Safety inspection-based photovoltaic power station safety monitoring method and system

Abstract

The application relates to the technical field of photovoltaic power station monitoring, and relates to a photovoltaic power station safety monitoring method and system based on safety inspection, the method comprising the following steps: acquiring basic data of a photovoltaic power station collected by an inspection robot after the inspection robot inspects the photovoltaic power station according to a first inspection guide, and generating overall dust accumulation information of the power station; judging whether the dust accumulation of the photovoltaic power station belongs to a safe dust accumulation range; if the judgment is no, acquiring bus combiner box dust accumulation data collected by the inspection robot after the inspection robot inspects the bus combiner box according to a second inspection guide, and generating a bus combiner box dust accumulation estimation value; judging whether the bus combiner box dust accumulation estimation value is greater than a standard dust accumulation threshold value, if the judgment is yes, generating a bus combiner box dust removal inspection guide, and guiding safety inspection personnel to clean the dust accumulation of the bus combiner box according to the bus combiner box dust removal inspection guide. The application realizes overall inspection, key component inspection and monitoring of the photovoltaic power station, and realizes fine monitoring and high safety monitoring.

Description

Technical Field

[0001] This application relates to the field of photovoltaic power plant monitoring technology, and in particular to a method and system for monitoring the safety of photovoltaic power plants based on safety inspection. Background Technology

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

[0003] To ensure the safe operation of photovoltaic power plants, it is necessary to conduct regular inspections. Common inspection methods include manual periodic inspections, or, as disclosed in Chinese Invention Patent CN117115586A on November 24, 2023, a photovoltaic module inspection decision method, device, medium, and inspection aircraft. This method includes: acquiring historical inspection feature datasets of photovoltaic modules, processing them through a preset membership function to obtain a state variable membership dataset, and inputting it into a fuzzy variable structure dynamic Bayesian network for training to obtain a target photovoltaic module inspection decision model; acquiring a first inspection feature dataset and a second inspection feature dataset of the photovoltaic module to be inspected, processing them through the target photovoltaic module inspection decision model and a preset processing method to obtain the inspection decision result of the photovoltaic module to be inspected.

[0004] The technical solution in the aforementioned patent document uses a fuzzy variable structure dynamic Bayesian network to train a decision model for the inspection of target photovoltaic modules, thereby improving the inspection quality and efficiency of photovoltaic modules. However, it only performs overall inspection of the photovoltaic panels and does not perform targeted inspection of specific components. This can easily lead to the inability to detect damage to individual components due to the broad scope of the inspection. In particular, similar to other solutions in the prior art, it does not perform detailed inspection and safety assessment of the combiner box, resulting in low inspection safety and the inability to perform detailed monitoring of the combiner box. Summary of the Invention

[0005] Therefore, it is necessary to provide a photovoltaic power station safety monitoring method and system based on safety inspection that can take into account both the overall inspection and key component inspection of the photovoltaic power station, and achieve refined monitoring and high-safety monitoring, in order to address the above-mentioned technical problems.

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

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

[0008] The system acquires 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 generates overall dust accumulation information of the power station based on the basic data of the photovoltaic power station.

[0009] Determine whether the dust accumulation of the photovoltaic power station falls within the safe dust accumulation range based on the overall dust accumulation information of the power station;

[0010] If the determination is negative, 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 is obtained, and the dust accumulation estimate of the combiner box is generated based on the dust accumulation data.

[0011] Determine whether the estimated dust accumulation in the combiner box is greater than the standard dust accumulation threshold. If the determination is yes, generate a dust removal inspection guide for the combiner box and guide the safety inspection personnel to clean the dust accumulation in the combiner box according to the dust removal inspection guide.

[0012] Optionally, the first inspection guide includes static inspection guide and dynamic inspection guide; the static inspection guide includes static inspection lap count, first inspection speed and static inspection path;

[0013] The dynamic inspection guide includes the number of dynamic inspection cycles, the second inspection speed, and the dynamic inspection path. The number of dynamic inspection cycles includes the first number of cycles and the second number of cycles.

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

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

[0016] The overall dust accumulation information of the power station includes static dust accumulation information and dynamic dust accumulation information of the power station.

[0017] The system acquires basic data of the photovoltaic power station collected by the inspection robot after inspecting the power station according to the first inspection guide, and generates overall dust accumulation information of the power station based on the basic data, including:

[0018] The static data of the photovoltaic power station is collected after the inspection robot performs a static inspection cycle of the photovoltaic power station according to the first inspection speed and static inspection path.

[0019] The inspection robot is controlled to inspect the photovoltaic power station for the first number of times according to the second inspection speed and dynamic inspection path, and the dynamic data of the photovoltaic power station collected by the inspection robot during the process from the first number of times to the second number of times of inspection according to the second inspection speed and dynamic inspection path is acquired.

[0020] Extract static dust accumulation information of the photovoltaic power station from the static data of the photovoltaic power station;

[0021] Extract the dynamic dust accumulation information of the photovoltaic power station from the dynamic data of the photovoltaic power station.

[0022] Optionally, determining whether the dust accumulation of the photovoltaic power station falls within the safe dust accumulation range based on the overall dust accumulation information of the power station includes:

[0023] A static dust accumulation assessment value for the photovoltaic power station is generated based on the static dust accumulation information of the power station.

[0024] A dynamic dust accumulation assessment value for the photovoltaic power station is generated based on the dynamic dust accumulation information of the power station.

[0025] The static dust accumulation assessment value and the dynamic dust accumulation assessment value are added together to generate the overall dust accumulation assessment value;

[0026] The overall dust accumulation assessment value is used to determine whether the dust accumulation of the photovoltaic power station falls within the safe dust accumulation range.

[0027] Optionally, the static dust accumulation information of the power plant includes multiple static dust accumulation images of the power plant containing dust accumulation information;

[0028] Based on the static dust accumulation information of the power station, a static dust accumulation assessment value for the photovoltaic power station is generated, including:

[0029] Based on the static dust accumulation images of the power plant, the debris accumulation areas are extracted, and the total area occupied by debris in each debris accumulation area is obtained;

[0030] Extract dust-accumulating components from the static dust accumulation images of each power station, and obtain the area of ​​the dust accumulation region on each dust-accumulating component;

[0031] A static dust accumulation assessment value is generated based on the total area occupied by debris and the area of ​​dust accumulation.

[0032] Optionally, determining whether the dust accumulation of the photovoltaic power station falls within the safe dust accumulation range based on the overall dust accumulation assessment value includes:

[0033] Determine whether the overall dust accumulation assessment value is greater than or equal to the overall dust accumulation threshold, wherein the overall dust accumulation threshold is preset;

[0034] If the determination is negative, the historical storage dust accumulation value is obtained, and the current dust accumulation growth rate is generated based on the historical storage dust accumulation value and the overall dust accumulation assessment value.

[0035] Determine whether the current dust accumulation growth rate is greater than or equal to the preset normal dust accumulation growth rate;

[0036] If the determination is no, then the dust accumulation of the photovoltaic power station is determined to be within the safe dust accumulation range;

[0037] If the determination is yes, then the dust accumulation of the photovoltaic power station is determined to be outside the safe dust accumulation range.

[0038] Optionally, the second inspection guide includes the junction box location, positioning and data collection point, junction box calibration point, and junction box data collection path;

[0039] The combiner box location refers to the position of the combiner box in the photovoltaic power station. There are three positioning and acquisition points, which are the positions of three marked brackets with pre-set positioning marks. The three marked brackets are located next to the combiner box. The combiner box calibration point is pre-set and located around the combiner box. The combiner box data acquisition path is a path around the combiner box.

[0040] The dust accumulation data of the combiner box includes combiner box calibration images, overall combiner box images, support frame images, directional acquisition images, air dust data, and historical weather monitoring data;

[0041] The data obtained by acquiring dust accumulation data of the combiner boxes in the photovoltaic power station after the inspection robot inspects the combiner boxes according to the second inspection guide includes:

[0042] The inspection robot is controlled to move to the junction box location according to the junction box location, and to collect images of the junction box according to the junction box calibration point, and to obtain the junction box calibration image;

[0043] The inspection robot is controlled to collect images of the combiner box and the support frame on which the combiner box is installed, following the data acquisition path of the combiner box, and to obtain an overall image of the combiner box and an image of the support frame;

[0044] A three-dimensional coordinate system is established with the inspection robot as the center, and the real-time coordinates of the three positioning acquisition points in the three-dimensional coordinate system are acquired in real time.

[0045] 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 then stops. At the same time, the robot performs image acquisition on the junction box and obtains directional acquisition images.

[0046] The blowing device on the inspection robot is controlled to blow air into the area where the junction box is located, while dust detection is performed and air dust data is acquired.

[0047] In response to acquiring the air dust data, historical weather monitoring data of the photovoltaic power station is extracted.

[0048] Optionally, generating a preliminary dust accumulation estimate for the manifold based on the manifold dust accumulation data includes:

[0049] Dust analysis is performed on the junction box calibration image, and dust accumulation values ​​for the calibration area are generated;

[0050] Dust analysis is performed on the overall image of the junction box, and the overall dust volume value of the box is generated;

[0051] Dust analysis is performed on the image of the support frame, and a dust accumulation value for the support frame is generated;

[0052] The directional acquisition image is compared with a pre-stored standard directional image, and the box offset is obtained;

[0053] Obtain the real-time dust value corresponding to each sampling time point of the air dust data, and generate the real-time average dust value based on the real-time dust value;

[0054] Wind force amplification factor and rainwater disturbance factor are generated based on the historical weather monitoring data.

[0055] The estimated dust accumulation value of the manifold box is generated based on the dust accumulation value of the calibrated area, the overall dust accumulation value of the box, the dust accumulation value of the support frame, the offset of the box, the real-time average dust value, the wind force amplification factor, and the rainwater disturbance factor.

[0056] Optionally, a photovoltaic power plant safety monitoring system based on safety inspection is also provided, the system comprising:

[0057] The photovoltaic overall inspection module is used to acquire 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 to generate the overall dust accumulation information of the power station based on the basic data of the photovoltaic power station.

[0058] The safe range determination module is used to determine whether the dust accumulation of the photovoltaic power station falls within the safe dust accumulation range based on the overall dust accumulation information of the power station.

[0059] The dust accumulation estimation generation module is used to obtain 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 if the determination is negative, and generate the dust accumulation estimate of the combiner box based on the dust accumulation data.

[0060] The dust cleaning guidance module is used to determine whether the estimated dust accumulation in the junction box is greater than the standard dust accumulation threshold. If the determination is yes, a dust removal inspection guide for the junction box is generated, and the safety inspection personnel are guided to clean the dust accumulation in the junction box according to the dust removal inspection guide.

[0061] Optionally, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps described in the above-described method for safety monitoring of photovoltaic power plants based on safety inspection.

[0062] Optionally, a computer-readable storage medium is also provided, on which a computer program is stored, which, when executed by a processor, implements the steps described in the above-described method for safety monitoring of photovoltaic power plants based on safety inspection.

[0063] The technical effects achieved by this invention are as follows:

[0064] The aforementioned photovoltaic power station safety monitoring method and system based on safety inspection acquires basic data of the photovoltaic power station collected by an inspection robot after inspecting the power station according to a first inspection guide, and generates overall dust accumulation information of the power station based on the basic data. It then determines whether the dust accumulation of the photovoltaic power station falls within the safe dust accumulation range based on the overall dust accumulation information. If the determination is negative, it acquires dust accumulation data of the combiner boxes collected by the inspection robot after inspecting the combiner boxes in the photovoltaic power station according to a second inspection guide, and generates a predicted dust accumulation value for the combiner boxes based on the dust accumulation data. Finally, it determines whether the predicted dust accumulation value of the combiner boxes is greater than the standard dust accumulation threshold. If the condition is met, a dust removal inspection guide for the combiner box is generated. Based on this guide, safety inspection personnel are instructed to clean the dust accumulation in the combiner box. To enable comprehensive inspection of the photovoltaic power station and the acquisition of dust accumulation data, this invention first establishes a first inspection guide and an inspection robot. By setting the first inspection guide, the inspection robot can perform a comprehensive inspection of the entire photovoltaic power station, ensuring area monitoring of the entire station. Specifically, it first acquires basic data of the photovoltaic power station collected by the inspection robot after inspecting the station according to the first inspection guide, and then generates overall dust accumulation information for the power station based on this basic data. The overall dust accumulation information of the power station is used to represent the overall dust accumulation situation of the photovoltaic power station. A safe dust accumulation range is then pre-set. Within this range, the dust accumulation situation of the photovoltaic power station is risk-free. Therefore, the overall dust accumulation information is used to determine whether the dust accumulation of the photovoltaic power station falls within the safe range. If the determination is negative, it means the dust accumulation of the photovoltaic power station does not fall within the safe range, and the photovoltaic power station may pose a safety risk. Therefore, it is necessary to focus on inspecting components prone to dust accumulation, specifically the combiner boxes in the photovoltaic power station. This is achieved by having the inspection robot perform inspections according to the second inspection guide. The dust accumulation data collected after the inspection of the combiner boxes in the photovoltaic power station is used to further refine the assessment of the potential amount of dust accumulation in the combiner boxes. Therefore, a dust accumulation estimate is generated based on the dust accumulation data. This estimate is used to predict the amount of dust accumulation in the combiner boxes. Then, it is determined whether the estimated dust accumulation value is greater than the standard dust accumulation threshold. If it is, it indicates that there may be a large amount of dust inside the combiner box, posing a risk. Therefore, a dust removal inspection guide needs to be generated to guide the safety inspection personnel in cleaning the dust accumulation in the combiner boxes.This invention first conducts a comprehensive inspection of the photovoltaic power station and assesses the overall dust accumulation. Only when a potential risk of dust accumulation is identified does it focus on acquiring dust data around the combiner boxes and estimating the potential dust accumulation inside the combiner boxes. If the estimation indicates a potential dust accumulation risk within the combiner boxes, safety inspection personnel are then directed to inspect or clean the combiner boxes. This approach achieves both comprehensive inspection of the photovoltaic power station and monitoring of key components, enabling refined and high-safety monitoring. It avoids the problem of repeatedly opening the combiner boxes for inspection, which can easily damage their sealing, a problem present in existing technologies. Furthermore, the inspection robot can promptly estimate the dust accumulation status of the combiner boxes based on real-time inspection data. This overcomes the problems of poor inspection flexibility due to timed inspections, inability to promptly detect dust accumulation issues, and the risk of safety accidents and disruptions to the photovoltaic power station's operation caused by only discovering dust accumulation damage when it occurs in the combiner boxes, which are often discovered only when the combiner boxes are damaged by dust accumulation. Attached Figure Description

[0065] Figure 1 This is a flowchart illustrating a photovoltaic power plant safety monitoring method based on safety inspection in one embodiment.

[0066] Figure 2 This is a structural block diagram of a photovoltaic power station safety monitoring system based on safety inspection in one embodiment. Detailed Implementation

[0067] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0068] In one embodiment, a terminal is provided, the terminal being configured to: acquire basic data of a photovoltaic power station collected by an inspection robot after inspecting the photovoltaic power station according to a first inspection guide, and generate overall dust accumulation information of the power station based on the basic data of the photovoltaic power station; determine whether the dust accumulation of the photovoltaic power station falls within the safe dust accumulation range based on the overall dust accumulation information of the power station; if the determination is no, acquire dust accumulation data of the combiner box collected by the inspection robot after inspecting the combiner box in the photovoltaic power station according to a second inspection guide, and generate a dust accumulation estimate of the combiner box based on the dust accumulation data of the combiner box; determine whether the dust accumulation estimate 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 accumulation in the combiner box according to the dust removal inspection guide.

[0069] The terminal may be, but is not limited to, various personal computers, laptops, smartphones, tablets, and portable wearable devices.

[0070] In one embodiment, such as Figure 1 As shown, a safety monitoring method for photovoltaic power plants based on safety inspection is provided, which utilizes an inspection robot. The inspection robot has functions such as image acquisition, video recording, dust detection, and smoke detection. The inspection robot is also equipped with a fan. The inspection robot typically inspects under the photovoltaic panels of the photovoltaic power plant.

[0071] Specifically, the method includes:

[0072] Step S100: 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 based on the basic data of the photovoltaic power station;

[0073] Step S200: Determine whether the dust accumulation of the photovoltaic power station falls within the safe dust accumulation range based on the overall dust accumulation information of the power station;

[0074] Step S300: If the determination is no, then obtain 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 generate the dust accumulation estimate of the combiner box based on the dust accumulation data.

[0075] Step S400: Determine whether the estimated dust accumulation value of the junction box is greater than the standard dust accumulation threshold. If the determination is yes, generate a junction box dust removal inspection guide and guide the safety inspection personnel to clean the dust accumulation in the junction box according to the junction box dust removal inspection guide.

[0076] In this embodiment, to conduct a comprehensive inspection of the photovoltaic power station and acquire 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, ensuring regional monitoring of the entire photovoltaic power station. That is, firstly, 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 is acquired, and then the overall dust accumulation information of the power station is generated based on 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. Then, a safe dust accumulation range is preset. Within the safe dust accumulation range, the dust accumulation situation of the photovoltaic power station is not risky. Therefore, the overall dust accumulation information of the power station is used to determine whether the dust accumulation of the photovoltaic power station belongs to the safe dust accumulation range. If the determination is no, it is determined that the dust accumulation of the photovoltaic power station is not safe. If the dust accumulation area is significant, the photovoltaic power station may pose a safety risk. Therefore, it is necessary to focus on inspecting components prone to dust accumulation, specifically the combiner boxes in the photovoltaic power station. This involves acquiring dust accumulation data from the combiner boxes after the inspection robot performs its inspection according to the second inspection guide. To further refine the assessment of the potential dust accumulation in the combiner boxes, a dust accumulation estimate is generated based on the dust accumulation data. This estimate is used to predict the amount of dust accumulation in the combiner boxes. Then, it is determined whether the estimated dust accumulation value exceeds the standard dust accumulation threshold. If it does, it indicates that there may be a significant amount of dust inside the combiner box, posing a risk. Therefore, a dust removal inspection guide needs to be generated, and the safety inspection personnel are guided to clean the dust accumulation in the combiner boxes according to this guide. This invention first conducts a comprehensive inspection of the photovoltaic power station and assesses the overall dust accumulation. Only when a potential risk of dust accumulation is identified does it focus on acquiring dust data around the combiner boxes and estimating the potential dust accumulation inside the combiner boxes. If the estimation indicates a potential dust accumulation risk within the combiner boxes, safety inspection personnel are then directed to inspect or clean the combiner boxes. This approach achieves both comprehensive inspection of the photovoltaic power station and monitoring of key components, enabling refined and high-safety monitoring. It avoids the problem of repeatedly opening the combiner boxes for inspection, which can easily damage their sealing, a problem present in existing technologies. Furthermore, the inspection robot can promptly estimate the dust accumulation status of the combiner boxes based on real-time inspection data. This overcomes the problems of poor inspection flexibility due to timed inspections, inability to promptly detect dust accumulation issues, and the risk of safety accidents and disruptions to the photovoltaic power station's operation caused by only discovering dust accumulation damage when it occurs in the combiner boxes, which are often discovered only when the combiner boxes are damaged by dust accumulation.

[0077] Furthermore, the junction box dust removal inspection guide includes two steps: first, check the electrical performance, and second, check the dust accumulation inside the junction box. When checking the electrical performance, before touching the junction box, check for any electrical performance issues such as leakage. For example, first use a test pen to test the exterior of the junction box. Only after confirming there are no leakage issues should you proceed with the inspection. Similarly, when inspecting the inside of the junction box, the inspection should also be conducted only after confirming there are no leakage issues to improve safety during the inspection process.

[0078] In one embodiment, the first inspection guide includes a static inspection guide and a dynamic inspection guide; the static inspection guide includes the number of static inspection cycles, the first inspection speed, and the static inspection path.

[0079] The dynamic inspection guide includes the number of dynamic inspection cycles, the second inspection speed, and the dynamic inspection path. The number of dynamic inspection cycles includes the first number of cycles and the second number of cycles.

[0080] The first inspection speed is less than the second inspection speed;

[0081] The basic data of the photovoltaic power station includes static data and dynamic data of the photovoltaic power station;

[0082] The overall dust accumulation information of the power station includes static dust accumulation information and dynamic dust accumulation information of the power station.

[0083] Step S100: 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 based on the basic data of the photovoltaic power station, including:

[0084] Step S110: Obtain static data of the photovoltaic power station after the inspection robot has performed a static inspection cycle of the photovoltaic power station according to the first inspection speed and static inspection path;

[0085] Step S120: Control the inspection robot to inspect the photovoltaic power station for the first number of times according to the second inspection speed and dynamic inspection path, and acquire the dynamic data of the photovoltaic power station collected by the inspection robot during the process from the first number of times to the second number of times of inspection of the photovoltaic power station according to the second inspection speed and dynamic inspection path;

[0086] Step S130: Extract the static dust accumulation information of the photovoltaic power station from the static data of the photovoltaic power station;

[0087] Step S140: Extract the dynamic dust accumulation information of the photovoltaic power station from the dynamic data of the photovoltaic power station.

[0088] In this embodiment, the first inspection speed is generally much lower than the second inspection speed. The setting of the first inspection speed allows the inspection robot to inspect the photovoltaic power station at a lower speed. When inspecting at the first inspection speed, because the speed is low, 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 when there is no external interference, such as the state under conditions of no inspection, no wind, and no rain.

[0089] The second inspection speed is the same as the rapid movement of the inspection robot within the photovoltaic power station, simulating the power station's operation under external interference, such as during wind and rain. Therefore, a relatively high second inspection speed is set, allowing the inspection robot to collect data from various sensors while inspecting the photovoltaic power station. Furthermore, the inspection robot can be equipped with a fan, which can be activated while inspecting at the second speed to better simulate the photovoltaic power station's operation under windy conditions.

[0090] The number of dynamic inspection cycles and the number of static inspection cycles can be set differently, with the number of dynamic inspection cycles being greater than the number of static inspection cycles. Generally, the number of static inspection cycles is the same as the second number of cycles to maintain consistency in the number of cycles for static and dynamic data acquisition. The first number of cycles is less than the second number of cycles to ensure that there is no excessive interference to the photovoltaic power station, while simultaneously using as many cycles as possible for data acquisition.

[0091] When acquiring dynamic data from a photovoltaic (PV) power station, the inspection robot is first controlled to perform its first round of inspections at a second inspection speed and along a dynamic inspection path. This allows the robot to simulate the PV power station's state at a relatively fast pace, such as stirring up dust. Then, the dynamic data collected by the inspection robot during the period from the first round of inspections to the second round, while adhering to the second inspection speed and dynamic inspection path, is acquired. In other words, the dynamic data is not collected at the start of the second inspection speed, but rather after the first round of inspections. This allows for more accurate acquisition of the PV power station's simulated state under disturbance conditions, while also avoiding problems caused by collecting redundant data.

[0092] The dynamic inspection path and the static inspection path are generally set to be the same to ensure data collection along the same path. However, if there are corners in the path that prevent the inspection robot from traversing at a faster second inspection speed, these corners can be removed from the dynamic inspection path to ensure the robot's normal operation. In this case, the dynamic and static inspection paths are different. Whether the paths are the same or not can be determined by those skilled in the art based on the specific conditions of different photovoltaic power plants, ensuring that the operation of the inspection robot is not affected while guaranteeing the integrity of data collection.

[0093] Therefore, in this embodiment, static data of the photovoltaic power station is collected sequentially by acquiring the static data of the photovoltaic power station after the inspection robot has completed a static inspection cycle according to a first inspection speed and a static inspection path; the inspection robot is controlled to complete a first inspection cycle of the photovoltaic power station according to a second inspection speed and a dynamic inspection path, and dynamic data of the photovoltaic power station is acquired by acquiring the dynamic data of the photovoltaic power station from the first inspection cycle to the second inspection cycle according to the second inspection speed and a dynamic inspection path. This achieves data acquisition of the photovoltaic power station in both static and dynamic states. Then, based on the acquired data, dust accumulation analysis is performed on the overall situation of the photovoltaic power station. Specifically, static dust accumulation information of the photovoltaic power station is extracted from the static data of the photovoltaic power station; and dynamic dust accumulation information of the photovoltaic power station is extracted from the dynamic data of the photovoltaic power station.

[0094] In one embodiment, step S200: determining whether the dust accumulation of the photovoltaic power station falls within the safe dust accumulation range based on the overall dust accumulation information of the power station includes:

[0095] Step S210: Generate a static dust accumulation assessment value for the photovoltaic power station based on the static dust accumulation information of the power station;

[0096] Step S220: Generate a dynamic dust accumulation assessment value for the photovoltaic power station based on the dynamic dust accumulation information of the power station;

[0097] Step S230: Add the static dust accumulation assessment value and the dynamic dust accumulation assessment value to generate an overall dust accumulation assessment value;

[0098] Step S240: Determine whether the dust accumulation of the photovoltaic power station falls within the safe dust accumulation range based on the overall dust accumulation assessment value.

[0099] In this embodiment, for quantitative evaluation, after obtaining the static dust accumulation information and the dynamic dust accumulation information of the power station, a static dust accumulation assessment value for the photovoltaic power station is first generated based on the static dust accumulation information; then, a dynamic dust accumulation assessment value for the photovoltaic power station is generated based on the dynamic dust accumulation information; next, the static dust accumulation assessment value and the dynamic dust accumulation assessment value are added together to generate an overall dust accumulation assessment value. The static dust accumulation assessment value measures the dust accumulation situation of the photovoltaic power station when it is static. The dynamic dust accumulation assessment value measures the dust accumulation situation of the photovoltaic power station when it is dynamic. The overall dust accumulation assessment value measures the overall dust accumulation situation of the photovoltaic power station at the current moment. Finally, the overall dust accumulation assessment value is used to determine whether the dust accumulation of the photovoltaic power station falls within the safe dust accumulation range.

[0100] The safe dust accumulation range is preset. By collecting dust accumulation data from multiple photovoltaic power plants under normal conditions and analyzing the collected data, the dust accumulation data of the photovoltaic power plants under normal conditions is finally set as the safe dust accumulation range.

[0101] In one embodiment, the power plant static dust accumulation information includes multiple power plant static dust accumulation images containing dust accumulation information;

[0102] Step S210: Generate a static dust accumulation assessment value for the photovoltaic power station based on the static dust accumulation information of the power station, including:

[0103] Step S211: Extract the debris accumulation area based on the static dust accumulation image of the power station, and obtain the total area occupied by debris in each debris accumulation area;

[0104] Step S212: Extract the dust-accumulating components from the static dust accumulation images of each power station, and obtain the area of ​​the dust accumulation region on each dust-accumulating component;

[0105] Step S213: Generate a static dust accumulation assessment value based on the total area occupied by debris and the area of ​​the dust accumulation zone.

[0106] In this embodiment, the static dust accumulation assessment value is generated based on the following formula:

[0107] ;

[0108] Where 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-accumulating components, Sci is the surface area of ​​the i-th dust-accumulating component, and Si is the dust accumulation area of ​​the i-th dust-accumulating component.

[0109] In this embodiment, the main considerations are the overall dust accumulation area and the dust accumulation area of ​​specific regions. First, debris accumulation areas are extracted from the static dust accumulation images of the power plant, and the total area occupied by debris in each of these areas is obtained. That is, the area of ​​the debris-accumulated areas is estimated, and then the areas of each area are summed to generate the total area occupied by debris. Next, dust-accumulating components are extracted from the static dust accumulation images of each power plant, and the area of ​​the dust accumulation area on each component is obtained. Finally, a static dust accumulation assessment value is generated based on the total area occupied by debris and the area of ​​the dust accumulation area.

[0110] The surface area of ​​each dust-collecting component is preset and stored. The total area of ​​the photovoltaic power station is also preset and set.

[0111] In one embodiment, step S220: generating a dynamic dust accumulation assessment value for the photovoltaic power station based on the dynamic dust accumulation information of the power station, including:

[0112] Step S221: Extract dust concentration data based on the dynamic dust accumulation information of the power plant;

[0113] Step S222: Calculate the dynamic dust average value based on the dust concentration data, and set the dynamic dust average value as the dynamic dust accumulation assessment value.

[0114] In this embodiment, dust concentration data is first extracted based on the dynamic dust accumulation information of the power station. Then, the dust concentration data is sampled to obtain dust values ​​corresponding to multiple sampling points. The average value is calculated, which is the dynamic dust average value. Finally, the dynamic dust average value is set as the dynamic dust accumulation assessment value. That is, in this embodiment, the dynamic dust average value is used as the dynamic dust accumulation assessment value to reflect the overall dust accumulation situation of the photovoltaic power station under dynamic conditions.

[0115] In one embodiment, step S240: determining whether the dust accumulation of the photovoltaic power station falls within the safe dust accumulation range based on the overall dust accumulation assessment value includes:

[0116] Step S241: Determine whether the overall dust accumulation assessment value is greater than or equal to the overall dust accumulation threshold, wherein the overall dust accumulation threshold is preset;

[0117] Step S242: If the determination is no, obtain the historical storage dust accumulation value, and generate the current dust accumulation growth rate based on the historical storage dust accumulation value and the overall dust accumulation evaluation value;

[0118] Step S243: Determine whether the current dust accumulation growth rate is greater than or equal to the preset normal dust accumulation growth rate;

[0119] Step S244: If the determination is no, then the dust accumulation of the photovoltaic power station is determined to be within the safe dust accumulation range;

[0120] Step S245: If the determination is yes, then the dust accumulation of the photovoltaic power station is determined to be outside the safe dust accumulation range.

[0121] In this embodiment, the dust accumulation situation of the photovoltaic power station is judged from two aspects. Firstly, the current amount of dust accumulation is assessed, i.e., whether the overall dust accumulation assessment value is greater than or equal to the overall dust accumulation threshold. If the judgment is negative, it means the overall dust accumulation assessment value is less than the overall dust accumulation threshold, indicating that the dust accumulation does not pose a risk. However, unlike the prior art which directly determines no risk, this application also uses the dust accumulation growth rate to predict and judge risk. Specifically, when the judgment is negative, historical stored dust accumulation values ​​are obtained, and the current dust accumulation growth rate is generated based on the historical stored dust accumulation value and the overall dust accumulation assessment value. The historical 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 historical stored dust accumulation value, divided by the sampling time period, yields the current dust accumulation growth rate. The current dust accumulation rate reflects the dust accumulation rate of the photovoltaic power station during the sampling period. If the current dust accumulation rate is less than the preset normal dust accumulation rate, it indicates that the dust accumulation rate is normal, and therefore the dust accumulation of the photovoltaic power station is within the safe dust accumulation range. If the current dust accumulation rate is greater than or equal to the preset normal dust accumulation rate, it indicates that the dust accumulation rate is too fast, and this trend may lead to dust accumulation risk; therefore, the dust accumulation of the photovoltaic power station is not within the safe dust accumulation range.

[0122] In one embodiment, after determining whether the overall dust accumulation assessment value is greater than or equal to the overall dust accumulation threshold in step S241, the method further includes:

[0123] If the determination is yes, that is, the overall dust accumulation assessment value is greater than or equal to the overall dust accumulation threshold, then the dust accumulation of the photovoltaic power station is determined not to be within the safe dust accumulation range.

[0124] In one embodiment, the second inspection guide includes junction box location, location collection point, junction box calibration point, and junction box data collection path;

[0125] The combiner box location refers to the position of the combiner box in the photovoltaic power station. There are three positioning and acquisition points, which are the positions of three marked brackets with pre-set positioning marks. The three marked brackets are located next to the combiner box. The combiner box calibration point is pre-set and located around the combiner box. The combiner box data acquisition path is a path around the combiner box.

[0126] The dust accumulation data of the combiner box includes combiner box calibration images, overall combiner box images, support frame images, directional acquisition images, air dust data, and historical weather monitoring data;

[0127] In step S300, 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 is obtained, including:

[0128] Step S311: Control the inspection robot to run to the junction box location according to the junction box location, collect images of the junction box according to the junction box calibration point, and obtain the junction box calibration image;

[0129] 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 data acquisition path of the combiner box, and obtain an overall image of the combiner box and an image of the support frame;

[0130] Step S313: Establish a three-dimensional coordinate system with the inspection robot as the center, and acquire the real-time coordinates of the three positioning acquisition points in the three-dimensional coordinate system in real time;

[0131] Step S314: Control the inspection robot to move until the three real-time coordinate points are the same as the pre-stored calibration coordinate points, and stop. At the same time, perform image acquisition on the junction box and obtain directional acquisition images.

[0132] Step S315: Control the blowing device on the inspection robot to blow on the area where the junction box is located, while detecting dust and acquiring air dust data;

[0133] Step S316: In response to acquiring the air dust data, extract the historical weather monitoring data of the photovoltaic power station.

[0134] In this embodiment, in response to the fact that the dust accumulation in the photovoltaic power station does not fall within the safe dust accumulation range, a second inspection guide is generated. An electronic map of the entire photovoltaic power station is pre-set, marking the locations of various components. Therefore, when data collection from the combiner box is required, the location of the combiner box, i.e., the combiner box location, is obtained from the electronic map and sent to the inspection robot, enabling the inspection robot to run to the combiner box location based on the location.

[0135] Next, image acquisition is performed from both overall and detailed perspectives. Detailed perspective involves acquiring images of the combiner box based on its calibration points, obtaining a calibration image. These calibration points are locations prone to dust and water vapor entry, such as the seals and outward openings of the combiner box, like door edges and cable inlets. Overall perspective involves data acquisition from the combined box's overall viewpoint. Specifically, the inspection robot is controlled to acquire images of the combiner box and its mounting frame along the data acquisition path, obtaining both an overall image of the combiner box and an image of the support frame. This allows for analysis of the overall dust accumulation in the combiner box based on these images. Then, a three-dimensional coordinate system is established with the inspection robot as the center, and the real-time coordinates of the three positioning acquisition points within this system are acquired. When establishing the coordinate system, the orientation of the inspection robot's image acquisition end is used as the X-axis, the numerical direction as the Z-axis, and the side of the inspection robot perpendicular to the X-axis as the Y-axis. After establishing the three-dimensional coordinate system, the objects within the coordinate system are identified and their coordinate points are determined using an FMCW sensor or a TOF sensor. The inspection robot is then controlled to move, acquiring different coordinate points for each distance unit it moves. For example, for the first marked bracket, when the inspection robot is at the first position, this first position is the origin of the three-dimensional coordinate system, and the first marked bracket has coordinates corresponding to this first position. When the inspection robot moves one distance unit to the second position, this second position is the origin of the three-dimensional coordinate system, and the second marked bracket has coordinates corresponding to this second position. The same applies to other position points and other marked brackets. Therefore, the inspection robot is controlled to move until the three real-time coordinate points match the pre-stored calibration coordinate points. At this point, the position of the inspection robot can also be understood as a pre-calibrated point. When setting the pre-calibrated point, the coordinate system is established with the pre-calibrated point as the origin, and the coordinates of the marked brackets are acquired and set as pre-calibrated points. The number of pre-calibration points is three, each corresponding to one of the marked brackets. These pre-calibration points are generally set directly in front of the junction box. Therefore, when the inspection robot is positioned using the three marked brackets, it moves to the pre-set point and acquires an image of the junction box, obtaining a directional image. Generally, the acquired directional image is the image directly in front of the junction box. If the pre-calibration points are directly placed on the road surface in front of the junction box, dust accumulation can easily affect recognition, and wear can easily cause the markings to disappear. Therefore, in this embodiment, by setting three positioning and acquisition points, the robot marks the brackets, reducing the probability of dust accumulation affecting mark recognition. Furthermore, positioning through three points ensures high accuracy and accurate data acquisition.Then, the blowing device on the inspection robot is controlled to blow air into the area where the combiner box is located, while simultaneously detecting dust and acquiring airborne dust data. The blowing device is a pre-installed device on the inspection robot, such as a fan, which blows air outwards to remove dust, enabling the collection of dust data in the area surrounding the combiner via dust sensors. Finally, historical weather monitoring data of the photovoltaic power station is also extracted.

[0136] Therefore, in this embodiment, by comprehensively considering the overall situation of the junction box, the locations prone to dust accumulation, the support frame, the front, the surrounding dust conditions, and the influence of past weather, a comprehensive analysis of the dust accumulation situation of the junction box can be achieved.

[0137] In one embodiment, step S300, generating a manifold dust accumulation estimate based on the manifold dust accumulation data, includes:

[0138] Step S321: Perform dust analysis on the junction box calibration image and generate dust accumulation values ​​for the calibration area;

[0139] Step S322: Perform dust analysis on the overall image of the junction box and generate the overall dust volume value of the box;

[0140] Step S323: Perform dust analysis on the support frame image and generate a dust accumulation value for the support frame;

[0141] In steps S321-S323 of this embodiment, when analyzing the junction box calibration image, the overall junction box image, and the support frame image to generate the dust accumulation value of the calibration area, the overall junction box dust accumulation value, and the support frame dust accumulation value, the same method is used, as follows:

[0142] First, the junction box calibration image, the overall junction box image, and the support frame image are denoised using Gaussian filtering, then converted to grayscale, and finally histogram equalization is used to enhance image contrast. Next, edge detection, texture analysis, and grayscale value generation are performed. For edge detection, any one of the Canny, Prewitt, or Kirsch edge detection algorithms can be used. Then, texture analysis is performed using the gray-level co-occurrence matrix to obtain the image's texture features. Finally, the average grayscale value of different regions in the image is calculated. Then, based on a pre-set correspondence between reflective grayscale values ​​and dust accumulation thickness, the dust accumulation values ​​for the calibration area, the overall junction box, and the support frame are generated. That is, in this embodiment, the dust accumulation values ​​for the calibration area, the overall junction box, and the support frame are estimated values ​​of the dust accumulation thickness.

[0143] Because dust accumulation on the combiner box and support frame affects the grayscale value of the image during photography due to reflection and scattering of dust, different dust thicknesses correspond to different grayscale value ranges. Therefore, extensive data collection is conducted beforehand to gather dust accumulation data from combiner boxes in numerous photovoltaic power plants and establish a correspondence between reflected grayscale values ​​and dust thickness. Based on this correspondence, after acquiring the combiner box calibration image, the overall combiner box image, and the support frame image, grayscale analysis is performed to obtain the corresponding grayscale values, thus yielding the dust thickness data. This results in the dust accumulation values ​​for the calibration area, the overall combiner box, and the support frame.

[0144] Step S324: Compare the acquired directional image with the pre-stored standard directional image and obtain the box offset;

[0145] In this step, the overlap between the directional acquisition image and the standard directional image is calculated, and the box offset is set based on the overlap. The specific calculation is as follows: Df = 1 - Co, where Df is the box offset and Co is the overlap. The higher the overlap, the more likely the combiner box has not shifted due to wind, vibration, or other factors, and it remains in its original installation position. Based on actual production experience, if the combiner box shifts due to wind or other factors, it can cause the wiring terminals in the combiner box to become loose, leading to poor contact or disconnection between cables that are prone to contact, or between cables and contact terminals. This poor contact can cause an electric arc when current flows. When the photovoltaic module generates electricity, the contact points may experience contraction due to temperature changes, further aggravating the poor contact and causing arcing. Arcing can easily cause a fire, damaging the combiner box. Therefore, by obtaining the box offset, we can predict whether the combiner box may shift due to offset, leading to cable displacement or arcing. The greater the offset of the enclosure, the more the junction box is offset, and the greater the probability of cable displacement and arcing.

[0146] Step S325: Obtain the real-time dust value corresponding to each sampling time point of the air dust data, and generate the real-time average dust value based on the real-time dust value;

[0147] In this step, the sampling time point is preset, and the average value of the multiple real-time dust values ​​is calculated to generate the real-time average dust value.

[0148] Step S326: Generate wind force amplification factor and rainfall disturbance factor based on the historical weather monitoring data;

[0149] In this step, the historical weather monitoring data consists of the average wind speed and average rainfall over the past week. The average wind speed is compared to a standard wind speed, and the amplification factor corresponding to the standard wind speed matching the average wind speed is set as the wind speed amplification factor. Similarly, a standard rainfall and its corresponding disturbance factor are pre-set, so a rain disturbance factor can also be generated based on the average rainfall. Since both rain and wind speed exacerbate the impact of dust and water mist on the junction box, the wind speed amplification factor and rain disturbance factor are set.

[0150] Step S327: Generate the estimated dust accumulation value of the junction box based on the dust accumulation value of the calibration area, the overall dust accumulation value of the box, the dust accumulation value of the support frame, the offset of the box, the real-time average dust value, the wind force amplification factor, and the rainwater disturbance factor.

[0151] In this step, the estimated dust accumulation in the manifold is generated based on the following formula:

[0152] ;

[0153] Where Po is the estimated dust accumulation value in the manifold box. denoted as the loss coefficient, Da as the dust accumulation value of the calibration area, Ba as the overall dust accumulation value of the box, Sa as the dust accumulation value of the support frame, Gu as the wind force amplification factor, Ru as the rainwater disturbance factor, Df as the box offset, and Fa as the image offset.

[0154] In this embodiment, the dust accumulation value of the junction box is generated by comprehensively considering the dust accumulation value of the calibration area, the overall dust accumulation value of the box, the dust accumulation value of the support frame, the box offset, the real-time average dust value, the wind force amplification factor, and the rainwater disturbance factor. This achieves the goal of comprehensively considering as many dust accumulation factors as possible and improving accuracy.

[0155] Therefore, the system takes into account the problem of dust and water vapor mixtures accumulating inside the manifold due to extreme weather conditions. This allows for the prediction of dust accumulation inside the manifold without opening it, and further prediction of safety performance, greatly improving safety performance.

[0156] In addition, weather monitoring can be performed. When the weather meets the preset inspection trigger conditions, an inspection can be carried out to promptly obtain information on the impact of dust and moisture caused by weather factors on the combiner box. For example, the inspection trigger conditions are set to wind force level 6, or precipitation of 10 mm to 24.9 mm within 24 hours. That is, when the wind is strong or there is moderate rain, dust and moisture may accumulate and affect the combiner box. Therefore, an inspection is required in this case. Of course, the inspection should be carried out after the rain and wind have stopped.

[0157] In this embodiment, the depreciation coefficient is preset to represent the estimated impact of external dust, moisture, and mixtures on the manifold. The depreciation coefficient is less than 1. For example, when it is set based primarily on the service life, the value is 0.1 for a service life of 1 year, 0.2 for a service life of 2 years, and 0.35 for a service life of 3 years. The value increases with the increase in service life.

[0158] In one embodiment, step S200: determining whether the dust accumulation of the photovoltaic power station falls within the safe dust accumulation range based on the overall dust accumulation information of the power station, and then further including:

[0159] Step S201: If the determination is yes, generate a power plant dust accumulation normal indication and send the power plant dust accumulation normal indication to the safety inspection personnel to remind the safety inspection personnel that no manual inspection is required.

[0160] In one embodiment, step S400: determining whether the estimated dust accumulation value of the manifold box is greater than the standard dust accumulation threshold, and then further including:

[0161] Step S401: If the determination is negative, generate a normal dust accumulation indication for the junction box and send the normal dust accumulation indication to the safety inspection personnel to remind them that no manual inspection is required.

[0162] In one embodiment, such as Figure 2 As shown, a photovoltaic power station safety monitoring system based on safety inspection is also provided, the system comprising:

[0163] The photovoltaic overall inspection module is used to acquire 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 to generate the overall dust accumulation information of the power station based on the basic data of the photovoltaic power station.

[0164] The safe range determination module is used to determine whether the dust accumulation of the photovoltaic power station falls within the safe dust accumulation range based on the overall dust accumulation information of the power station.

[0165] The dust accumulation estimation generation module is used to obtain 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 if the determination is negative, and generate the dust accumulation estimate of the combiner box based on the dust accumulation data.

[0166] The dust cleaning guidance module is used to determine whether the estimated dust accumulation in the junction box is greater than the standard dust accumulation threshold. If the determination is yes, a dust removal inspection guide for the junction box is generated, and the safety inspection personnel are guided to clean the dust accumulation in the junction box according to the dust removal inspection guide.

[0167] In one embodiment, the first inspection guide includes a static inspection guide and a dynamic inspection guide; the static inspection guide includes the number of static inspection cycles, the first inspection speed, and the static inspection path.

[0168] The dynamic inspection guide includes the number of dynamic inspection cycles, the second inspection speed, and the dynamic inspection path. The number of dynamic inspection cycles includes the first number of cycles and the second number of cycles.

[0169] The first inspection speed is less than the second inspection speed;

[0170] The basic data of the photovoltaic power station includes static data and dynamic data of the photovoltaic power station;

[0171] The overall dust accumulation information of the power station includes static dust accumulation information and dynamic dust accumulation information of the power station.

[0172] The photovoltaic overall inspection module is also used for: acquiring static data of the photovoltaic power station collected by the inspection robot after it has completed a number of static inspection cycles of the photovoltaic power station according to a first inspection speed and static inspection path; controlling the inspection robot to complete a first number of inspection cycles of the photovoltaic power station according to a second inspection speed and dynamic inspection path, and acquiring dynamic data of the photovoltaic power station collected by the inspection robot during the process from the first number of inspection cycles to the second number of inspection cycles according to the second inspection speed and dynamic inspection path; extracting static dust accumulation information of the photovoltaic power station from the static data of the photovoltaic power station; and extracting dynamic dust accumulation information of the photovoltaic power station from the dynamic data of the photovoltaic power station.

[0173] In one embodiment, the safety range determination module is further configured to: generate a static dust accumulation assessment value for the photovoltaic power station based on the static dust accumulation information of the power station; generate a dynamic dust accumulation assessment value for 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 determine whether the dust accumulation of the photovoltaic power station falls within the safe dust accumulation range based on the overall dust accumulation assessment value.

[0174] In one embodiment, the static dust accumulation information of the power plant includes multiple static dust accumulation images of the power plant containing dust accumulation information; the safety range determination module is further configured to: extract debris accumulation areas based on the static dust accumulation images of the power plant, and obtain the total area occupied by debris in each debris accumulation area; extract dust accumulation components from each static dust accumulation image of the power plant, and obtain the area of ​​dust accumulation area on each dust accumulation component; and generate a static dust accumulation assessment value based on the total area occupied by debris and the area of ​​dust accumulation area.

[0175] In one embodiment, the safety range determination module is further configured to: generate a static dust accumulation assessment value based on the following formula:

[0176] ;

[0177] Where 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-accumulating components, Sci is the surface area of ​​the i-th dust-accumulating component, and Si is the dust accumulation area of ​​the i-th dust-accumulating component.

[0178] In one embodiment, the safety range determination module is further configured to: extract dust concentration data based on the dynamic dust accumulation information of the power plant; calculate the dynamic dust average based on the dust concentration data; and set the dynamic dust average as the dynamic dust accumulation assessment value.

[0179] In one embodiment, the safety range determination module is further configured to: determine whether the overall dust accumulation assessment value is greater than or equal to the overall dust accumulation threshold, wherein the overall dust accumulation threshold is preset; if the determination is negative, obtain historical stored dust accumulation values ​​and generate the current dust accumulation growth rate based on the historical stored dust accumulation values ​​and the overall dust accumulation assessment value; determine whether the current dust accumulation growth rate is greater than or equal to a preset normal dust accumulation growth rate; if the determination is negative, determine that the dust accumulation of the photovoltaic power station belongs to the safe dust accumulation range; if the determination is positive, determine that the dust accumulation of the photovoltaic power station does not belong to the safe dust accumulation range.

[0180] In one embodiment, the safe range determination module is further configured to: determine if the overall dust accumulation assessment value is greater than or equal to the overall dust accumulation threshold, then determine if the dust accumulation of the photovoltaic power station does not fall within the safe dust accumulation range.

[0181] In one embodiment, the second inspection guide includes combiner box location, positioning acquisition point, combiner box calibration point, and combiner box data acquisition path; the combiner box location is the position of the combiner box in the photovoltaic power station; the number of positioning acquisition points is three, which are the positions of three pre-marked brackets with pre-set positioning marks, and the three marked brackets are located next to the combiner box; the combiner box calibration point is pre-set and located around the combiner box; the combiner box data acquisition path is a path around the combiner box; the combiner box dust accumulation data includes combiner box calibration image, combiner box overall image, support frame image, directional acquisition image, air dust data, and historical weather monitoring data; the dust accumulation prediction generation module is also used to: control the inspection robot to run to the combiner box location according to the combiner box location, and based on the combiner box calibration... The system performs image acquisition on the combiner box and obtains a calibration image of the combiner box; it controls the inspection robot to perform image acquisition on 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 obtains an overall image of the combiner box and an image of the support frame; it establishes a three-dimensional coordinate system with the inspection robot as the center, and obtains the real-time coordinates of the three positioning acquisition points in the three-dimensional coordinate system; it controls the inspection robot to move until the three real-time coordinates are the same as the pre-stored calibration coordinates, and stops, while simultaneously performing image acquisition on the combiner box and obtaining a directional acquisition image; it controls the blowing device on the inspection robot to blow on the area where the combiner box is located, while simultaneously performing dust detection and obtaining air dust data; in response to obtaining the air dust data, it extracts the historical weather monitoring data of the photovoltaic power station.

[0182] In one embodiment, the dust accumulation prediction generation module is further configured to: perform dust analysis on the junction box calibration image and generate a dust accumulation value for the calibration area; perform dust analysis on the overall image of the junction box and generate an overall dust accumulation value for the box; perform dust analysis on the support frame image and generate a dust accumulation value for the support frame; compare the directional acquisition image with a pre-stored standard directional image and obtain the box offset; obtain the real-time dust value corresponding to each sampling time point of the air dust data and generate a real-time average dust value based on the real-time dust value; generate a wind amplification factor and a rain disturbance factor based on the historical weather monitoring data; and generate a junction box dust accumulation prediction value based on the calibration area dust value, the overall box dust value, the support frame dust value, the box offset, the real-time average dust value, the wind amplification factor, and the rain disturbance factor.

[0183] In one embodiment, the dust accumulation estimation generation module is further configured to: generate a dust accumulation estimate for the manifold based on the following formula:

[0184] ;

[0185] Where Po is the estimated dust accumulation value in the manifold box. denoted as the loss coefficient, Da as the dust accumulation value of the calibration area, Ba as the overall dust accumulation value of the box, Sa as the dust accumulation value of the support frame, Gu as the wind force amplification factor, Ru as the rainwater disturbance factor, Df as the box offset, and Fa as the image offset.

[0186] In one embodiment, the safety range determination module is further configured to: determine that the dust accumulation of 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 to the safety inspection personnel to remind them that no manual inspection is required.

[0187] In one embodiment, the dust cleaning guidance module is further configured to: determine if the estimated dust accumulation in the junction box is not greater than the standard dust accumulation threshold, generate a normal dust accumulation indication for the junction box, and send the normal dust accumulation indication to the safety inspection personnel to remind them that no manual inspection is required.

[0188] 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 executes the computer program to implement the steps described in the above-described method for safety monitoring of photovoltaic power plants based on safety inspection.

[0189] In one embodiment, a computer-readable storage medium is also provided, on which a computer program is stored, which, when executed by a processor, implements the steps described in the above-described method for safety monitoring of photovoltaic power plants based on safety inspection.

[0190] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0191] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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.

[0192] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for safety monitoring of photovoltaic power plants based on safety inspection, characterized in that, The method includes: The system acquires 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 generates overall dust accumulation information of the power station based on the basic data of the photovoltaic power station. Determine whether the dust accumulation of the photovoltaic power station falls within the safe dust accumulation range based on the overall dust accumulation information of the power station; If the determination is negative, 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 is obtained, and the dust accumulation estimate of the combiner box is generated based on the dust accumulation data. Determine whether the estimated dust accumulation in the junction box is greater than the standard dust accumulation threshold. If the determination is yes, generate a junction box dust removal inspection guide and guide the safety inspection personnel to clean the dust accumulation in the junction box according to the junction box dust removal inspection guide. The first inspection guide includes static inspection guide and dynamic inspection guide; the static inspection guide includes static inspection lap count, first inspection speed and static inspection path; The dynamic inspection guide includes the number of dynamic inspection cycles, the second inspection speed, and the dynamic inspection path. The number of dynamic inspection cycles includes the first number of cycles and the second number of cycles. The first inspection speed is less than the second inspection speed; The basic data of the photovoltaic power station includes static data and dynamic data of the photovoltaic power station; The overall dust accumulation information of the power station includes static dust accumulation information and dynamic dust accumulation information of the power station. The system acquires basic data of the photovoltaic power station collected by the inspection robot after inspecting the power station according to the first inspection guide, and generates overall dust accumulation information of the power station based on the basic data, including: The static data of the photovoltaic power station is collected after the inspection robot performs a static inspection cycle of the photovoltaic power station according to the first inspection speed and static inspection path. The inspection robot is controlled to inspect the photovoltaic power station for the first number of times according to the second inspection speed and dynamic inspection path, and the dynamic data of the photovoltaic power station collected by the inspection robot during the process from the first number of times to the second number of times of inspection according to the second inspection speed and dynamic inspection path is acquired. Extract static dust accumulation information of the photovoltaic power station from the static data of the photovoltaic power station; Extract the dynamic dust accumulation information of the photovoltaic power station from the dynamic data of the photovoltaic power station; The second inspection guide includes the junction box location, location acquisition point, junction box calibration point, and junction box data acquisition path; The combiner box location refers to the position of the combiner box in the photovoltaic power station. There are three positioning and acquisition points, which are the positions of three marked brackets with pre-set positioning marks. The three marked brackets are located next to the combiner box. The combiner box calibration point is pre-set and located around the combiner box. The combiner box data acquisition path is a path around the combiner box. The dust accumulation data of the combiner box includes combiner box calibration images, overall combiner box images, support frame images, directional acquisition images, air dust data, and historical weather monitoring data; The data obtained by acquiring dust accumulation data of the combiner boxes in the photovoltaic power station after the inspection robot inspects the combiner boxes according to the second inspection guide includes: The inspection robot is controlled to move to the junction box location according to the junction box location, and to collect images of the junction box according to the junction box calibration point, and to obtain the junction box calibration image; The inspection robot is controlled to collect images of the combiner box and the support frame on which the combiner box is installed, following the data acquisition path of the combiner box, and to obtain an overall image of the combiner box and an image of the support frame; A three-dimensional coordinate system is established with the inspection robot as the center, and the real-time coordinates of the three positioning acquisition points in the three-dimensional coordinate system are acquired 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 then stops. At the same time, the robot performs image acquisition on the junction box and obtains directional acquisition images. The blowing device on the inspection robot is controlled to blow air into the area where the junction box is located, while dust detection is performed and air dust data is acquired. In response to acquiring the air dust data, historical weather monitoring data of the photovoltaic power station is extracted.

2. The photovoltaic power station safety monitoring method based on safety inspection according to claim 1, characterized in that, Determining whether the dust accumulation of the photovoltaic power station falls within the safe dust accumulation range based on the overall dust accumulation information of the power station includes: A static dust accumulation assessment value for the photovoltaic power station is generated based on the static dust accumulation information of the power station. A dynamic dust accumulation assessment value for the photovoltaic power station is generated based on the dynamic dust accumulation information of the power station. The static dust accumulation assessment value and the dynamic dust accumulation assessment value are added together to generate the overall dust accumulation assessment value; The overall dust accumulation assessment value is used to determine whether the dust accumulation of the photovoltaic power station falls within the safe dust accumulation range.

3. The photovoltaic power station safety monitoring method based on safety inspection according to claim 2, characterized in that, The static dust accumulation information of the power plant includes multiple static dust accumulation images of the power plant containing dust accumulation information; Based on the static dust accumulation information of the power station, a static dust accumulation assessment value for the photovoltaic power station is generated, including: Based on the static dust accumulation images of the power plant, the debris accumulation areas are extracted, and the total area occupied by debris in each debris accumulation area is obtained; Extract dust-accumulating components from the static dust accumulation images of each power station, and obtain the area of ​​the dust accumulation region on each dust-accumulating component; A static dust accumulation assessment value is generated based on the total area occupied by debris and the area of ​​dust accumulation.

4. The photovoltaic power station safety monitoring method based on safety inspection according to claim 3, characterized in that, Determining whether the dust accumulation of the photovoltaic power station falls within the safe dust accumulation range based on the overall dust accumulation assessment value includes: Determine whether the overall dust accumulation assessment value is greater than or equal to the overall dust accumulation threshold, wherein the overall dust accumulation threshold is preset; If the determination is negative, the historical storage dust accumulation value is obtained, and the current dust accumulation growth rate is generated based on the historical storage dust accumulation value and the overall dust accumulation assessment value. Determine whether the current dust accumulation growth rate is greater than or equal to the preset normal dust accumulation growth rate; If the determination is no, then the dust accumulation of the photovoltaic power station is determined to be within the safe dust accumulation range; If the determination is yes, then the dust accumulation of the photovoltaic power station is determined to be outside the safe dust accumulation range.

5. The photovoltaic power station safety monitoring method based on safety inspection according to claim 1, characterized in that, Based on the dust accumulation data of the manifold, a preliminary dust accumulation estimate for the manifold is generated, including: Dust analysis is performed on the junction box calibration image, and dust accumulation values ​​for the calibration area are generated; Dust analysis is performed on the overall image of the junction box, and the overall dust volume value of the box is generated; Dust analysis is performed on the image of the support frame, and a dust accumulation value for the support frame is generated; The directional acquisition image is compared with a pre-stored standard directional image, and the box offset is obtained; Obtain the real-time dust value corresponding to each sampling time point of the air dust data, and generate the real-time average dust value based on the real-time dust value; Wind force amplification factor and rainwater disturbance factor are generated based on the historical weather monitoring data. The estimated dust accumulation value of the manifold box is generated based on the dust accumulation value of the calibrated area, the overall dust accumulation value of the box, the dust accumulation value of the support frame, the offset of the box, the real-time average dust value, the wind force amplification factor, and the rainwater disturbance factor.

6. A photovoltaic power station safety monitoring system based on safety inspection, employing the photovoltaic power station safety monitoring method based on safety inspection as described in any one of claims 1-5, characterized in that, The system includes: The photovoltaic overall inspection module is used to acquire 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 to generate the overall dust accumulation information of the power station based on the basic data of the photovoltaic power station. The safe range determination module is used to determine whether the dust accumulation of the photovoltaic power station falls within the safe dust accumulation range based on the overall dust accumulation information of the power station. The dust accumulation estimation generation module is used to obtain 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 if the determination is negative, and generate the dust accumulation estimate of the combiner box based on the dust accumulation data. The dust cleaning guidance module is used to determine whether the estimated dust accumulation in the junction box is greater than the standard dust accumulation threshold. If the determination is yes, a dust removal inspection guide for the junction box is generated, and the safety inspection personnel are guided to clean the dust accumulation in the junction box according to the dust removal inspection guide.

7. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

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