Multi-dimensional Coupled Modeling Method and System of Unmanned Aerial Vehicle for Photovoltaic Power Station

Abstract

The present invention relates to the technical field of UAV surveying, and a multi-dimensional coupling modeling method and system for UAVs used in photovoltaic power stations, including: calculating the aerial survey airspace of a block according to the area of a single-frame shooting area, calculating the block flight route sequence of the aerial survey airspace of the block to obtain a set of block flight route sequences, performing multi-dimensional coupling of flight route proximity on the set of block flight route sequences according to a standard flight route sequence to obtain a merged flight route sequence, segmenting the merged flight route to obtain a segmented flight route sequence, counting the multi-dimensional merging values of flight route sections, calculating multiple groups of aerial survey frequency sequences according to the multi-dimensional merging values, performing UAV shooting on the area to be built of the photovoltaic power station according to the multiple groups of aerial survey frequency sequences to obtain an aerial image set, and performing three-dimensional reconstruction according to the aerial image set to obtain a three-dimensional reconstruction model of the area to be built of the photovoltaic power station. The present invention can improve the environmental survey efficiency and survey accuracy of distributed photovoltaic power stations.

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 a UAV used in a photovoltaic power station. 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 shading 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 a UAV used in a photovoltaic power station, and its main purpose is to improve the environmental survey efficiency and survey accuracy of a distributed photovoltaic power station.

[0005] To achieve the above object, a multi-dimensional coupling modeling method for a UAV used in a photovoltaic power station provided by the present invention includes:

[0006] 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;

[0007] 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;

[0008] 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;

[0009] Calculate the block route sequence of the aerial photography airspace of the blocks to be built according to the block shooting intensity of the blocks to be built of the photovoltaic power station to obtain a set of block route sequences;

[0010] 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 refers to translating the block routes in the set of block route sequences along the vertical course direction to the nearest standard route;

[0011] Segment the merged routes in the merged route sequence to obtain a segmented route sequence, where each segmented route in the segmented route sequence contains n route segments, and the length of a route segment is m times the length of a block route;

[0012] 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 based on the multi-dimensional merging value 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;

[0013] 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;

[0014] 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.

[0015] Optionally, the partitioning 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:

[0016] According to the preset modeling accuracy, use the pre-constructed block area formula to calculate the block area, where the block area formula is as follows:

[0017] ;

[0018] Wherein, represents the block area, represents the block partitioning weight, represents the block exponent base, represents the modeling accuracy;

[0019] Construct a block segmentation grid according to the block area, and use the block segmentation grid to partition 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.

[0020] 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:

[0021] Obtain the standard aerial photography map of the area to be built of the photovoltaic power station;

[0022] Identify the map of the block to be built of the photovoltaic power station in the standard aerial photography map;

[0023] Identify the installation image area where photovoltaic panels can be installed in the map of the block to be built;

[0024] Calculate the installation area of the installation image area and identify the block area of the map of the block to be built;

[0025] Calculate the proportion of the installation area in the to-be-built block diagram according to the area of the installation area and the area of the block area;

[0026] According to the proportion of the installation area, use the pre-constructed shooting intensity formula to calculate the block shooting intensity of the to-be-built block of the photovoltaic power station, and obtain a set of block shooting intensities, where the shooting intensity formula is as follows:

[0027] ;

[0028] Among them, represents the block shooting intensity, represents the shooting intensity weight, represents the block logarithm base, represents the proportion of the installation area.

[0029] Optionally, the obtaining of the single-frame shooting area of the drone includes:

[0030] According to the modeling accuracy, use the pre-constructed aerial photography height formula to calculate the aerial photography height, where the aerial photography height formula is as follows:

[0031] ;

[0032] Among them, represents the aerial photography height, represents the aerial photography height weight, represents the aerial photography height threshold, represents the natural constant;

[0033] Perform fixed-height shooting on the to-be-built area of the photovoltaic power station according to the aerial photography height, and obtain a fixed-height shooting area image, where the fixed-height shooting area image is a square image;

[0034] Identify 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 single-frame shooting area.

[0035] Optionally, the calculation of the block aerial photography airspace of the to-be-built block of the photovoltaic power station according to the single-frame shooting area includes:

[0036] Identify the first block vertex, the second block vertex, the third block vertex, and the fourth block vertex of the to-be-built block of the photovoltaic power station;

[0037] Identify 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 respectively, where the first vertex site, the second vertex site, the third vertex site, and the fourth vertex site 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;

[0038] 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 area according to the side length of the single-frame shooting area;

[0039] Calculate the first area vertex using the preset first area orientation according to the diagonal length of the single-frame shooting area and the third vertex site;

[0040] Calculate the second area vertex using the preset second area orientation according to the diagonal length of the single-frame shooting area and the fourth vertex site;

[0041] Calculate the third area vertex using the preset third area orientation according to the diagonal length of the single-frame shooting area and the first vertex site;

[0042] Calculate the fourth area vertex using the preset fourth area orientation according to the diagonal length of the single-frame shooting area and the second vertex site;

[0043] Determine the aerial photography projection area according to the first area vertex, the second area vertex, the third area vertex, and the fourth area vertex;

[0044] 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.

[0045] Optionally, calculating the block flight path 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 to obtain a block flight path sequence set, including:

[0046] Calculate the flight path spacing using the pre-constructed flight path spacing formula according to the block shooting intensity, where the flight path spacing formula is as follows:

[0047] ;

[0048] Wherein, represents the flight path spacing, represents the flight path spacing weight, represents the flight path index base;

[0049] Identify the airspace course boundary line position of the aerial photography airspace of the block, and calculate the block route line position sequence using the pre-constructed block route formula according to the airspace course boundary line position and the route spacing, where the block route formula is as follows:

[0050] ;

[0051] Wherein, represents the th block route line position in the block route line position sequence, represents the airspace course boundary line position;

[0052] Determine the block route sequence according to the block route line position sequence to obtain the block route sequence set.

[0053] Optionally, the multi-dimensional coupling of the block route sequence set according to the standard route sequence to obtain the merged route sequence includes:

[0054] Extract the block routes in the block route sequence set in turn, and extract the adjacent block routes closest to the block route in the standard route sequence;

[0055] Identify the vertical course direction of the area to be built of the photovoltaic power station, where the vertical course direction refers to the direction perpendicular to the course;

[0056] Translate the block route along the vertical course direction to the adjacent block route to obtain the merged route sequence.

[0057] Optionally, the calculation of the aerial photography frequency of the route section according to the multi-dimensional merging value to obtain multiple groups of aerial photography frequency sequences includes:

[0058] Obtain the initial aerial photography frequency, and calculate the aerial photography frequency of the route section using the pre-constructed aerial photography frequency formula according to the initial aerial photography frequency and the multi-dimensional merging value to obtain the aerial photography frequency sequence, where the aerial photography frequency formula is as follows:

[0059] ;

[0060] Wherein, represents the aerial photography frequency, represents the initial aerial photography frequency, represents the aerial photography index base, represents the multi-dimensional merging value;

[0061] Collect the aerial photography frequency sequences of each segmented route in the segmented route sequence to obtain multiple groups of aerial photography frequency sequences.

[0062] Optionally, performing drone 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, including:

[0063] Obtaining an initial aerial photography site of the area to be built of the photovoltaic power station;

[0064] Identifying an initial flight path section where the initial aerial photography site is located, and extracting an initial aerial photography frequency corresponding to the initial flight path section from the multiple groups of aerial photography frequency sequences;

[0065] Performing drone shooting on the area to be built of the photovoltaic power station according to the initial aerial photography frequency and a preset standard flight speed, and monitoring a real-time aerial photography site, where the real-time aerial photography site refers to the real-time navigation site of the drone during the process of performing drone shooting on the area to be built of the photovoltaic power station;

[0066] Judging 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;

[0067] If the drone shooting of the area to be built of the photovoltaic power station is not completed, updating the initial aerial photography site with the real-time aerial photography site and returning to the step of identifying the initial flight path section where the initial aerial photography site is located;

[0068] If the drone shooting of the area to be built of the photovoltaic power station is completed, obtaining an aerial photography image set.

[0069] To achieve the above object, the present invention further provides a drone multi-dimensional coupling modeling system for a photovoltaic power station, including:

[0070] A block shooting intensity set obtaining module, configured 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;

[0071] A block flight path sequence set obtaining module, configured 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;

[0072] 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 merge values of each route section in the segmented route, and calculating the aerial photography frequency of the route section according to the multi-dimensional merge values to obtain a multi-group aerial photography frequency sequence. Among them, the multi-dimensional merge value refers to the number of block routes merged into the route section.

[0073] An aerial photography image set three-dimensional reconstruction module, which 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.

[0074] To solve the above problems, the present invention also provides an electronic device, and the electronic device includes:

[0075] A memory that stores at least one instruction; and a processor that executes the instruction stored in the memory to implement the above-mentioned unmanned aerial vehicle multi-dimensional coupling modeling method for a photovoltaic power station.

[0076] 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 unmanned aerial vehicle multi-dimensional coupling modeling method for a photovoltaic power station.

[0077] 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 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. 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, 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 multi-dimensional coupling of the 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. 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 merging values of each flight path section in the segmented flight path. Since the larger the multi-dimensional merging value, the greater the aerial photography intensity, the aerial photography frequency of the flight path section can be calculated according to the multi-dimensional merging value to obtain multiple sets of aerial photography frequency sequences. Among them, the multi-dimensional merging 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

[0078] Figure 1 FIG. 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;

[0079] Figure 2 FIG. is a schematic diagram of a block flight path and a standard flight path provided by an embodiment of the present invention;

[0080] Figure 3 FIG. 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;

[0081] Figure 4 FIG. 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.

[0082] Description of reference numerals:

[0083] 1. Electronic device; 10. Processor; 11. Memory; 12. Bus.

[0084] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0085] 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.

[0086] The embodiment of the present application provides a method for multi-dimensional coupling modeling of unmanned aerial vehicles for photovoltaic power stations. The execution subject of the method for multi-dimensional coupling modeling of unmanned aerial vehicles for photovoltaic power stations includes but is not limited to at least one of the electronic devices such as a server and a terminal that can be configured to execute the method provided by the embodiment of the present application. In other words, the method for multi-dimensional coupling modeling of unmanned aerial vehicles for photovoltaic power stations 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.

[0087] Reference Figure 1 FIG. 1 is a flow chart of a multi-dimensional coupling modeling method for a UAV used in a photovoltaic power station provided by an embodiment of the present invention. In this embodiment, the multi-dimensional coupling modeling method for a UAV used in a photovoltaic power station includes:

[0088] S1. Obtain an area where a 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.

[0089] Furthermore, the area where the photovoltaic power station is to be built refers to the area where the design and installation of solar photovoltaic panels and the construction of distributed photovoltaic power stations are required. Since it is necessary to design and install solar photovoltaic panels on the roofs of residential areas, it is necessary to survey the roofs of residential areas to obtain detailed information about the roofs, including parameters such as the roof structure size, the orientation and height of the house, and the access distance between the roof and the power grid, so as to design and install solar photovoltaic panels on the roof. The set of blocks to be built for the photovoltaic power station refers to multiple block areas obtained after the area where the photovoltaic power station is to be built is divided into blocks.

[0090] In the embodiment of the present invention, the block division of the area to be built of the photovoltaic power station to obtain the block set to be built of the photovoltaic power station includes:

[0091] According to the preset modeling accuracy, the block area is calculated using the pre-built block area formula, where the block area formula is as follows:

[0092] ;

[0093] Among them, represents the block area, represents the block division weight, represents the block index base, represents the modeling accuracy;

[0094] 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. Among them, the block segmentation grid is a square grid.

[0095] 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, and can be: 1, 2, 3, 4, 5. The block area refers to the area of a single block obtained by 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.

[0096] 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.

[0097] 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.

[0098] 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:

[0099] Obtain the standard aerial photo of the area to be built of the photovoltaic power station;

[0100] Identify the block diagram to be built of the block to be built of the photovoltaic power station in the standard aerial photo;

[0101] Identify the installation image area where photovoltaic panels can be installed in the block diagram to be built;

[0102] Calculate the installation area of the installation image area, and identify the block area of the block diagram to be built;

[0103] Calculate the proportion of the installation area of the block diagram to be built according to the installation area and the block area;

[0104] 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. Among them, the shooting intensity formula is as follows:

[0105] ;

[0106] Among them, represents the block shooting intensity, represents the shooting intensity weight, represents the block logarithm base, represents the proportion of the installation area.

[0107] It should be understood that the standard aerial photo refers to an aerial photo that completely contains the area to be built of the photovoltaic power station. The to-be-built block map refers to the image block corresponding to the to-be-built block of the photovoltaic power station in the standard aerial photo. The installable image area for installing photovoltaic panels can be the roof area in the standard aerial photo that is larger than the preset area threshold. The installation area refers to the area of the installable image area, and the block area refers to the area of the to-be-built block map. The proportion of the installation area refers to the ratio of the installation area to the block area.

[0108] S3. Obtain the area of a 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.

[0109] It can be understood that the area of the single-frame shooting area refers to the area corresponding to the single-frame image in the area to be built of the photovoltaic power station after shooting the area to be built of the photovoltaic power station at a preset aerial photography height. The aerial photography airspace of the block refers to the airspace that can shoot the to-be-built block of the photovoltaic power station at the aerial photography height.

[0110] In the embodiment of the present invention, the obtaining of the area of the single-frame shooting area of the drone includes:

[0111] According to the modeling accuracy, use the pre-constructed aerial photography height formula to calculate the aerial photography height, where the aerial photography height formula is as follows:

[0112] ;

[0113] Among them, represents the aerial photography height, represents the aerial photography height weight, represents the aerial photography height threshold, represents the natural constant;

[0114] Perform 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;

[0115] Identify the area of the image area corresponding to the fixed-height shooting area image in the area to be built of the photovoltaic power station, and use the image area as the area of the single-frame shooting area.

[0116] Further, the fixed-height shooting refers to shooting the area to be built of the photovoltaic power station while keeping the aerial shooting height unchanged. The fixed-height shooting area image refers to the area image obtained by shooting the area to be built of the photovoltaic power station at the aerial shooting height. The image area refers to the actual area of the fixed-height shooting area image corresponding to the area to be built of the photovoltaic power station.

[0117] In the embodiment of the present invention, calculating the aerial shooting airspace of the block to be built of the photovoltaic power station according to the area of a single-frame shooting area includes:

[0118] 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;

[0119] 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;

[0120] 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 according to the side length of the single-frame shooting area;

[0121] Calculating the first area vertex by using the preset first area orientation according to the diagonal length of the single-frame shooting and the third vertex position;

[0122] Calculating the second area vertex by using the preset second area orientation according to the diagonal length of the single-frame shooting and the fourth vertex position;

[0123] Calculating the third area vertex by using the preset third area orientation according to the diagonal length of the single-frame shooting and the first vertex position;

[0124] Calculating the fourth area vertex by using the preset fourth area orientation according to the diagonal length of the single-frame shooting and the second vertex position;

[0125] Determining the aerial shooting projection area according to the first area vertex, the second area vertex, the third area vertex and the fourth area vertex;

[0126] Determining the aerial shooting airspace of the block according to the aerial shooting projection area and the aerial shooting height, wherein the vertical distance between the aerial shooting airspace and the aerial shooting projection area is the aerial shooting height.

[0127] It is understandable that the first block vertex, the second block vertex, the third block vertex, and the fourth block vertex respectively refer to the first block vertex, the second block vertex, the third block vertex, and the fourth block vertex of the block to be built in the photovoltaic power station. Since the block to be built in the photovoltaic power station is a square block, there are 4 block vertices in the block to be built in the photovoltaic power station. The first vertex site, the second vertex site, the third vertex site, and the fourth vertex site 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 in the photovoltaic power station. Refer to Figure 2 As shown, when the block to be built in the photovoltaic power station is square ABCD, the first block vertex, the second block vertex, the third block vertex, and the fourth block vertex are respectively the four vertices A, B, C, and D, and the first area vertex, the second area vertex, the third area vertex, and the fourth area vertex are respectively a, b, c, and d, and the aerial photography projection area is the quadrilateral abcd area.

[0128] 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 2 the distance lengths between a and C; b and D; c and A; or d and B in Figure 2 As shown in, the azimuth of the first area refers to the azimuth of the first area vertex relative to the third block vertex. Refer to

[0129] Specifically, the azimuth of the second area refers to the azimuth of the second area vertex relative to the fourth block vertex, the azimuth of the third area refers to the azimuth of the third area vertex relative to the first block vertex, and the azimuth of the fourth area refers to the azimuth of the fourth area vertex relative to the second block vertex. The first area vertex, the second area vertex, the third area vertex, and the fourth area vertex respectively refer to the four vertices of the aerial photography projection area. Since the image of the fixed-height shooting area is a square image, the aerial photography projection area is also a square area. Since the aerial photography projection area is a square area, the aerial block airspace for photography is a square airspace with an area equal to that of the aerial photography projection area and a vertical distance equal to the aerial photography height.

[0130] Further, when the azimuth of the first region is 45 degrees south by west, and the vertices of the first block, the second block, the third block, and the fourth block are sorted counterclockwise, and the vertices of the first region, the second region, the third region, and the fourth region are also sorted counterclockwise, the azimuth of the second region can be 45 degrees east by south, the azimuth of the third region can be 45 degrees north by east, and the azimuth of the fourth region can be 45 degrees west by north.

[0131] S4. Calculate the block route sequence of the aerial photography airspace of the photovoltaic power station to be built according to the block shooting intensity of the photovoltaic power station to be built, and obtain a block route sequence set.

[0132] It is understandable that the block route sequence refers to the route sequence planned to photograph the photovoltaic power station to be built, and the block route sequence set refers to the set of route sequences planned to photograph each photovoltaic power station to be built. The block route sequence can refer to Figure 2 the directed line segment sequence in

[0133] In the embodiment of the present invention, calculating the block route sequence of the aerial photography airspace of the photovoltaic power station to be built according to the block shooting intensity of the photovoltaic power station to be built and obtaining a block route sequence set includes:

[0134] 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:

[0135] ;

[0136] where represents the route spacing, represents the route spacing weight, represents the route index base;

[0137] Identify the airspace course boundary line position of the block aerial photography airspace, and according to the airspace course boundary line position and the route spacing, use the pre-constructed block route formula to calculate the block route line position sequence, where the block route formula is as follows:

[0138] ;

[0139] where represents the th block route line position in the block route line position sequence, represents the airspace course boundary line position;

[0140] Determine the block route sequence according to the block route line position sequence, and obtain a block route sequence set.

[0141] It is understandable that the route spacing refers to the spacing between adjacent block routes in the block route sequence. The airspace heading boundary line position refers to the position of the starting aerial photography boundary line of the block aerial photography airspace. Refer to Figure 2 , and the airspace heading boundary line position can be the directed line segment ad.

[0142] S5. Obtain the standard route sequence, and perform route proximity multi-dimensional coupling on the block route sequence set according to the standard route sequence to obtain the merged route sequence.

[0143] Specifically, route proximity multi-dimensional coupling means translating the block routes in the block route sequence set along the vertical heading direction into the nearest standard route.

[0144] It is understandable that the standard route sequence refers to a sequence composed of preset standard routes for photographing the area to be built of the photovoltaic power station. Refer to the four standard routes g1, g2, g3, and g4 in Figure 2 . The distance between adjacent standard routes in the standard route sequence is greater than the distance between adjacent block routes in the block route sequence. The merged route sequence refers to the route sequence obtained after translating the block routes along the vertical heading direction into the nearest standard route. The vertical heading direction refers to the direction perpendicular to the heading. For example, when the heading direction is the ad direction, the vertical heading direction is perpendicular to the ad direction. At this time, during the process of route proximity multi-dimensional coupling, it is necessary to Figure 2 translate the block routes in Figure 2 along the vertical heading direction into the nearest standard route. There are a total of 9 block routes. For example, translate the first block route into g1. The first block route refers to Figure 2 the first block route counted from left to right in

[0145] In the embodiment of the present invention, the 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:

[0146] Extract block routes in the block route sequence set in sequence, and extract the nearest adjacent block route to the block route in the standard route sequence;

[0147] Identify the vertical heading direction of the area to be built of the photovoltaic power station, where the vertical heading direction refers to the direction perpendicular to the heading;

[0148] Translate the block route along the vertical heading direction to the adjacent block route to obtain the merged route sequence.

[0149] S6. Segment the merged routes in the merged route sequence to obtain a segmented route sequence.

[0150] 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.

[0151] Further, each segmented route in the segmented route sequence includes n route sections, the length of the route section is 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 with a photovoltaic power station is equal to the product of the voyage of the block route, m, and n.

[0152] 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 3 times the length of the block route. 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 direction. For example: Figure 2 the voyage of the standard route corresponding to g1 in

[0153] S7. Statistically calculate the multi-dimensional merging value of each route section in the segmented route, and calculate the aerial photography frequency of the route section according to the multi-dimensional merging value to obtain multiple groups of aerial photography frequency sequences.

[0154] Specifically, the multi-dimensional merging 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.

[0155] In the embodiment of the present invention, calculating the aerial photography frequency of the route section according to the multi-dimensional merging value to obtain multiple groups of aerial photography frequency sequences includes:

[0156] Obtain the initial aerial photography frequency. According to the initial aerial photography frequency and the multi-dimensional merging value, use a pre-constructed aerial photography frequency formula to calculate the aerial photography frequency of the route section to obtain an aerial photography frequency sequence, where the aerial photography frequency formula is as follows:

[0157] ;

[0158] where 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;

[0159] Collect the aerial photography frequency sequences of each segmented route in the segmented route sequence to obtain multiple groups of aerial photography frequency sequences.

[0160] It is understandable that the initial aerial photography frequency refers to the initially set aerial photography frequency, for example: 3 frames / s.

[0161] S8. Perform drone photography 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.

[0162] It is understandable that the aerial photography image set refers to the set of aerial photography images obtained after performing drone photography on the area to be built of the photovoltaic power station according to the aerial photography frequency and the corresponding route section.

[0163] In the embodiment of the present invention, the performing drone photography 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:

[0164] Obtain the initial aerial photography position of the area to be built of the photovoltaic power station;

[0165] Identify the initial route section where the initial aerial photography position is located, and extract the initial aerial photography frequency corresponding to the initial route section from the multiple groups of aerial photography frequency sequences;

[0166] Perform drone photography 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 position, where the real-time aerial photography position refers to the real-time navigation position of the drone during the process of performing drone photography on the area to be built of the photovoltaic power station;

[0167] Judge whether the drone photography of the area to be built of the photovoltaic power station is completed according to the real-time aerial photography position;

[0168] If the drone photography of the area to be built of the photovoltaic power station is not completed, update the initial aerial photography position with the real-time aerial photography position and return to the step of identifying the initial route section where the initial aerial photography position is located;

[0169] If the drone photography of the area to be built of the photovoltaic power station is completed, obtain the aerial photography image set.

[0170] It should be understood that the initial aerial photography position refers to the starting take-off position for photographing the area to be built of the photovoltaic power station. The initial route section refers to the route section where the initial aerial photography position is located.

[0171] S9. 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.

[0172] Further, the aerial image set can be imported into the Smart3D software for 3D reconstruction. By performing aerial triangulation to calculate the camera projection matrix, establishing a point cloud model, and 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. Finally, appropriate texture patches are matched on the TIN grid and the 3D reconstruction model is generated. 3D reconstruction based on the aerial image set is a prior art and will not be elaborated here.

[0173] To solve the problems described in the background art, the present invention first needs to determine the shooting intensity of each to-be-built block of the 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 to-be-built area of the photovoltaic power station, then divide the to-be-built area of the photovoltaic power station into blocks to obtain a set of to-be-built blocks of the photovoltaic power station, and then assign shooting intensity values to the to-be-built blocks in the set of to-be-built blocks of the photovoltaic power station to obtain a set of shooting intensities of the blocks. When setting the block flight path sequence, it is necessary to first obtain the single-frame shooting area of the unmanned aerial vehicle, and then calculate the aerial shooting airspace of the to-be-built block of the photovoltaic power station according to the single-frame shooting area. At this time, the block flight path sequence of the aerial shooting airspace of the to-be-built block of the photovoltaic power station can be calculated according to the shooting intensity of the to-be-built block of 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 shooting frequency of the flight path section. First, obtain the standard flight path sequence. Since the unmanned aerial vehicle needs to perform aerial shooting 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, multi-dimensional coupling of the flight path proximity means 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 shooting intensity, the aerial shooting frequency of the flight path section can be calculated according to the multi-dimensional merged value to obtain multiple sets of aerial shooting frequency sequences. Among them, the multi-dimensional merged value refers to the number of block flight paths merged into the flight path section. Finally, the to-be-built area of the photovoltaic power station is photographed by the unmanned aerial vehicle according to multiple sets of aerial shooting frequency sequences to obtain an aerial image set; 3D reconstruction is performed according to the aerial image set to obtain a 3D reconstruction model of the to-be-built area of the photovoltaic power station. Therefore, the present invention can improve the environmental investigation efficiency and investigation accuracy of distributed photovoltaic power stations.

[0174] As Figure 3 shown, 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.

[0175] The UAV multi-dimensional coupling modeling system 100 for a photovoltaic power station according to the present invention can be installed in an electronic device. According to the functions achieved, the UAV 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, multiple groups of aerial photography frequency sequence calculation modules 103, and an aerial photography image set three-dimensional reconstruction module 104. The modules 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.

[0176] 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;

[0177] The block flight path sequence set acquisition module 102 is used to obtain the area of a single-frame shooting area of the UAV, 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;

[0178] The multiple groups of aerial photography frequency sequence calculation modules 103 are 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 means 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 contains 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 multiple groups of aerial photography frequency sequences, where the multi-dimensional merged value refers to the number of block flight paths merged into the flight path segment;

[0179] The aerial photography image set three-dimensional reconstruction module 104 is used to perform 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; 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.

[0180] Specifically, each module in the UAV multi-dimensional coupling modeling system 100 for a photovoltaic power station in the embodiment of the present invention adopts the same technical means as those Figure 1 described in the UAV multi-dimensional coupling modeling method for a photovoltaic power station described above, and can produce the same technical effects, which will not be elaborated here.

[0181] As Figure 4 shown, it is a schematic structural diagram of an electronic device for implementing a multi-dimensional coupling modeling method of an unmanned aerial vehicle for a photovoltaic power station provided by an embodiment of the present invention.

[0182] The electronic device 1 may include a processor 10, a memory 11, and a bus 12, and may also include a computer program stored in the memory 11 and executable on the processor 10, such as a program for the multi-dimensional coupling modeling method of an unmanned aerial vehicle for a photovoltaic power station.

[0183] 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 disc, 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 also includes an external storage device. The memory 11 can be used not only to store application software installed on the electronic device 1 and various types of data, such as the code of the program for the multi-dimensional coupling modeling method of an unmanned aerial vehicle for a photovoltaic power station, but also to temporarily store data that has been output or will be output.

[0184] 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 lines, and by running or executing programs or modules stored in the memory 11 (such as the program for the multi-dimensional coupling modeling method of an unmanned aerial vehicle for a photovoltaic power station, etc.), and calling data stored in the memory 11, to perform various functions of the electronic device 1 and process data.

[0185] 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 the connection and communication between the memory 11 and at least one processor 10, etc.

[0186] 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 a different component arrangement.

[0187] 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 charging management, discharging 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.

[0188] 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.

[0189] 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.

[0190] 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:

[0191] 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;

[0192] Assign shooting intensities to the blocks to be built in the photovoltaic power station in the set of blocks to be built in the photovoltaic power station, and obtain a set of block shooting intensities;

[0193] Obtain the area of a single-frame shooting area of the drone, and calculate the aerial photography airspace of the blocks to be built in the photovoltaic power station according to the area of the single-frame shooting area;

[0194] Calculate the block route sequence of the aerial photography airspace of the blocks to be built in the photovoltaic power station according to the block shooting intensity of the blocks to be built in the photovoltaic power station, and obtain a set of block route sequences;

[0195] 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. 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;

[0196] Segment the merged routes in the merged route sequence to obtain a segmented route sequence. Here, each segmented route in the segmented route sequence contains n route segments, and the length of the route segment is m times the length of the block route;

[0197] 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 sets of aerial photography frequency sequences. Here, the multi-dimensional merging value refers to the number of block routes merged into the route segment;

[0198] Perform drone shooting on the area to be built in the photovoltaic power station according to the multiple sets of aerial photography frequency sequences to obtain a set of aerial photography images;

[0199] 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 in the photovoltaic power station.

[0200] 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 embodiment, which will not be elaborated here.

[0201] Furthermore, 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, a recording medium, a USB flash drive, a mobile hard disk, a magnetic disk, an optical disc, a computer memory, a read-only memory (ROM, Read-Only Memory).

[0202] The present invention also provides a computer-readable storage medium storing a computer program, which when executed by a processor of an electronic device, can implement:

[0203] Obtain the area to be built for a photovoltaic power station, divide the area to be built for the photovoltaic power station into blocks, and obtain a set of blocks to be built for the photovoltaic power station;

[0204] Assign shooting intensities to the blocks to be built for the photovoltaic power station in the set of blocks to be built for the photovoltaic power station, and obtain a set of block shooting intensities;

[0205] Obtain the area of a single-frame shooting area of the unmanned aerial vehicle, and calculate the aerial photography airspace of the blocks to be built for the photovoltaic power station according to the area of the single-frame shooting area;

[0206] Calculate the block flight path sequence of the aerial photography airspace of the blocks to be built for the photovoltaic power station according to the block shooting intensity of the blocks to be built for the photovoltaic power station, and obtain a set of block flight path sequences;

[0207] 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 means translating the block flight paths in the set of block flight path sequences along the vertical flight direction to the nearest standard flight path;

[0208] 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;

[0209] Statistically calculate the multi-dimensional merged value 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 value to obtain multiple sets of aerial photography frequency sequences, where the multi-dimensional merged value refers to the number of block flight paths merged into the flight path segment;

[0210] 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 a set of aerial photography images;

[0211] 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 for the photovoltaic power station.

[0212] 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 merely illustrative, and there may be other partitioning methods in actual implementation.

[0213] 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 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.

[0214] In addition, each functional module in various embodiments of the present invention can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated unit can be implemented in the form of hardware or in the form of a hardware plus software functional module.

[0215] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above 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.

[0216] 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 for an unmanned aerial vehicle in a photovoltaic power station, characterized in that The method includes: Obtain the area to be built for the photovoltaic power station, divide the area to be built for the photovoltaic power station into blocks, and obtain a set of blocks to be built for the photovoltaic power station; Assign shooting intensities to the blocks to be built in the set of blocks to be built for the photovoltaic power station, and obtain a set of block shooting intensities; Obtain the area of a single-frame shooting area of the unmanned aerial vehicle, and 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; Calculate the block flight path sequence of the aerial photography airspace according to the block shooting intensity of the block to be built for the photovoltaic power station, and obtain a set of block flight path sequences; Obtain a standard flight path sequence, and 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, where 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; 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 calculate the multi-dimensional merge value 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 merge value to obtain multiple sets of aerial photography frequency sequences, where the multi-dimensional merge value refers to the number of block flight paths merged into the flight path segment; 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 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 for the photovoltaic power station.

2. The multi-dimensional coupling modeling method for drones used in a photovoltaic power station according to claim 1, characterized in that, The step of dividing 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 includes: Calculate the block area according to a preset modeling accuracy and using a pre-constructed block area formula; Construct a block segmentation grid according to the block area, and use the block segmentation grid to 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, where the block segmentation grid is a square grid.

3. The method for multi-dimensional coupled modeling of an unmanned aerial vehicle for a photovoltaic power station according to claim 2, wherein, The step of assigning shooting intensities to the blocks to be built in the set of blocks to be built for 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 for the photovoltaic power station; Identify the block map to be built of the block to be built for 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 area of the installation area in the installation image area, and identify the area of the block area in the block map to be built; Calculate the proportion of the installation area in the block map to be built according to the area of the installation area and the area of the block area; Calculate the block shooting intensity of the block to be built for the photovoltaic power station according to the proportion of the installation area using a pre-constructed shooting intensity formula to obtain a set of block shooting intensities.

4. The method for multi-dimensional coupling modeling of an unmanned aerial vehicle for a photovoltaic power station according to claim 3, wherein The step of obtaining the area of a single-frame shooting area of the unmanned aerial vehicle includes: Calculate the aerial photography height according to the modeling accuracy and using a pre-constructed aerial photography height formula; Perform fixed-height shooting on the area to be built for 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 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 single-frame shooting area area.

5. The method for multi-dimensional coupled modeling of an unmanned aerial vehicle for a photovoltaic power station according to claim 4, wherein The calculation of the aerial photography airspace of the to-be-built block of the photovoltaic power station according to the single-frame shooting area area includes: Identify the first block vertex, the second block vertex, the third block vertex, and the fourth block vertex of the to-be-built block of the photovoltaic power station; Identify 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 respectively, 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 to-be-built area of the photovoltaic power station; Calculate the side length of the single-frame shooting area according to the single-frame shooting area 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 single-frame shooting diagonal length and the third vertex position; Calculate the second area vertex using the preset second area orientation according to the single-frame shooting diagonal length and the fourth vertex position; Calculate the third area vertex using the preset third area orientation according to the single-frame shooting diagonal length and the first vertex position; Calculate the fourth area vertex using the preset fourth area orientation according to the single-frame shooting diagonal length and the second vertex position; Determine 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, where the vertical distance between the aerial photography airspace of the block and the aerial photography projection area is the aerial photography height.

6. The multi-dimensional coupling modeling method for an unmanned aerial vehicle used in a photovoltaic power station according to claim 5, characterized in that, The calculation of the block flight path 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 to obtain a set of block flight path sequences includes: Calculate the flight path spacing using the pre-constructed flight path spacing formula according to the block shooting intensity; Identify the airspace course boundary line position of the aerial photography airspace of the block, and calculate the block flight path line position sequence using the pre-constructed block flight path formula according to the airspace course boundary line position and the flight path spacing; Determine the block flight path sequence according to the block flight path line position sequence to obtain a set of block flight path sequences.

7. The method for multi-dimensional coupled modeling of an unmanned aerial vehicle for a photovoltaic power station according to claim 6, wherein The multi-dimensional coupling of the flight path proximity of the block flight path sequence set according to the standard flight path sequence to obtain the merged flight path sequence includes: Sequentially extract the block flight paths in the block flight path sequence set, and extract the adjacent block flight path closest to the block flight path in the standard flight path sequence; Identify the vertical course direction of the to-be-built area of the photovoltaic power station, where the vertical course direction refers to the direction perpendicular to the course; Translate the block flight path along the vertical course direction to the adjacent block flight path to obtain the merged flight path sequence.

8. The method for multi-dimensional coupled modeling of an unmanned aerial vehicle for a photovoltaic power station according to claim 7, wherein, The calculation of the aerial photography frequency of the flight path section according to the multi-dimensional merging 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 path section, and obtain an aerial photography frequency sequence; 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.

9. The method for multi-dimensional coupled modeling of an unmanned aerial vehicle for a photovoltaic power station according to claim 8, wherein, Carry out UAV shooting on the area to be built of the photovoltaic power station according to multiple groups of aerial photography frequency sequences, and obtain an aerial photography image set, including: 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; Carry out 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, where 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, use the real-time aerial photography site to update the initial aerial photography site and return to the above step of identifying the initial flight path 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.

10. A drone multi-dimensional coupling modeling system for a photovoltaic power station, characterized in that, The system includes: 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 single-frame shooting area of the UAV, calculate the block aerial photography airspace of the block to be built of the photovoltaic power station according to 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 block 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 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 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 sections, and the length of the flight path section is m times the length of the block flight path; count the multi-dimensional merging values of each flight path section in the segmented flight path, and calculate the aerial photography frequency of the flight path section according to the multi-dimensional merging value to obtain multiple groups of aerial photography frequency sequences, where the multi-dimensional merging value refers to the number of block flight paths merged into the flight path section; An aerial photography image set three-dimensional reconstruction module, which is used to carry out 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; 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.

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