无人机自动给光伏板喷涂层，省人工还更精准。
Autonomous Close-Proximity Photovoltaic Panel Coating Using a Quadcopter
- 用四轴无人机搭载喷洒装置，靠视觉与惯性定位自主飞行。
- 实测证明在室内外均能稳定作业，喷洒精度高且不伤面板。
- 适合需要频繁维护的大型光伏电站，可大幅降低运维成本。
光伏板在可再生能源领域应用日益广泛，微小效率提升也能带来巨大效益。抗反射和自清洁涂层虽能提升性能，但会随时间退化，需定期重新涂覆。无人飞行器（UAV）相比传统人工方法，可更灵活、低成本地实现高频次涂覆。本文提出一种基于四轴无人机的自动化系统，配备液体喷洒装置，仅依赖机载传感器实现定位，采用视觉-惯性里程计结合相对位置检测来确定光伏板位置。控制策略基于模型设计，考虑了地面效应及喷洒过程中无人机质量减少的影响。通过大量室内外实验验证了系统的自主作业能力。
原文摘要 · Abstract (English)
Photovoltaic (PV) panels are becoming increasingly widespread in the domain of renewable energy, and thus, small efficiency gains can have massive effects. Anti-reflective and self-cleaning coatings enhance panel performance but degrade over time, requiring periodic reapplication. Uncrewed Aerial Vehicles (UAVs) offer a flexible and autonomous way to apply protective coatings more often and at lower cost compared to traditional manual coating methods. We present a quadcopter-based system, equipped with a liquid dispersion mechanism, designed to automate such tasks. The localization stack only uses onboard sensors, relying on visual-inertial odometry and the relative position of the PV panel detected with respect to the quadcopter. The control relies on a model-based controller that accounts for the ground effect and the mass decrease of the quadcopter during liquid dispersion. We validate the autonomy capabilities of our system through extensive indoor and outdoor experiments.
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