in the set of blocks to be built of the photovoltaic power station to obtain a set of block shooting intensities.

[0028] It can be understood that the shooting intensity assignment refers to the assignment of the UAV shooting intensity to the blocks to be built of the photovoltaic power station. The set of block shooting intensities refers to the set composed of the UAV shooting intensities of each block to be built of the photovoltaic power station.

[0029] In the embodiment of the present invention, the assignment of shooting intensities to the blocks to be built in the set of blocks to be built of the photovoltaic power station to obtain a set of block shooting intensities includes: Obtain the standard aerial map of the area to be built of the photovoltaic power station; Identify the map of the block to be built in the standard aerial map; Identify the installation image area where photovoltaic panels can be installed in the map of the block to be built; Calculate the installation area of the installation image area, and identify the block area of the map of the block to be built; Calculate the proportion of the installation area in the block area according to the installation area and the block area; According to the proportion of the installation area, use the pre-constructed shooting intensity formula to calculate the block shooting intensity of the block to be built of the photovoltaic power station to obtain a set of block shooting intensities, where the shooting intensity formula is as follows: ; Wherein, Represents the block shooting intensity, Represents the shooting intensity weight, Represents the base of the block logarithm, Represents the proportion of the installation area.

[0030] It should be understood that the standard aerial view refers to an aerial view that completely includes the area to be built of the photovoltaic power station. The to-be-built block diagram refers to the image block corresponding to the to-be-built block of the photovoltaic power station in the standard aerial view. The installable image area where photovoltaic panels can be installed can be the roof area in the standard aerial view where the roof area is greater than a preset area threshold. The installable area refers to the area of the installable image area, and the block area refers to the area of the to-be-built block diagram. The proportion of the installable area refers to the ratio of the installable area to the block area.

[0031] S3. Obtain the area of the single-frame shooting area of the drone, and calculate the aerial photography airspace of the to-be-built block of the photovoltaic power station according to the area of the single-frame shooting area.

[0032] It can be understood that the area of the single-frame shooting area refers to the area of the corresponding area in the to-be-built area of the photovoltaic power station of the single-frame image obtained after shooting the to-be-built area of the photovoltaic power station at a preset aerial photography height. The aerial photography airspace of the block refers to the airspace where the to-be-built block of the photovoltaic power station can be photographed at the aerial photography height.

[0033] In the embodiment of the present invention, the obtaining the area of the single-frame shooting area of the drone includes: According to the modeling accuracy, use a pre-constructed aerial photography height formula to calculate the aerial photography height, where the aerial photography height formula is as follows: ; where represents the aerial photography height, represents the aerial photography height weight, represents the aerial photography height threshold, represents the natural constant; Perform fixed-height shooting on the to-be-built area of the photovoltaic power station according to the aerial photography height to obtain a fixed-height shooting area image, where the fixed-height shooting area image is a square image; Identify the area of the image area corresponding to the fixed-height shooting area image in the to-be-built area of the photovoltaic power station, and use the image area as the area of the single-frame shooting area.

[0034] Furthermore, the fixed-height shooting refers to shooting the to-be-built area of the photovoltaic power station while keeping the aerial photography height unchanged. The fixed-height shooting area image refers to the area image obtained after shooting the to-be-built area of the photovoltaic power station at the aerial photography height. The image area refers to the actual area of the fixed-height shooting area image corresponding to the to-be-built area of the photovoltaic power station.

[0035] In the embodiment of the present invention, the calculating the aerial photography airspace of the to-be-built block of the photovoltaic power station according to the area of the single-frame shooting area includes: Identify the first block vertex, second block vertex, third block vertex, and fourth block vertex of the area to be built in the photovoltaic power station; Identify the first vertex site, second vertex site, third vertex site, and fourth vertex site of the first block vertex, second block vertex, third block vertex, and fourth block vertex respectively; Calculate the side length of the single-frame shooting area according to the area of the single-frame shooting area, and calculate the diagonal length of the single-frame shooting according to the side length of the single-frame shooting area; According to the diagonal length of the single-frame shooting and the third vertex site, use the preset first area orientation to calculate the first area vertex; According to the diagonal length of the single-frame shooting and the fourth vertex site, use the preset second area orientation to calculate the second area vertex; According to the diagonal length of the single-frame shooting and the first vertex site, use the preset third area orientation to calculate the third area vertex; According to the diagonal length of the single-frame shooting and the second vertex site, use the preset fourth area orientation to calculate the fourth area vertex; Determine the aerial photography projection area according to the first area vertex, second area vertex, third area vertex, and fourth area vertex; Determine the aerial photography airspace of the block according to the aerial photography projection area and the aerial photography height, where the vertical distance between the aerial photography airspace of the block and the aerial photography projection area is the aerial photography height.

[0036] It can be understood that the first block vertex, second block vertex, third block vertex, and fourth block vertex respectively refer to the first block vertex, second block vertex, third block vertex, and fourth block vertex of the area to be built in the photovoltaic power station. Since the area to be built in the photovoltaic power station is a square block, there are 4 block vertices in the area to be built in the photovoltaic power station. The first vertex site, second vertex site, third vertex site, and fourth vertex site respectively refer to the positions of the first block vertex, second block vertex, third block vertex, and fourth block vertex in the area to be built in the photovoltaic power station. Refer to Figure 2 As shown, when the area to be built in the photovoltaic power station is square ABCD, the first block vertex, second block vertex, third block vertex, and fourth block vertex are respectively the four vertices A, B, C, and D, the first area vertex, second area vertex, third area vertex, and fourth area vertex are respectively a, b, c, and d, and the aerial photography projection area is the quadrilateral abcd area.

[0037] Specifically, the area of the single-frame shooting area is equal to the square of the side length of the single-frame shooting area. The diagonal length of the single-frame shooting refers to the diagonal length of the image of the fixed-height shooting area in the area to be built in the photovoltaic power station. Refer to Figure 2The distance lengths between a, C; b, D; c, A or d, B in it. The first region orientation refers to the orientation of the vertices of the first region relative to the vertices of the third block. Refer to Figure 2 In it, the orientation of a relative to C, that is, C points to a. The distance between the vertices of the first region and the vertices of the third block is the diagonal length of a single-frame shot. When the first region orientation is 45 degrees south by west, the vertices of the first region are in the 45-degree south by west direction of the vertices of the third block and the distance is the diagonal length of a single-frame shot.

[0038] Specifically, the second region orientation refers to the orientation of the vertices of the second region relative to the vertices of the fourth block, the third region orientation refers to the orientation of the vertices of the third region relative to the vertices of the first block, and the fourth region orientation refers to the orientation of the vertices of the fourth region relative to the vertices of the second block. The vertices of the first region, the vertices of the second region, the vertices of the third region, and the vertices of the fourth region respectively refer to the four vertices of the aerial photography projection region. Since the image of the fixed-height shooting region is a square image, the aerial photography projection region is also a square region. Since the aerial photography projection region is a square region, the aerial block airspace for the block is a square airspace with an area equal to that of the aerial photography projection region and a vertical distance equal to the aerial photography height.

[0039] Further, when the first region orientation is 45 degrees south by west, and the vertices of the first block, the vertices of the second block, the vertices of the third block, and the vertices of the fourth block are sorted counterclockwise, and the vertices of the first region, the vertices of the second region, the vertices of the third region, and the vertices of the fourth region are also sorted counterclockwise, the second region orientation can be 45 degrees east by south, the third region orientation can be 45 degrees north by east, and the fourth region orientation can be 45 degrees west by north.

[0040] S4. Calculate the block route sequence of the block aerial airspace according to the block shooting intensity of the block to be built in the photovoltaic power station, and obtain a set of block route sequences.

[0041] It can be understood that the block route sequence refers to the route sequence planned to shoot the block to be built in the photovoltaic power station, and the set of block route sequences refers to the set of route sequences planned to shoot the blocks to be built in each photovoltaic power station. The block route sequence can refer to Figure 2 The sequence of directed line segments in it.

[0042] In the embodiment of the present invention, calculating the block route sequence of the block aerial airspace according to the block shooting intensity of the block to be built in the photovoltaic power station and obtaining a set of block route sequences includes: According to the block shooting intensity, use the pre-constructed route spacing formula to calculate the route spacing, where the route spacing formula is as follows: ; Among them, Indicates the flight path spacing, Indicates the weight of the flight path spacing, Indicates the base number of the flight path index; Identify the airspace course boundary line position of the aerial photography airspace of the block, and calculate the block flight path line position sequence according to the airspace course boundary line position and the flight path spacing by using a pre-constructed block flight path formula, where the block flight path formula is as follows: ; Wherein, Indicates the th block flight path line position in the block flight path line position sequence, Indicates the airspace course boundary line position; Determine the block flight path sequence according to the block flight path line position sequence to obtain a block flight path sequence set.

[0043] It can be understood that the flight path spacing refers to the spacing between adjacent block flight paths in the block flight path sequence. The airspace course boundary line position refers to the position of the starting aerial photography boundary line of the block aerial photography airspace. Refer to Figure 2 , the airspace course boundary line position can be the ad directed line segment.

[0044] S5. Obtain the standard flight path sequence, and perform flight path adjacent multi-dimensional coupling on the block flight path sequence set to obtain the merged flight path sequence.

[0045] Specifically, flight path adjacent multi-dimensional coupling means translating the block flight paths in the block flight path sequence set along the vertical course direction to the nearest standard flight path.

[0046] It can be understood that the standard flight path sequence refers to a sequence composed of preset standard flight paths for photographing the area to be built of the photovoltaic power station. Refer to Figure 2 The four standard flight paths g1, g2, g3, and g4 in. The distance between adjacent standard flight paths in the standard flight path sequence is greater than the distance between adjacent block flight paths in the block flight path sequence. The merged flight path sequence refers to the flight path sequence obtained after translating the block flight paths along the vertical course direction to the nearest standard flight path. The vertical course direction refers to the direction perpendicular to the course. For example: when the course direction is the ad direction, the vertical course direction is perpendicular to the ad direction. At this time, during the flight path adjacent multi-dimensional coupling process, it is necessary to Figure 2 Translate the block flight paths in along the vertical course direction to the nearest standard flight path, Figure 2 There are a total of 9 block flight paths. For example: translate the first block flight path into g1. The first block flight path refers to Figure 2 The first block flight path counted from left to right in, that is, the ad directed line segment. Translate the second, third, fourth, and fifth block flight paths into g2, and translate the sixth, seventh, eighth, and ninth block flight paths into g3.

[0047] In an embodiment of the present invention, the step of performing route proximity multi-dimensional coupling on the block route sequence set according to the standard route sequence to obtain the merged route sequence includes: Sequentially extract block routes from the block route sequence set, and extract the nearest neighboring block route to the block route in the standard route sequence; Identify the vertical course direction of the area to be built in the photovoltaic power station, where the vertical course direction refers to the direction perpendicular to the course; Translate the block route along the vertical course direction to the neighboring block route to obtain the merged route sequence.

[0048] S6. Segment the merged routes in the merged route sequence to obtain a segmented route sequence.

[0049] It can be understood that the segmented route sequence refers to a sequence composed of routes with section attributes obtained after dividing the merged route into sections.

[0050] Further, each segmented route in the segmented route sequence includes n route sections, the length of the route section is equal to m times the length of the block route, both m and n are integers, and the one-way aerial photography voyage of the area to be built in the photovoltaic power station is equal to the product of the voyage of the block route, m, and n.

[0051] For example, when the length of the block route is the length of the directed line segment ad ( ), the length of the route section is equal to 3 times the length of the block route, and when each segmented route includes 10 route sections, the one-way aerial photography voyage is equal to . The one-way aerial photography voyage refers to the flight distance of the unmanned aerial vehicle in a single course direction. For example: Figure 2 the voyage of the standard route corresponding to g1 in

[0052] S7. Statistically calculate the multi-dimensional merge value of each route section in the segmented route, and calculate the aerial photography frequency of the route section according to the multi-dimensional merge value to obtain multiple groups of aerial photography frequency sequences.

[0053] Specifically, the multi-dimensional merge value refers to the number of block routes merged into the route section. The aerial photography frequency refers to the frequency of taking pictures on the route section. The multiple groups of aerial photography frequency sequences refer to a sequence set composed of the aerial photography frequencies of each route section on each group of standard routes.

[0054] In an embodiment of the present invention, the step of calculating the aerial photography frequency of the route section according to the multi-dimensional merge value to obtain multiple groups of aerial photography frequency sequences includes: Obtain the initial aerial photography frequency. According to the initial aerial photography frequency and the multi-dimensional merging value, use the pre-constructed aerial photography frequency formula to calculate the aerial photography frequency of the flight route section, and obtain an aerial photography frequency sequence. The aerial photography frequency formula is as follows: ; Wherein, represents the aerial photography frequency, represents the initial aerial photography frequency, represents the base number of the aerial photography index, represents the multi-dimensional merging value; Collect the aerial photography frequency sequences of each segmented flight route in the segmented flight route sequence to obtain multiple groups of aerial photography frequency sequences.

[0055] It can be understood that the initial aerial photography frequency refers to the initially set aerial photography frequency. For example: 3 frames / s.

[0056] S8. Perform unmanned aerial vehicle (UAV) shooting on the area to be built of the photovoltaic power station according to multiple groups of aerial photography frequency sequences to obtain an aerial photography image set.

[0057] It can be understood that the aerial photography image set refers to the set of aerial photography images obtained after performing UAV shooting on the area to be built of the photovoltaic power station according to the aerial photography frequency and the corresponding flight route section.

[0058] In the embodiment of the present invention, the performing UAV shooting on the area to be built of the photovoltaic power station according to multiple groups of aerial photography frequency sequences to obtain an aerial photography image set includes: Obtain the initial aerial photography site of the area to be built of the photovoltaic power station; Identify the initial flight route section where the initial aerial photography site is located, and extract the initial aerial photography frequency corresponding to the initial flight route section from the multiple groups of aerial photography frequency sequences; Perform UAV shooting on the area to be built of the photovoltaic power station according to the initial aerial photography frequency and the preset standard flight speed, and monitor the real-time aerial photography site. The real-time aerial photography site refers to the real-time navigation site of the UAV during the UAV shooting of the area to be built of the photovoltaic power station; Judge whether the UAV shooting of the area to be built of the photovoltaic power station is completed according to the real-time aerial photography site; If the UAV shooting of the area to be built of the photovoltaic power station is not completed, update the initial aerial photography site with the real-time aerial photography site and return to the above step of identifying the initial flight route section where the initial aerial photography site is located; If the UAV shooting of the area to be built of the photovoltaic power station is completed, obtain the aerial photography image set.

[0059] It should be understood that the initial aerial photography site refers to the starting take-off site for shooting the area to be built of the photovoltaic power station. The initial flight route section refers to the flight route section where the initial aerial photography site is located.

[0060] S9. Perform 3D reconstruction based on the aerial image set to obtain a 3D reconstruction model of the area to be built for the photovoltaic power station.

[0061] Further, the aerial image set can be imported into Smart3D software for 3D reconstruction. By performing aerial triangulation to calculate the camera projection matrix, establishing a point cloud model, constructing a triangulated irregular network (TIN) based on the irregularly discretely distributed point cloud data to establish the spatial relationship between the discrete point clouds, and finally matching appropriate texture patches on the TIN grid and generating the 3D reconstruction model. Performing 3D reconstruction based on the aerial image set is a prior art and will not be elaborated here.

[0062] To solve the problems described in the background art, the present invention first needs to determine the shooting intensity of each block to be built for the photovoltaic power station, and set a block flight path sequence set according to the block shooting intensity. When determining the block shooting intensity, it is necessary to first obtain the area to be built for the photovoltaic power station, then divide the area to be built for the photovoltaic power station into blocks to obtain a set of blocks to be built for the photovoltaic power station, and then assign shooting intensity values to the blocks to be built for the photovoltaic power station in the set of blocks to be built for the photovoltaic power station to obtain a set of block shooting intensities. When setting the block flight path sequence, it is necessary to first obtain the area of a single-frame shooting area of the unmanned aerial vehicle, and then calculate the aerial photography airspace of the block to be built for the photovoltaic power station according to the area of the single-frame shooting area. At this time, the block flight path sequence of the aerial photography airspace of the block to be built for the photovoltaic power station can be calculated according to the block shooting intensity of the block to be built for the photovoltaic power station to obtain a set of block flight path sequences. After obtaining the set of block flight path sequences, it is necessary to calculate the aerial photography frequency of the flight path section. First, obtain the standard flight path sequence. Since it is necessary to perform aerial photography of the unmanned aerial vehicle according to the standard flight path sequence, therefore, it is necessary to perform flight path adjacent multi-dimensional coupling on the set of block flight path sequences according to the standard flight path sequence to obtain a merged flight path sequence. Among them, flight path adjacent multi-dimensional coupling refers to translating the block flight paths in the set of block flight path sequences along the vertical flight direction to the nearest standard flight path. In order to adjust the shooting frequency during the flight process, it is necessary to first segment the merged flight paths in the merged flight path sequence to obtain a segmented flight path sequence, and then count the multi-dimensional merged values of each flight path section in the segmented flight paths. Since the larger the multi-dimensional merged value, the greater the aerial photography intensity, therefore, the aerial photography frequency of the flight path section can be calculated according to the multi-dimensional merged value to obtain multiple sets of aerial photography frequency sequences. Among them, the multi-dimensional merged value refers to the number of block flight paths merged into the flight path section. Finally, perform unmanned aerial vehicle shooting on the area to be built for the photovoltaic power station according to multiple sets of aerial photography frequency sequences to obtain an aerial image set; perform 3D reconstruction based on the aerial image set to obtain a 3D reconstruction model of the area to be built for the photovoltaic power station. Thus, the present invention can improve the environmental survey efficiency and survey accuracy of distributed photovoltaic power stations.

[0063] Such as Figure 3As shown in the figure, it is a functional module diagram of an unmanned aerial vehicle multi-dimensional coupling modeling system for a photovoltaic power station provided by an embodiment of the present invention.

[0064] The unmanned aerial vehicle multi-dimensional coupling modeling system 100 for a photovoltaic power station described in the present invention can be installed in an electronic device. According to the functions achieved, the unmanned aerial vehicle multi-dimensional coupling modeling system 100 for a photovoltaic power station can include a block shooting intensity set acquisition module 101, a block flight path sequence set acquisition module 102, a multi-group aerial photography frequency sequence calculation module 103, and an aerial photography image set three-dimensional reconstruction module 104. The modules described in the present invention can also be referred to as units, which refer to a series of computer program segments that can be executed by a processor of an electronic device and can complete fixed functions, and are stored in the memory of the electronic device.

[0065] The block shooting intensity set acquisition module 101 is used to obtain the area to be built of the photovoltaic power station, divide the area to be built of the photovoltaic power station into blocks to obtain a set of blocks to be built of the photovoltaic power station; assign shooting intensities to the blocks to be built in the set of blocks to be built of the photovoltaic power station to obtain a block shooting intensity set; The block flight path sequence set acquisition module 102 is used to obtain the area of a single-frame shooting area of the unmanned aerial vehicle, calculate the block aerial photography airspace of the blocks to be built of the photovoltaic power station according to the area of the single-frame shooting area; calculate the block flight path sequence of the block aerial photography airspace according to the block shooting intensity of the blocks to be built of the photovoltaic power station to obtain a block flight path sequence set; The multi-group aerial photography frequency sequence calculation module 103 is used to obtain a standard flight path sequence, perform flight path adjacent multi-dimensional coupling on the block flight path sequence set according to the standard flight path sequence to obtain a merged flight path sequence, where flight path adjacent multi-dimensional coupling refers to translating the block flight paths in the block flight path sequence set along the vertical flight path direction to the nearest standard flight path; segment the merged flight paths in the merged flight path sequence to obtain a segmented flight path sequence, where each segmented flight path in the segmented flight path sequence includes n flight path segments, and the length of the flight path segment is m times the length of the block flight path; count the multi-dimensional merged values of each flight path segment in the segmented flight path, and calculate the aerial photography frequency of the flight path segment according to the multi-dimensional merged values to obtain multi-group aerial photography frequency sequences, where the multi-dimensional merged value refers to the number of block flight paths merged into the flight path segment; The aerial photography image set three-dimensional reconstruction module 104 is used to perform unmanned aerial vehicle shooting on the area to be built of the photovoltaic power station according to the multi-group aerial photography frequency sequences to obtain an aerial photography image set; perform three-dimensional reconstruction according to the aerial photography image set to obtain a three-dimensional reconstruction model of the area to be built of the photovoltaic power station.

[0066] Specifically, each module in the unmanned aerial vehicle multi-dimensional coupling modeling system 100 for a photovoltaic power station described in the embodiment of the present invention adopts the same as the above-mentioned Figure 1The same technical means as the drone multi-dimensional coupling modeling method for a photovoltaic power station described in [reference] and capable of achieving the same technical effects will not be elaborated here.

[0067] As Figure 4 shown, it is a schematic structural diagram of an electronic device for implementing the drone multi-dimensional coupling modeling method for a photovoltaic power station provided by an embodiment of the present invention.

[0068] The electronic device 1 may include a processor 10, a memory 11, and a bus 12, and may further include a computer program stored in the memory 11 and executable on the processor 10, such as a program for the drone multi-dimensional coupling modeling method for a photovoltaic power station.

[0069] Among them, the memory 11 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, mobile hard disk, multimedia card, card-type memory (such as SD or DX memory, etc.), magnetic memory, magnetic disk, optical disk, etc. The memory 11 may be an internal storage unit of the electronic device 1 in some embodiments, such as the mobile hard disk of the electronic device 1. The memory 11 may also be an external storage device of the electronic device 1 in other embodiments, such as a plug-in mobile hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. equipped on the electronic device 1. Further, the memory 11 also includes the internal storage unit of the electronic device 1 and the external storage device. The memory 11 can be used not only to store application software installed in the electronic device 1 and various types of data, such as the code of the program for the drone multi-dimensional coupling modeling method for a photovoltaic power station, but also to temporarily store data that has been output or will be output.

[0070] The processor 10 may be composed of integrated circuits in some embodiments. For example, it may be composed of a single packaged integrated circuit, or may be composed of multiple integrated circuits with the same or different functions, including a combination of one or more Central Processing Units (CPUs), microprocessors, digital processing chips, graphics processors, and various control chips. The processor 10 is the control core (Control Unit) of the electronic device, connecting various components of the entire electronic device through various interfaces and circuits, and executing various functions of the electronic device 1 and processing data by running or executing programs or modules stored in the memory 11 (such as the program for the drone multi-dimensional coupling modeling method for a photovoltaic power station, etc.) and calling data stored in the memory 11.

[0071] The bus 12 can be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus 12 can be divided into an address bus, a data bus, a control bus, etc. The bus 12 is configured to implement connection communication between the memory 11 and at least one processor 10, etc.

[0072] Figure 4 Only an electronic device with components is shown. Those skilled in the art can understand that Figure 4 the shown structure does not constitute a limitation on the electronic device 1, and it may include fewer or more components than shown, or combine certain components, or have different component arrangements.

[0073] For example, although not shown, the electronic device 1 may further include a power source (such as a battery) for supplying power to each component. Preferably, the power source can be logically connected to the at least one processor 10 through a power management device, so as to implement functions such as charge management, discharge management, and power consumption management through the power management device. The power source may also include any components such as one or more DC or AC power sources, a recharge device, a power failure detection circuit, a power converter or inverter, and a power status indicator. The electronic device 1 may also include various sensors, a Bluetooth module, a Wi-Fi module, etc., which will not be elaborated here.

[0074] Furthermore, the electronic device 1 may further include a network interface. Optionally, the network interface may include a wired interface and / or a wireless interface (such as a Wi-Fi interface, a Bluetooth interface, etc.), which is generally used to establish a communication connection between the electronic device 1 and other electronic devices.

[0075] Optionally, the electronic device 1 may further include a user interface. The user interface can be a display, an input unit (such as a keyboard). Optionally, the user interface may also be a standard wired interface or a wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch liquid crystal display, and an OLED (Organic Light-Emitting Diode) toucher, etc. Among them, the display may also be appropriately referred to as a display screen or a display unit, which is used to display the information processed in the electronic device 1 and to display a visual user interface.

[0076] The program of the multi-dimensional coupling modeling method for drones in the photovoltaic power station stored in the memory 11 in the electronic device 1 is a combination of multiple instructions. When running in the processor 10, it can achieve the following: Obtain the area to be built of the photovoltaic power station, divide the area to be built of the photovoltaic power station into blocks, and obtain the set of blocks to be built of the photovoltaic power station; Assign shooting intensities to the blocks to be built in the set of blocks to be built of the photovoltaic power station, and obtain the set of block shooting intensities; Obtain the area of a single-frame shooting area of the drone, and calculate the aerial photography airspace of the blocks to be built of the photovoltaic power station according to the area of the single-frame shooting area; Calculate the block route sequence of the aerial photography airspace according to the block shooting intensity of the blocks to be built of the photovoltaic power station, and obtain the set of block route sequences; Obtain the standard route sequence, and perform route adjacent multi-dimensional coupling on the set of block route sequences according to the standard route sequence to obtain the merged route sequence. Here, route adjacent multi-dimensional coupling means translating the block routes in the set of block route sequences along the vertical course direction to the nearest standard route; Segment the merged routes in the merged route sequence to obtain the segmented route sequence. Here, each segmented route in the segmented route sequence includes n route segments, and the length of the route segment is m times the length of the block route; Statistically calculate the multi-dimensional merging value of each route segment in the segmented route, and calculate the aerial photography frequency of the route segment according to the multi-dimensional merging value to obtain multiple groups of aerial photography frequency sequences. Here, the multi-dimensional merging value refers to the number of block routes merged into the route segment; Perform drone shooting on the area to be built of the photovoltaic power station according to multiple groups of aerial photography frequency sequences to obtain the set of aerial photography images; Perform three-dimensional reconstruction according to the set of aerial photography images to obtain the three-dimensional reconstruction model of the area to be built of the photovoltaic power station.

[0077] Specifically, the specific implementation method of the processor 10 for the above instructions can refer to Figures 1 to 4 the description of the relevant steps in the corresponding embodiments, which will not be elaborated here.

[0078] Further, if the modules / units integrated in the electronic device 1 are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. The computer-readable storage medium can be volatile or non-volatile. For example, the computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disc, computer memory, read-only memory (ROM, Read-Only Memory).

[0079] The present invention also provides a computer-readable storage medium. The readable storage medium stores a computer program, and when the computer program is executed by a processor of an electronic device, the following can be achieved: Obtain the area to be built of a photovoltaic power station, divide the area to be built of the photovoltaic power station into blocks, and obtain a set of blocks to be built of the photovoltaic power station; Assign shooting intensities to the blocks to be built in the set of blocks to be built of the photovoltaic power station, and obtain a set of block shooting intensities; Obtain the area of a single-frame shooting area of a drone, and calculate the aerial photography airspace of the blocks to be built of the photovoltaic power station according to the area of the single-frame shooting area; Calculate the block route sequences of the aerial photography airspace according to the block shooting intensities of the blocks to be built of the photovoltaic power station, and obtain a set of block route sequences; Obtain a standard route sequence, and perform route adjacent multi-dimensional coupling on the set of block route sequences according to the standard route sequence to obtain a merged route sequence, where route adjacent multi-dimensional coupling means translating the block routes in the set of block route sequences along the vertical course direction to the nearest standard route; Segment the merged routes in the merged route sequence to obtain a segmented route sequence, where each segmented route in the segmented route sequence includes n route segments, and the length of the route segment is m times the length of the block route; Count the multi-dimensional merging values of each route segment in the segmented route, and calculate the aerial photography frequencies of the route segments according to the multi-dimensional merging values to obtain multiple sets of aerial photography frequency sequences, where the multi-dimensional merging value refers to the number of block routes merged into the route segment; Perform drone shooting on the area to be built of the photovoltaic power station according to the multiple sets of aerial photography frequency sequences to obtain a set of aerial photography images; Perform three-dimensional reconstruction according to the set of aerial photography images to obtain a three-dimensional reconstruction model of the area to be built of the photovoltaic power station.

[0080] In several embodiments provided by the present invention, it should be understood that the disclosed devices, systems and methods can be implemented in other ways. For example, the system embodiments described above are only illustrative, and there may be other division methods in actual implementation.

[0081] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0082] In addition, in each embodiment of the present invention, each functional module may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware, or in the form of a combination of hardware and software functional modules.

[0083] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms.

[0084] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A multi-dimensional coupling modeling method of unmanned aerial vehicles for photovoltaic power stations, characterized in that: The method comprises: Acquire the area where the photovoltaic power station is to be built, divide the area where the photovoltaic power station is to be built into blocks, and obtain a set of blocks where the photovoltaic power station is to be built; Assigning shooting intensity to the photovoltaic power station to-be-built blocks in the photovoltaic power station to-be-built block set to obtain a block shooting intensity set; Obtain the area of ​​the single-frame shooting area of ​​the drone, and calculate the block aerial photography airspace of the photovoltaic power station to be built based on the area of ​​the single-frame shooting area; According to the block shooting intensity of the block to be built of the photovoltaic power station, the block route sequence of the block aerial photography airspace is calculated to obtain a block route sequence set; Obtain a standard route sequence, and perform route proximity multi-dimensional coupling on the block route sequence set according to the standard route sequence to obtain a merged route sequence, wherein the route proximity multi-dimensional coupling refers to translating the block routes in the block route sequence set to the nearest standard route along the vertical heading direction; Segmenting the merged routes in the merged route sequence to obtain a segmented route sequence, wherein each segmented route in the segmented route sequence includes n route segments, and the length of the route segment is equal to m times the length of the block route; Counting the multidimensional merged value of each route segment in the segmented route, calculating the aerial photography frequency of the route segment according to the multidimensional merged value, and obtaining multiple groups of aerial photography frequency sequences, wherein the multidimensional merged value refers to the number of block routes merged into the route segment; The area where the photovoltaic power station is to be built is photographed by a drone according to multiple groups of aerial photography frequency sequences to obtain an aerial photography image set; A three-dimensional reconstruction is performed based on the aerial image set to obtain a three-dimensional reconstruction model of the area where the photovoltaic power station is to be built.

2. The multi-dimensional coupling modeling method of unmanned aerial vehicle for photovoltaic power station according to claim 1, characterized in that: The step of dividing the area to be built of the photovoltaic power station into blocks to obtain a set of blocks to be built of the photovoltaic power station includes: According to the preset modeling accuracy, the block area is calculated using the pre-built block area formula; A block segmentation grid is constructed according to the block area, and the block segmentation grid is used to divide the area to be built of the photovoltaic power station into blocks to obtain a set of blocks to be built of the photovoltaic power station, wherein the block segmentation grid is a square grid.

3. The multi-dimensional coupling modeling method of unmanned aerial vehicle for photovoltaic power station according to claim 2, characterized in that: The assigning of shooting intensity to the photovoltaic power station to-be-built blocks in the photovoltaic power station to-be-built block set to obtain a block shooting intensity set includes: Obtaining a standard aerial photo of the area where the photovoltaic power station is to be built; Identify a block map of a photovoltaic power station to be built in the standard aerial image; Identifying an installation image area in the to-be-built block map where photovoltaic panels can be installed; Calculating the installation area of ​​the installation image area, and identifying the area of ​​the block area of ​​the block map to be built; Calculate the installation area ratio of the block diagram to be built according to the installation area and the block area; According to the area ratio of the installation area, the block shooting intensity of the block to be built in the photovoltaic power station is calculated using a pre-constructed shooting intensity formula to obtain a block shooting intensity set.

4. The multi-dimensional coupling modeling method of unmanned aerial vehicle for photovoltaic power station according to claim 3, characterized in that: The method of obtaining the single-frame shooting area of ​​the drone includes: According to the modeling accuracy, the aerial photography altitude is calculated using a pre-constructed aerial photography altitude formula; Performing fixed-height photography of the area to be built of the photovoltaic power station according to the aerial photography height to obtain a fixed-height photography area image, wherein the fixed-height photography area image is a square image; An image region area corresponding to the fixed-height shooting region image in the photovoltaic power station to be built area is identified, and the image region area is used as a single-frame shooting region area.

5. The multi-dimensional coupling modeling method of unmanned aerial vehicle for photovoltaic power station according to claim 4, characterized in that: The block aerial photography airspace of the photovoltaic power station to be built block is calculated according to the area of ​​the single-frame shooting area, including: Identify a first block vertex, a second block vertex, a third block vertex, and a fourth block vertex of the block to be built in the photovoltaic power station; Respectively identifying the first vertex site, the second vertex site, the third vertex site and the fourth vertex site of the first block vertex, the second block vertex, the third block vertex and the fourth block vertex, wherein the first vertex site, the second vertex site, the third vertex site and the fourth vertex site refer to the positions of the first block vertex, the second block vertex, the third block vertex and the fourth block vertex in the area to be built of the photovoltaic power station; Calculate the side length of the single-frame shooting area according to the area of ​​the single-frame shooting area, and calculate the diagonal length of the single-frame shooting according to the side length of the single-frame shooting area; Calculate the first area vertex using the preset first area orientation according to the diagonal length of the single frame shooting and the third vertex position; Calculate the second area vertex using a preset second area orientation according to the single-frame shooting diagonal length and the fourth vertex position; Calculating the third area vertex using a preset third area orientation according to the diagonal length of the single frame shooting and the first vertex position; Calculating the fourth area vertex using a preset fourth area orientation according to the diagonal length of the single frame shooting and the second vertex position; Determine an aerial photography projection area according to the first area vertices, the second area vertices, the third area vertices and the fourth area vertices; The block aerial photography airspace is determined according to the aerial photography projection area and the aerial photography height, wherein a vertical distance between the block aerial photography airspace and the aerial photography projection area is the aerial photography height.

6. The multi-dimensional coupling modeling method of unmanned aerial vehicle for photovoltaic power station according to claim 5, characterized in that: The block route sequence of the block aerial photography airspace is calculated according to the block shooting intensity of the block to be built in the photovoltaic power station to obtain a block route sequence set, including: According to the shooting intensity of the block, the flight line spacing is calculated using a pre-constructed flight line spacing formula; Identify the airspace heading boundary line position of the block aerial photography airspace, and calculate the block route line position sequence using a pre-constructed block route formula according to the airspace heading boundary line position and the route spacing; A block route sequence is determined according to the block route line position sequence to obtain a block route sequence set.

7. The multi-dimensional coupling modeling method of unmanned aerial vehicle for photovoltaic power station according to claim 6, characterized in that: The method of performing route proximity multi-dimensional coupling on the block route sequence set according to the standard route sequence to obtain a merged route sequence includes: Sequentially extract block routes from the block route sequence set, and extract the adjacent block route closest to the block route from the standard route sequence; Identifying the vertical heading direction of the area to be built of the photovoltaic power station, wherein the vertical heading direction refers to a direction perpendicular to the heading; The block route is translated to the adjacent block route along the vertical heading direction to obtain a merged route sequence.

8. The multi-dimensional coupling modeling method of unmanned aerial vehicles for photovoltaic power stations according to claim 7, characterized in that: The aerial photography frequency of the route section is calculated according to the multi-dimensional merge value to obtain multiple groups of aerial photography frequency sequences, including: Obtaining an initial aerial photography frequency, and calculating the aerial photography frequency of the route section using a pre-constructed aerial photography frequency formula according to the initial aerial photography frequency and a multi-dimensional merged value, to obtain an aerial photography frequency sequence; The aerial photography frequency sequences of each segmented route in the segmented route sequence are collected to obtain multiple groups of aerial photography frequency sequences.

9. The multi-dimensional coupling modeling method of unmanned aerial vehicle for photovoltaic power station according to claim 8, characterized in that: The aerial photography image set is obtained by performing drone photography of the area to be built of the photovoltaic power station according to the multiple groups of aerial photography frequency sequences, including: Obtaining an initial aerial photography location of the area where the photovoltaic power station is to be built; Identify an initial route section where the initial aerial photography location is located, and extract an initial aerial photography frequency corresponding to the initial route section from the multiple groups of aerial photography frequency sequences; According to the initial aerial photography frequency and the preset standard speed, the area to be built of the photovoltaic power station is photographed by drone and the real-time aerial photography position is monitored, wherein the real-time aerial photography position refers to the real-time navigation position of the drone during the process of photographing the area to be built of the photovoltaic power station by drone; Determining whether drone photography of the photovoltaic power station to be built area is completed according to the real-time aerial photography location; If the drone photography of the photovoltaic power station to be built area has not been completed, the initial aerial photography location is updated using the real-time aerial photography location and the process returns to the step of identifying the initial route section where the initial aerial photography location is located; If the drone photography of the photovoltaic power station to be built area is completed, an aerial image set is obtained.

10. A multi-dimensional coupling modeling system of unmanned aerial vehicles for photovoltaic power stations, characterized in that: The system comprises: The block shooting intensity set acquisition module is used to acquire the area where the photovoltaic power station is to be built, divide the area where the photovoltaic power station is to be built into blocks, and obtain the set of blocks where the photovoltaic power station is to be built; assign shooting intensity to the blocks where the photovoltaic power station is to be built in the set of blocks where the photovoltaic power station is to be built, and obtain the block shooting intensity set; The block route sequence set acquisition module is used to obtain the single-frame shooting area of ​​the drone, and calculate the block aerial photography airspace of the block to be built of the photovoltaic power station according to the single-frame shooting area area; calculate the block route sequence of the block aerial photography airspace according to the block shooting intensity of the block to be built of the photovoltaic power station, and obtain the block route sequence set; A plurality of aerial photography frequency sequence calculation modules are used to obtain a standard route sequence, perform route proximity multi-dimensional coupling on a block route sequence set according to the standard route sequence, and obtain a merged route sequence, wherein the route proximity multi-dimensional coupling refers to translating the block routes in the block route sequence set to the nearest standard route along the vertical heading direction; segment the merged routes in the merged route sequence to obtain a segmented route sequence, wherein each segmented route in the segmented route sequence contains n route segments, and the length of the route segment is equal to m times the length of the block route; count the multi-dimensional merging value of each route segment in the segmented route, calculate the aerial photography frequency of the route segment according to the multi-dimensional merging value, and obtain a plurality of aerial photography frequency sequences, wherein the multi-dimensional merging value refers to the number of block routes merged into the route segment; The aerial image set three-dimensional reconstruction module is used to perform drone photography of the photovoltaic power station to be built area according to multiple groups of aerial photography frequency sequences to obtain an aerial image set; perform three-dimensional reconstruction based on the aerial image set to obtain a three-dimensional reconstruction model of the photovoltaic power station to be built area.

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