Inspection system and method for photovoltaic module

Abstract

The invention relates to a photovoltaic module inspection system and method, the system comprises a cloud end, a control end and at least one ground inspection device which are in communication connection, and the ground inspection device comprises an image acquisition device for acquiring an image in front of the device and an image below the device; the ground inspection equipment autonomously walks in the area of the photovoltaic module, acquires an image and executes a debugging instruction sent by the control end; the control end obtains data transmitted by the ground inspection equipment, displays the data according to the data, sends an image below the equipment to the cloud and sends a debugging instruction to the ground inspection equipment, and the data comprises equipment data and the collected image; and the cloud end receives the image sent by the control end and processes the image. In the application, the ground inspection equipment has an autonomous walking capability, and can also transmit the equipment data and the data collected by the equipment to the control end for display, and the cloud carries out hidden crack detection, so that the efficiency is higher, and the workload of operators is reduced.

Description

Technical Field

[0001] The present application relates to the field of photovoltaic technology, and in particular to a photovoltaic component inspection system and method. Background Art

[0002] The ground inspection equipment collects images of the photovoltaic modules while walking in the area of ​​the photovoltaic modules.

[0003] When the existing ground inspection equipment is working, data display and processing are all performed locally on the equipment. In large areas of photovoltaic panels, workers need to walk to the equipment to operate, which increases the workload. In addition, the staff will not find out whether the working status of the car is abnormal until they check next to the equipment. Even if damaged photovoltaic panels are detected, feedback cannot be provided in time, resulting in low inspection efficiency. Summary of the invention

[0004] In response to the above-mentioned technical problems, the present application provides a photovoltaic module inspection system and method. The ground inspection equipment has the ability to move autonomously, and can also transmit the equipment data and the data collected by the equipment to the control end for display. Hidden crack detection is performed in the cloud, which is more efficient and reduces the workload of operators.

[0005] In order to solve the above technical problems, the present application provides a photovoltaic component inspection system, including a cloud, a control terminal and at least one ground inspection device, wherein the control terminal and the at least one ground inspection device are connected via a wireless local area network communication, and the control terminal and the cloud are connected via a mobile communication network communication, and the ground inspection device includes a first image acquisition device and a second image acquisition device, wherein the first image acquisition device is used to acquire an image in front of the ground inspection device, and the second image acquisition device is used to acquire an image of a photovoltaic component located below the ground inspection device; after the control terminal establishes a communication connection with the ground inspection device, the interface displayed on the ground inspection device can be synchronized with the interface on the control terminal, including screen synchronization and operation synchronization; The at least one ground inspection device is configured to walk in the area of ​​the photovoltaic module and collect images of the photovoltaic module, and execute the debugging instructions sent by the control terminal; The at least one ground inspection device is further configured to adjust the direction of travel according to the image captured by the first image acquisition device when walking in the area of ​​the photovoltaic components, so as to walk in a straight line along the arrangement direction of the photovoltaic components; when it is judged that the edge of the area has been reached according to the image, radar data, and positioning data captured by the first image acquisition device, turn until the first image acquisition device re-detects the photovoltaic components; run the ground inspection device for a body length, turn to the opposite inspection direction according to the direction of the previous turn, and then continue walking, and enter the step of adjusting the direction of travel according to the image captured by the first image acquisition device, so as to walk in a straight line along the arrangement direction of the photovoltaic components; after the area inspection is completed, stop walking or return to the starting point, and send feedback information on the completion of the inspection to the control end; The control terminal is configured to obtain data transmitted by the at least one ground inspection device, display the data according to the data, send the image captured by the second image acquisition device to the cloud, and send the debugging instruction to the at least one ground inspection device, wherein the data includes device data of the at least one ground inspection device and the image captured by the at least one ground inspection device; The cloud is configured to receive the image sent by the control terminal and process the image; The control end is further configured as: When the processing result of the data indicates that the debugging condition is met, a debugging instruction is generated according to the processing result and sent to the corresponding ground inspection equipment, wherein the debugging instruction includes a debugging parameter; The ground inspection equipment is also configured as: Debugging is performed according to the debugging parameters.

[0006] In some embodiments, the at least one ground inspection device is further configured to: Automatically connect to the wireless local area network after powering on; After completing the network connection, start monitoring the communication port corresponding to the control end to establish a communication connection with the control end.

[0007] In some embodiments, the control terminal is configured as follows: After the at least one ground inspection device completes the inspection, the image captured by the second image acquisition device is sent to the cloud.

[0008] In some embodiments, the at least one ground inspection device is further configured to: When walking in the area of ​​the photovoltaic module, scanning the area ahead by means of a radar device; When an obstacle is detected ahead, it will steer to avoid it; When the obstacle cannot be avoided by steering avoidance, the vehicle stops traveling and detecting, and sends abnormal information to the control end.

[0009] In some embodiments, the control terminal is further configured to: After successful login, the device list is displayed on the control interface; Detecting online ground inspection equipment in the wireless local area network to update the equipment list; In response to selecting a target ground inspection device in the device list, the data corresponding to the target ground inspection device is displayed on the control interface.

[0010] In some embodiments, the control interface further includes a preset operation control, the preset operation control is used to trigger the debugging instruction, and the preset operation control is also used to trigger at least one of the following instructions: General pause command, emergency pause command, shutdown command, preset mode switching command.

[0011] In some embodiments, the second image acquisition device is a high-definition infrared camera, and the cloud is further configured as follows: Using a hidden crack detection model to detect the image acquired by the second image acquisition device; If the detection result shows that there is a hidden crack, the image and the positioning data of the ground inspection equipment are stored in correspondence.

[0012] In some embodiments, the cloud is further configured to: The damaged photovoltaic module is located in the travel route of the ground inspection equipment.

[0013] The present application also provides a photovoltaic component inspection method, which is applied between a ground inspection device, a control terminal and a cloud. The ground inspection device includes a first image acquisition device and a second image acquisition device. The first image acquisition device is used to acquire an image in front of the ground inspection device, and the second image acquisition device is used to acquire an image of a photovoltaic component located below the ground inspection device. The method includes: The at least one ground inspection device walks in the area of ​​the photovoltaic module and collects images of the photovoltaic module, and executes the debugging instructions sent by the control end; The control end obtains data transmitted by the at least one ground inspection device, displays the data according to the data, sends the image captured by the second image acquisition device to the cloud, and sends the debugging instruction to the at least one ground inspection device, wherein the data includes the device data of the at least one ground inspection device and the image captured by the at least one ground inspection device; The cloud receives the image sent by the control terminal and processes the image; After the control terminal establishes a communication connection with the ground inspection device, the interface displayed on the ground inspection device can be synchronized with the interface on the control terminal, including screen synchronization and operation synchronization; When the processing result of the data indicates that the debugging condition is met, the control end generates a debugging instruction according to the processing result and sends it to the corresponding ground inspection equipment, wherein the debugging instruction includes a debugging parameter; The ground inspection equipment is debugged according to the debugging parameters.

[0014] The present application discloses a photovoltaic component inspection system and method, the system includes a cloud, a control terminal and at least one ground inspection device connected in communication, the ground inspection device includes an image acquisition device for acquiring images in front of and below the device; the ground inspection device autonomously walks in the area of ​​the photovoltaic component and acquires images, and executes debugging instructions sent by the control terminal; the control terminal obtains data transmitted by the ground inspection device, displays it according to the data, and sends the image below the device to the cloud, and sends debugging instructions to the ground inspection device, the data includes device data and acquired images; the cloud receives the image sent by the control terminal and processes the image. In the present application, the ground inspection device has the ability to walk autonomously, and can also transmit the device data and the data acquired by the device to the control terminal for display, and the cloud performs hidden crack detection, which is more efficient and reduces the workload of operators. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The diagram is a schematic structural diagram of a photovoltaic assembly inspection system according to an embodiment.

[0016] Figure 2 It is a schematic diagram of a control interface of a control terminal according to an embodiment.

[0017] Figure 3 The figure is a flow chart of a photovoltaic assembly inspection method according to an embodiment. DETAILED DESCRIPTION

[0018] In order to facilitate the understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present application are given in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thoroughly and comprehensively understood.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more related listed items. In this application, "each" includes one and more than two quantities.

[0020] Figure 1 FIG. 1 is a schematic diagram showing a photovoltaic module inspection system according to an embodiment. Figure 1 As shown, a photovoltaic component inspection system of the present application includes a cloud 10, a control terminal 20 and at least one ground inspection device 30.

[0021] The control terminal 20 and at least one ground inspection device 30 are connected to each other through a wireless local area network. In some embodiments, the wireless local area network may be, for example, a WIFI network, but is not limited thereto. In actual implementation, a WIFI network card may be added to the control motherboard of the ground inspection device 30, and an AP may be deployed in the work site so that the WIFI network covers the working area of ​​the ground inspection device 30, thereby realizing wireless communication connection between the control terminal 20 and the ground inspection device 30.

[0022] The control terminal 20 is connected to the cloud 10 via a mobile communication network. In some embodiments, the wireless local area network may adopt a 5G mobile network, for example, to improve the real-time performance of data, and the types of mobile communication networks are not limited thereto.

[0023] At least one ground inspection device 30 is configured to walk in the area of ​​the photovoltaic module and collect images of the photovoltaic module, and execute the debugging instructions sent by the control terminal 20. In some embodiments, the ground inspection device 30 includes a first image acquisition device and a second image acquisition device, the first image acquisition device is used to collect images in front of the ground inspection device of the photovoltaic module, and the second image acquisition device is used to collect images of the photovoltaic module located below the ground inspection device of the photovoltaic module. The image collected by the second image acquisition device is an image of the surface of the photovoltaic module, which is used to detect whether there are damaged photovoltaic modules, and the image collected by the first image acquisition device is an environmental image around the ground inspection device 30, which is used to sense the surrounding environment and feed back the surrounding environment to the control terminal 20. The ground inspection device 30 can execute the debugging instructions sent by the control terminal 20, so as to realize remote debugging of the ground inspection device 30.

[0024] At least one ground inspection device 30 is also configured to adjust the direction of travel according to the image captured by the first image acquisition device when walking in the area of ​​the photovoltaic components, so as to walk in a straight line along the arrangement direction of the photovoltaic components; when it is judged that the edge of the area has been reached according to the image, radar data, and positioning data captured by the first image acquisition device, turn until the first image acquisition device re-detects the photovoltaic components; run the ground inspection device for a body length of distance, turn to the opposite inspection direction according to the direction of the previous turn, continue walking, and enter the step of adjusting the direction of travel according to the image captured by the first image acquisition device, so as to walk in a straight line along the arrangement direction of the photovoltaic components; after the area inspection is completed, stop walking or return to the starting point, and send feedback information on the completion of the inspection to the control end.

[0025] Since the photovoltaic area is composed of large-area photovoltaic panels, which are installed on the roof in many cases, the height difference of the edge of the detection site is very large. After the ground inspection device 30 is placed on the photovoltaic panel, the detection program is started. The ground inspection device 30 will calculate whether the device is traveling in a straight line based on the lines and frames on the photovoltaic panel. Specifically, the ground inspection device 30 will calculate a standard line based on the image collected by the first image acquisition device, representing the current forward direction, and will also calculate the direction in which the ground inspection device 30 will travel based on the edge and internal lines of the photovoltaic panel. If the target direction is inconsistent with the current direction, the ground inspection device 30 will automatically adjust the speed of the left and right tracks to make the forward direction consistent with the target direction. When the ground inspection device 30 reaches the edge, the first image acquisition device cannot detect the photovoltaic panel. In addition, the distance data transmitted back by the laser radar and the GPS positioning information are used to determine whether the ground inspection device 30 has actually reached the edge. After confirming that it has reached the edge, the ground inspection equipment 30 will automatically turn left and right until the first image acquisition device detects the photovoltaic panel again. The ground inspection equipment 30 will run a body length away and then turn 90 degrees in the same direction again. This ensures that the ground inspection equipment 30 turns around and runs in a direction parallel to the previous inspection route and in the opposite direction of travel, ensuring that the inspection range can cover all photovoltaic panels.

[0026] The control terminal 20 is configured to obtain data transmitted by at least one ground inspection device 30, display the data and send the image collected by the second image acquisition device to the cloud 10, and send a debugging instruction to at least one ground inspection device 30. The data includes the device data of at least one ground inspection device 30 and the image collected by at least one ground inspection device 30. The device data may be, for example, positioning data, temperature in the vehicle, moving speed, moving direction, battery status, etc. The image collected by the ground inspection device 30 includes the image collected by the first image acquisition device and the second image acquisition device. The first image acquisition device and the second image acquisition device may be one or more, so the collected image may be at a single position or at multiple positions. Preferably, the second image acquisition device is multiple, and images of different positions of the same photovoltaic component can be collected to improve the accuracy of detection. In some embodiments, the ground inspection device 30 is also provided with a light source component for providing a light source to the second image acquisition device. Preferably, the second image acquisition device is a near-infrared camera, and the light source component is a near-infrared light source.

[0027] The control terminal 20 is provided with a display device, which is used to display a control interface, and the above data is displayed in the control interface. The control terminal 20 can be a mobile terminal such as a mobile phone or a tablet, or it can be a field device such as a computer or a host computer. In some embodiments, a display device can also be provided on the ground inspection device 30. After the control terminal 20 establishes a communication connection with the ground inspection device 30, the interface displayed on the ground inspection device 30 can be synchronized with the interface on the control terminal 20, including screen synchronization and operation synchronization. In this way, no matter which device the operator is on, data can be viewed and operated, while ensuring data synchronization and improving work accuracy.

[0028] The control terminal 20 can send a debugging instruction to the ground inspection device 30 to debug the ground inspection device 30. Therefore, the operator does not need to go to the ground inspection device 30, which reduces the workload and the manpower cost.

[0029] The cloud 10 is configured to receive images sent by the control terminal 20 and process the images. The processing of the images includes the detection of hidden cracks in photovoltaic modules. The present application combines the local area network and the mobile network so that the collected images are transmitted back to the control terminal 20, and then sent to the cloud 10 by the control terminal 20 for processing, so that the equipment status and debugging can be viewed remotely at the control terminal 20, reducing the workload of operators. At the same time, the ground inspection equipment has the ability to walk autonomously, without the need for control by the control terminal 20, reducing the computing power requirements of the control terminal 20, and enabling the ground inspection equipment 30 to autonomously plan and judge the path during walking, thereby improving work efficiency and reducing the impact of network quality on the work of the ground inspection equipment 30.

[0030] In some embodiments, the control terminal 20 is configured as follows: After at least one ground inspection device completes the inspection, the image captured by the second image acquisition device is sent to the cloud.

[0031] In this way, the bandwidth occupied by the image transmission on the mobile network can be reduced, and the continuity of the image transmission can be guaranteed, reducing or avoiding data loss. In some implementations, the image collected by the second image acquisition device can also be stored locally in the ground inspection device 30. After the inspection is completed, the ground inspection device 30 sends the image collected by the second image acquisition device to the control terminal 20, and then the ground inspection device 30 sends it to the cloud 10.

[0032] In some embodiments, at least one ground inspection device 30 is further configured to: When walking in the area of ​​PV panels, use radar equipment to scan the area ahead; When an obstacle is detected ahead, it will steer to avoid it; When steering avoidance fails to avoid an obstacle, the vehicle stops traveling and detecting, and sends an abnormal message to the control end.

[0033] In this way, the ground inspection device 30 has an autonomous obstacle avoidance function, which further ensures the safety of the ground inspection device 30 during travel. At the same time, it can be discovered in time through the control terminal 20 in the event of an abnormality.

[0034] In some embodiments, at least one ground inspection device 30 is further configured to: Automatically connect to the wireless LAN after booting up; After the network connection is completed, the communication port corresponding to the control terminal 20 is monitored to establish a communication connection with the control terminal 20 .

[0035] Among them, after the vehicle enters the site and starts, it automatically connects to the local area network. At this time, the automatic navigation and image acquisition program can be executed, and the communication port starts to be monitored, ready to connect to the control terminal 20 and transmit data. Specifically, after the ground inspection device 30 obtains the IP connection to the local area network, it searches for the existence of the control terminal 20 in the local area network. If the control terminal 20 is correctly identified, the connection information is sent to the control terminal 20. At the same time, one ground inspection device 30 can only be connected to one control terminal 20, and one control terminal 20 can be connected to multiple ground inspection devices 30 at the same time.

[0036] In some embodiments, the control terminal 20 is further configured to: After successful login, the device list is displayed on the control interface; Detecting the online ground inspection equipment 30 in the wireless local area network to update the equipment list; In response to selecting a target ground inspection device 30 in the device list, data corresponding to the target ground inspection device 30 is displayed on the control interface.

[0037] The operator performs the operation by logging into the website at the control terminal 20 (i.e., the backend of the cloud 10), inputting the user name and password to log in, and then Figure 2 As shown, the list on the left will display the list of cars (i.e., the list of devices). At this time, the IP address of the car will be obtained in the local area network through the ICMP protocol to detect the online cars in the current local area network. After the detection is completed, the user clicks on the car in the list, and the information display page on the right will connect to the car through the IP address and obtain information and images. Among them, the front image is the image collected by the first image acquisition device, and the images displayed in the detection station 1 and the detection station 2 are the images collected by the second image acquisition device at different positions on the device.

[0038] In some embodiments, the control interface also includes a preset operation control, and the preset operation control is used to trigger the instruction.

[0039] In some embodiments, Figure 2 As shown, the preset operation controls correspond to different instructions, and the instructions include at least one of a general pause instruction, an emergency pause instruction, a shutdown instruction, a preset mode switching instruction, and a debugging instruction. The general pause instruction is used to pause the camera acquisition and the picture. The emergency pause instruction is used to pause walking on the basis of pausing the camera acquisition. The preset mode switching instruction is used to enter the inspection mode, and the debugging instruction is used to enter the debugging interface. The debugging interface can be used to debug the exposure time, acquisition frame rate, focus parameters, shooting angle, etc. of the camera device, and the parameters of the light source can also be debugged, so that an image that better meets the detection requirements can be obtained. Alternatively, the debugging interface can be used to debug other working parameters of the equipment, so that when the equipment is abnormal, the operator does not need to go to the equipment site for debugging.

[0040] In some embodiments, the control terminal 20 is further configured to: When the processing result of the data indicates that the debugging conditions are met, a debugging instruction is generated according to the processing result and sent to the corresponding ground inspection equipment, and the debugging instruction includes debugging parameters; The ground inspection device 30 is further configured as follows: Debug according to the debugging parameters.

[0041] Among them, the operator can manually determine whether debugging is needed based on the data displayed by the control terminal 20, and then remotely debug the ground inspection equipment 30 through the control interface, or the control terminal 20 can automatically monitor whether debugging is needed. In some embodiments, by identifying the display parameters of the image, such as clarity, brightness, etc., it is determined whether the camera needs to be debugged. It is also possible to analyze the device data to determine whether a fault occurs or the operating data is not ideal, and then debug the device. The device identification is, for example, the IP of the device and other information that can uniquely correspond to the device. In this way, multiple devices can be monitored and debugged at the same time to improve efficiency.

[0042] In some embodiments, the second image acquisition device is a high-definition infrared camera, and the cloud 10 is further configured as follows: Using a hidden crack detection model to detect the image acquired by the second image acquisition device; If the detection result shows that there is a hidden crack, the image and the positioning data of the ground inspection equipment 30 are stored in correspondence.

[0043] In some embodiments, the cloud 10 is further configured to: The damaged photovoltaic module is located in the travel route of the ground inspection equipment 30 .

[0044] Hidden cracks refer to fine cracks that are invisible to the naked eye or extremely difficult to distinguish. The conditions for photovoltaic module damage are, for example, that the length of the crack exceeds a threshold or the number of cracks exceeds a threshold. If a problem is found in the photovoltaic module area corresponding to the current image and reaches the damage standard, the cloud 10 will record the image and the corresponding positioning data to the cloud database. After the detection is completed, the cloud 10 will generate the walking route of the ground inspection equipment 30 based on the recorded GPS information, and locate the damaged device in the walking route, so as to facilitate finding the corresponding photovoltaic module for confirmation and repair.

[0045] In the technical solution of the present application, the ground inspection equipment 30 carries its own computing device and uses traditional visual detection equipment to detect whether it has reached the edge of the site. After reaching the edge, it automatically turns and turns around to continue working. It has the function of autonomously calculating the route. The equipment is equipped with a laser radar and can automatically avoid obstacles. During operation, traditional visual detection, laser radar, and GPS positioning information are used to determine whether the equipment has reached the edge of the site to prevent the equipment from falling and being damaged. During operation, the ground inspection equipment 30 will continuously use a high-definition infrared camera to collect images of photovoltaic panels and save them in the on-board storage system. It will also transmit GPS positioning information, photovoltaic panel images, front camera videos, equipment power, and operating speed information through the local area network to the operator's handheld control tablet for display. The control personnel will determine whether the equipment is working properly and whether it needs debugging, maintenance, or interruption of operation based on the inspection equipment information sent back.

[0046] The control terminal 20 is a tablet computer held by the staff, and its main function is to display and debug the working equipment. After the control terminal 20 goes online in the network, it will automatically search for online devices in the local area network, and connect to the local area network when the ground inspection equipment 30 is turned on. The control tablet will show that the device is online. The staff can see the real-time image of the detection camera on the inspection equipment that takes the photovoltaic panel on the tablet. The parameters of the camera can be set, such as exposure time, white balance, gain, etc. After ensuring that the current device is suitable for collecting on-site photovoltaic panel images, click to start detection. The ground inspection equipment 30 will automatically calculate the route and start working. At the same time, it will also transmit the information to the control tablet through the local area network and display it. Once an abnormal situation occurs in the ground inspection equipment 30, the staff can click the pause or emergency stop button on the control tablet to send a command to the ground inspection equipment 30, and the ground inspection equipment 30 will make corresponding operations.

[0047] The main function of the cloud 10 is to deploy the control page of the control terminal 20. The control tablet enters the control page website to log in to the control system, and then detects the online devices in the local area network. The account and password of the staff login are stored on the cloud 10, and the information of the ground inspection equipment 30 is also stored on the cloud 10, including the device name and device IP address. The control tablet will search for the device in the local area network and connect based on the car information obtained from the cloud 10. When the ground inspection equipment 30 is finished, the staff can choose whether to upload the collected pictures and operation data to the cloud for storage on the control tablet.

[0048] Figure 3 FIG. 1 is a flow chart of a photovoltaic module inspection method according to an embodiment. Figure 3 As shown, the photovoltaic module inspection method of the present application includes the following steps: S1, at least one ground inspection device walks in the area of ​​the photovoltaic module and collects images of the photovoltaic module, and executes the debugging instructions sent by the control end; S2, the control end obtains data transmitted by at least one ground inspection device, displays according to the data, sends the image captured by the second image acquisition device to the cloud, and sends a debugging instruction to at least one ground inspection device, the data including the device data of at least one ground inspection device and the image captured by at least one ground inspection device; S3, the cloud receives the image sent by the control end and processes the image.

[0049] In some embodiments, the method further comprises: When at least one ground inspection device moves in the area of ​​the photovoltaic components, it adjusts the moving direction according to the image captured by the first image acquisition device so as to move in a straight line along the arrangement direction of the photovoltaic components; When it is determined that the edge of the area has been reached according to the image, radar data, and positioning data collected by the first image acquisition device, turning is performed until the first image acquisition device detects the photovoltaic module again; Running the ground inspection device for a body length, turning to the opposite inspection direction according to the direction of the previous turn, and then continuing to walk, and entering the step of adjusting the direction of travel according to the image captured by the first image acquisition device to walk in a straight line along the arrangement direction of the photovoltaic modules; After the area inspection is completed, stop walking or return to the starting point, and send feedback information about the inspection completion to the control end.

[0050] In some embodiments, the method further comprises: At least one ground inspection device automatically connects to the wireless local area network after being powered on; After completing the network connection, start monitoring the communication port corresponding to the control end to establish a communication connection with the control end.

[0051] In some embodiments, the method further comprises: After at least one ground inspection device completes the inspection, the control end sends the image captured by the second image acquisition device to the cloud.

[0052] In some embodiments, the method further comprises: At least one ground inspection device moves in the area of ​​the photovoltaic module and scans the area ahead through a radar device; When an obstacle is detected ahead, it will steer to avoid it; When steering avoidance fails to avoid an obstacle, the vehicle stops traveling and detecting, and sends an abnormal message to the control end.

[0053] In some embodiments, the method further comprises: At least one ground inspection device moves within the area of ​​the photovoltaic components based on a preset walking route.

[0054] In some embodiments, the method further comprises: After the control terminal successfully logs in, the device list is displayed on the control interface; Detect online ground inspection equipment in the wireless LAN to update the equipment list; In response to selecting a target ground inspection device in the device list, data corresponding to the target ground inspection device is displayed on the control interface.

[0055] In some embodiments, the control interface also includes a preset operation control, and the preset operation control is used to trigger the instruction.

[0056] In some embodiments, the instruction includes at least one of a pause instruction, an emergency pause instruction, a shutdown instruction, a preset mode switching instruction, and a debugging instruction.

[0057] In some embodiments, the method further comprises: The control end processes the data; When the processing result of the data indicates that the debugging conditions are met, a debugging instruction is generated according to the processing result and sent to the corresponding ground inspection equipment, and the debugging instruction includes debugging parameters; The ground inspection equipment is debugged according to the debugging parameters.

[0058] In some embodiments, the second image acquisition device is a high-definition infrared camera, and the method further includes: The cloud uses a hidden crack detection model to detect the image collected by the second image acquisition device; If the detection result shows that there is a hidden crack, the image and the positioning data of the ground inspection equipment are stored in correspondence.

[0059] In some embodiments, the method further comprises: The cloud locates damaged PV panels along the route of ground inspection equipment.

[0060] The present application discloses a photovoltaic component inspection system and method, the system includes a cloud, a control terminal and at least one ground inspection device connected in communication, the ground inspection device includes an image acquisition device for acquiring images in front of and below the device; the ground inspection device autonomously walks in the area of ​​the photovoltaic component and acquires images, and executes debugging instructions sent by the control terminal; the control terminal obtains data transmitted by the ground inspection device, displays it according to the data, and sends the image below the device to the cloud, and sends debugging instructions to the ground inspection device, the data includes device data and acquired images; the cloud receives the image sent by the control terminal and processes the image. In the present application, the ground inspection device has the ability to walk autonomously, and can also transmit the device data and the data acquired by the device to the control terminal for display, and the cloud performs hidden crack detection, which is more efficient and reduces the workload of operators.

[0061] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A photovoltaic module inspection system, characterized in that: The system comprises a cloud, a control terminal and at least one ground inspection device, wherein the control terminal and the at least one ground inspection device are connected to each other through a wireless local area network, and the control terminal and the cloud are connected to each other through a mobile communication network. The ground inspection device comprises a first image acquisition device and a second image acquisition device, wherein the first image acquisition device is used to acquire images in front of the ground inspection device, and the second image acquisition device is used to acquire images of photovoltaic modules located below the ground inspection device. After the control terminal establishes a communication connection with the ground inspection device, the interface displayed on the ground inspection device can be synchronized with the interface on the control terminal, including screen synchronization and operation synchronization. The at least one ground inspection device is configured to walk in the area of ​​the photovoltaic module and collect images of the photovoltaic module, and execute the debugging instructions sent by the control terminal; The at least one ground inspection device is further configured to adjust the direction of travel according to the image captured by the first image acquisition device when walking in the area of ​​the photovoltaic components, so as to walk in a straight line along the arrangement direction of the photovoltaic components; when it is judged that the edge of the area has been reached according to the image, radar data, and positioning data captured by the first image acquisition device, turn until the first image acquisition device re-detects the photovoltaic components; run the ground inspection device for a body length, turn to the opposite inspection direction according to the direction of the previous turn, and then continue walking, and enter the step of adjusting the direction of travel according to the image captured by the first image acquisition device, so as to walk in a straight line along the arrangement direction of the photovoltaic components; after the area inspection is completed, stop walking or return to the starting point, and send feedback information on the completion of the inspection to the control end; The control terminal is configured to obtain data transmitted by the at least one ground inspection device, display the data according to the data, send the image captured by the second image acquisition device to the cloud, and send the debugging instruction to the at least one ground inspection device, wherein the data includes device data of the at least one ground inspection device and the image captured by the at least one ground inspection device; The cloud is configured to receive the image sent by the control terminal and process the image; The control end is further configured as: When the processing result of the data indicates that the debugging condition is met, a debugging instruction is generated according to the processing result and sent to the corresponding ground inspection equipment, wherein the debugging instruction includes a debugging parameter; The ground inspection equipment is also configured as: Debugging is performed according to the debugging parameters.

2. The system according to claim 1, characterized in that The at least one ground inspection device is further configured as: Automatically connect to the wireless local area network after powering on; After completing the network connection, start monitoring the communication port corresponding to the control end to establish a communication connection with the control end.

3. The system according to claim 1, characterized in that The control terminal is configured as follows: After the at least one ground inspection device completes the inspection, the image captured by the second image acquisition device is sent to the cloud.

4. The system according to claim 1, characterized in that The at least one ground inspection device is further configured as: When walking in the area of ​​the photovoltaic module, scanning the area ahead by means of a radar device; When an obstacle is detected ahead, it will steer to avoid it; When the obstacle cannot be avoided by steering avoidance, the vehicle stops traveling and detecting, and sends abnormal information to the control end.

5. The system according to claim 1, characterized in that The control end is further configured as: After successful login, the device list is displayed on the control interface; Detecting online ground inspection equipment in the wireless local area network to update the equipment list; In response to selecting a target ground inspection device in the device list, the data corresponding to the target ground inspection device is displayed on the control interface.

6. The system according to claim 5, characterized in that The control interface further includes a preset operation control, which is used to trigger the debugging instruction, and the preset operation control is also used to trigger at least one of the following instructions: General pause command, emergency pause command, shutdown command, preset mode switching command.

7. The system according to claim 1, characterized in that The second image acquisition device is a high-definition infrared camera, and the cloud is further configured as follows: Using a hidden crack detection model to detect the image acquired by the second image acquisition device; If the detection result shows that there is a hidden crack, the image and the positioning data of the ground inspection equipment are stored in correspondence.

8. The system according to claim 7, characterized in that The cloud is also configured to: The damaged photovoltaic module is located in the travel route of the ground inspection equipment.

9. A photovoltaic module inspection method, characterized in that: Applied between a ground inspection device, a control terminal and a cloud, the ground inspection device comprises a first image acquisition device and a second image acquisition device, the first image acquisition device is used to acquire an image in front of the ground inspection device, and the second image acquisition device is used to acquire an image of a photovoltaic module located below the ground inspection device, the method comprises: The at least one ground inspection device walks in the area of ​​the photovoltaic module and collects images of the photovoltaic module, and executes the debugging instructions sent by the control end; The control end obtains data transmitted by the at least one ground inspection device, displays the data according to the data, sends the image captured by the second image acquisition device to the cloud, and sends the debugging instruction to the at least one ground inspection device, wherein the data includes the device data of the at least one ground inspection device and the image captured by the at least one ground inspection device; The cloud receives the image sent by the control terminal and processes the image; After the control terminal establishes a communication connection with the ground inspection device, the interface displayed on the ground inspection device can be synchronized with the interface on the control terminal, including screen synchronization and operation synchronization; When the processing result of the data indicates that the debugging condition is met, the control end generates a debugging instruction according to the processing result and sends it to the corresponding ground inspection equipment, wherein the debugging instruction includes a debugging parameter; The ground inspection equipment is debugged according to the debugging parameters.

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