A visual recognition system and recognition method based on inspection robot

Abstract

The present invention provides a visual recognition system based on an inspection robot, including an inspection component and multiple data recognition and acquisition components, an image analysis module, a fault recognition module, a communication module, and a control module arranged in the inspection component. The data recognition and acquisition component performs fault recognition on the photovoltaic panel array in the inspection area, collects thermal infrared images and visible light images in the monitoring area in real time, and transmits the collected image information to the image analysis module in real time through the serial port for analysis. The image analysis module is used to clarify the input image, and the fault recognition module can perform fault recognition on the data recognition and acquisition component. The present invention has the advantages of being able to automatically inspect the photovoltaic panel array and automatically identify faulty photovoltaic panel arrays, and can realize the fault recognition and processing work of the inspection robot itself, avoiding the increase in labor intensity of staff and waste of resources due to the fault of the inspection robot itself.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a visual recognition system and recognition method based on an inspection robot. Background Art

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. It has basic characteristics such as perception, decision-making, and execution. It can assist or even replace humans in completing dangerous, heavy, and complex tasks, improve work efficiency and quality, serve human life, and expand or extend the scope of human activities and capabilities. A robot is a machine device that performs work automatically. It can accept human commands, run pre-programmed programs, or act according to principles formulated with artificial intelligence technology. Its task is to assist or replace human work, such as in manufacturing, construction, or dangerous work. Nowadays, in some special places, people also use robots to replace humans for inspections. This type of robot is called an inspection robot.

[0003] Existing inspection robots need to return to the site if a fault occurs during use, and the faulty inspection robot needs to be repaired. When the repair task is completed, another inspection is carried out through the set inspection route. The whole process is time-consuming and labor-intensive, which not only increases the labor intensity of the staff, but also causes a waste of resources. Summary of the Invention

[0004] In response to the shortcomings of the existing technology, the purpose of the present invention is to provide a visual recognition system and recognition method based on a patrol robot, which has the advantages of being able to automatically inspect photovoltaic panel arrays and automatically identify faulty photovoltaic panel arrays, and being able to realize the patrol robot's own fault identification and processing work, thereby avoiding the increase in labor intensity of staff and waste of resources due to the patrol robot's own faults.

[0005] The above-mentioned invention object of the present invention is achieved through the following technical solutions: a visual recognition system based on an inspection robot, including an inspection component and multiple data recognition and acquisition components, an image analysis module, a fault recognition module, a communication module, and a control module arranged in the inspection component. The data recognition and acquisition component includes a pan-tilt zoom camera, a thermal imaging camera, and an identification unit. The identification unit performs fault identification on the photovoltaic panel array in the inspection area. When an abnormal photovoltaic panel array appears, the thermal imaging camera and the pan-tilt zoom camera are used to collect thermal infrared images and visible light images in the monitoring area in real time, and transmit the collected image information to the image in real time through the serial port. The analysis module performs analysis, the image analysis module is used to clarify the input image, identify whether there are any obstructions on the surface of the photovoltaic panel array, form an analysis report with positioning information, and transmit the analysis report to the host computer through the communication module for further analysis and processing. The fault identification module can identify faults in the data identification and acquisition components. When a component unit in a data acquisition module is identified to have a fault, the fault identification module sends fault information to the control module, and the control module sends a rotation command to the rotation component to perform fault processing on the faulty data identification and acquisition component, and adjust the distance between the remaining data identification and acquisition components through the rotation command.

[0006] Preferably, the inspection component includes an inspection track, a driving member, and a rotating component. The data identification and collection component is rotatably arranged at the bottom of the driving member. The driving member is transmission-connected to the inspection track. The rotating component is fixedly arranged at the bottom of the driving member. The rotating component can adjust the recognition area of the data identification and collection component, and the rotating component can fold the faulty data identification and collection component, and shut down the faulty data identification and collection component through a power supply module arranged in the data identification and collection component.

[0007] Preferably, the driving component includes a driving motor, a driving gear, a rotating shaft, a driving plate, and a mounting plate. The driving plate is arranged at the top of the inspection track. The rotating shaft passes through the driving plate, the driving gear, and the mounting plate in sequence and is transmission-connected with the rotating shaft of the driving motor. The driving motor is fixedly arranged at the bottom of the mounting plate. The driving gear and the inspection track are tooth-matched. The rotating shaft is rotationally connected to the driving plate and the mounting plate respectively, and a limiting structure is fixed at the position of the driving plate and the mounting plate respectively. The limiting structure is used to limit the positional relationship between the rotating shaft and the driving plate and the mounting plate respectively, and the rotating shaft is fixedly connected to the driving gear.

[0008] Preferably, a sliding positioning assembly is fixedly arranged between the driving plate and the inspection track, the sliding positioning assembly includes a sliding trough body opened on the inspection track and a rolling member correspondingly arranged on the driving plate, the rolling member includes a ball, a fixing plate, and a fastener, and a rolling trough body for installing the ball is opened at a position corresponding to the driving plate and the sliding trough body, the ball is rolled in the rolling trough body, and a movable hole for the ball to protrude from the fixing plate is opened at a position corresponding to the rolling trough body on the fixing plate, the aperture of the movable hole is smaller than the diameter of the ball, and the fastener is fixedly connected to the driving plate after passing through the fixing plate, and the ball is conflicted with the rolling trough body.

[0009] Preferably, the rotating component includes a first rotating member, a second rotating member, a third rotating member, and a fourth rotating member. The first rotating member is used to comprehensively adjust the left and right monitoring areas of multiple data identification and acquisition components. The second rotating member is used to adjust the distance between adjacent data identification and acquisition components. The third rotating member is used to adjust the left and right monitoring areas of a single data identification and acquisition component. The fourth rotating member is used to adjust the upper and lower monitoring areas of a single data identification and acquisition component.

[0010] Preferably, the first rotating member includes a first rotating motor, a first rotating shaft, and a mounting plate. The first rotating motor is fixedly arranged at the bottom of the driving member. The rotating shaft of the first rotating motor is fixedly connected to one end of the first rotating shaft, and the other end of the first rotating shaft is fixedly connected to the mounting plate.

[0011] Preferably, the second rotating member includes a rotating bracket, a second rotating motor, a second rotating gear, and a second rotating shaft. A snap-fit groove is formed at the bottom of the mounting plate for sliding engagement of the rotating bracket. One end of the rotating bracket is snap-fitted with the snap-fit groove, and the rotating bracket can slide along the setting direction of the snap-fit groove. The second rotating motor is fixedly arranged on one side of the rotating bracket. One end of the second rotating shaft is fixedly connected to the rotating shaft of the second rotating motor, and the other end is fixedly connected to the second rotating gear. The second rotating gear and the mounting plate have teeth engaged.

[0012] Preferably, the third rotating member includes a third rotating motor, a third rotating shaft, and a fine-tuning plate. The third rotating motor is fixedly arranged at the bottom of the rotating bracket. One end of the third rotating shaft is fixedly connected to the rotating shaft of the third rotating motor, and the other end is fixedly connected to the fine-tuning plate.

[0013] Preferably, the fourth rotating member includes a fourth rotating motor, a fourth rotating shaft, and a fixed bracket, one end of the fixed bracket is fixedly set at the bottom of the fine-tuning plate, the fourth rotating motor is fixedly set on one side of the fixed bracket, one end of the fourth rotating shaft is fixedly connected to the rotating shaft of the fourth rotating motor, and the other end passes through the fixed bracket and the data identification and acquisition component in sequence, the fourth rotating shaft rotates in conjunction with the fixed bracket, and the fourth rotating shaft is fixedly connected to the data identification and acquisition component.

[0014] A visual recognition method based on an inspection robot, the steps are as follows:

[0015] Construct a three-dimensional spatial model of the scene to be inspected, preset the inspection route of the inspection robot based on the three-dimensional spatial model, lay the inspection track according to the inspection route, and set the inspection angle according to the location, orientation and lighting conditions of the photovoltaic panel array;

[0016] Based on the designed inspection routes, inspection tracks and inspection angles, real-time video monitoring of the photovoltaic panel array is carried out;

[0017] When the thermal imaging camera identifies an abnormality in the photovoltaic panel array, the data recognition and acquisition component collects thermal infrared images and visible light images of the abnormal photovoltaic panel array in the inspection area, and transmits the collected image information to the image analysis module in real time through the serial port for analysis;

[0018] The image analysis module performs target recognition and parameter calculation based on the transmitted image information, and performs clear processing on the visible light image to identify whether there are any obstructions on the surface of the photovoltaic panel array, and generates an analysis report with positioning information. The analysis report is transmitted to the host computer through the communication module for further analysis and processing. Specifically:

[0019] The sharpening process includes performing gradient and pixel value domain joint filtering on the image, removing scattering, and performing illumination remapping. Finally, a clearer image is formed by removing color cast.

[0020] The fault identification module identifies faults of the inspection robot. When it is confirmed that one of the data identification and acquisition components has a fault, the fault identification module sends the fault information to the control module. The control module simultaneously sends a rotation command to the rotation component to flip the faulty data identification and acquisition component and perform uniform processing on the remaining data identification and acquisition components, that is, adjust the distance between the remaining data identification and acquisition components to form a new monitoring area.

[0021] In summary, the present invention includes at least one of the following beneficial technical effects:

[0022] 1. In the present invention, through the cooperation between the data recognition and acquisition component, the image analysis module, the fault identification module, the communication module, and the control module, it is possible to automatically inspect the photovoltaic panel array and automatically identify the faulty photovoltaic panel array, and the inspection robot itself can realize the fault identification and processing work, thereby avoiding the increase in the labor intensity of the staff and the waste of resources due to the fault of the inspection robot itself.

[0023] 2. In the present invention, the first rotating member, the second rotating member, the third rotating member and the fourth rotating member in the rotating member can ensure that the data identification and collection component can monitor the photovoltaic panel array in all directions, and when the data identification and collection component fails, the faulty data identification and collection component can be flipped by starting the fourth rotating member to avoid blocking the remaining data identification and collection components, and by starting the third rotating member, the remaining data identification and collection components can be uniformly processed to form a new monitoring area. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A structural diagram showing the connection relationship between the data recognition and acquisition component and the image analysis module, the fault recognition module, the communication module, and the control module in the present invention;

[0025] Figure 2 It is a schematic structural diagram of the present invention as a whole;

[0026] Figure 3 A schematic structural diagram showing the internal structure of the mounting plate of the present invention;

[0027] Figure 4 The cross-sectional view of the present invention Figure 1 ;

[0028] Figure 5 The cross-sectional view of the present invention Figure 2 ;

[0029] Figure 6 A schematic structural diagram of a driving member according to the present invention;

[0030] Figure 7 A schematic structural diagram of a first rotating member according to the present invention;

[0031] Figure 8 A schematic structural diagram of a second rotating member according to the present invention;

[0032] Figure 9 A schematic structural diagram of a third rotating member according to the present invention;

[0033] Figure 10 This is a schematic structural diagram showing the fourth rotating member of the present invention.

[0034] Figure numerals: 1. data identification and acquisition component; 11. pan-tilt zoom camera; 12. thermal imaging camera; 13. identification unit; 2. image analysis module; 3. fault identification module; 4. communication module; 5. control module; 6. inspection track; 7. inspection component; 71. inspection track; 72. driving member; 721. driving motor; 722. driving gear; 723. rotating shaft; 724. driving plate; 725. mounting plate; 73. rotating component; 731. first rotating member; 7311. first rotating motor; 7312. first rotating shaft; 7313. mounting plate; 732. second Rotating member; 7321, rotating bracket; 7322, second rotating motor; 7323, second rotating gear; 7324, second rotating shaft; 733, third rotating member; 7331, third rotating motor; 7332, third rotating shaft; 7333, fine-tuning plate; 734, fourth rotating member; 7341, fourth rotating motor; 7342, fourth rotating shaft; 7343, fixed bracket; 8, limiting structure; 81, upper limiting plate; 82, lower limiting plate; 9, sliding positioning assembly; 92, rolling member; 921, ball bearing; 922, fixed plate; 923, fastener; 10, host computer. DETAILED DESCRIPTION

[0035] To make the purpose, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the described embodiments of the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0036] Unless otherwise defined, technical or scientific terms used herein shall have the ordinary meanings understood by persons having ordinary skills in the field to which this application belongs. The words "a" or "an" and the like used in the patent application specification and claims of this application do not indicate a limitation on quantity, but rather indicate the presence of at least one.

[0037] In the description of the specification and claims of this application, the terms "upper", "lower", "horizontal", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or unit referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting this application.

[0038] The present invention will be further described in detail below with reference to the accompanying drawings.

[0039] Figure 1 - Figure 10The invention shows a specific embodiment of the visual recognition system based on the inspection robot, which includes an inspection component 7 and multiple data recognition and acquisition components 1, an image analysis module 2, a fault recognition module 3, a communication module 4, and a control module 5 arranged in the inspection component 7. Among them, the data recognition and acquisition component 1 includes a pan-tilt zoom camera 11, a thermal imaging camera 12, and an identification unit 13. The identification unit 13 performs fault identification on the photovoltaic panel array in the inspection area. When an abnormal photovoltaic panel array appears, the thermal imaging camera 12 and the pan-tilt zoom camera 11 are used to collect thermal infrared images and visible light images in the monitoring area in real time, and transmit the collected image information to the image analysis module 2 for analysis in real time through the serial port. The image analysis module 2 is used to input The input image is clarified, and it is identified whether there are any obstructions on the surface of the photovoltaic panel array, and an analysis report with positioning information is formed. The analysis report is transmitted to the host computer 10 through the communication module 4 for further analysis and processing. Specifically, when the occlusion rate module in the image analysis module 2 identifies that the occlusion rate of the photovoltaic panel surface is greater than the set occlusion rate threshold, it is marked in the figure, and a corresponding analysis report is generated, which is transmitted to the host computer 10 through the communication module 4; and when the image analysis module 2 identifies that an abnormal hot spot appears on the surface of the photovoltaic panel, the hot spot in the figure is marked, and a corresponding analysis report is generated, which is transmitted to the host computer 10 through the communication module 4, so that the staff can promptly inspect and repair the abnormal photovoltaic panel.

[0040] The fault identification module 3 can identify faults in the data identification and acquisition component 1. When a fault occurs in a component unit in the data acquisition module, the fault identification module 3 sends fault information to the control module 5. The control module 5 sends a rotation command to the rotation component 73 to perform fault processing on the faulty data identification and acquisition component 1, and adjusts the distance between the remaining data identification and acquisition components 1 through the rotation command, thereby forming a new monitoring area.

[0041] Through the cooperation among the data recognition and acquisition component 1, the image analysis module 2, the fault identification module 3, the communication module 4, and the control module 5, it is possible to automatically inspect the photovoltaic panel array and automatically identify the faulty photovoltaic panel array, and the inspection robot itself can perform fault identification and processing work, thereby avoiding the increase in labor intensity of staff and waste of resources due to the inspection robot's own faults.

[0042] In the present invention, the inspection component 7 includes an inspection track 71, a driving component 72, and a rotating component 73. The inspection track 71 constructs a three-dimensional spatial model of the scene to be inspected, presets the inspection route of the inspection robot according to the three-dimensional spatial model, and lays the inspection track 71 according to the inspection route, so that the inspection robot can perform all-round monitoring of the photovoltaic power plant through the inspection track 71.

[0043] In the present invention, the driving member 72 is connected to the inspection track 71 by transmission. Specifically, the driving member 72 includes a driving motor 721, a driving gear 722, a rotating shaft 723, a driving plate 724, and a mounting plate 725. The driving plate 724 is arranged on the top of the inspection track 71, and the driving plate 724 is slidably matched with the surface of the inspection track 71.

[0044] The rotating shaft 723 passes through the drive plate 724, the drive gear 722, and the mounting plate 725 in sequence, and is connected to the rotating shaft of the drive motor 721. The drive motor 721 is fixedly arranged at the bottom of the mounting plate 725, wherein the longitudinal section of the inspection track 71 is an I-shaped setting, and meshing teeth are formed on the side of the inspection track 71. Specifically, the meshing teeth are arranged in the side groove of the inspection track 71, and the drive gear 722 and the inspection track 71 are tooth-matched. A clamping groove is formed between the drive gear 722 and the drive plate 724, and the clamping groove is clamped with the side of the inspection track 71, and the rotating shaft 723 is driven to rotate by the drive motor 721, so that the drive gear 722 on the rotating shaft 723 is tooth-matched with the inspection track 71 to realize the movement of the inspection robot and prevent the inspection robot from accidentally falling.

[0045] Specifically, the rotating shaft is rotatably connected to the driving plate 724 and the mounting plate 725 respectively, and the rotating shaft is respectively located at the driving plate 724 and the mounting plate 725 with a limiting structure 8 fixed thereon. The limiting structure 8 is used to limit the positional relationship between the rotating shaft and the driving plate 724 and the mounting plate 725 respectively, wherein the limiting structure 8 includes an upper limiting plate 81 and a lower limiting plate 82, and the upper limiting plate 81 and the lower limiting plate 82 are respectively located at the top and bottom of the driving plate 724, and correspondingly, the upper limiting plate 81 and the lower limiting plate 82 are respectively located at the top and bottom of the mounting plate 725, and the rotating shaft is fixedly connected to the driving gear 722, so that when the driving motor 721 drives the rotating shaft 723 to rotate, the position between the rotating shaft 723 and the mounting plate 725 and the driving plate 724 can be guaranteed.

[0046] The rotating component 73 is fixedly arranged at the bottom of the mounting plate 725, and the data identification and collection component 1 is arranged on the rotating component 73. The rotating component 73 can adjust the identification area of the data identification and collection component 1, and the rotating component 73 can fold the faulty data identification and collection component 1, and shut down the faulty data identification and collection component 1 through the power supply module arranged in the data identification and collection component 1.

[0047] Among them, the rotating component 73 includes a first rotating member 731, a second rotating member 732, a third rotating member 733, and a fourth rotating member 734. The first rotating member 731 is used to comprehensively adjust the left and right monitoring areas of multiple data identification and collection components 1. Specifically, the first rotating member 731 includes a first rotating motor 7311, a first rotating shaft 7312, and a mounting disk 7313. The first rotating motor 7311 is fixedly arranged at the bottom of the driving member 72. The rotating shaft of the first rotating motor 7311 is fixedly connected to one end of the first rotating shaft 7312, and the other end of the first rotating shaft 7312 is fixedly connected to the mounting disk 7313. The first rotating shaft 7312 is driven by the first rotating motor 7311 to rotate, so that the mounting disk 7313 fixedly arranged at the bottom of the first rotating shaft 7312 rotates synchronously, so that the data identification and collection component 1 located at the bottom of the mounting plate 725 is turned, which facilitates the adjustment of its identification area.

[0048] The second rotating member 732 is used to adjust the distance between adjacent data identification and collection components 1, wherein the second rotating member 732 includes a rotating bracket 7321, a second rotating motor 7322, a second rotating gear 7323, and a second rotating shaft 7324. The bottom of the mounting plate 7313 is formed with a snap-fitting groove for sliding cooperation with the rotating bracket 7321. One end of the rotating bracket 7321 is snap-fitted with the snap-fitting groove, and the rotating bracket 7321 can slide along the setting direction of the snap-fitting groove. The second rotating motor 7322 is fixedly arranged on one side of the rotating bracket, and one end of the second rotating shaft 7324 is snap-fitted with the second rotating motor The second rotating shaft 7322 is fixedly connected to each other, and the other end is fixedly connected to the second rotating gear 7323. The second rotating gear 7323 and the mounting plate 7313 are engaged with each other, and the second rotating shaft 7324 is driven to rotate by the second rotating motor 7322, so that the second rotating gear 7323 fixed on the second rotating shaft 7324 rotates relative to the mounting plate 7313, thereby moving the corresponding identification and collection component. In this embodiment, the number of the second rotating members 732 is 4, and they are evenly distributed around the mounting plate 725. Accordingly, the number of data identification and collection components 1 is also 4.

[0049] The third rotating member 733 is used to adjust the left and right monitoring areas of a single data identification and collection component 1, wherein the third rotating member 733 includes a third rotating motor 7331, a third rotating shaft 7332, and a fine-tuning plate 7333. The third rotating motor 7331 is fixedly arranged at the bottom of the rotating bracket 7321, one end of the third rotating shaft is fixedly connected to the rotating shaft of the third rotating motor 7331, and the other end is fixedly connected to the fine-tuning plate 7333. The third rotating shaft 7332 is driven to rotate by the third rotating motor 7331, so that the fine-tuning plate 7333 located at the other end of the third rotating shaft 7332 is rotated, so that the data identification and collection component 1 located at the bottom of the fine-tuning plate 7333 can be individually adjusted and rotated, so that the monitoring direction of the single data identification and collection component 1 can be adjusted for each person, and the monitoring of photovoltaic panels set in different directions can be better adapted during the monitoring process.

[0050] The fourth rotating member 734 is used to adjust the upper and lower monitoring areas of a single data identification and collection component 1. The fourth rotating member 734 includes a fourth rotating motor 7341, a fourth rotating shaft 7342, and a fixed bracket 7343. One end of the fixed bracket 7343 is fixedly set at the bottom of the fine-tuning plate 7333, and the fourth rotating motor 7341 is fixedly set on one side of the fixed bracket 7343. One end of the fourth rotating shaft 7342 is fixedly connected to the rotating shaft of the fourth rotating motor 7341, and the other end passes through the fixed bracket 7343 and the data identification and collection component 1 in sequence. The fourth rotating shaft 7342 rotates with the fixed bracket 7343, and the fourth rotating shaft 7342 is fixedly connected to the data identification and collection component 1. The fourth rotating shaft 7342 is driven by the fourth rotating motor 7341 to drive the data identification and collection component 1 to change the monitoring direction of the identification and collection component along the upper and lower positions, thereby ensuring the flexibility of the monitoring area of the identification and collection component.

[0051] In summary, in the present invention, the first rotating member 731, the second rotating member 732, the third rotating member 733 and the fourth rotating member 734 in the rotating assembly 73 can ensure that the data identification and collection assembly 1 can monitor the photovoltaic panel array in an all-round manner, and when the data identification and collection assembly 1 fails, the faulty data identification and collection assembly 1 can be flipped by starting the fourth rotating member 734 to avoid blocking the remaining data identification and collection components 1, and the remaining data identification and collection components 1 can be uniformly processed by starting the third rotating member 733 to form a new monitoring area.

[0052] In this embodiment, in order to ensure that the inspection robot can maintain good movement stability during movement, a sliding positioning component 9 is fixedly provided between the driving plate 724 and the inspection track 71. The sliding positioning component 9 includes a sliding groove body provided on the inspection track 71 and a rolling member 92 correspondingly provided on the driving plate 724. The rolling member 92 includes a ball 921, a fixing plate 922, and a fastener 923. A rolling groove body for installing the ball 921 is provided at a position corresponding to the sliding groove body of the driving plate 724. The ball 921 is rolled in the rolling groove body, and the fixing plate 9 A movable hole is provided on 22 at a position corresponding to the rolling groove body for the ball 921 to protrude from the fixed plate 922. The aperture of the movable hole is smaller than the diameter of the ball 921. The fastener 923 passes through the fixed plate 922 and is fixedly connected to the driving plate 724. The ball 921 and the rolling groove body are in contact with each other. Through the rolling cooperation between the ball 921 and the rolling groove body, when the driving plate 724 moves, the ball 921 and the rolling groove body are positioned and cooperated. On the one hand, it can reduce the friction between the driving plate 724 and the inspection track 71, and on the other hand, it can ensure the stability of the driving plate 724.

[0053] The present invention also discloses a visual recognition method based on an inspection robot, which comprises the following steps:

[0054] Construct a three-dimensional spatial model of the scene to be inspected, preset the inspection route of the inspection robot based on the three-dimensional spatial model, lay the inspection track 71 according to the inspection route, and set the inspection angle according to the position, orientation and lighting conditions of the photovoltaic panel array;

[0055] Based on the designed inspection route, inspection track 71 and inspection angle, real-time video monitoring of the photovoltaic panel array is carried out;

[0056] When the thermal imaging camera 12 identifies an abnormality in the photovoltaic panel array, the data recognition and acquisition component 1 collects thermal infrared images and visible light images of the abnormal photovoltaic panel array in the inspection area, and transmits the collected image information to the image analysis module 2 in real time through the serial port for analysis;

[0057] The image analysis module 2 performs target recognition and parameter calculation based on the transmitted image information, and performs clear processing on the visible light image to identify whether there are any obstructions on the surface of the photovoltaic panel array, and forms an analysis report with positioning information. The analysis report is transmitted to the host computer 10 through the communication module 4 for further analysis and processing. Specifically:

[0058] The sharpening process includes performing gradient and pixel value domain joint filtering on the image, removing scattering, and performing illumination remapping. Finally, a clearer image is formed by removing color cast.

[0059] The fault identification module 3 performs fault identification on the inspection robot. When it is identified that one of the data identification and acquisition components 1 has a fault, the fault identification module 3 sends the fault information to the control module 5. The control module 5 simultaneously sends a rotation command to the rotation component 73 to flip the faulty data identification and acquisition component 1 and perform uniform processing on the remaining data identification and acquisition components 1, that is, adjust the distance between the remaining data identification and acquisition components 1 to form a new monitoring area.

[0060] The embodiments of this specific implementation method are all preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. A visual recognition system based on an inspection robot, characterized in that: It includes an inspection component and multiple data recognition and acquisition components, an image analysis module, a fault identification module, a communication module, and a control module arranged in the inspection component. The data recognition and acquisition component includes a pan-tilt zoom camera, a thermal imaging camera, and an identification unit. The identification unit identifies faults in the photovoltaic panel array within the inspection area. When an abnormal photovoltaic panel array appears, the thermal imaging camera and the pan-tilt zoom camera are used to collect thermal infrared images and visible light images in the monitoring area in real time, and transmit the collected image information to the image analysis module through the serial port in real time for analysis. The image analysis module is used to clarify the input image, identify whether there are any obstructions on the surface of the photovoltaic panel array, generate an analysis report with positioning information, and transmit the analysis report to the host computer through the communication module for further analysis and processing. The fault identification module can identify faults in the data identification and acquisition components. When a component unit in a data identification and acquisition component is identified to have a fault, the fault identification module sends fault information to the control module. The control module sends a rotation command to the rotation component to handle the fault of the faulty data identification and acquisition component and adjust the distance between the remaining data identification and acquisition components through the rotation command. The inspection component includes an inspection track, a driving member, and a rotating component. The data identification and collection component is arranged on the rotating component. The driving member is in transmission connection with the inspection track. The rotating component is fixedly arranged at the bottom of the driving member. The rotating component can adjust the identification area of the data identification and collection component, and the rotating component can fold the fault data identification and collection component and shut down the fault data identification and collection component through the power supply module arranged in the data identification and collection component. The rotating assembly includes a first rotating member, a second rotating member, a third rotating member, and a fourth rotating member. The first rotating member is used to fully adjust the left and right monitoring areas of the plurality of data recognition and collection components. The second rotating member is used to adjust the distance between adjacent data recognition and collection components. The third rotating member is used to adjust the left and right monitoring areas of a single data recognition and collection component. The fourth rotating member is used to adjust the upper and lower monitoring areas of a single data identification and collection component.

2. A visual recognition system based on an inspection robot according to claim 1, characterized in that: The driving component includes a driving motor, a driving gear, a rotating shaft, a driving plate, and a mounting plate. The driving plate is arranged at the top of the inspection track. The rotating shaft passes through the driving plate, the driving gear, and the mounting plate in sequence and is transmission-connected to the rotating shaft of the driving motor. The driving motor is fixedly arranged at the bottom of the mounting plate. The driving gear and the inspection track are toothed. The rotating shaft is rotationally connected to the driving plate and the mounting plate respectively, and the rotating shaft is respectively located at the driving plate and the mounting plate and a limiting structure is fixedly provided. The limiting structure is used to limit the positional relationship between the rotating shaft and the driving plate and the mounting plate respectively, and the rotating shaft is fixedly connected to the driving gear.

3. A visual recognition system based on an inspection robot according to claim 2, characterized in that: A sliding positioning assembly is fixedly arranged between the driving plate and the inspection track, and the sliding positioning assembly includes a sliding trough body provided on the inspection track and a rolling element correspondingly arranged on the driving plate. The rolling member includes a ball, a fixed plate and a fastener. A rolling groove body for installing the ball is opened at a position corresponding to the driving plate and the sliding groove body. The ball is rolled in the rolling groove body, and a movable hole for the ball to protrude from the fixed plate is opened at a position corresponding to the rolling groove body on the fixed plate. The aperture of the movable hole is smaller than the diameter of the ball. The fastener passes through the fixed plate and is fixedly connected to the driving plate. The ball is set in contact with the rolling groove body.

4. The visual recognition system based on the inspection robot according to claim 1, characterized in that: The first rotating member includes a first rotating motor, a first rotating shaft, and a mounting plate. The first rotating motor is fixedly arranged at the bottom of the driving member. The rotating shaft of the first rotating motor is fixedly connected to one end of the first rotating shaft, and the other end of the first rotating shaft is fixedly connected to the mounting plate.

5. The visual recognition system based on the inspection robot according to claim 4 is characterized in that: The second rotating member includes a rotating bracket, a second rotating motor, a second rotating gear, and a second rotating shaft. A snap-fitting groove is formed at the bottom of the mounting plate for sliding engagement of the rotating bracket. One end of the rotating bracket is snap-fitted with the snap-fitting groove, and the rotating bracket can slide along the setting direction of the snap-fitting groove. The second rotating motor is fixedly arranged on one side of the rotating bracket. One end of the second rotating shaft is fixedly connected to the rotating shaft of the second rotating motor, and the other end is fixedly connected to the second rotating gear. The second rotating gear and the mounting plate have teeth engaged with each other.

6. A visual recognition system based on an inspection robot according to claim 5, characterized in that: The third rotating member includes a third rotating motor, a third rotating shaft, and a fine-tuning plate. The third rotating motor is fixedly arranged at the bottom of the rotating bracket. One end of the third rotating shaft is fixedly connected to the rotating shaft of the third rotating motor, and the other end is fixedly connected to the fine-tuning plate.

7. The visual recognition system based on the inspection robot according to claim 6, characterized in that: The fourth rotating member includes a fourth rotating motor, a fourth rotating shaft, and a fixed bracket. One end of the fixed bracket is fixedly set at the bottom of the fine-tuning plate, and the fourth rotating motor is fixedly set on one side of the fixed bracket. One end of the fourth rotating shaft is fixedly connected to the rotating shaft of the fourth rotating motor, and the other end passes through the fixed bracket and the data identification and acquisition component in sequence. The fourth rotating shaft rotates in conjunction with the fixed bracket, and the fourth rotating shaft is fixedly connected to the data identification and acquisition component.

8. A visual recognition method used by the visual recognition system of the inspection robot according to any one of claims 1 to 7, characterized in that: Here are the steps: Construct a three-dimensional spatial model of the scene to be inspected, preset the inspection route of the inspection robot based on the three-dimensional spatial model, lay the inspection track according to the inspection route, and set the inspection angle according to the location, orientation and lighting conditions of the photovoltaic panel array; Based on the designed inspection routes, inspection tracks and inspection angles, real-time video monitoring of the photovoltaic panel array is carried out; When the thermal imaging camera identifies an abnormality in the photovoltaic panel array, the data recognition and acquisition component collects thermal infrared images and visible light images of the abnormal photovoltaic panel array in the inspection area, and transmits the collected image information to the image analysis module in real time through the serial port for analysis; The image analysis module performs target recognition and parameter calculation based on the transmitted image information, and performs clear processing on the visible light image to identify whether there are any obstructions on the surface of the photovoltaic panel array, and generates an analysis report with positioning information. The analysis report is transmitted to the host computer through the communication module for further analysis and processing. Specifically: The sharpening process includes performing gradient and pixel value domain joint filtering on the image, removing scattering, and performing illumination remapping. Finally, a clearer image is formed by removing color cast. The fault identification module identifies faults of the inspection robot. When it is confirmed that one of the data identification and acquisition components has a fault, the fault identification module sends the fault information to the control module. The control module simultaneously sends a rotation command to the rotation component to flip the faulty data identification and acquisition component and perform uniform processing on the remaining data identification and acquisition components, that is, adjust the distance between the remaining data identification and acquisition components to form a new monitoring area.

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