KR20190090100A - Solar module monitoring system using flight path generation algorithm and monitoring method of solar module using it - Google Patents

Abstract

The present invention relates to a solar module monitoring system using a flight path generation algorithm, and to a solar module monitoring method using the same. According to the present invention, the solar module monitoring system using a flight path generation algorithm comprises: a plurality of solar modules; an unmanned aerial vehicle equipped with a thermal imaging camera to photograph the solar modules; and a server generating a flight path of the unmanned aerial vehicle for photographing the solar modules. The server includes: a database (DB); an information obtaining unit obtaining a satellite image from a satellite and obtaining a coordinate system corresponding to the satellite image; an image processing unit detecting and separating the solar module from the satellite image; a coordinate extracting unit extracting photographing coordinates of the separated solar module; a path generating unit selecting an initial point among the photographing coordinates and generating a flight path at the shortest distance between the photographing coordinates by using a cost function; a control unit controlling the unmanned aerial vehicle to fly along the generated flight path; a path determining unit receiving GPS information from the unmanned aerial vehicle, determining whether the GPS information matches the photographing coordinates of the flight path, and storing a valid thermal image of thermal images received from the unmanned aerial vehicle when the GPS information matches the photographing coordinates; and an image analyzing unit detecting an abnormal solar module by analyzing the valid thermal image. The present invention automatically generates an optimum flight path to increase user convenience and can minimize time and costs by using an unmanned aerial vehicle.

Description

[0001] The present invention relates to a solar module monitoring system using a flight path generation algorithm and a solar module monitoring method using the same,

The present invention relates to a solar module monitoring system using a flight path generation algorithm and a solar module monitoring method using the same, and more particularly, to a solar module monitoring method using a satellite image to detect a solar module, The present invention relates to a monitoring system for a photovoltaic module using a flight path generation algorithm that generates an optimum flight path suitable for proper photographing conditions, and a method for monitoring a photovoltaic module using the same.

Solar power is attracting attention as an eco-friendly technology that converts solar energy into electric energy. As the price drops due to rapid technological development, demand is expanding, and a large number of solar power plants are formed.

At present, domestic solar power plants are approaching 10,000, and in the case of early solar power plants, the maintenance is becoming important in 7 to 8 years.

Since the maintenance of the solar power plant is directly related to the amount of power generation, research and development are being actively carried out to put a lot of time and human resources into the maintenance and to inspect the solar module.

Recently, unmanned aerial vehicles are rapidly emerging, and thermal imaging cameras are installed on unmanned aerial vehicles to capture thermal images of photovoltaic modules of solar power plants.

At this time, proper photographing conditions are required to obtain an effective thermal image using an unmanned aerial vehicle.

That is, it is necessary to set the flight path of the proper position of the UAV. Currently, it is difficult to generate the flight path suitable for the proper shooting conditions because the coordinates are manually set by the manpower and the flight path is generated. There is a problem that needs time.

In order to solve the above problems, the present invention provides a flight path generation algorithm for detecting a photovoltaic module using a satellite image for monitoring a photovoltaic module and generating an optimal flight path suitable for an appropriate shooting condition of an unmanned aerial vehicle And a method for monitoring a solar module using the same.

In order to solve the above problems, a solar module monitoring system using a flight path generation algorithm according to an embodiment of the present invention includes a plurality of solar modules; A server for generating a flight path of the unmanned aerial vehicle to photograph the photovoltaic module, the server comprising: a database (DB); An information obtaining unit obtaining a satellite image from a satellite and obtaining a coordinate system corresponding to the satellite image; An image processing unit for detecting and separating the solar module from the satellite image; A coordinate extracting unit for extracting the photographing coordinates of the separated solar modules; A path generating unit for selecting an initial point of the image pickup coordinates and generating a flight path at a shortest distance between the image pickup coordinates using a cost function; A controller for controlling the unmanned airplane to fly along the generated flight path; A path determination unit that receives GPS information from the unmanned airplane and determines whether or not the received GPS information coincides with the shooting coordinates of the flight path, and stores an effective thermal image in the thermal image received from the unmanned airplane when the coincidence matches, The present invention can provide a solar module monitoring system using a flight path generation algorithm including an image analysis unit for detecting an abnormal solar module.

Further, the information acquiring unit is further characterized by acquiring an initial condition including a one-time photographing area, an altitude, a photographing angle, a solar module installation angle, and a solar module installation height.

The image processing unit may include an RGB model unit for separating and binarizing only the blue component of the satellite image using the RGB model; An HSV model unit for separating and binarizing only the hue, saturation, and brightness information using the HSV model, and an image matching unit for matching the binarized images from the RGB model unit and the HSV model unit to separate the solar modules can do.

In addition, the RGB model unit may include: removing noise of the satellite image; Separating only the blue component of the noise-removed satellite image using the RGB model; Increasing the color contrast of only the blue component separated image; Performing a histogram smoothing of the image with the color contrast increased and a step of binarizing the histogram smoothed image.

In addition, the HSV model unit may include: removing noise of the satellite image; Increasing the color contrast of the noise-removed satellite image; Histogram smoothing the increased contrast image; Separating only the hue, saturation, and brightness information of the histogram smoothed image using the HSV model, and binarizing the separated image with only the hue, saturation, and brightness information.

The coordinate extracting unit may include a point coordinate extracting unit for extracting coordinates of a center point and four corner points of each photovoltaic module in the separated photovoltaic module, And a photographing coordinate extracting unit for extracting photographing coordinates of the image.

The photographing coordinate extraction unit calculates the azimuth angle using the coordinates of the center point and the four corner points and calculates the photographing altitude of the unmanned airplane and the photographing distance from the center point of the photovoltaic module using the initial condition, 1 and 2, respectively.

[Equation 1]

&Quot; (2) "

(Wherein, h is taken high, h _p is a solar module mounting height, h _c is high, dist from the photovoltaic module is taken away, β is a solar module mounting angle, θ is being shot angle of the thermal imager. )

The photographing coordinate extracting unit may extract the photographing coordinates through a linear equation using the azimuth angle, the coordinates of the center point, and the photographing distance.

Also, the path generating unit may repeatedly perform the calculation of the distance between the selected photographing coordinates and the other photographing coordinates using the cost function of Equation (3), and selecting the photographing coordinates of the shortest distance among the distances, And is performed from the shooting coordinates selected as the initial point.

&Quot; (3) "

(Where n _i is the selected imaging coordinate, n _j is the other imaging coordinate, C _dist is the n _i n is the distance between _j ).

A method for monitoring a solar module using a solar module monitoring system using a flight path generation algorithm according to an embodiment of the present invention, the method comprising: (a) acquiring a satellite image from a satellite and acquiring a coordinate system corresponding to the satellite image; ; (b) the server detecting and isolating a solar module in the satellite image; (c) receiving, by the server, an initial condition including one shot area, an altitude, a photographing angle, a solar module installation angle, and a solar module installation height; (d) extracting coordinates of a center point and four corner points of the photovoltaic module separated from the server, and extracting the photographing coordinates using coordinates and initial conditions of the center point and four corner points; (e) the server selects an initial point of the shooting coordinates and generates a flight path at a shortest distance between the shooting coordinates using a cost function; (f) transmitting the flight path to the unmanned airplane equipped with the thermal imaging camera, and shooting the photovoltaic module according to the flight path of the unmanned airplane; (g) receiving, by the server, GPS information from the unmanned airplane, determining whether the GPS information coincides with the coordinates of the flight path, storing a valid thermal image in the thermal image received from the unmanned airplane when the coincidence and h) the server analyzes the valid thermal image to detect the abnormal solar module.

The step (b) may include: a first binarization step of the server binarizing a satellite image using an RGB model; The server includes a second binarization step of binarizing the satellite image using the HSV model and a solar module detection step of separating the solar modules by matching the binarized images in the first binarization step and the second binarization step .

In addition, the first binarization step may include removing noise of the satellite image; Separating only the blue component of the noise-removed satellite image using the RGB model; Increasing the color contrast of only the blue component separated image; Histogram smoothing the image with the increased color contrast, and binarizing the histogram smoothed image.

In addition, the second binarization step may include removing noise of the satellite image; Increasing the color contrast of the noise-removed satellite image; Histogram smoothing the increased contrast image; Separating only the hue, saturation, and brightness information of the histogram smoothed image using the HSV model, and binarizing the separated image with only hue, saturation, and brightness information.

In the step (d), the server extracts coordinates of a center point and four corner points of each solar module in the separated solar module; Calculating an azimuth using the coordinates of the center point and the four corner points and calculating an imaging distance from the center of the photovoltaic module and the imaging altitude of the unmanned airplane using the initial conditions; And a photographing coordinate extraction step of extracting the photographing coordinates through a linear equation using the coordinates and the photographing distance.

In the step (e), the distance between the selected shooting coordinates and the other shooting coordinates is calculated using the cost function of Equation (3), and the shooting coordinates of the shortest distance among the distances are repeatedly selected, And performs the process starting from the photographing coordinates selected as the initial point.

&Quot; (3) "

(Where n _i is the selected imaging coordinate, n _j is the other imaging coordinate, C _dist is the n _i n is the distance between _j ).

A monitoring system for a photovoltaic module using a flight path generation algorithm according to an exemplary embodiment of the present invention and a monitoring method for a photovoltaic module using the method include detecting a photovoltaic module using a satellite image for monitoring the photovoltaic module, It is possible to extract the coordinates according to the condition and to generate an optimal flight path suitable for the proper shooting conditions of the UAV.

Accordingly, since the optimum flight path is created by automation, the convenience of the user is increased, and time and cost can be minimized by using an unmanned airplane.

In addition, the solar module can be effectively monitored and the accuracy of the monitoring can be improved by providing the accurate state of the solar module even in a bad weather environment.

Also, according to the generated flight path, the accuracy of the unmanned airplane can be improved by determining whether the unmanned airplane matches the current position of the unmanned airplane with the generated flight path using the GPS when the unmanned airplane is in flight.

1 is a block diagram of a solar module monitoring system using a flight path generation algorithm according to an embodiment of the present invention;
2 is a block diagram illustrating the configuration of a server of a solar module monitoring system using a flight path generation algorithm according to an embodiment of the present invention.
3 is a block diagram schematically illustrating the configuration of a UAV of a solar module monitoring system using a flight path generation algorithm according to an embodiment of the present invention.
FIG. 4 is a diagram illustrating a coordinate position of a center point and four corner points extracted in a photovoltaic module of a photovoltaic module monitoring system using a flight path generation algorithm according to an embodiment of the present invention; FIG.
FIG. 5 is a conceptual diagram illustrating an expression for obtaining a distance from a center point of a photovoltaic module and a photographed height of an unmanned airplane of a photovoltaic module monitoring system using a flight path generation algorithm according to an embodiment of the present invention.
FIG. 6 is an exemplary diagram showing distances between photographing coordinates calculated using a cost function of a solar module monitoring system using a flight path generation algorithm according to an embodiment of the present invention by using a coordinate system. FIG.
FIG. 7 is a diagram illustrating a generated flight path of a solar module monitoring system using a flight path generation algorithm according to an embodiment of the present invention; FIG.
8 is a flowchart sequentially illustrating a method of monitoring a solar module using a solar module monitoring system using a flight path generation algorithm according to an embodiment of the present invention.
FIG. 9 is a flowchart illustrating a step S200 of separating a solar module monitoring method according to an embodiment of the present invention. FIG.
10 is a flow chart sequentially showing the first binarization step of FIG.
11 is a flow chart sequentially showing the second binarization step of Fig.
FIG. 12 is a flowchart showing a step (S400) of extracting photographed coordinates of a solar module monitoring method according to an embodiment of the present invention.

Hereinafter, the description of the present invention with reference to the drawings is not limited to a specific embodiment, and various transformations can be applied and various embodiments can be made. It is to be understood that the following description covers all changes, equivalents, and alternatives falling within the spirit and scope of the present invention.

In the following description, the terms first, second, and the like are used to describe various components and are not limited to their own meaning, and are used only for the purpose of distinguishing one component from another component.

Like reference numerals used throughout the specification denote like elements.

As used herein, the singular forms "a", "an" and "the" include plural referents unless the context clearly dictates otherwise. It is also to be understood that the terms " comprising, "" comprising, "or" having ", and the like are intended to designate the presence of stated features, integers, And should not be construed to preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted in an ideal or overly formal sense unless expressly defined in the present application Do not.

In the following description of the present invention with reference to the accompanying drawings, the same components are denoted by the same reference numerals regardless of the reference numerals, and redundant explanations thereof will be omitted. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail.

Hereinafter, embodiments of the present invention will be described in detail with reference to FIGS. 1 to 12 attached hereto.

1 is a configuration diagram of a solar module monitoring system using a flight path generation algorithm according to an embodiment of the present invention.

2 is a block diagram illustrating a server configuration of a solar module monitoring system using a flight path generation algorithm according to an embodiment of the present invention.

3 is a block diagram schematically illustrating a configuration of an unmanned aerial vehicle of a solar module monitoring system using a flight path generation algorithm according to an embodiment of the present invention.

FIG. 4 is a diagram illustrating a coordinate position of a center point and four corner points extracted from a detected solar module in a solar module monitoring system using a flight path generation algorithm according to an embodiment of the present invention.

FIG. 5 is a conceptual diagram illustrating an expression for obtaining a photographic altitude and a distance from a center point of a photovoltaic module of a photovoltaic module monitoring system using a flight path generation algorithm according to an embodiment of the present invention.

FIG. 6 is an exemplary diagram illustrating distances between shot coordinates calculated using a cost function of a solar module monitoring system using a flight path generation algorithm according to an embodiment of the present invention, using a coordinate system. FIG.

FIG. 7 is a diagram illustrating a generated flight path of a solar module monitoring system using a flight path generation algorithm according to an exemplary embodiment of the present invention. Referring to FIG.

The monitoring system of the solar module using the flight path generation algorithm according to the embodiment of the present invention detects the solar module using the satellite image for monitoring the solar module and extracts the coordinates according to the installation condition of the solar module, This is to improve the cost efficiency of the monitoring of the photovoltaic module by automatically generating an optimal flight path that meets the appropriate shooting conditions of the aircraft.

1 to 3, a solar module monitoring system using a flight path generation algorithm may include a satellite 3, a solar module 4, an unmanned airplane 2, and a server 1.

The satellite 3 is a GPS (Global Positioning System) -based satellite and has 24 or more satellites operating at a constant altitude of 20,000 to 25,000 kilometers (Km) above the ground, preferably an average of about 20,183 km And each satellite 3 is a global positioning system that broadcasts a GSAS information signal free of charge, which can be analyzed by sea level, longitude, latitude and time.

The satellite 3 can transmit the satellite image to the server 1.

A plurality of photovoltaic modules 4 are provided to convert sunlight into electric energy. The photovoltaic module 4 may include a solar cell cell arranged in a lattice form on a support frame and a support frame.

In addition, the solar module 4 is provided with position information identification means (not shown) in the support frame so that it can identify the position information of each of the solar modules.

That is, it is possible to easily identify the position of the abnormal solar module detected from the solar module monitoring system of the present invention.

The unmanned airplane 2 can take a photograph of the solar module 4 with the infrared camera 200 mounted thereon.

The UAV 2 can be a general UAV and includes a thermal imaging camera 200, a GPS 210, a transceiver 220, a drive controller 230, and a battery (not shown) . ≪ / RTI >

The thermal imaging camera 200 can photograph the photovoltaic module 4 when the unmanned airplane 2 is flying along the flight path and transmit the thermal image to the server 1 through the transceiver 220. [

The GPS 210 can transmit GPS information corresponding to the current position of the unmanned airplane 2 to the server 1 through the transmission / reception unit 220 when the unmanned airplane 2 is flying.

In addition, the GPS 210 allows the unmanned aerial vehicle 2 to perform an automatic flight along the flight path.

The transceiver unit 220 wirelessly communicates with the server 1 and receives the operation on signal and the flight path from the server 1 and transmits the operation on signal and the flight path to the drive control unit 230. The thermal imaging image captured from the thermal imaging camera 200, GPS information and the like to the server 1.

In addition, the transceiver 220 can receive information received from the server 1. [

That is, the transmission / reception unit 220 may receive the correction information from the server 1 and may transmit the correction information to the drive control unit 230.

The drive control unit 230 receives the operation on signal and the flight path from the transmission / reception unit 220, and controls the unmanned airplane 2 to operate and allow the unmanned airplane 2 to fly according to the flight path.

In addition, when the deviation of the flight path is determined in the server 1 and the correction information is received, the drive control unit 230 may control the unmanned airplane 2 to be located at a position corresponding to the flight path according to the correction information.

A battery (not shown) may supply power to the UAV 2 and charge it from an external power source.

The server 1 can generate the flight path of the unmanned airplane 2 to photograph the photovoltaic module.

To this end, the server 1 includes a database 100, an information obtaining unit 110, an image processing unit 120, a coordinate extracting unit 130, a path generating unit 140, A path determination unit 160, and an image analysis unit 170. The image analysis unit 170 may include a display unit 150, a path determination unit 160,

The DB 100 may be connected to the controller 150 to store a satellite image, a coordinate system, a thermal image, a valid movie image, shooting coordinates, a flight path, and the like. That is, the server 1 can store all information acquired, received, generated, extracted, and calculated.

Accordingly, the process of storing information in the DB 100 will be omitted below.

The information obtaining unit 110 may obtain a satellite image from the satellite 3 and obtain a coordinate system corresponding to the satellite image.

Here, the coordinate system may be a latitudinal coordinate system or a UTM coordinate system.

In the three-dimensional spherical coordinate system, three radiuses of the sphere radius ρ and two declination angles θ and Φ (ρ, θ, Φ) should correspond to each other. However, In the coordinate system, it is a coordinate system that represents the horizontal position with the coordinates (?,?) By the longitude? And the latitude?.

The UTM coordinate system is an international planar rectangular coordinate system with the equator as the abscissa and the meridian as the ordinate. It is a coordinate system in which the entire globe is wrapped around the cylinder by the international transverse (橫) Mercator method.

The information obtaining unit 110 obtains the initial conditions including the one-time photographing area, the altitude h _c , the photographing angle θ, the angle of the solar module installation angle β and the installation height of the solar module h _p You can get more. These initial conditions are values that can be input and set from the manager, and correspond to the variable values necessary for calculating the shooting coordinates.

Here, the one-time photographing area can be determined by determining the area of the solar module after the solar module is detected by the image processing unit 120, by the photographing area of the thermal imaging camera 200 of the UAV 2.

The altitude is the height from the lower surface of the solar module 4 to the UAV 2.

The photographing angle is an angle between the angle of the thermal imaging camera 200 of the unmanned airplane 2 and the normal N of the center point of the solar module 4.

At this time, since it is preferable that the thermal imaging camera 200 photographs in the vertical direction of the center of the solar module 4, the closer the angle of the thermal imaging camera 200 is to the normal N, Most preferably, within an error range of 5 [deg.].

The image processing unit 120 can detect and separate the solar module from the satellite image acquired by the information obtaining unit 110. [

For this purpose, the image processing unit 120 may include an RGB model unit 121, an HSV model unit 122, and an image matching unit 123.

The RGB model unit 121 can separate and binarize only the blue component using the RGB model of the satellite image.

More specifically, the RGB model unit 121 may perform the steps of removing noise, separating only the blue component, increasing the color contrast, histogram smoothing, and binarizing.

The step of removing the noise may remove the noise of the satellite image using a median filter or a sharpening filter.

In the step of separating only the blue component, only the blue component can be separated using the RGB model by using the noise-removed satellite image. This is to isolate the solar module from the satellite image since the solar module has mostly blue color.

Here, the RGB model is the most basic color model, and the color is considered as a combination of the three components of Red, Green, and Blue. For example, in the RGB model, R = G = B = 0 for black, R = G = B = 255 for white, R = 255, G = B = 0 for red, R = = 0 to represent the color.

Increasing the color contrast can increase the color contrast of only the blue component separated image. This can make the solar module look more emphasized by the color difference.

The histogram smoothing step may histogram smoothen the image with increased color contrast.

Here, histogram equalization is the task of making the frequency of the colors even.

For example, if an image is composed of only 0 ~ 255 of 0 ~ 255 pixels, it is black image. However, 0 ~ 10 is scaled by histogram smoothing to 0 ~ 255 It is possible to have an effect that the difference can be clearly seen even in a similar color.

The binarizing step may binarize the histogram smoothed image by thresholding.

Binarization refers to changing the image to true or false. It is true (1 or white) if the image is brighter than any given threshold (Threshold) or false (0 or black) if it is lower than the threshold The binarization can be performed through the thresholding process.

At this time, binarization can be performed on the basis of the histogram smoothed threshold value (solar panel color value) to be extracted.

The HSV model unit 122 can separate and binarize only the hue, saturation, and brightness information using the HSV model of the satellite image.

More specifically, the HSV model unit 122 may perform steps of removing noise, increasing color contrast, histogram smoothing, separating only hue, saturation, and brightness information, and binarizing.

The step of removing the noise may remove the noise of the satellite image using a median filter or a sharpening filter.

Increasing the color contrast may increase the color contrast of the satellite image from which the noise has been removed. This can make the solar module look more emphasized by the color difference.

The histogram smoothing step may histogram smoothen the image with increased color contrast.

In the step of separating only the hue, saturation and brightness information, only the hue, saturation and brightness information can be separated using the HSV model of the histogram smoothed image.

Here, the HSV model expresses color with three components of Hue, Saturation, and Value. Hue is a color (eg, red color or blue color) ..., Saturation Represents how bright (pure) the color is, and Value represents the intensity.

These HSV models are the most intuitive models that we can use to express color, and they are also the models that can easily produce the color imaginable in the head. When using HSV model in image processing / image recognition, H, S, V Each can be represented by a value between 0 and 255.

The binarizing step may binarize the separated image by only hue, saturation, and brightness information.

The image matching unit 123 can separate the solar module 4 by matching the binarized images from the RGB model unit 121 and the HSV model unit 122. [ That is, only the photovoltaic module 4 can be detected and separated without detecting a road or a road having a color similar to that of the photovoltaic module 4 by matching the two binarized images.

The coordinate extraction unit 130 generates virtual center points and four corner points of each solar module 4 in the solar module 4 separated from the image processing unit 120 and calculates coordinates of the center point and four corner points And extract the photographing coordinates.

For this purpose, the coordinate extracting unit 130 may include a point coordinate extracting unit 131 and a photographing coordinate extracting unit 132.

4, the point coordinate extraction unit 131 extracts the imaginary center point (x _o ) and the four corner points (x ₁ , x ₂ , x ₃ ) of each solar module in the separated solar module 4 And x ₄ ), and the coordinates of the generated center point (x _o ) and the four corner points (x ₁ , x ₂ , x _3, and x ₄ ) can be extracted.

The photographing coordinate extracting unit 132 can extract the photographing coordinates of each solar module using the coordinates of the center point and the four corner points.

More specifically, the image pickup coordinate extraction unit 132 can calculate the azimuth angle using the coordinates of the center point and the four corner points. At this time, the calculated azimuth angle is set to the photographing direction in which the thermal imaging camera 200 of the UAV 2 photographs the corresponding solar module 4.

The photographing coordinate extraction unit 132 may calculate the photographing distance from the center of the photovoltaic module 4 and the photographing altitude of the UAV 2 using the initial conditions and the coordinates of the center point.

5, h is the height of the photograph, h _p is the height of the solar module installation, h _c is the height from the bottom of the solar module to the unmanned airplane, (Altitude), dist is the photographing distance, β is the installation angle of the solar module, and θ is the photographing angle of the thermal imaging camera.

Accordingly, the photographing altitude and the photographing distance can be obtained using [Equation 1] and [Equation 2].

First, the photographing coordinate extraction unit 132 can obtain the photographing height h through the following expression (1).

In addition, the shooting coordinate extraction section 132 can obtain the shooting distance dist through the following expression (2).

Also, the shooting coordinate extraction unit 132 can extract the shooting coordinates through the linear equation using the azimuth angle, the coordinates of the center point, and the shooting distance.

The path generation unit 140 may select an initial point among the image pickup coordinates extracted from the coordinate extraction unit 130 and generate a flight path with the shortest distance between the image pickup coordinates using the cost function.

That is, referring to Figure 6 the path generator 140 to calculate the distance to the other recording coordinates (n _j), in using the cost function of Equation 3] Recording coordinates (n _i) is selected, and then the distance It is possible to generate the flight path by repeatedly selecting the photographing coordinates which is the shortest distance among the photographing positions.

Here, n _i is the selected photographing coordinate, n _j is the other photographing coordinate, C _dist is n _i n is the distance between _j .

However, it may be performed by designating the selected shooting coordinates as the initial shooting point and the selected shooting coordinates (n _i ).

In addition, once selected shooting coordinates are excluded from being duplicated in the next calculation and performed, a flight path can be created via all of the shooting coordinates.

The control unit 150 can transmit the flight path generated from the path generating unit 140 and the operation on signal of the unmanned airplane 2 to the unmanned airplane 2. Thus, the unmanned airplane 2 can be operated to fly along the flight path.

In addition, the control unit 150 may transmit the correction information generated by the path determination unit 160 to the UAV 2. Accordingly, when the unmanned airplane 2 deviates from the flight path, the unmanned airplane 2 can be controlled and positioned at a position corresponding to the flight path according to the correction information.

The path determination unit 160 can receive the GPS information from the UAV 2 and determine whether it is coincident with the photographing coordinates of the flight path.

Thus, the accuracy and reliability of monitoring of the solar module 4 can be increased.

First, it is possible to store an effective thermal image in the thermal image received from the unmanned airplane 2 when the position of the current unmanned airplane 2 is coincident with the GPS information and the shooting coordinates of the flight path.

Conversely, if there is no match, a valid thermal image is not stored and the unmanned airplane 2 can fly until it reaches one of the flight paths along the flight path.

In addition, when the position of the UAV 2 deviates from the flight path, correction information can be generated and transmitted to the UAV 2.

The correction information may be direction information and distance information to one of the flight paths corresponding to the shortest distance from the current position.

The image analysis unit 170 may analyze the stored effective thermal image from the path determination unit 160 to detect the abnormal solar module.

The solar module monitoring method using the solar module monitoring system using the flight path generation algorithm according to the embodiment of the present invention will be described based on the above-described configuration.

8 is a flowchart sequentially illustrating a method of monitoring a solar module using a solar module monitoring system using a flight path generation algorithm according to an embodiment of the present invention.

FIG. 9 is a flowchart illustrating a step S200 of separating a solar module monitoring method according to an embodiment of the present invention.

FIG. 10 is a flowchart sequentially showing the first binarization step of FIG.

11 is a flowchart sequentially showing the second binarization step of FIG.

FIG. 12 is a flowchart illustrating a step S400 of extracting photographed coordinates of a solar module monitoring method according to an embodiment of the present invention.

Referring to FIG. 8, a method for monitoring a solar module using a solar module monitoring system using a flight path generation algorithm according to an embodiment of the present invention includes: acquiring a satellite image from a satellite and acquiring a coordinate system corresponding to the satellite image A step S200 of detecting and separating a solar module from a satellite image by the server, and a step S200 of detecting and separating the solar module from the satellite image, (S300), the server extracts the coordinates of the center point and four corner points of the separated photovoltaic module, and extracts the photographing coordinates using the coordinates of the center point and the four corner points and the initial condition (S400), the server selects an initial point of the image pickup coordinates and generates a flight path with the shortest distance between the image pickup coordinates using the cost function (S500) (S600), the server receives the GPS information from the unmanned airplane and calculates the coordinates of the flight path of the flight path (Step S700), and when the server coincides with the detected thermal image, the server stores the thermal image valid in the thermal image received from the unmanned airplane (S700) . ≪ / RTI >

First, in step S100, the server 1 acquires a satellite image from the satellite 3 and acquires a coordinate system corresponding to the satellite image.

In step S200, the server 1 can detect and isolate the solar module 4 from the satellite image.

More specifically, referring to FIG. 9, step S200 may include a first binarization step S210, a second binarization step S220, and a photovoltaic module detection step S230. Since the above steps have been described in the description of the system, a brief description will be given.

In step S210, the server 1 binarizes the satellite image using the RGB model. The step S211 includes removing the noise S212, separating the blue component S212, increasing the color contrast S213, Histogram smoothing step S214, and binarization step S215. Since the above steps have been described in the description of the system, a brief description will be given.

First, in step S211, the noise of the satellite image can be removed. In step S212, it is possible to separate only the blue component of the satellite image from which the noise is removed using the RGB model. In step S213, only the blue component can increase the color contrast of the separated image. The step S214 may perform histogram smoothing on the image in which the color contrast is increased. Finally, step S215 may binarize the histogram smoothed image.

In step S220, the server 1 binarizes the satellite image using the HSV model. The step S221 includes removing the noise (step S221), increasing the color contrast (step S222), histogram smoothing step S223, A step S224 of separating only the saturation and brightness information, and a step S225 of binarizing.

First, in step S221, the noise of the satellite image can be removed. The step S222 may increase the color contrast of the satellite image from which the noise is removed. In step S223, the histogram can be smoothed on the image in which the color contrast is increased. In step S224, the histogram smoothed image can be separated from the hue, saturation, and brightness information using the HSV model. Finally, the step S225 may binarize the separated image with only hue, saturation, and brightness information.

In step S230, the binarized images may be matched in the first binarization step S210 and the second binarization step S220 to separate the solar module 4 from each other.

In step S300, the server 1 may set an initial condition including the photographing area, the altitude, the photographing angle, the solar module installation angle, and the solar module installation height once from the manager.

 In step S400, the server 1 extracts the coordinates of the center point and four corner points of the separated photovoltaic module 4, and extracts the photographing coordinates using the coordinates of the center point and the four corner points and the initial condition .

More specifically, referring to FIG. 12, step S400 may include a point coordinate extraction step S410, a coordinate extraction step S420, and a shooting coordinate extraction step S430. Since the above steps have been described in the description of the system, a brief description will be given.

In step S410, the coordinates of the center point and four corner points of each solar module 4 in the separated solar module 4 can be extracted.

In step S420, the azimuth angle is calculated using the coordinates of the center point and the four corner points, and the calculated azimuth angle is calculated in the photographing direction (the direction in which the thermal imaging camera 200 of the unmanned air vehicle 2 photographs the solar module 4) .

Step S420 may calculate the shooting distance dist from the center height h of the unmanned airplane 2 and the center point of the solar module 4 using the initial conditions and the coordinates of the center point.

In step S430, the coordinates of the azimuth angle, the coordinates of the center point, and the photographing distance may be used to extract the photographing coordinates through the linear equation.

In step S500, the server 1 may select an initial point of the shooting coordinates and generate a flight path with the shortest distance between the zero coordinates using the cost function.

More specifically, it is possible to generate the flight path by repeatedly calculating the distance from the selected shooting coordinates to the other shooting coordinates by using the cost function of Equation (3), and selecting the shooting coordinates of the shortest distance among the distances have. However, it can be performed from the shooting coordinates selected as the initial point.

In operation S600, the server 1 transmits the flight path to the unmanned airplane 2 equipped with the thermal imaging camera 200, and the unmanned airplane 2 follows the flight path received by the unmanned airplane 2, You can shoot.

In step S700, the server 1 receives the GPS information from the unmanned airplane 2 and determines whether or not it coincides with the shooting coordinates of the flight path. If it matches, the server 1 obtains a valid thermal image from the thermal image received from the unmanned airplane 2 Can be stored.

At this time, if they do not match, a valid thermal image is not stored, and the unmanned airplane 2 can fly until it reaches one of the flight paths along the flight path. Thereafter, when the shooting coordinates are reached and the GPS information and the shooting coordinates coincide with each other, a valid thermal image can be stored at that time.

In step S800, the server 1 may analyze the valid thermal image to detect the abnormal solar module.

As described above, the monitoring system of the photovoltaic module using the flight path generation algorithm according to the embodiment of the present invention and the monitoring method of the photovoltaic module using the method can detect the photovoltaic module using the satellite image for monitoring the photovoltaic module And extract the coordinates according to the installation condition of the photovoltaic module, it is possible to generate an optimum flight path suitable for the proper shooting conditions of the unmanned aerial vehicle.

Accordingly, since the optimum flight path is created by automation, the convenience of the user is increased, and time and cost can be minimized by using an unmanned airplane.

In addition, the solar module can be effectively monitored and the accuracy of the monitoring can be improved by providing the accurate state of the solar module even in a bad weather environment.

Also, according to the generated flight path, the accuracy of the unmanned airplane can be improved by determining whether the unmanned airplane matches the current position of the unmanned airplane with the generated flight path using the GPS when the unmanned airplane is in flight.

The embodiments of the present invention described above are not implemented only by the apparatus and / or method, but may be implemented through a program for realizing functions corresponding to the configuration of the embodiment of the present invention, a recording medium on which the program is recorded And such an embodiment can be easily implemented by those skilled in the art from the description of the embodiments described above.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, It belongs to the scope of right.

1: Server
100: Database
110: Information obtaining unit
120:
121: RGB model part
122: HSV model part
123: Image registration unit
130: Coordinate extraction unit
131: Point coordinate extraction unit
132: Shooting coordinate extraction unit
140: Path generation unit
150:
160: Path determination unit
160: Image analysis section
2: Unmanned aircraft
200: Thermal camera
210: GPS
220: Transmitting /
230:
3: Satellite
4: Solar module

Claims (12)

A plurality of solar modules;
An unmanned airplane equipped with an infrared camera and photographing the solar module,
And a server for generating a flight path of the unmanned aerial vehicle to photograph the photovoltaic module,
The server comprises:
A database (DB);
An information obtaining unit obtaining a satellite image from a satellite and obtaining a coordinate system corresponding to the satellite image;
An image processing unit for detecting and separating the solar module from the satellite image;
A coordinate extracting unit for extracting the photographing coordinates of the separated solar modules;
A path generating unit for selecting an initial point of the image pickup coordinates and generating a flight path at a shortest distance between the image pickup coordinates using a cost function;
A controller for controlling the unmanned airplane to fly along the generated flight path;
A path determination unit for receiving GPS information from the unmanned airplane and determining whether the GPS information coincides with the shooting coordinates of the flight path, and for storing an effective thermal image in the thermal image received from the unmanned airplane when the coincidence is determined;
And an image analyzer for analyzing the valid thermal image to detect an abnormal solar module.
The method according to claim 1,
The information obtaining unit obtains,
Wherein the initial condition including the one-time photographing area, the altitude, the photographing angle, the photovoltaic module installation angle, and the installation height of the photovoltaic module is further obtained.
The method according to claim 1,
Wherein the image processing unit comprises:
An RGB model unit for separating and binarizing only the blue component of the satellite image using an RGB model;
An HSV model unit for separating and binarizing only the hue, saturation, and brightness information using the HSV model;
And an image matching unit for matching the binarized image from the RGB model unit and the HSV model unit and separating the photovoltaic module.
The method of claim 3,
Wherein the RGB model unit comprises:
Removing noise of the satellite image;
Separating only the blue component of the noise-removed satellite image using the RGB model;
Increasing the color contrast of only the blue component separated image;
Histogram smoothing the increased contrast image;
And binarizing the histogram smoothed image by using the histogram smoothed image.
The method of claim 3,
The HSV model unit includes:
Removing noise of the satellite image;
Increasing the color contrast of the noise-removed satellite image;
Histogram smoothing the increased contrast image;
Separating only the hue, saturation, and brightness information of the histogram smoothed image using the HSV model; and
And binarizing the separated image by only the hue, saturation, and brightness information is performed.
3. The method of claim 2,
The coordinate extracting unit,
A point coordinate extraction unit for extracting coordinates of a center point and four corner points of each solar module in the separated solar module;
And a photographing coordinate extracting unit for extracting photographing coordinates of each of the solar modules using the coordinates of the center point and the four corner points.
The method according to claim 6,
Wherein the photographing coordinate extraction unit
The azimuth angle is calculated using the coordinates of the center point and the four corner points,
Wherein the photographing altitude of the unmanned airplane and the photographing distance from the center point of the photovoltaic module are calculated by the following equations (1) and (2) using the initial conditions.
[Equation 1]

&Quot; (2) "

(Wherein, h is taken high, h _p is a solar module mounting height, h _c is high, dist from the photovoltaic module is taken away, β is a solar module mounting angle, θ is being shot angle of the thermal imager. )
8. The method of claim 7,
Wherein the photographing coordinate extraction unit
And the photographing coordinates are extracted through a linear equation using the azimuth angle, the coordinates of the center point, and the photographing distance.
The method according to claim 1,
The path-
The distance between the selected photographing coordinates and the other photographing coordinates is calculated using the cost function of Equation (3), and the photographing coordinates which is the shortest distance among the distances are repeatedly selected to generate the flight path,
Wherein the starting point is selected from the photographing coordinates selected as the initial point.
&Quot; (3) "

(Where n _i is the selected imaging coordinate, n _j is the other imaging coordinate, C _dist is the n _i n is the distance between _j ).
A method for monitoring a solar module using a solar module monitoring system using a flight path generation algorithm,
(a) a server acquiring a satellite image from a satellite and obtaining a coordinate system corresponding to the satellite image;
(b) the server detecting and isolating a solar module in the satellite image;
(c) receiving, by the server, an initial condition including one shot area, an altitude, a photographing angle, a solar module installation angle, and a solar module installation height;
(d) extracting coordinates of a center point and four corner points of the photovoltaic module separated from the server, and extracting the photographing coordinates using coordinates and initial conditions of the center point and four corner points;
(e) the server selects an initial point of the shooting coordinates and generates a flight path at a shortest distance between the shooting coordinates using a cost function;
(f) transmitting the flight path to the unmanned airplane equipped with the thermal imaging camera, and shooting the photovoltaic module according to the flight path of the unmanned airplane;
(g) receiving, by the server, GPS information from the unmanned airplane, determining whether the received GPS information coincides with the shooting coordinates of the flight path, storing a valid thermal image in the thermal image received from the unmanned airplane,
(h) analyzing a valid thermal image to detect an ideal solar module.
11. The method of claim 10,
The step (d)
A point coordinate extraction step of extracting coordinates of a center point and four corner points of each solar module in the solar module separated by the server;
A coordinate calculation step of calculating an azimuth angle using coordinates of the center point and four corner points and calculating an imaging distance from the center of gravity of the photovoltaic module and the photographed height of the unmanned airplane using the initial conditions;
And a photographing coordinate extraction step of extracting the photographing coordinates through a linear equation using the azimuth angle, the coordinates of the center point, and the photographing distance.
11. The method of claim 10,
The step (e)
The distance between the selected shooting coordinates and the other shooting coordinates is calculated by using the cost function of Equation (3), and the shooting route which is the shortest distance among the distances is selected repeatedly to generate the flying route, From the selected photographing coordinates.
&Quot; (3) "

(Where n _i is the selected imaging coordinate, n _j is the other imaging coordinate, C _dist is the n _i n is the distance between _j ).

Images