Photovoltaic power station safety monitoring method and system based on safety inspection

Abstract

The invention relates to the technical field of photovoltaic power station monitoring, and comprises a photovoltaic power station safety monitoring method and system based on safety inspection, and the method comprises the steps: obtaining photovoltaic power station basic data collected by an inspection robot after the inspection of the photovoltaic power station according to a first inspection guidance, and generating the overall dust accumulation information of the power station; judging whether the accumulated dust of the photovoltaic power station belongs to a safe accumulated dust range or not; if not, acquiring combiner box dust accumulation data acquired after the inspection robot inspects the combiner box in the photovoltaic power station according to the second inspection guidance, and generating a combiner box dust accumulation estimated value; whether the combiner box dust accumulation estimated value is larger than a standard dust accumulation threshold value or not is judged, if yes, combiner box dust removal inspection guidance is generated, and according to the combiner box dust removal inspection guidance, safety inspection personnel are guided to conduct dust accumulation cleaning on the combiner box. According to the invention, the overall inspection of the photovoltaic power station and the inspection and monitoring of key parts are considered, and refined monitoring and high-safety monitoring are realized.

Description

Technical Field

[0001] The present application relates to the technical field of photovoltaic power station monitoring, and in particular to a photovoltaic power station safety monitoring method and system based on safety inspection. Background Art

[0002] A photovoltaic power station refers to a power generation system that utilizes solar energy and adopts special materials such as crystalline silicon panels, inverters and other electronic components. It is connected to the power grid and transmits electricity to the power grid.

[0003] In order to ensure the safe operation of photovoltaic power stations, it is necessary to conduct patrol inspections of photovoltaic power stations. Regarding the inspection methods, general inspection methods include manual regular inspections, or a photovoltaic component inspection decision method, device, medium and inspection aircraft disclosed in the Chinese invention patent with publication number CN117115586A on November 24, 2023. The method includes: obtaining a historical inspection feature data set of photovoltaic components, processing it through a preset membership function, obtaining a state variable membership data set, and inputting it into a fuzzy variable structure dynamic Bayesian network for training to obtain a target photovoltaic component inspection decision model; obtaining a first inspection feature data set and a second inspection feature data set of the photovoltaic components to be inspected, and processing them through the target photovoltaic component inspection decision model and a preset processing method to obtain an inspection decision result of the photovoltaic component to be inspected.

[0004] The technical solution in the above-mentioned patent document improves the inspection quality and efficiency of photovoltaic modules by using fuzzy variable structure dynamic Bayesian network training to obtain a target photovoltaic module inspection decision model. However, it only performs overall inspection on photovoltaic panels and does not perform targeted inspection on specific components. This may easily lead to failure to discover damage to individual components due to the broad inspection. In particular, similar to other solutions in the prior art, no detailed inspection and safety assessment of the junction box is performed, which leads to low inspection safety and inability to perform detailed monitoring of the junction box. Summary of the invention

[0005] Based on this, it is necessary to provide a photovoltaic power station safety monitoring method and system based on safety inspection that can take into account the overall inspection and key component inspection of the photovoltaic power station, and realize refined monitoring and high-security monitoring in response to the above technical problems.

[0006] The technical solution of the present invention is as follows:

[0007] A photovoltaic power station safety monitoring method based on safety inspection, the method comprising:

[0008] Obtaining basic data of the photovoltaic power station collected by the inspection robot after inspecting the photovoltaic power station according to the first inspection guide, and generating overall dust accumulation information of the power station according to the basic data of the photovoltaic power station;

[0009] Determining whether the dust accumulation of the photovoltaic power station falls within a safe dust accumulation range according to the overall dust accumulation information of the power station;

[0010] If the judgment is no, obtaining the dust accumulation data of the combiner box collected by the inspection robot after inspecting the combiner box in the photovoltaic power station according to the second inspection guide, and generating an estimated dust accumulation value of the combiner box according to the dust accumulation data of the combiner box;

[0011] It is determined whether the estimated dust accumulation value of the combiner box is greater than a standard dust accumulation threshold value. If so, a combiner box dust removal inspection guide is generated, and safety inspection personnel are guided to clean the dust from the combiner box according to the combiner box dust removal inspection guide.

[0012] Optionally, the first inspection guideline includes a static inspection guideline and a dynamic inspection guideline; the static inspection guideline includes the number of static inspection circles, the first inspection speed and the static inspection path;

[0013] The dynamic inspection guide includes a dynamic inspection circle number, a second inspection speed and a dynamic inspection path, and the dynamic inspection circle number includes a first circle number and a second circle number;

[0014] The first inspection speed is less than the second inspection speed;

[0015] The basic data of the photovoltaic power station includes static data of the photovoltaic power station and dynamic data of the photovoltaic power station;

[0016] The basic data of the photovoltaic power station includes static data of the photovoltaic power station and dynamic data of the photovoltaic power station;

[0017] The overall dust accumulation information of the power station includes static dust accumulation information of the power station and dynamic dust accumulation information of the power station;

[0018] Obtaining basic data of the photovoltaic power station collected by the inspection robot after inspecting the photovoltaic power station according to the first inspection guide, and generating overall dust accumulation information of the power station according to the basic data of the photovoltaic power station, including:

[0019] Obtaining static data of the photovoltaic power station collected after the inspection robot inspects the photovoltaic power station for a number of static inspection laps according to the first inspection speed and the static inspection path;

[0020] Control the inspection robot to inspect the photovoltaic power station for a first number of times according to a second inspection speed and a dynamic inspection path, and obtain the photovoltaic power station dynamic data collected by the inspection robot during the process of inspecting the photovoltaic power station for a second number of times after the first number of times according to the second inspection speed and the dynamic inspection path;

[0021] Extracting the static dust accumulation information of the photovoltaic power station from the static data of the photovoltaic power station;

[0022] The dynamic dust accumulation information of the photovoltaic power station is extracted from the dynamic data of the photovoltaic power station.

[0023] Optionally, judging whether the dust accumulation of the photovoltaic power station is within a safe dust accumulation range according to the overall dust accumulation information of the power station includes:

[0024] generating a static dust accumulation assessment value of the photovoltaic power station according to the static dust accumulation information of the power station;

[0025] Generate a dynamic dust accumulation evaluation value of the photovoltaic power station according to the dynamic dust accumulation information of the power station;

[0026] Adding the static dust accumulation evaluation value and the dynamic dust accumulation evaluation value to generate an overall dust accumulation evaluation value;

[0027] It is determined whether the dust accumulation of the photovoltaic power station falls within a safe dust accumulation range according to the overall dust accumulation assessment value.

[0028] Optionally, the power station static dust accumulation information includes a plurality of power station static dust accumulation pictures containing dust accumulation information;

[0029] Generating a static dust accumulation assessment value of a photovoltaic power station according to the static dust accumulation information of the power station includes:

[0030] Extracting debris accumulation areas according to the static dust accumulation picture of the power station, and obtaining the total area occupied by the debris in each of the debris accumulation areas;

[0031] Extracting dust accumulation components from the static dust accumulation pictures of each power station, and obtaining the dust accumulation area on each dust accumulation component;

[0032] Generate a static dust accumulation assessment value based on the total area occupied by debris and the area of ​​the dust accumulation area.

[0033] Optionally, judging whether the dust accumulation of the photovoltaic power station is within a safe dust accumulation range according to the overall dust accumulation assessment value includes:

[0034] Determining whether the overall dust accumulation evaluation value is greater than or equal to an overall dust accumulation threshold, wherein the overall dust accumulation threshold is preset;

[0035] If the judgment is no, then obtaining the historical stored dust accumulation value, and generating the current dust accumulation growth rate according to the historical stored dust accumulation value and the overall dust accumulation evaluation value;

[0036] Determining whether the current dust accumulation growth rate is greater than or equal to a preset conventional dust accumulation growth rate;

[0037] If the judgment is no, then it is judged that the dust accumulation of the photovoltaic power station is within the safe dust accumulation range;

[0038] If the answer is yes, it is determined that the dust accumulation in the photovoltaic power station does not fall within the safe dust accumulation range.

[0039] Optionally, the second inspection guide includes a combiner box location, a positioning collection point, a combiner box calibration point, and a combiner box data collection path;

[0040] The combiner box point is the position of the combiner box in the photovoltaic power station. The number of the positioning and collection points is three, which are the positions of three marked brackets with positioning marks pre-set. The three marked brackets are located beside the combiner box. The combiner box calibration points are pre-set and located around the combiner box. The combiner box data collection path is a path around the combiner box.

[0041] The combiner box dust accumulation data includes a combiner box calibration image, an overall combiner box image, a support frame image, a directional acquisition image, air dust data, and historical weather monitoring data;

[0042] Obtaining dust accumulation data of a combiner box collected after the inspection robot inspects the combiner box in the photovoltaic power station according to the second inspection guide, including:

[0043] Control the inspection robot to run to the combiner box position according to the combiner box position, collect images of the combiner box according to the combiner box calibration points, and obtain a combiner box calibration image;

[0044] Control the inspection robot to collect images of the combiner box and the support frame on which the combiner box is installed according to the combiner box data collection path, and obtain an overall image of the combiner box and an image of the support frame;

[0045] Establishing a three-dimensional coordinate system with the inspection robot as the center, and acquiring real-time coordinate points of the three positioning collection points in the three-dimensional coordinate system in real time;

[0046] Controlling the inspection robot to move until the three real-time coordinate points are identical to the pre-stored calibration coordinate points, and stopping, while collecting images of the combiner box and acquiring directional collection images;

[0047] Controlling the blowing device on the inspection robot to blow air to the area where the combiner box is located, and at the same time performing dust detection and obtaining air dust data;

[0048] In response to acquiring the air dust data, historical weather monitoring data of the photovoltaic power station is extracted.

[0049] Optionally, generating a combiner box dust accumulation estimate value according to the combiner box dust accumulation data includes:

[0050] Performing dust analysis on the combiner box calibration image and generating a dust accumulation value of the calibration area;

[0051] Performing dust analysis on the overall image of the combiner box and generating an overall box volume dust value;

[0052] Performing dust analysis on the support frame image and generating a support frame dust accumulation value;

[0053] Compare the directional acquisition image with a pre-stored standard directional image, and obtain the box offset;

[0054] Obtaining the real-time dust value corresponding to each sampling time point of the air dust data, and generating a real-time dust mean value according to the real-time dust value;

[0055] generating a wind amplification factor and a rain disturbance factor according to the historical weather monitoring data;

[0056] The estimated dust accumulation value of the junction box is generated based on the dust accumulation value of the calibration area, the dust accumulation value of the entire box, the dust accumulation value of the support frame, the box offset, the real-time dust average, the wind amplification factor and the rain disturbance factor.

[0057] Optionally, a photovoltaic power station safety monitoring system based on safety inspection is also provided, the system comprising:

[0058] The photovoltaic overall inspection module is used to obtain the basic data of the photovoltaic power station collected by the inspection robot after inspecting the photovoltaic power station according to the first inspection guide, and generate the overall dust accumulation information of the power station according to the basic data of the photovoltaic power station;

[0059] A safety range judgment module, used to judge whether the dust accumulation of the photovoltaic power station falls within a safe dust accumulation range according to the overall dust accumulation information of the power station;

[0060] a dust accumulation estimation generating module, for obtaining, if the judgment is no, the dust accumulation data of the combiner box collected by the inspection robot after inspecting the combiner box in the photovoltaic power station according to the second inspection guide, and generating a dust accumulation estimation value of the combiner box according to the dust accumulation data of the combiner box;

[0061] The dust cleaning guidance module is used to determine whether the estimated dust accumulation value of the junction box is greater than the standard dust accumulation threshold. If so, a junction box dust removal inspection guide is generated, and the safety inspection personnel are guided to clean the dust on the junction box according to the junction box dust removal inspection guide.

[0062] Optionally, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above-mentioned photovoltaic power station safety monitoring method based on safety inspection when executing the computer program.

[0063] Optionally, a computer-readable storage medium is also provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the photovoltaic power station safety monitoring method based on safety inspection are implemented.

[0064] The technical effects achieved by the present invention are as follows:

[0065] The above-mentioned photovoltaic power station safety monitoring method and system based on safety inspection obtains the basic data of the photovoltaic power station collected by the inspection robot after inspecting the photovoltaic power station according to the first inspection guideline, and generates the overall dust accumulation information of the power station according to the basic data of the photovoltaic power station; judges whether the dust accumulation of the photovoltaic power station belongs to the safe dust accumulation range according to the overall dust accumulation information of the power station; if the judgment is not, obtains the dust accumulation data of the combiner box collected by the inspection robot after inspecting the combiner box in the photovoltaic power station according to the second inspection guideline, and generates the dust accumulation estimate of the combiner box according to the dust accumulation data of the combiner box; judges whether the dust accumulation estimate of the combiner box is greater than the standard dust accumulation threshold, if it is judged If the answer is yes, a dust removal inspection guide for the combiner box is generated, and the safety inspection personnel are guided to clean the dust on the combiner box according to the dust removal inspection guide. In order to conduct a comprehensive inspection of the photovoltaic power station and obtain dust accumulation data, the present invention first sets up a first inspection guide and an inspection robot. By setting the first inspection guide, the inspection robot can inspect the entire photovoltaic power station to ensure regional monitoring of the entire photovoltaic power station, that is, first obtain the basic data of the photovoltaic power station collected by the inspection robot after inspecting the photovoltaic power station according to the first inspection guide, and then generate the overall dust accumulation information of the power station according to the basic data of the photovoltaic power station. , the overall dust accumulation information of the power station is used to indicate the overall dust accumulation situation of the photovoltaic power station, and then a safe dust accumulation range is pre-set. Within the safe dust accumulation range, the dust accumulation situation of the photovoltaic power station is risk-free. Therefore, it is judged whether the dust accumulation of the photovoltaic power station belongs to the safe dust accumulation range according to the overall dust accumulation information of the power station. If the judgment is no, that is, it is judged that the dust accumulation of the photovoltaic power station does not belong to the safe dust accumulation range, then the photovoltaic power station may have safety risks. Therefore, it is necessary to focus on inspecting the components that are prone to dust accumulation, that is, it is necessary to inspect the combiner boxes in the photovoltaic power station. Specifically, the inspection robot is required to inspect the photovoltaic power station according to the second inspection guide. The dust accumulation data of the combiner box in the photovoltaic power station is collected after the inspection. In order to further refine the judgment on the possible dust accumulation of the combiner box, an estimated dust accumulation value of the combiner box is generated based on the dust accumulation data of the combiner box. The estimated dust accumulation value of the combiner box is a value used to estimate the dust accumulation of the combiner box. Then, it is judged whether the estimated dust accumulation value of the combiner box is greater than the standard dust accumulation threshold. If it is judged to be yes, it means that more dust may be estimated inside the combiner box at this time, and there is a risk problem. Therefore, it is necessary to generate a dust removal inspection guide for the combiner box, and guide the safety inspection personnel to clean the dust from the combiner box according to the dust removal inspection guide for the combiner box.The present invention first inspects the photovoltaic power station as a whole and makes a judgment on the overall dust accumulation. Only when it is judged that there may be a risk of overall dust accumulation, the dust accumulation data around the junction box is concentratedly acquired, and the dust accumulation that may exist in the junction box is estimated. When it is judged that there may be a risk of dust accumulation in the junction box through the estimated results, the safety inspection personnel are guided to inspect or clean the junction box, so as to achieve both the overall inspection of the photovoltaic power station and the inspection and monitoring of key components, and achieve refined monitoring and high-safety monitoring, avoiding the problem of damaging the sealing of the junction box due to opening the junction box for inspection many times in the prior art. In addition, through the inspection of the inspection robot, the dust accumulation of the junction box can be estimated in time according to the real-time inspection data, overcoming the problems of poor inspection flexibility caused by regular inspections in the prior art, the inability to timely discover dust accumulation problems, and the fact that the junction box can only be discovered when it is damaged by dust accumulation, which leads to safety accidents and affects the operation of the photovoltaic power station. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 1 is a schematic diagram of a process of a photovoltaic power station safety monitoring method based on safety inspection in one embodiment;

[0067] Figure 2 The figure is a structural block diagram of a photovoltaic power station safety monitoring system based on safety inspection in one embodiment. DETAILED DESCRIPTION

[0068] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0069] In one embodiment, a terminal is provided, which is used to: obtain basic data of a photovoltaic power station collected by an inspection robot after inspecting the photovoltaic power station according to a first inspection guideline, and generate overall dust accumulation information of the power station according to the basic data of the photovoltaic power station; determine whether the dust accumulation of the photovoltaic power station belongs to a safe dust accumulation range according to the overall dust accumulation information of the power station; if the determination is no, obtain dust accumulation data of a combiner box collected by the inspection robot after inspecting the combiner box in the photovoltaic power station according to a second inspection guideline, and generate an estimated dust accumulation value of the combiner box according to the dust accumulation data of the combiner box; determine whether the estimated dust accumulation value of the combiner box is greater than a standard dust accumulation threshold, and if the determination is yes, generate a dust removal inspection guide for the combiner box, and guide safety inspection personnel to clean the dust from the combiner box according to the dust removal inspection guide for the combiner box.

[0070] The terminal may be, but is not limited to, various personal computers, laptops, smart phones, tablet computers, and portable wearable devices.

[0071] In one embodiment, Figure 1 As shown, a photovoltaic power station safety monitoring method based on safety inspection is provided, and the photovoltaic power station safety monitoring method is performed based on an inspection robot. The inspection robot has detection functions such as image acquisition, video recording, dust detection, and smoke detection. The inspection robot is also provided with a fan. The inspection robot generally inspects under the photovoltaic panels of the photovoltaic power station.

[0072] Specifically, the method comprises:

[0073] Step S100: acquiring basic data of the photovoltaic power station collected by the inspection robot after inspecting the photovoltaic power station according to the first inspection guide, and generating overall dust accumulation information of the power station according to the basic data of the photovoltaic power station;

[0074] Step S200: judging whether the dust accumulation of the photovoltaic power station is within a safe dust accumulation range according to the overall dust accumulation information of the power station;

[0075] Step S300: if the judgment is no, obtaining the dust accumulation data of the combiner box collected by the inspection robot after inspecting the combiner box in the photovoltaic power station according to the second inspection guide, and generating a dust accumulation estimate of the combiner box according to the dust accumulation data of the combiner box;

[0076] Step S400: determining whether the estimated dust accumulation value of the combiner box is greater than a standard dust accumulation threshold value; if so, generating a combiner box dust removal inspection guide, and guiding the safety inspection personnel to clean the combiner box according to the combiner box dust removal inspection guide.

[0077] In this embodiment, in order to conduct a comprehensive inspection of the photovoltaic power station and obtain dust accumulation data, a first inspection guide and an inspection robot are first set up. By setting the first inspection guide, the inspection robot can inspect the entire photovoltaic power station to ensure regional monitoring of the entire photovoltaic power station, that is, first obtain the basic data of the photovoltaic power station collected by the inspection robot after inspecting the photovoltaic power station according to the first inspection guide, and then generate the overall dust accumulation information of the power station according to the basic data of the photovoltaic power station. The overall dust accumulation information of the power station is used to represent the overall dust accumulation situation of the photovoltaic power station, and then a safe dust accumulation range is pre-set. Within the safe dust accumulation range, the dust accumulation situation of the photovoltaic power station is risk-free. Therefore, it is judged whether the dust accumulation of the photovoltaic power station belongs to the safe dust accumulation range based on the overall dust accumulation information of the power station. If the judgment is no, it means that the dust accumulation of the photovoltaic power station is judged not to be within the safe dust accumulation range. If the dust accumulation range is too large, the photovoltaic power station may have safety risks. Therefore, it is necessary to focus on inspecting components that are prone to dust accumulation, that is, it is necessary to inspect the junction boxes in the photovoltaic power station. Specifically, the dust accumulation data of the junction boxes collected by the inspection robot after inspecting the junction boxes in the photovoltaic power station according to the second inspection guidelines is obtained. In order to further refine the judgment on the possible dust accumulation of the junction boxes, a dust accumulation estimate value of the junction box is generated according to the dust accumulation data of the junction box. The dust accumulation estimate value of the junction box is a value used to estimate the dust accumulation of the junction box. Then, it is judged whether the dust accumulation estimate value of the junction box is greater than the standard dust accumulation threshold. If the judgment is yes, it means that more dust may be estimated inside the junction box at this time, and there is a risk problem. Therefore, it is necessary to generate a dust removal inspection guide for the junction box, and guide the safety inspection personnel to clean the dust from the junction box according to the dust removal inspection guide for the junction box. The present invention first inspects the photovoltaic power station as a whole and makes a judgment on the overall dust accumulation. Only when it is judged that there may be a risk of overall dust accumulation, the dust accumulation data around the junction box is concentratedly acquired, and the dust accumulation that may exist in the junction box is estimated. When it is judged that there may be a risk of dust accumulation in the junction box through the estimated results, the safety inspection personnel are guided to inspect or clean the junction box, so as to achieve both the overall inspection of the photovoltaic power station and the inspection and monitoring of key components, and achieve refined monitoring and high-safety monitoring, avoiding the problem of damaging the sealing of the junction box due to opening the junction box for inspection many times in the prior art. In addition, through the inspection of the inspection robot, the dust accumulation of the junction box can be estimated in time according to the real-time inspection data, overcoming the problems of poor inspection flexibility caused by regular inspections in the prior art, the inability to timely discover dust accumulation problems, and the fact that the junction box can only be discovered when it is damaged by dust accumulation, which leads to safety accidents and affects the operation of the photovoltaic power station.

[0078] In addition, the dust removal inspection guide for the combiner box includes two steps: first, check the electrical performance, and second, check the dust accumulation in the combiner box. When checking the electrical performance, mainly check whether the combiner box has electrical performance problems such as leakage before touching the combiner box. For example, first test the outside of the combiner box with a test pen, and then check the combiner box on the premise that there is no leakage and other problems. Similarly, when checking the inside of the combiner box, the inspection is also carried out on the premise of confirming that there is no leakage problem, so as to improve the safety during the inspection process.

[0079] In one embodiment, the first inspection guideline includes a static inspection guideline and a dynamic inspection guideline; the static inspection guideline includes a static inspection circle number, a first inspection speed and a static inspection path;

[0080] The dynamic inspection guide includes a dynamic inspection circle number, a second inspection speed and a dynamic inspection path, and the dynamic inspection circle number includes a first circle number and a second circle number;

[0081] The first inspection speed is less than the second inspection speed;

[0082] The basic data of the photovoltaic power station includes static data of the photovoltaic power station and dynamic data of the photovoltaic power station;

[0083] The basic data of the photovoltaic power station includes static data of the photovoltaic power station and dynamic data of the photovoltaic power station;

[0084] The overall dust accumulation information of the power station includes static dust accumulation information of the power station and dynamic dust accumulation information of the power station;

[0085] Step S100: obtaining basic data of the photovoltaic power station collected by the inspection robot after inspecting the photovoltaic power station according to the first inspection guide, and generating overall dust accumulation information of the power station according to the basic data of the photovoltaic power station, including:

[0086] Step S110: acquiring static data of the photovoltaic power station collected after the inspection robot inspects the photovoltaic power station for a number of static inspection laps at a first inspection speed and a static inspection path;

[0087] Step S120: Control the inspection robot to inspect the photovoltaic power station for a first number of times according to a second inspection speed and a dynamic inspection path, and obtain the photovoltaic power station dynamic data collected by the inspection robot during the process of inspecting the photovoltaic power station for a first number of times to a second number of times according to the second inspection speed and the dynamic inspection path;

[0088] Step S130: extracting the static dust accumulation information of the photovoltaic power station from the static data of the photovoltaic power station;

[0089] Step S140: extracting the dynamic dust accumulation information of the photovoltaic power station from the dynamic data of the photovoltaic power station.

[0090] In this embodiment, the speed of the first inspection speed is generally much smaller than the second inspection speed. The setting of the first inspection speed enables the inspection robot to inspect the photovoltaic power station at a lower speed. When inspecting at the first inspection speed, due to the lower speed, the inspection robot can collect data through pre-set image sensors, smoke sensors and other sensors to obtain data of the photovoltaic power station in a static state. This situation simulates the state of the photovoltaic power station without external interference, such as the state without human inspection, wind and rain.

[0091] The second inspection speed is to move the inspection robot quickly in the photovoltaic power station to simulate the data of the photovoltaic power station when it is disturbed by external forces, such as the state of wind and rain. Therefore, the second inspection speed is set to be relatively high. At this time, the inspection robot can also collect data through various sensors when inspecting the photovoltaic power station. In addition, the inspection robot can also be provided with a fan. While inspecting at the second inspection speed, the fan is started to better simulate the situation of the photovoltaic power station in windy conditions.

[0092] The number of dynamic inspection circles and the number of static inspection circles can be set to be different, and the number of dynamic inspection circles is greater than the number of static inspection circles. Generally speaking, the number of static inspection circles is the same as the second number of circles to keep the number of circles for static and dynamic data collection consistent. The first number of circles is less than the second number of circles to ensure that the photovoltaic power station is not excessively disturbed and as many circles as possible are used for data collection.

[0093] When acquiring the dynamic data of the photovoltaic power station, first control the inspection robot to inspect the photovoltaic power station for the first number of times according to the second inspection speed and the dynamic inspection path, so that the inspection robot can simulate the state of the photovoltaic power station at a faster speed, such as stirring up dust in the photovoltaic power station. Then, obtain the dynamic data of the photovoltaic power station collected by the inspection robot during the process of inspecting the photovoltaic power station from the first number of times to the second number of times according to the second inspection speed and the dynamic inspection path. That is, the dynamic data of the photovoltaic power station is not collected when the inspection robot starts at the second inspection speed, but after inspecting the first number of times, it starts to collect data. In this way, the state data of the photovoltaic power station simulated under interference can be obtained more accurately, and the problems caused by collecting redundant data can be avoided.

[0094] The dynamic inspection path and the static inspection path are generally set to the same path to maintain data collection on the same path. Of course, if there are some corners in the path that make it impossible for the inspection robot to pass at the faster second inspection speed, they can be removed from the dynamic inspection path to ensure the normal operation of the inspection robot. At this time, the dynamic inspection path and the static inspection path are different. Whether the specific paths are the same or not can be set by technicians in this field according to the conditions of different photovoltaic power stations to ensure that the operation of the inspection robot is not affected while ensuring the integrity of data collection.

[0095] Therefore, in this embodiment, the static data of the photovoltaic power station collected after the inspection robot inspects the photovoltaic power station for a number of static inspections at a first inspection speed and a static inspection path; the inspection robot is controlled to inspect the photovoltaic power station for a first number of inspections at a second inspection speed and a dynamic inspection path, and the dynamic data of the photovoltaic power station collected by the inspection robot during the process of inspecting the photovoltaic power station from the first number of inspections to the second number of inspections at the second inspection speed and the dynamic inspection path is obtained, so as to realize data collection of the photovoltaic power station in static and dynamic states, and then a dust accumulation analysis is performed on the overall situation of the photovoltaic power station based on the collected data, specifically, the static dust accumulation information of the photovoltaic power station is extracted from the static data of the photovoltaic power station; and the dynamic dust accumulation information of the photovoltaic power station is extracted from the dynamic data of the photovoltaic power station.

[0096] In one embodiment, step S200: judging whether the dust accumulation of the photovoltaic power station is within a safe dust accumulation range according to the overall dust accumulation information of the power station, comprises:

[0097] Step S210: generating a static dust accumulation assessment value of the photovoltaic power station according to the static dust accumulation information of the power station;

[0098] Step S220: generating a dynamic dust accumulation evaluation value of the photovoltaic power station according to the dynamic dust accumulation information of the power station;

[0099] Step S230: adding the static dust accumulation evaluation value and the dynamic dust accumulation evaluation value to generate an overall dust accumulation evaluation value;

[0100] Step S240: judging whether the dust accumulation of the photovoltaic power station is within a safe dust accumulation range according to the overall dust accumulation evaluation value.

[0101] In this embodiment, in order to perform quantitative evaluation, after obtaining the static dust accumulation information of the power station and the dynamic dust accumulation information of the power station, the static dust accumulation evaluation value of the photovoltaic power station is first generated according to the static dust accumulation information of the power station; then the dynamic dust accumulation evaluation value of the photovoltaic power station is generated according to the dynamic dust accumulation information of the power station; then the static dust accumulation evaluation value and the dynamic dust accumulation evaluation value are added to generate an overall dust accumulation evaluation value; wherein, the static dust accumulation evaluation value is used to measure the dust accumulation situation of the photovoltaic power station when it is static. The dynamic dust accumulation evaluation value is used to measure the dust accumulation situation of the photovoltaic power station when it is dynamic. The overall dust accumulation evaluation value is used to measure the overall dust accumulation situation of the photovoltaic power station at the current moment. Finally, it is judged whether the dust accumulation of the photovoltaic power station belongs to the safe dust accumulation range according to the overall dust accumulation evaluation value.

[0102] The safe dust accumulation range is preset by collecting dust accumulation data of multiple photovoltaic power stations under normal conditions and analyzing the collected data, and finally setting the dust accumulation data of the photovoltaic power stations under normal conditions as the safe dust accumulation range.

[0103] In one embodiment, the power station static dust accumulation information includes a plurality of power station static dust accumulation pictures containing dust accumulation information;

[0104] Step S210: generating a static dust accumulation assessment value of a photovoltaic power station according to the static dust accumulation information of the power station, including:

[0105] Step S211: extracting debris accumulation areas according to the static dust accumulation picture of the power station, and obtaining the total area occupied by the debris in each of the debris accumulation areas;

[0106] Step S212: extracting dust accumulation components from the static dust accumulation pictures of each power station, and obtaining the dust accumulation area on each dust accumulation component;

[0107] Step S213: Generate a static dust accumulation evaluation value according to the total area occupied by the debris and the area of ​​the dust accumulation region.

[0108] In this embodiment, the static dust accumulation evaluation value is generated based on the following formula:

[0109]

[0110] Among them, ST is the static dust accumulation assessment value, Sop is the total area occupied by debris, Smax is the total area of ​​the photovoltaic power station, n is the number of dust accumulation components, Sci is the surface area of ​​the i-th dust accumulation component, and Si is the dust accumulation area area of ​​the i-th dust accumulation component.

[0111] In this embodiment, the overall dust accumulation area and the dust accumulation area of ​​some areas are mainly considered. Specifically, the debris accumulation area is first extracted from the static dust accumulation picture of the power station, and the total area occupied by the debris in each of the debris accumulation areas is obtained, that is, the area of ​​the area where the debris is accumulated is estimated, and then the area of ​​each area is summarized, and then the total area occupied by the debris is generated. Then, the dust accumulation components are extracted from the static dust accumulation pictures of each power station, and the dust accumulation area area on the dust accumulation components is obtained respectively, and finally the static dust accumulation evaluation value is generated according to the total area occupied by the debris and the area of ​​the dust accumulation area.

[0112] The surface area of ​​each dust accumulation component is preset and stored. The total area of ​​the photovoltaic power station is also estimated and set in advance.

[0113] In one embodiment, step S220: generating a dynamic dust accumulation evaluation value of a photovoltaic power station according to the dynamic dust accumulation information of the power station includes:

[0114] Step S221: extracting dust concentration data according to the dynamic dust accumulation information of the power station;

[0115] Step S222: Calculate a dynamic dust mean value according to the dust concentration data, and set the dynamic dust mean value as a dynamic dust accumulation assessment value.

[0116] In this embodiment, dust concentration data is first extracted according to the dynamic dust accumulation information of the power station, and then the dust concentration data is sampled to obtain dust values ​​corresponding to multiple sampling points, and the average is calculated, which is the dynamic dust average, and finally the dynamic dust average is set as the dynamic dust accumulation evaluation value. That is, in this embodiment, the dynamic dust average is used as the dynamic dust accumulation evaluation value to reflect the overall dust accumulation situation of the photovoltaic power station under dynamic conditions.

[0117] In one embodiment, step S240: judging whether the dust accumulation of the photovoltaic power station is within a safe dust accumulation range according to the overall dust accumulation evaluation value includes:

[0118] Step S241: determining whether the overall dust accumulation evaluation value is greater than or equal to an overall dust accumulation threshold, wherein the overall dust accumulation threshold is preset;

[0119] Step S242: if the judgment is no, obtaining the historically stored dust accumulation value, and generating the current dust accumulation growth rate according to the historically stored dust accumulation value and the overall dust accumulation evaluation value;

[0120] Step S243: determining whether the current dust accumulation growth rate is greater than or equal to a preset normal dust accumulation growth rate;

[0121] Step S244: if the judgment is no, then judging whether the dust accumulation of the photovoltaic power station belongs to the safe dust accumulation range;

[0122] Step S245: If the answer is yes, it is determined that the dust accumulation in the photovoltaic power station does not fall within the safe dust accumulation range.

[0123] In this embodiment, the dust accumulation of the photovoltaic power station is judged from two aspects. On the one hand, the current amount of dust accumulation is judged, that is, whether the overall dust accumulation assessment value is greater than or equal to the overall dust accumulation threshold. When the judgment is no, it is judged that the overall dust accumulation assessment value is less than the overall dust accumulation threshold. At this time, it means that there is no risk in the amount of dust accumulation. However, unlike the prior art that directly judges as no risk, the present application also uses the rate of dust growth to estimate and judge the risk. Specifically, when the judgment is no, the historically stored dust accumulation value is obtained, and the current dust accumulation growth rate is generated according to the historically stored dust accumulation value and the overall dust accumulation assessment value. The historically stored dust accumulation value is the dust accumulation value corresponding to the previous collection time, and the overall dust accumulation assessment value is the dust accumulation value corresponding to the current collection time. The time between the previous collection time and the current collection time is the sampling time period. The difference between the overall dust accumulation assessment value and the historically stored dust accumulation value is divided by the sampling time period to obtain the current dust accumulation growth rate. The current dust accumulation growth rate reflects the dust accumulation rate of the photovoltaic power station during the sampling period. If the current dust accumulation growth rate is less than the preset conventional dust accumulation growth rate, it means that the dust accumulation rate is normal at this time, so the dust accumulation of the photovoltaic power station is judged to be within the safe dust accumulation range. If the current dust accumulation growth rate is greater than or equal to the preset conventional dust accumulation growth rate, it means that the dust accumulation rate is too fast. According to this trend, there may be a risk of dust accumulation, so the dust accumulation of the photovoltaic power station is judged not to be within the safe dust accumulation range.

[0124] In one embodiment, in step S241, it is determined whether the overall dust accumulation evaluation value is greater than or equal to an overall dust accumulation threshold, and then the method further includes:

[0125] If the judgment is yes, that is, it is judged that the overall dust accumulation assessment value is greater than or equal to the overall dust accumulation threshold, then it is judged that the dust accumulation of the photovoltaic power station does not fall within the safe dust accumulation range.

[0126] In one embodiment, the second inspection guide includes a combiner box location, a positioning collection point, a combiner box calibration point, and a combiner box data collection path;

[0127] The combiner box point is the position of the combiner box in the photovoltaic power station. The number of the positioning and collection points is three, which are the positions of three marked brackets with positioning marks pre-set. The three marked brackets are located beside the combiner box. The combiner box calibration points are pre-set and located around the combiner box. The combiner box data collection path is a path around the combiner box.

[0128] The combiner box dust accumulation data includes a combiner box calibration image, an overall combiner box image, a support frame image, a directional acquisition image, air dust data, and historical weather monitoring data;

[0129] In step S300, obtaining dust accumulation data of a combiner box collected after the inspection robot inspects the combiner box in the photovoltaic power station according to the second inspection guide includes:

[0130] Step S311: controlling the inspection robot to run to the combiner box position according to the combiner box position, collecting images of the combiner box according to the combiner box calibration points, and obtaining a combiner box calibration image;

[0131] Step S312: Control the inspection robot to collect images of the combiner box and the support frame on which the combiner box is installed according to the combiner box data collection path, and obtain an overall image of the combiner box and an image of the support frame;

[0132] Step S313: establishing a three-dimensional coordinate system with the inspection robot as the center, and obtaining real-time coordinate points of the three positioning collection points in the three-dimensional coordinate system in real time;

[0133] Step S314: Control the inspection robot to move until the three real-time coordinate points are identical to the pre-stored calibration coordinate points, and stop; at the same time, perform image acquisition on the combiner box and obtain a directional acquisition image;

[0134] Step S315: controlling the blowing device on the inspection robot to blow air to the area where the combiner box is located, and performing dust detection at the same time, and obtaining air dust data;

[0135] Step S316: In response to acquiring the air dust data, extracting historical weather monitoring data of the photovoltaic power station.

[0136] In this embodiment, in response to the dust accumulation of the photovoltaic power station not belonging to the safe dust accumulation range, a second inspection guide is generated. An electronic map of the entire photovoltaic power station is preset, and the positions of various components are marked in the electronic map. Therefore, when data collection of the combiner box is required, the position of the combiner box, that is, the combiner box point, is obtained from the electronic map and sent to the inspection robot, so that the inspection robot can run to the combiner box point according to the combiner box point.

[0137] Next, image acquisition is performed from two aspects, the overall and the details. The details are: the image of the combiner box is acquired according to the calibration points of the combiner box, and the calibration image of the combiner box is obtained. The calibration points of the combiner box are the sealed parts, the outward openings and other places of the combiner box where dust and water mist are easily introduced. Such as the door edge, the wire entry hole, etc. The overall aspect is: data acquisition is performed from the overall perspective of the combiner box, specifically, the inspection robot is controlled to acquire images of the combiner box and the support frame on which the combiner box is installed according to the data acquisition path of the combiner box, and the overall image of the combiner box and the image of the support frame are acquired, so that the overall dust accumulation of the combiner box can be analyzed based on the overall image of the combiner box and the image of the support frame. Then, a three-dimensional coordinate system is established with the inspection robot as the center, and the real-time coordinate points of the three positioning acquisition points in the three-dimensional coordinate system are acquired in real time. When establishing the coordinate system, the direction of the image acquisition end of the inspection robot is the X-axis, the numerical direction is the Z-axis, and the side of the inspection robot perpendicular to the X-axis is the Y-axis to establish the coordinate system. After the three-dimensional coordinate system is established, the objects in the coordinate system are identified and the coordinate points are established through the FMCW sensor or the TOF sensor, and then the inspection robot is controlled to move. Different coordinate points can be obtained for each distance unit moved. For example, for the first marked bracket, when the inspection robot is at the first position point, the first position point is the origin of the three-dimensional coordinate system, and the first marked bracket has a coordinate point corresponding to the first position point. When the inspection robot moves a distance unit to the second position point, the second position point is the origin of the three-dimensional coordinate system, and the second marked bracket has a coordinate point corresponding to the second position point. The same is true for other positions and other marked brackets. Therefore, the inspection robot is controlled to move until the three real-time coordinate points are the same as the pre-stored calibration coordinate points, and the position of the inspection robot can also be understood as a pre-calibrated point. When the pre-calibrated point is set in advance, the coordinate system is established with the pre-calibrated point as the origin, and the coordinates of the marked brackets are obtained respectively and set as pre-calibrated points. The number of the pre-calibrated points is three, each corresponding to one of the marked brackets. The pre-calibrated points are generally set to be directly in front of the junction box. Therefore, when positioning is performed through the positions of the three marked brackets, the inspection robot is moved to the pre-set point, and the image of the junction box is captured at this time, and a directional acquisition image is obtained. Generally speaking, the directional acquisition image obtained is an image directly in front of the junction box. If the pre-calibrated points are set directly on the road surface directly in front of the junction box, on the one hand, dust accumulation is likely to affect recognition, and on the other hand, the mark is likely to disappear due to wear. Therefore, in this embodiment, by setting three positioning and acquisition points, on the one hand, marking is performed on the bracket to reduce the probability of dust accumulation affecting mark recognition, and on the other hand, positioning is performed through three points, with high positioning accuracy and accurate data acquisition.Then, the blowing device on the inspection robot is controlled to blow the area where the combiner box is located, and dust detection is performed at the same time, and air dust data is obtained. The blowing device is a device pre-set on the inspection robot, such as a fan, so that dust is blown outward to remove dust, and dust data of the surrounding area of ​​the combiner is collected through the dust sensor. Finally, the historical weather monitoring data of the photovoltaic power station is also extracted.

[0138] Therefore, in this embodiment, the dust accumulation condition of the combiner box is comprehensively analyzed by comprehensively considering the factors of the overall structure of the combiner box, the position prone to dust accumulation, the support frame, the front, the surrounding dust conditions and the influence of previous weather.

[0139] In one embodiment, in step S300, generating a combiner box dust accumulation estimate according to the combiner box dust accumulation data includes:

[0140] Step S321: performing dust analysis on the combiner box calibration image and generating a dust accumulation value of the calibration area;

[0141] Step S322: performing dust analysis on the overall image of the combiner box and generating an overall box volume dust value;

[0142] Step S323: performing dust analysis on the support frame image and generating a support frame dust accumulation value;

[0143] In step S321 to step S323 of this embodiment, the same method is used to analyze the combiner box calibration image, the combiner box overall image and the support frame image to generate the calibration area dust accumulation value, the overall box volume dust value and the support frame dust accumulation value, as follows:

[0144] First, the denoising process is performed on the calibrated image of the combiner box, the overall image of the combiner box and the image of the support frame by using Gaussian filtering, and then grayscale conversion is performed, and then the image contrast is enhanced by using histogram equalization. Then, edge detection, texture analysis and grayscale value generation are performed. When performing edge detection, any one of the Canny edge detection algorithm, the Prewitt edge detection algorithm or the Kirsch edge detection algorithm can be used. Then, the grayscale co-occurrence matrix can be used for texture analysis and the texture features of the image can be obtained. Finally, the average grayscale value of different areas in the image is calculated. Then, the dust accumulation value of the calibration area, the dust accumulation value of the overall box volume and the dust accumulation value of the support frame are generated based on the correspondence between the preset reflection grayscale value and the dust accumulation thickness. That is, in this embodiment, the dust accumulation value of the calibration area, the dust accumulation value of the overall box volume and the dust accumulation value of the support frame are estimated values ​​of the dust accumulation thickness.

[0145] Because dust reflects and scatters the junction box and the bracket after dust accumulation, the grayscale value of the image can be affected when shooting. That is, different dust accumulation thicknesses correspond to different grayscale value ranges. Therefore, a large amount of data collection is performed in advance to collect dust accumulation conditions of the junction boxes in more photovoltaic power stations, and establish a corresponding relationship between the reflection grayscale value and the dust accumulation thickness. Therefore, based on the corresponding relationship between the reflection grayscale value and the dust accumulation thickness, after obtaining the junction box calibration image, the junction box overall image and the support frame image, grayscale value analysis is performed to obtain the corresponding grayscale value to obtain the dust thickness data, that is, the dust accumulation value of the calibration area, the dust accumulation value of the overall box volume and the dust accumulation value of the support frame are obtained.

[0146] Step S324: comparing the directional acquisition image with a pre-stored standard directional image, and obtaining the box offset;

[0147] In this step, the overlap between the directional acquisition image and the standard directional image is calculated, and the box offset is set according to the overlap, which is specifically calculated as follows: Df=1-Co, where Df is the box offset and Co is the overlap. The higher the overlap, the more it means that the position of the junction box has not been offset due to factors such as wind and vibration, and it is still in the original installation position. Based on actual production experience, if the junction box is offset due to wind and other factors, it will cause the wiring terminals in the junction box to become loose, which will lead to poor contact or disconnection between cables that are easily in contact with each other and between cables and contact terminals. This poor contact will cause an arc when current passes through. When the photovoltaic module generates electricity, the temperature change may generate a contraction force between the contact points, further aggravating the poor contact and causing arcing. Arcing is likely to cause a fire and damage the junction box. Therefore, by obtaining the box offset, it is estimated whether the junction box may cause cable displacement and arcing due to offset. The greater the box body offset, the greater the offset of the combiner box, and the greater the probability of cable displacement and arcing.

[0148] Step S325: obtaining the real-time dust value corresponding to each sampling time point of the air dust data, and generating a real-time dust mean value according to the real-time dust value;

[0149] In this step, the sampling time point is preset, and the real-time dust mean value is generated by calculating the average value of the multiple real-time dust values ​​obtained.

[0150] Step S326: generating a wind amplification factor and a rain disturbance factor according to the historical weather monitoring data;

[0151] In this step, the historical weather monitoring data is the average wind force and average rainfall in the past week. According to the comparison between the average wind force and the standard wind force, the amplification factor corresponding to the standard wind force matching the average wind force is set as the wind force amplification factor. Similarly, the standard rainfall and the corresponding disturbance factor are also pre-set, so the rain disturbance factor can also be generated according to the average rainfall. Since both rain and wind will aggravate the impact of dust and water mist on the junction box, the wind force amplification factor and rain disturbance factor are set.

[0152] Step S327: Generate a dust accumulation estimate of the combiner box according to the dust accumulation value of the calibration area, the dust accumulation value of the entire box, the dust accumulation value of the support frame, the box body offset, the real-time dust average value, the wind amplification factor and the rain disturbance factor.

[0153] In this step, an estimate of the dust accumulation in the combiner box is generated based on the following formula:

[0154]

[0155] Among them, Po is the estimated value of dust accumulation in the combiner box, δ is the loss coefficient, Da is the dust accumulation value in the calibration area, Ba is the dust accumulation value of the entire box, Sa is the dust accumulation value of the support frame, Gu is the wind amplification factor, Ru is the rain disturbance factor, Df is the box offset, and Fa is the image offset.

[0156] In this embodiment, the dust accumulation value of the calibrated area, the dust accumulation value of the entire box, the dust accumulation value of the support frame, the box offset, the real-time dust average, the wind amplification factor and the rain disturbance factor are comprehensively calibrated to generate an estimated value of the dust accumulation in the junction box, so as to integrate as many dust accumulation factors as possible and improve the accuracy.

[0157] Therefore, the problem of dust accumulation and water vapor mixture in the combiner box caused by extreme weather factors is taken into consideration, so that the dust accumulation situation in the combiner box can be estimated without opening the combiner box, and the safety performance can be further estimated, which greatly improves the safety performance.

[0158] In addition, the weather can also be monitored. When the weather meets the preset inspection trigger conditions, inspections can be carried out to timely obtain the impact of dust and water vapor problems caused by weather factors on the junction box. For example, the inspection trigger condition is set to when the wind force is level 6, or the precipitation within 24 hours is 10 mm to 24.9 mm, that is, when the wind force is strong or it rains moderately, dust and water vapor problems may occur and affect the junction box. Therefore, inspections are set to be carried out at this time. Of course, the inspections need to be carried out after the rain stops and the wind stops.

[0159] In this embodiment, the depreciation coefficient is pre-set to indicate the estimated degree of influence of external dust, water vapor and mixture on the junction box. The depreciation coefficient takes a value less than 1. For example, when it is set based on the service life as the main consideration, if the service life is 1 year, the value is 0.1. If the service life is 2 years, the value is 0.2. If the service life is 3 years, the value is 0.35. As the service life increases, the value increases.

[0160] In one embodiment, step S200: judging whether the dust accumulation of the photovoltaic power station is within a safe dust accumulation range according to the overall dust accumulation information of the power station, and then further comprising:

[0161] Step S201: If the judgment is yes, a normal dust accumulation indication of the power station is generated, and the normal dust accumulation indication of the power station is sent to the safety inspection personnel to remind the safety inspection personnel that manual inspection is not required.

[0162] In one embodiment, step S400: determining whether the dust accumulation estimate of the combiner box is greater than a standard dust accumulation threshold, and then further comprising:

[0163] Step S401: If the judgment is no, then generate an indication that dust accumulation in the combiner box is normal, and send the indication that dust accumulation in the combiner box is normal to the safety inspector to remind the safety inspector that manual inspection is not required.

[0164] In one embodiment, Figure 2 As shown, a photovoltaic power station safety monitoring system based on safety inspection is also provided, and the system includes:

[0165] The photovoltaic overall inspection module is used to obtain the basic data of the photovoltaic power station collected by the inspection robot after inspecting the photovoltaic power station according to the first inspection guide, and generate the overall dust accumulation information of the power station according to the basic data of the photovoltaic power station;

[0166] A safety range judgment module, used to judge whether the dust accumulation of the photovoltaic power station falls within a safe dust accumulation range according to the overall dust accumulation information of the power station;

[0167] a dust accumulation estimation generating module, for obtaining, if the judgment is no, the dust accumulation data of the combiner box collected by the inspection robot after inspecting the combiner box in the photovoltaic power station according to the second inspection guide, and generating a dust accumulation estimation value of the combiner box according to the dust accumulation data of the combiner box;

[0168] The dust cleaning guidance module is used to determine whether the estimated dust accumulation value of the junction box is greater than the standard dust accumulation threshold. If so, a junction box dust removal inspection guide is generated, and the safety inspection personnel are guided to clean the dust on the junction box according to the junction box dust removal inspection guide.

[0169] In one embodiment, the first inspection guideline includes a static inspection guideline and a dynamic inspection guideline; the static inspection guideline includes a static inspection circle number, a first inspection speed and a static inspection path;

[0170] The dynamic inspection guide includes a dynamic inspection circle number, a second inspection speed and a dynamic inspection path, and the dynamic inspection circle number includes a first circle number and a second circle number;

[0171] The first inspection speed is less than the second inspection speed;

[0172] The basic data of the photovoltaic power station includes static data of the photovoltaic power station and dynamic data of the photovoltaic power station;

[0173] The basic data of the photovoltaic power station includes static data of the photovoltaic power station and dynamic data of the photovoltaic power station;

[0174] The overall dust accumulation information of the power station includes static dust accumulation information of the power station and dynamic dust accumulation information of the power station;

[0175] The photovoltaic overall inspection module is also used to: obtain static data of the photovoltaic power station collected after the inspection robot inspects the photovoltaic power station for a number of static inspection laps at a first inspection speed and a static inspection path; control the inspection robot to inspect the photovoltaic power station for a first number of laps at a second inspection speed and a dynamic inspection path, and obtain dynamic data of the photovoltaic power station collected by the inspection robot during the process from the first number of inspection laps to the second number of inspection laps at the second inspection speed and dynamic inspection path; extract static dust accumulation information of the photovoltaic power station from the static data of the photovoltaic power station; and extract dynamic dust accumulation information of the photovoltaic power station from the dynamic data of the photovoltaic power station.

[0176] In one embodiment, the safety range judgment module is also used to: generate a static dust accumulation assessment value of the photovoltaic power station based on the static dust accumulation information of the power station; generate a dynamic dust accumulation assessment value of the photovoltaic power station based on the dynamic dust accumulation information of the power station; add the static dust accumulation assessment value and the dynamic dust accumulation assessment value to generate an overall dust accumulation assessment value; and judge whether the dust accumulation of the photovoltaic power station falls within the safe dust accumulation range based on the overall dust accumulation assessment value.

[0177] In one embodiment, the static dust accumulation information of the power station includes a plurality of static dust accumulation pictures of the power station containing dust accumulation information; the safety range judgment module is also used to: extract debris accumulation areas according to the static dust accumulation pictures of the power station, and obtain the total area occupied by debris in each of the debris accumulation areas; extract dust accumulation components from each of the static dust accumulation pictures of the power station, and respectively obtain the area of ​​the dust accumulation areas on the dust accumulation components; generate a static dust accumulation assessment value according to the total area occupied by debris and the area of ​​the dust accumulation area.

[0178] In one embodiment, the safety range determination module is further used to generate a static dust accumulation evaluation value based on the following formula:

[0179]

[0180] Among them, ST is the static dust accumulation assessment value, Sop is the total area occupied by debris, Smax is the total area of ​​the photovoltaic power station, n is the number of dust accumulation components, Sci is the surface area of ​​the i-th dust accumulation component, and Si is the dust accumulation area area of ​​the i-th dust accumulation component.

[0181] In one embodiment, the safety range judgment module is further used to: extract dust concentration data according to the dynamic dust accumulation information of the power station; calculate the dynamic dust mean according to the dust concentration data, and set the dynamic dust mean as the dynamic dust accumulation assessment value.

[0182] In one embodiment, the safety range judgment module is also used to: judge whether the overall dust accumulation assessment value is greater than or equal to an overall dust accumulation threshold, wherein the overall dust accumulation threshold is pre-set; if the judgment is no, obtain the historically stored dust accumulation value, and generate the current dust accumulation growth rate based on the historically stored dust accumulation value and the overall dust accumulation assessment value; judge whether the current dust accumulation growth rate is greater than or equal to a preset conventional dust accumulation growth rate; if the judgment is no, judge that the dust accumulation of the photovoltaic power station belongs to the safe dust accumulation range; if the judgment is yes, judge that the dust accumulation of the photovoltaic power station does not belong to the safe dust accumulation range.

[0183] In one embodiment, the safety range judgment module is further used to: if it is judged that the overall dust accumulation assessment value is greater than or equal to an overall dust accumulation threshold, then it is judged that the dust accumulation of the photovoltaic power station does not belong to the safety dust accumulation range.

[0184] In one embodiment, the second inspection guide includes a combiner box position, a positioning collection point, a combiner box calibration point and a combiner box data collection path; the combiner box position is the position of the combiner box in the photovoltaic power station, the number of the positioning collection points is three, which are the positions of three marked brackets with pre-set positioning marks, the three marked brackets are located beside the combiner box, the combiner box calibration point is pre-set and located on the periphery of the combiner box, and the combiner box data collection path is a path around the combiner box; the combiner box dust accumulation data includes a combiner box calibration image, a combiner box overall image, a support frame image, a directional collection image, air dust data and historical weather monitoring data; the dust accumulation estimation generation module is also used to: control the inspection robot to run to the combiner box position according to the combiner box position, and according to the combiner box calibration The inspection robot is controlled to capture images of the combiner box and the support frame on which the combiner box is installed according to the data acquisition path of the combiner box, and obtain the overall image of the combiner box and the image of the support frame; a three-dimensional coordinate system is established with the inspection robot as the center, and the real-time coordinate points of the three positioning acquisition points in the three-dimensional coordinate system are obtained in real time; the inspection robot is controlled to move until the three real-time coordinate points are the same as the pre-stored calibration coordinate points, and the image of the combiner box is captured at the same time, and a directional acquisition image is acquired; the blowing device on the inspection robot is controlled to blow the area where the combiner box is located, and dust detection is performed at the same time, and air dust data is acquired; in response to the acquisition of the air dust data, the historical weather monitoring data of the photovoltaic power station is extracted.

[0185] In one embodiment, the dust accumulation estimation generation module is also used to: perform dust analysis on the calibration image of the junction box and generate a dust accumulation value for the calibration area; perform dust analysis on the overall image of the junction box and generate a dust value for the overall box volume; perform dust analysis on the support frame image and generate a dust accumulation value for the support frame; compare the directional acquisition image with the pre-stored standard directional image and obtain the box body offset; obtain the real-time dust value corresponding to each sampling time point of the air dust data, and generate a real-time dust mean based on the real-time dust value; generate a wind amplification factor and a rain disturbance factor based on the historical weather monitoring data; generate a dust accumulation estimation value for the junction box based on the dust accumulation value in the calibration area, the dust value for the overall box volume, the dust accumulation value of the support frame, the box body offset, the real-time dust mean, the wind amplification factor and the rain disturbance factor.

[0186] In one embodiment, the dust accumulation estimation generation module is further used to generate a dust accumulation estimation value of the combiner box based on the following formula:

[0187]

[0188] Among them, Po is the estimated value of dust accumulation in the combiner box, δ is the loss coefficient, Da is the dust accumulation value in the calibration area, Ba is the dust accumulation value of the entire box, Sa is the dust accumulation value of the support frame, Gu is the wind amplification factor, Ru is the rain disturbance factor, Df is the box offset, and Fa is the image offset.

[0189] In one embodiment, the safety range judgment module is also used to: if it is determined that the dust accumulation in the photovoltaic power station is within the safe dust accumulation range, generate a normal dust accumulation indication for the power station, and send the normal dust accumulation indication for the power station to the safety inspectors to remind the safety inspectors that manual inspections are not required.

[0190] In one embodiment, the dust cleaning guidance module is also used to: if it is determined that the estimated dust accumulation value of the combiner box is not greater than the standard dust accumulation threshold, generate a normal dust accumulation indication for the combiner box, and send the normal dust accumulation indication for the combiner box to the safety inspectors to remind the safety inspectors that manual inspection is not required.

[0191] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above-mentioned photovoltaic power station safety monitoring method based on safety inspection when executing the computer program.

[0192] In one embodiment, a computer-readable storage medium is further provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the photovoltaic power station safety monitoring method based on safety inspection are implemented.

[0193] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0194] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0195] 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 power station safety monitoring method based on safety inspection, characterized in that: The method comprises: Obtaining basic data of the photovoltaic power station collected by the inspection robot after inspecting the photovoltaic power station according to the first inspection guide, and generating overall dust accumulation information of the power station according to the basic data of the photovoltaic power station; Determining whether the dust accumulation of the photovoltaic power station falls within a safe dust accumulation range according to the overall dust accumulation information of the power station; If the judgment is no, obtaining the dust accumulation data of the combiner box collected by the inspection robot after inspecting the combiner box in the photovoltaic power station according to the second inspection guide, and generating an estimated dust accumulation value of the combiner box according to the dust accumulation data of the combiner box; It is determined whether the estimated dust accumulation value of the combiner box is greater than a standard dust accumulation threshold value. If so, a combiner box dust removal inspection guide is generated, and safety inspection personnel are guided to clean the dust from the combiner box according to the combiner box dust removal inspection guide.

2. The photovoltaic power station safety monitoring method based on safety inspection according to claim 1 is characterized in that: The first inspection guide includes a static inspection guide and a dynamic inspection guide; The static inspection guide includes the number of static inspection circles, the first inspection speed and the static inspection path; The dynamic inspection guide includes a dynamic inspection circle number, a second inspection speed and a dynamic inspection path, and the dynamic inspection circle number includes a first circle number and a second circle number; The first inspection speed is less than the second inspection speed; The basic data of the photovoltaic power station includes static data of the photovoltaic power station and dynamic data of the photovoltaic power station; The basic data of the photovoltaic power station includes static data of the photovoltaic power station and dynamic data of the photovoltaic power station; The overall dust accumulation information of the power station includes static dust accumulation information of the power station and dynamic dust accumulation information of the power station; Obtaining basic data of the photovoltaic power station collected by the inspection robot after inspecting the photovoltaic power station according to the first inspection guide, and generating overall dust accumulation information of the power station according to the basic data of the photovoltaic power station, including: Obtaining static data of the photovoltaic power station collected after the inspection robot inspects the photovoltaic power station for a number of static inspection laps according to the first inspection speed and the static inspection path; Control the inspection robot to inspect the photovoltaic power station for a first number of times according to a second inspection speed and a dynamic inspection path, and obtain the photovoltaic power station dynamic data collected by the inspection robot during the process of inspecting the photovoltaic power station for a second number of times after the first number of times according to the second inspection speed and the dynamic inspection path; Extracting the static dust accumulation information of the photovoltaic power station from the static data of the photovoltaic power station; The dynamic dust accumulation information of the photovoltaic power station is extracted from the dynamic data of the photovoltaic power station.

3. The photovoltaic power station safety monitoring method based on safety inspection according to claim 2 is characterized in that: Judging whether the dust accumulation of the photovoltaic power station is within a safe dust accumulation range according to the overall dust accumulation information of the power station includes: generating a static dust accumulation assessment value of the photovoltaic power station according to the static dust accumulation information of the power station; Generate a dynamic dust accumulation evaluation value of the photovoltaic power station according to the dynamic dust accumulation information of the power station; Adding the static dust accumulation evaluation value and the dynamic dust accumulation evaluation value to generate an overall dust accumulation evaluation value; It is determined whether the dust accumulation of the photovoltaic power station falls within a safe dust accumulation range according to the overall dust accumulation assessment value.

4. The photovoltaic power station safety monitoring method based on safety inspection according to claim 3 is characterized in that: The power station static dust accumulation information includes a plurality of power station static dust accumulation pictures containing dust accumulation information; Generating a static dust accumulation assessment value of a photovoltaic power station according to the static dust accumulation information of the power station includes: Extracting debris accumulation areas according to the static dust accumulation picture of the power station, and obtaining the total area occupied by the debris in each of the debris accumulation areas; Extracting dust accumulation components from the static dust accumulation pictures of each power station, and obtaining the dust accumulation area on each dust accumulation component; Generate a static dust accumulation assessment value based on the total area occupied by debris and the area of ​​the dust accumulation area.

5. The photovoltaic power station safety monitoring method based on safety inspection according to claim 4 is characterized in that: Judging whether the dust accumulation of the photovoltaic power station is within a safe dust accumulation range according to the overall dust accumulation assessment value includes: Determining whether the overall dust accumulation evaluation value is greater than or equal to an overall dust accumulation threshold, wherein the overall dust accumulation threshold is preset; If the judgment is no, then obtaining the historical stored dust accumulation value, and generating the current dust accumulation growth rate according to the historical stored dust accumulation value and the overall dust accumulation evaluation value; Determining whether the current dust accumulation growth rate is greater than or equal to a preset conventional dust accumulation growth rate; If the judgment is no, then it is judged that the dust accumulation of the photovoltaic power station is within the safe dust accumulation range; If the answer is yes, it is determined that the dust accumulation in the photovoltaic power station does not fall within the safe dust accumulation range.

6. The photovoltaic power station safety monitoring method based on safety inspection according to claim 1 is characterized in that: The second inspection guide includes the combiner box location, positioning collection points, combiner box calibration points and combiner box data collection path; The combiner box point is the position of the combiner box in the photovoltaic power station. The number of the positioning and collection points is three, which are the positions of three marked brackets with positioning marks pre-set. The three marked brackets are located beside the combiner box. The combiner box calibration points are pre-set and located around the combiner box. The combiner box data collection path is a path around the combiner box. The combiner box dust accumulation data includes a combiner box calibration image, an overall combiner box image, a support frame image, a directional acquisition image, air dust data, and historical weather monitoring data; Obtaining dust accumulation data of a combiner box collected after the inspection robot inspects the combiner box in the photovoltaic power station according to the second inspection guide, including: Control the inspection robot to run to the combiner box position according to the combiner box position, collect images of the combiner box according to the combiner box calibration points, and obtain a combiner box calibration image; Control the inspection robot to collect images of the combiner box and the support frame on which the combiner box is installed according to the combiner box data collection path, and obtain an overall image of the combiner box and an image of the support frame; Establishing a three-dimensional coordinate system with the inspection robot as the center, and acquiring the real-time coordinate points of the three positioning collection points in the three-dimensional coordinate system in real time; Controlling the inspection robot to move until the three real-time coordinate points are identical to the pre-stored calibration coordinate points, and stopping, while collecting images of the combiner box and acquiring directional collection images; Controlling the blowing device on the inspection robot to blow air to the area where the combiner box is located, and at the same time performing dust detection and obtaining air dust data; In response to acquiring the air dust data, historical weather monitoring data of the photovoltaic power station is extracted.

7. The photovoltaic power station safety monitoring method based on safety inspection according to claim 6 is characterized in that: Generating a combiner box dust accumulation estimate value according to the combiner box dust accumulation data, including: Performing dust analysis on the combiner box calibration image and generating a dust accumulation value of the calibration area; Performing dust analysis on the overall image of the combiner box and generating an overall box volume dust value; Performing dust analysis on the support frame image and generating a support frame dust accumulation value; Compare the directional acquisition image with a pre-stored standard directional image, and obtain the box offset; Obtaining the real-time dust value corresponding to each sampling time point of the air dust data, and generating a real-time dust mean value according to the real-time dust value; generating a wind amplification factor and a rain disturbance factor according to the historical weather monitoring data; The estimated dust accumulation value of the junction box is generated based on the dust accumulation value of the calibration area, the dust accumulation value of the entire box, the dust accumulation value of the support frame, the box offset, the real-time dust average, the wind amplification factor and the rain disturbance factor.

8. A photovoltaic power station safety monitoring system based on safety inspection, characterized in that: The system comprises: The photovoltaic overall inspection module is used to obtain the basic data of the photovoltaic power station collected by the inspection robot after inspecting the photovoltaic power station according to the first inspection guide, and generate the overall dust accumulation information of the power station according to the basic data of the photovoltaic power station; A safety range judgment module, used to judge whether the dust accumulation of the photovoltaic power station falls within a safe dust accumulation range according to the overall dust accumulation information of the power station; a dust accumulation estimation generating module, for obtaining, if the judgment is no, the dust accumulation data of the combiner box collected by the inspection robot after inspecting the combiner box in the photovoltaic power station according to the second inspection guide, and generating a dust accumulation estimation value of the combiner box according to the dust accumulation data of the combiner box; The dust cleaning guidance module is used to determine whether the estimated dust accumulation value of the junction box is greater than the standard dust accumulation threshold. If so, a junction box dust removal inspection guide is generated, and the safety inspection personnel are guided to clean the dust on the junction box according to the junction box dust removal inspection guide.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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