On-site real-time analysis and decision support system based on multi-parameter Internet of Things technology

Abstract

The invention provides an in-situ real-time analysis and decision support system based on a multi-parameter Internet of Things technology, and the system comprises an obtaining module which is used for obtaining an image collected by Internet of Things sensing equipment based on a circular scanning angle, determining the collected image with an abnormal object as an abnormal image, determining the effective coverage range of the circular scanning angle according to the abnormal image, and outputting the effective coverage range of the circular scanning angle; the identification module is used for determining the abnormal point location of the abnormal object in the effective coverage range and determining the maintenance type of the abnormal object according to the identification type of the abnormal object, and the determination module is used for determining the maintenance equipment corresponding to the maintenance attribute according to the maintenance type. The determining module is used for determining corresponding maintenance parameters of the maintenance equipment at the abnormal point location, and the response module is used for responding to starting information of the maintenance equipment at the abnormal point location and controlling the maintenance equipment to carry out maintenance operation based on the maintenance parameters.

Description

Technical Field

[0001] The present invention relates to intelligent Internet of Things technology, and in particular to an on-site real-time analysis and decision support system based on multi-parameter Internet of Things technology. Background Art

[0002] The deployment of photovoltaic panels in the marine environment as an innovative way to utilize renewable energy is gradually gaining global attention. However, the complexity of the marine environment and the particularity of photovoltaic panel maintenance have brought huge challenges to the operation and maintenance management of photovoltaic panels on the ocean.

[0003] In the prior art, regular inspections and maintenance of photovoltaic panels on the ocean are mainly carried out manually. However, due to the particularity of the marine environment, inspectors may need to spend a lot of time to arrive at the site. In addition, since marine photovoltaic panels usually cover a large area of ​​sea, inspectors need to inspect and maintain photovoltaic panels in a wide area, which takes a long time and results in low efficiency in the maintenance of marine photovoltaic panels.

[0004] Therefore, how to improve the efficiency of maintaining photovoltaic panels on the ocean has become an urgent problem to be solved. Summary of the invention

[0005] The present invention provides an on-site real-time analysis and decision support system based on multi-parameter Internet of Things technology, which can improve the efficiency of maintaining photovoltaic panels on the ocean.

[0006] The first aspect of the present invention provides an on-site real-time analysis and decision support system based on multi-parameter Internet of Things technology, comprising: An acquisition module is used to acquire a captured image taken by an IoT sensing device based on a circular scanning angle, determine that the captured image with an abnormal object is an abnormal image, and determine the effective coverage range of the circular scanning angle according to the abnormal image; An identification module, used to determine the abnormal point of the abnormal object within the effective coverage range, and determine the maintenance type of the abnormal object according to the identification type of the abnormal object; A determination module, configured to determine a maintenance device with a corresponding maintenance attribute according to the maintenance type, and determine a maintenance parameter corresponding to the maintenance device at the abnormal point; The response module is used to respond to the startup information of the maintenance device at the abnormal point and control the maintenance device to perform maintenance operations based on the maintenance parameters.

[0007] Optionally, in a possible implementation system of the first aspect, an acquisition module is used to acquire a captured image taken by the IoT sensing device based on a circular scanning angle, determine that the captured image with an abnormal object is an abnormal image, and determine an effective coverage range of the circular scanning angle according to the abnormal image, including: Determine a plurality of circular scanning angles according to preset configuration information, and arrange the circular scanning angles from small to large to obtain an angle sequence; Determine in sequence the circular scanning angles in the angle sequence as target angles, and control the IoT sensing device to obtain a captured image based on the target angles; Extracting multiple identification objects in the collected image, performing feature recognition on each of the identification objects, determining that the identification objects with abnormal features are abnormal objects, and determining that the collected image containing the abnormal objects is an abnormal image; Retrieving a target location layout diagram and a monitoring range frame corresponding to the IoT sensing device, and determining a monitoring point position of the IoT sensing device in the target location layout diagram; The monitoring range frame is positioned in the target site layout map based on the monitoring point, and the monitoring range frame is angularly offset based on the target angle to determine the area range corresponding to the monitoring range frame as the effective coverage range.

[0008] Optionally, in a possible implementation system of the first aspect, positioning the monitoring range frame in the target layout map based on the monitoring point position, performing an angle shift on the monitoring range frame based on the target angle, and determining that the area range corresponding to the monitoring range frame is the effective coverage range includes: Positioning the vertices of the monitoring range frame according to the monitoring points, positioning the monitoring range frame in the target layout map, wherein the monitoring range frame is a fan-shaped frame; Connect the vertices of the monitoring range frame and the center point of the arc to obtain an angle line, and determine the reference angle line corresponding to the monitoring point in the target layout diagram; The angle between the angle line and the reference angle line is adjusted to the target angle, and the area range corresponding to the monitoring range frame after the angle adjustment is determined to be the effective coverage range.

[0009] Optionally, in a possible implementation system of the first aspect, the identification module is used to determine the abnormal point position of the abnormal object within the effective coverage range, and determine the maintenance type of the abnormal object according to the identification type of the abnormal object, including: Determine the positioning type of the abnormal object according to multiple position points of the abnormal object within a preset time period, control the IoT sensing device to obtain a positioning image corresponding to the abnormal object based on the positioning type, and update the effective coverage range based on the positioning image, wherein the positioning type includes a dynamic type and a static type; Determine the monitoring equipment within the effective coverage range of the target layout map, obtain the first number of the monitoring equipment and the second number corresponding to each equipment outline in the positioning image, and determine the equipment outline corresponding to each monitoring equipment according to the first number and the second number; Acquire a device profile where the abnormal object exists as an abnormal device profile, and determine that a monitoring device corresponding to the abnormal device profile is an abnormal device; Determine the relative position coordinates of the abnormal object in the outline of the abnormal device, and obtain the position point in the abnormal device corresponding to the relative position coordinates as the abnormal point; The abnormal object is identified by type to obtain an identification type of the abnormal object, and a maintenance type of the abnormal object is determined according to the identification type, wherein the maintenance type includes a water pressure cleaning type, an air pressure cleaning type and an expulsion type.

[0010] Optionally, in a possible implementation system of the first aspect, determining a positioning type of the abnormal object according to multiple position points of the abnormal object within a preset time period, controlling the IoT sensing device to obtain a positioning image corresponding to the abnormal object based on the positioning type, and updating the effective coverage range based on the positioning image, including: Acquire multiple collected images taken by the IoT sensing device within a preset time period, and determine the center point of the abnormal object in each of the collected images as the position point; Determine the displacement distances corresponding to the position points of the abnormal object in the adjacent collected images, and when all the displacement distances corresponding to the abnormal object within the preset time period are less than the displacement threshold, determine that the positioning type of the abnormal object is a static type, and obtain the last collected image within the preset time period as the positioning image; When the displacement distance is greater than or equal to the displacement threshold within the preset time period, determining that the positioning type of the abnormal object is a dynamic type, controlling the IoT sensing device to shoot and track the abnormal object, and obtaining the moving path of the abnormal object; When the moving path does not change within the reference time period, the positioning image taken by the IoT sensing device is acquired, and the effective coverage range in the target location layout map is updated according to the current angle of the IoT sensing device.

[0011] Optionally, in a possible implementation system of the first aspect, obtaining the relative position coordinates of the abnormal object in the outline of the abnormal device, and determining the position point in the abnormal device corresponding to the relative position coordinates as the abnormal point position includes: Determine the center point of the abnormal object as the target positioning point, and obtain the shortest distance from the target positioning point to each first rectangular side in the outline of the abnormal device; Obtain a relative position ratio according to a ratio of the shortest distance to the first side length of the corresponding first rectangular side, and obtain relative position coordinates corresponding to the abnormal object based on the relative position ratio; Acquire the second rectangular sides of the abnormal device, determine the first rectangular sides corresponding to each of the second rectangular sides, and obtain the positioning distance according to the product of the second side length of the second rectangular side and the relative position ratio of the corresponding first rectangular side; Generate a positioning line that is parallel to the corresponding second rectangular side and is the positioning distance away from the second rectangular side, and determine the position point corresponding to the intersection of multiple positioning lines as the abnormal point.

[0012] Optionally, in a possible implementation system of the first aspect, a determination module is used to determine a maintenance device corresponding to a maintenance attribute according to the maintenance type, and determine a maintenance parameter corresponding to the maintenance device at the abnormal point, including: Determine the maintenance equipment with water pressure maintenance attribute corresponding to the water pressure cleaning type, determine the maintenance equipment with air pressure maintenance attribute corresponding to the air pressure cleaning type, and determine the maintenance equipment with expulsion maintenance attribute corresponding to the expulsion type; Obtaining the abnormal area corresponding to the abnormal point of the water pressure cleaning type, determining the current water pressure strength of the maintenance equipment according to the abnormal area, and obtaining the maintenance parameter according to the current water pressure strength; or, Determine the cleaning direction and air pressure intensity corresponding to the abnormal point of the air pressure cleaning type, and obtain the maintenance parameter according to the cleaning direction and air pressure intensity; or, A preset expulsion intensity is obtained, and a maintenance parameter of the maintenance equipment at the abnormal point is obtained according to the expulsion intensity.

[0013] Optionally, in a possible implementation system of the first aspect, obtaining an abnormal region area corresponding to an abnormal point of the water pressure cleaning type, determining a current water pressure intensity of the maintenance equipment according to the abnormal region area, and obtaining the maintenance parameter according to the current water pressure intensity includes: Retrieving a plurality of historical cleaning parameters, wherein the historical cleaning parameters include historical area and historical water pressure intensity; Acquire the area of ​​the historical region with the smallest difference with the area of ​​the abnormal region as the area of ​​the reference region, and determine the area difference between the area of ​​the abnormal region and the area of ​​the reference region; The offset intensity corresponding to the area difference is determined, the current water pressure intensity is obtained according to the sum of the historical water pressure intensity and the offset intensity, and the maintenance parameter is obtained according to the current water pressure intensity.

[0014] Optionally, in a possible implementation system of the first aspect, determining the cleaning direction and air pressure intensity corresponding to the abnormal point of the air pressure cleaning type includes: Obtaining the point distance between the abnormal point and each rectangular side of the abnormal device, and determining the rectangular side with the smallest point distance as the side to be screened; When the edge to be screened is a rectangular edge at the upper edge, the edge to be screened is removed, and the rectangular edge with the smallest point distance is re-acquired as the first target edge; Taking the abnormal point as a reference, generating a maintenance line perpendicular to the first target edge, determining an intersection of the maintenance line and the first target edge as a cleaning end point, and determining a direction from the abnormal point to the cleaning end point as the cleaning direction; According to the abnormal area area corresponding to the abnormal object, multiple reference area intervals are traversed, the reference area interval where the abnormal area area is located is determined as the target area interval, and the preset air pressure intensity corresponding to the target area interval is determined as the air pressure intensity corresponding to the abnormal point.

[0015] Optionally, in a possible implementation system of the first aspect, a response module, used to respond to the startup information of the maintenance device at the abnormal point, and control the maintenance device to perform a maintenance operation based on the maintenance parameter, includes: When the maintenance device is a maintenance device with an air pressure maintenance attribute, in response to the start information, the maintenance device is controlled to go to the abnormal point; Acquire a photographic image of the maintenance device at the abnormal point in real time, and generate a calibration line parallel to the cleaning direction based on a center point of the photographic image; When the calibration line intersects with the abnormal object, controlling the maintenance device to perform maintenance operations based on the cleaning direction and air pressure intensity, and when the calibration line does not intersect with the abnormal object, obtaining the calibration point position of the abnormal object; A second target edge corresponding to the calibration point is re-determined, the cleaning direction is updated according to the second target edge, and the maintenance device is controlled to continue the maintenance operation based on the updated cleaning direction.

[0016] The beneficial effects of the present invention are as follows: 1. The present invention realizes comprehensive and real-time monitoring of photovoltaic panels on the ocean through the IoT sensing device of all-round scanning monitoring, and can perform real-time image acquisition and on-site analysis of the ocean photovoltaic panels, so that when abnormal objects are found, the corresponding maintenance equipment can be dispatched in time for maintenance operations to ensure the normal operation of the photovoltaic panels on the ocean.

[0017] 2. The present invention can determine multiple circular scanning angles for omnidirectional image acquisition according to the preset configuration information of the Internet of Things sensing device, and arrange them into an angle sequence in ascending order, and take images in sequence according to the angle sequence, so as to obtain omnidirectional photovoltaic panel image data and improve the accuracy of identifying abnormal objects.

[0018] 3. The present invention can perform multiple image acquisitions on abnormal objects within a preset time period, and determine the corresponding positioning type according to the position points of the abnormal objects in the multiple acquired images. According to the positioning type of the abnormal objects, the actual position of the abnormal objects can be obtained more accurately, thereby providing a more accurate reference for the subsequent cleaning of the abnormal objects.

[0019] 4. The present invention can identify the type of abnormal object, determine the corresponding maintenance type, and dispatch corresponding maintenance equipment according to the corresponding maintenance type to perform targeted maintenance operations on photovoltaic panels on the ocean, thereby ensuring the normal operation of photovoltaic panels and improving the efficiency of maintenance operations.

[0020] 5. The present invention can obtain the shooting picture of the maintenance equipment at the abnormal point in real time, and generate a calibration line parallel to the cleaning direction according to the center point of the shooting picture. The calibration line can accurately determine whether the abnormal object is in the cleaning direction, and the cleaning direction can be dynamically adjusted in combination with the calibration line, thereby improving the accuracy and efficiency of the maintenance operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of an on-site real-time analysis and decision support system based on multi-parameter Internet of Things technology provided by an embodiment of the present invention; Figure 2 is a schematic diagram of an effective coverage area provided by an embodiment of the present invention; Figure 3 is a schematic diagram of determining abnormal points provided by an embodiment of the present invention; Figure 4 It is a schematic diagram of the cleaning direction of the maintenance device with air pressure maintenance properties provided by an embodiment of the present invention when performing maintenance operations. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0024] See also Figure 1, is a structural diagram of an on-site real-time analysis and decision support system based on multi-parameter Internet of Things technology provided by an embodiment of the present invention, Figure 1 The execution subject of the system shown may be a software and / or hardware device. The execution subject of the present application may include but is not limited to at least one of the following: user equipment, network equipment, etc. Among them, user equipment may include but is not limited to computers, smart phones, personal digital assistants (PDA for short) and the electronic devices mentioned above. Network equipment may include but is not limited to a single network server, a server group consisting of multiple network servers, or a cloud based on cloud computing consisting of a large number of computers or network servers, wherein cloud computing is a type of distributed computing, a super virtual computer consisting of a group of loosely coupled computers. This embodiment does not limit this. It includes steps S1 to S4, as follows: S1, an acquisition module, is used to acquire a captured image taken by an IoT sensing device based on a circular scanning angle, determine that a captured image with an abnormal object is an abnormal image, and determine an effective coverage range of the circular scanning angle according to the abnormal image.

[0025] Among them, the IoT sensing device refers to a device that can monitor the photovoltaic panels on the ocean in real time, such as a surveillance camera that can perform 360-degree scanning. The scanning angle refers to the angle at which the IoT sensing device takes images of the photovoltaic panels on the ocean. The captured image refers to the image obtained by taking images of the photovoltaic panels on the ocean by the IoT sensing device. Anomalies refer to objects that may affect the operation of photovoltaic panels, such as birds, pollutants, or marine life. Abnormal images refer to captured images with abnormal objects. The effective coverage range refers to the range area of ​​the shooting range corresponding to the scanning angle in the abnormal image.

[0026] For photovoltaic panels on the ocean, in order to ensure their long-term safety and reliability, this solution can install all-round scanning monitoring equipment in the offshore photovoltaic panel area, and use the Internet of Things sensing technology to achieve comprehensive and real-time monitoring of the surrounding photovoltaic panels. These monitoring devices not only have high-definition shooting functions, but also can collect and analyze the operating data of photovoltaic panels in real time. When abnormal data is found, the corresponding maintenance equipment can be automatically dispatched to perform corresponding maintenance operations to ensure that the photovoltaic panels on the ocean can operate safely and effectively.

[0027] In actual applications, the environment on the ocean is complex and changeable, and marine photovoltaic panels may experience a variety of abnormal situations. In different abnormal situations, this solution can dispatch different maintenance equipment to perform corresponding maintenance operations. Specifically, when the IoT sensing device detects that there are birds staying on the photovoltaic panels, maintenance equipment with sound wave expulsion devices can be dispatched to the corresponding location. By emitting sound waves of a specific frequency, the birds are non-harmfully expelled to ensure the normal operation of the photovoltaic panels. Since offshore photovoltaic panels are easily eroded by pollutants such as sea fog and salt spray, when the IoT sensing device detects pollutants on the surface of the photovoltaic panels, maintenance equipment with cleaning devices can be dispatched. For cleaning operations, these maintenance equipment can be equipped with efficient cleaning brushes and cleaning agents, which can quickly remove pollutants on the surface of photovoltaic panels and restore their power generation efficiency. Due to the influence of waves and high tides, some marine organisms such as small fish, seaweed and other marine organisms may attach to the edge areas of photovoltaic panels. These attached marine organisms will not only affect the power generation efficiency of photovoltaic panels, but may also cause physical damage to photovoltaic panels. Therefore, when the IoT sensing device detects this situation, it can dispatch maintenance equipment with air pressure devices to perform blowing operations. This maintenance equipment can generate strong airflow to blow off the marine organisms on the photovoltaic panels to ensure the normal operation of the photovoltaic panels.

[0028] Specifically, since the shooting range of the IoT sensing device is limited each time, in order to ensure that the IoT sensing device can realize all-round image acquisition of the photovoltaic panels on the ocean, the shooting parameters corresponding to the IoT sensing device, such as focal length, shooting range and other parameters, can be combined to pre-configure multiple circular scanning angles. By using multiple pre-configured circular scanning angles to capture images of the ocean photovoltaic panels, all-round captured images around the location of the IoT sensing device can be obtained, and the captured images can be analyzed in real time. If there are other objects other than the photovoltaic panels in the captured images, such as birds, pollutants or marine life, the corresponding captured images can be determined as abnormal images. In the abnormal images, the range area captured by the IoT sensing device at the corresponding circular scanning angle can be determined, and the range area can be determined as the effective coverage range corresponding to the circular scanning angle.

[0029] In some embodiments, the specific implementation of step S1 may be: S11, determining a plurality of circular scanning angles according to preset configuration information, and arranging the circular scanning angles from small to large to obtain an angle sequence.

[0030] Among them, the preset configuration information refers to the information pre-configured by the IoT sensing device, such as focal length, shooting range and other information, and the angle sequence refers to the sequence obtained by arranging each circular scanning angle in order from small to large.

[0031] Specifically, multiple circular scanning angles can be determined in combination with the corresponding preset configuration information of the IoT sensing device. In order to ensure that the IoT sensing device can collect all-round images of the photovoltaic panel area on the ocean, the circular scanning angles can be sorted in order from small to large to obtain the corresponding angle sequence. According to the angle sequence, it can be ensured that the IoT sensing device can capture images in sequence during circular scanning and obtain all-round image data.

[0032] S12, sequentially determining the circular scanning angles in the angle sequence as target angles, and controlling the IoT sensing device to capture images based on the target angles.

[0033] Specifically, the circular scanning angles in the angle sequence can be determined as the target angles in turn, and the shooting angles corresponding to the IoT sensing device can be adjusted to the target angles in turn, and each time after being adjusted to the corresponding target angle, it can stay for a short period of time, for example, it can stay for 1 minute, and the photovoltaic panels within the shooting range corresponding to the target angle are captured for 1 minute, and the captured images corresponding to the target angle can be obtained. Among them, the target angle refers to the circular scanning angle when the IoT sensing device is currently capturing images.

[0034] S13, extracting multiple identification objects from the collected image, performing feature recognition on each of the identification objects, determining that the identification objects with abnormal features are abnormal objects, and determining that the collected image containing the abnormal objects is an abnormal image.

[0035] Specifically, after acquiring multiple collected images, multiple contours in the collected images can be extracted through contour extraction technology, each contour corresponds to a possible object, and then the contours of each object can be identified through object recognition technology, and multiple identification objects in each collected image can be extracted. For example, the identification object may be a photovoltaic panel, a bird, a pollutant, or a marine organism. After extracting multiple identification objects, the features corresponding to the photovoltaic panel in a normal state can be determined as normal features, and feature recognition can be performed on multiple identification objects, and the features of each identification object can be compared with the normal features. If there is a significant difference between the features of the identification object and the normal features, it can be considered that the identification object has abnormal features, and the corresponding identification object can be determined as an abnormal object.

[0036] For example, under normal conditions, photovoltaic panels will not be covered by pollutants and may appear blue. Therefore, blue can be determined as a normal feature of photovoltaic panels. If, after feature recognition of the object, it is found that the color of the object is white, it can be considered that the characteristics of the corresponding object are different from the normal characteristics of the photovoltaic panel, and the object may be a pollutant. The object can be determined as an abnormal object. Under normal circumstances, the shape of a photovoltaic panel is generally rectangular, and the rectangular outline can also be determined as a normal feature of the photovoltaic panel. If, after feature recognition of the object, it is found that the outline of the object is not a rectangular outline, it can be considered that the characteristics of the corresponding object are different from the normal characteristics of the photovoltaic panel. The object may be a bird or a marine life. Similarly, the object can be determined as an abnormal object, and the captured image with the abnormal object can be determined as an abnormal image.

[0037] Among them, the identification objects include photovoltaic panels, birds, pollutants and marine life. Abnormal features refer to features that are inconsistent with the characteristics of photovoltaic panels in normal conditions. Abnormal objects refer to identification objects with abnormal features. Abnormal images refer to collected images with abnormal objects.

[0038] S14, retrieve the target location layout map and the monitoring range box corresponding to the IoT sensing device, and determine the monitoring point position of the IoT sensing device in the target location layout map.

[0039] Among them, the target layout map refers to the layout map of the location of the marine photovoltaic panels for real-time monitoring and analysis, the monitoring range box refers to the area box corresponding to the monitoring range of the pre-configured IoT sensing device from a bird's-eye view, and the monitoring point refers to the point corresponding to the location of the IoT sensing device in the destination layout map.

[0040] Specifically, the layout diagram from a bird's-eye view corresponding to the area where the marine photovoltaic panels are located can be retrieved, that is, the target site layout diagram, and the area box corresponding to the monitoring range of the Internet of Things sensing device can be obtained, that is, the monitoring range box. In the target site layout diagram, each Internet of Things sensing device has a corresponding location point in the target site layout diagram, that is, the monitoring point. Therefore, the monitoring point corresponding to the Internet of Things sensing device can be determined in the target site layout diagram.

[0041] S15, positioning the monitoring range frame in the target layout map based on the monitoring point, and performing an angle shift on the monitoring range frame based on the target angle, and determining that the area range corresponding to the monitoring range frame is the effective coverage range.

[0042] Specifically, after determining the monitoring points corresponding to the IoT sensing devices in the target layout map, the monitoring range box can be positioned at the corresponding position in the target layout map according to the monitoring points, and the monitoring range box can be angularly offset according to the target angle in turn, and the monitoring range box can be adjusted to the range area corresponding to the target angle, and the corresponding range area can be determined as the effective coverage range.

[0043] Based on the above embodiment, the specific implementation of step S15 may be: S151, positioning the vertices of the monitoring range frame according to the monitoring points, and positioning the monitoring range frame in the target location layout map, wherein the monitoring range frame is a fan-shaped frame.

[0044] Specifically, after determining the monitoring point corresponding to the IoT sensing device in the target layout map, the vertex of the monitoring range box can be positioned at the monitoring point, so that the fan-shaped monitoring range box can be positioned in the target layout map.

[0045] The vertex of the monitoring range frame refers to the intersection of two radii corresponding to the fan-shaped monitoring range frame.

[0046] S152, connecting the vertices of the monitoring range frame and the center point of the arc to obtain an angle line, and determining a reference angle line corresponding to the monitoring point in the target layout diagram.

[0047] The angle line refers to a line segment obtained by connecting the vertex of the monitoring range frame and the center point of the arc, and the reference angle line refers to a pre-configured line that can be used to determine the rotation angle of the monitoring range frame.

[0048] Specifically, by connecting the vertices of the monitoring range box with the center point on the arc, the corresponding angle line can be obtained. In the target layout map, the standard angle line corresponding to the monitoring point can be pre-configured, that is, the reference angle line. The current rotation angle of the monitoring range box can be determined through the angle line and the reference angle line.

[0049] S153, adjusting the included angle between the angle line and the reference angle line to the target angle, and determining that the area range corresponding to the monitoring range box after the angle adjustment is the effective coverage range.

[0050] See also Figure 2 , is a schematic diagram of an effective coverage range provided by an embodiment of the present invention, such as Figure 2 As shown in , by connecting the vertex of the fan-shaped monitoring range box with the center point on the arc, an angle line can be obtained. When the target angle is 30°, the angle between the angle line and the reference angle line can be adjusted to 30. At this time, there is a corresponding range area in the monitoring range box, and the range area can be determined as the effective coverage range.

[0051] Through the above implementation, it can be ensured that the IoT sensing device can perform all-round image acquisition of the photovoltaic panel area on the ocean, thereby avoiding monitoring blind spots and improving the coverage and accuracy of monitoring.

[0052] S2, an identification module, is used to determine the abnormal point of the abnormal object within the effective coverage range, and determine the maintenance type of the abnormal object according to the identification type of the abnormal object.

[0053] Among them, the abnormal point refers to the location point corresponding to the abnormal object within the effective coverage range, the identification type refers to the type corresponding to the abnormal object, including birds, pollutants and marine life, and the maintenance type refers to the operation type when handling the abnormal object.

[0054] After acquiring the abnormal image, the position point corresponding to the abnormal object can be determined in the abnormal image. Since the layout map of the target site is a layout map from a bird's-eye view, and the IoT sensing device does not take a bird's-eye view when acquiring the abnormal image, the position point of the abnormal object in the abnormal image may be different from the corresponding position point in the layout map of the target site, but the relative position relationship of the abnormal object in the two images remains unchanged. After acquiring the effective coverage range corresponding to each circular scanning angle, the position point corresponding to the abnormal object in the layout map of the target site, that is, the abnormal point position, can be determined based on the relative position relationship of the abnormal object in the abnormal image.

[0055] Since there may be many types of abnormal objects, such as birds, pollutants or marine life, the types of abnormal objects are different, and the methods of maintenance and treatment of photovoltaic panels are also different. For example, when birds stay on photovoltaic panels, drones with sonic expulsion devices can be dispatched to perform harmless expulsion operations on the birds. When there are pollutants on photovoltaic panels, drones with cleaning devices can be dispatched to clean the pollutants. When marine life is attached to photovoltaic panels, drones with air pressure cleaning devices can be dispatched to remove the marine life. Therefore, the maintenance type corresponding to the abnormal object can be determined according to the corresponding identification type of the abnormal object.

[0056] In some embodiments, step S2 includes S21 to S25, which are specifically as follows: S21, determining the positioning type of the abnormal object according to multiple position points of the abnormal object within a preset time period, controlling the IoT sensing device to obtain a positioning image corresponding to the abnormal object based on the positioning type, and updating the effective coverage range based on the positioning image, wherein the positioning type includes a dynamic type and a static type.

[0057] In practical applications, abnormal objects may be dynamic, such as birds, and their corresponding position points may change. The position point where the bird finally stops may not be within the effective coverage range corresponding to the current circular scanning angle. In order to more accurately determine the actual position point corresponding to the abnormal object, the IoT sensing device can track and shoot the dynamic abnormal object to determine the position where the abnormal object finally stops. Specifically, the corresponding monitoring time can be pre-configured at each circular scanning angle, that is, the preset time period. Multiple image acquisitions can be performed within the preset time period, and multiple acquired images can be obtained. If the abnormal object is identified in the acquired image, the positioning type of the abnormal object can be determined according to the positional relationship between the multiple position points corresponding to the abnormal object in the multiple acquired images. According to the positioning type, it can be determined whether to track and shoot the abnormal object, and the image corresponding to the final position of the abnormal object, that is, the positioning image, can be obtained according to the positioning type. After the positioning image is obtained, the effective coverage range can be updated accordingly according to the shooting angle corresponding to the positioning image.

[0058] Specifically, if the relative position relationship between multiple location points changes significantly, it can be considered that the position of the abnormal object has moved within the preset time period, and the abnormal object may be a bird or a living marine life. At this time, the positioning type of the abnormal object can be determined to be a dynamic type. If the relative position relationship between multiple location points hardly changes, it can be considered that the corresponding abnormal object has moved within the preset time period, and the abnormal object may be a pollutant. At this time, the positioning type of the abnormal object can be determined to be a static type.

[0059] Among them, the preset time period refers to the monitoring time of the pre-configured IoT sensing device under the circular scanning angle, the location point refers to the point corresponding to the abnormal object in the collected image, and the positioning type refers to the type when locating the abnormal object, including dynamic type and static type. The dynamic type refers to the type corresponding to the abnormal object whose position will change dynamically within the preset time period, and the static type refers to the type corresponding to the abnormal object whose position will not change within the preset time period. The positioning image refers to the collected image corresponding to the abnormal object when it is at the final position within the preset time period.

[0060] Based on the above embodiment, the specific implementation of step S21 may be: S211, obtaining a plurality of collected images taken by the IoT sensing device within a preset time period, and determining the center point of the abnormal object in each of the collected images as a position point.

[0061] Specifically, image acquisition can be performed at fixed intervals within a preset time period. For example, the preset time period can be 2 minutes. When the monitoring range frame of the IoT sensing device rotates to the corresponding circular scanning angle, image acquisition can be performed on the photovoltaic panel area corresponding to the circular scanning angle every 10 seconds within 2 minutes. Multiple acquired images can be obtained, and the center point of the abnormal object can be obtained in each acquired image. The center point of the abnormal object in each acquired image can be determined as a position point, and multiple position points can be obtained.

[0062] S212, determining the displacement distances corresponding to the position points of the abnormal object in adjacent acquired images, and when all the displacement distances corresponding to the abnormal object within the preset time period are less than the displacement threshold, determining that the positioning type of the abnormal object is a static type, and obtaining the last acquired image within the preset time period as the positioning image.

[0063] Specifically, after obtaining the position points corresponding to the abnormal objects in each collected image, coordinate processing can be performed on the position points corresponding to the abnormal objects in each collected image to obtain the coordinate values ​​corresponding to each position point. According to the coordinate values ​​corresponding to the position points of the abnormal objects in adjacent collected images, the displacement distance of the position points of the abnormal objects in adjacent collected images can be obtained through the distance formula between two points. If the displacement distances corresponding to the abnormal objects in adjacent collected images are all less than the displacement threshold value within a preset time period, it can be considered that the position of the abnormal object within the preset time period has hardly changed, and the positioning type corresponding to the abnormal object can be determined to be a static type, and the last collected image within the preset time period can be determined as the positioning image.

[0064] Among them, the displacement distance refers to the distance that the position point of the abnormal object moves in the adjacent collected images, and the displacement threshold refers to the distance threshold that can be used to determine whether the position of the abnormal object changes within a preset time period. If the displacement distance is less than the displacement threshold, it can be considered that the position of the abnormal object has not changed within the preset time period. If the displacement distance is greater than the displacement threshold, it can be considered that the position of the abnormal object has changed within the preset time period.

[0065] S213, when the displacement distance is greater than or equal to the displacement threshold within the preset time period, determine that the positioning type of the abnormal object is a dynamic type, control the IoT sensing device to shoot and track the abnormal object, and obtain the moving path of the abnormal object.

[0066] Specifically, when the displacement distance within a preset time period is greater than the displacement threshold, it can be considered that the position of the abnormal object has changed significantly within the preset time period, and the positioning type corresponding to the abnormal object can be determined to be a dynamic type. At this time, in order to more accurately determine the final location point of the abnormal object, the Internet of Things sensing device can be controlled to shoot and track the abnormal object through a tracking algorithm, such as a feature-based tracking algorithm, and based on the image data during the tracking and shooting, the movement path of the abnormal object when it moves can be obtained.

[0067] The moving path refers to the path of a dynamic abnormal object during its movement.

[0068] S214: When the moving path does not change within a reference time period, a positioning image taken by the IoT sensing device is acquired, and an effective coverage range in the target location layout map is updated according to a current angle of the IoT sensing device.

[0069] Specifically, when the moving path does not change within the pre-configured reference time period, it can be considered that the corresponding abnormal object stays at the corresponding position and remains motionless. At this time, the positioning image obtained by the IoT sensing device taking an image of the abnormal object at the current moment can be obtained. After obtaining the positioning image, the positioning image may be different from the abnormal image when the abnormal object is first discovered. Therefore, the effective coverage range corresponding to the IoT sensing device in the target layout map may change. The current angle corresponding to the IoT sensing device can be obtained, that is, the current angle. In the target layout map, the angle line corresponding to the monitoring range box of the IoT sensing device and the angle between the reference angle line can be adjusted to the current angle, and the area range corresponding to the monitoring range box under the current angle can be obtained, so that the effective coverage range can be updated according to the area range corresponding to the current angle in the target layout map, and the updated effective coverage range can be obtained. Among them, the reference time period refers to a pre-configured time period for determining whether the abnormal object is moving.

[0070] Through the above implementation, the actual location point corresponding to the abnormal object can be determined more accurately.

[0071] S22, determine the monitoring equipment within the effective coverage range in the target layout map, obtain the first number of the monitoring equipment and the second number corresponding to the contour of each equipment in the positioning image, and determine the equipment contour corresponding to each monitoring equipment according to the first number and the second number.

[0072] Specifically, in the target site layout map, the photovoltaic equipment located within the updated effective coverage range, i.e., the monitoring equipment, can be determined; each monitoring equipment located within the effective coverage range in the target site layout map can be numbered to obtain the first number corresponding to each monitoring equipment; and the outline corresponding to each photovoltaic equipment, i.e., the equipment outline, can be extracted from the positioning image; each equipment outline can be numbered to obtain the second number corresponding to each equipment outline; and the equipment outline corresponding to each monitoring equipment can be determined by matching the first number with the second number; if the second number is the same as the first number, the equipment outline corresponding to the second number can be considered to be the outline of the monitoring equipment corresponding to the first number.

[0073] Among them, the monitoring equipment refers to the photovoltaic panels located within the updated effective coverage range in the target site layout map, the first number refers to the number corresponding to each monitoring device in the target site layout map, the equipment outline refers to the outline corresponding to each photovoltaic device in the positioning image, and the second number refers to the number corresponding to each equipment outline in the positioning image.

[0074] S23, acquiring a device profile where the abnormal object exists as an abnormal device profile, and determining that the monitoring device corresponding to the abnormal device profile is an abnormal device.

[0075] Specifically, if there is an abnormal object on the device profile, the corresponding device profile can be determined as an abnormal device profile, and the monitoring device corresponding to the abnormal device profile can be determined as an abnormal device. The abnormal device profile refers to the device profile with the abnormal object, and the abnormal device refers to the monitoring device corresponding to the abnormal device profile.

[0076] S24, determining the relative position coordinates of the abnormal object in the outline of the abnormal device, and acquiring a position point in the abnormal device corresponding to the relative position coordinates as the abnormal point.

[0077] In actual applications, when acquiring the positioning image, the shooting angle of the IoT sensing device is not completely a bird's-eye view, but the target layout map is a layout map from a bird's-eye view. Therefore, the corresponding points of the abnormal object in the positioning image may be different from the corresponding points in the target layout map, but the relative position relationship of the abnormal object with respect to the abnormal device is the same in the two images. Therefore, the relative position of the abnormal object on the abnormal device can be determined based on the relative position relationship of the abnormal object in the outline of the abnormal device.

[0078] Specifically, after obtaining the abnormal device outline, the relative position coordinates of the abnormal object in the abnormal device outline can be obtained, and the actual position point corresponding to the abnormal object on the actual abnormal device, that is, the abnormal point, can be determined according to the relative position coordinates. The relative position coordinates refer to the position coordinates of the abnormal object relative to the abnormal device.

[0079] In some embodiments, the specific implementation of step S24 may be: S241, determining the center point of the abnormal object as the target positioning point, and obtaining the shortest distance from the target positioning point to each first rectangular side in the outline of the abnormal device.

[0080] Specifically, the center point of the abnormal object in the positioning image can be determined as the target positioning point. In the positioning image, four contour edges corresponding to the abnormal device contour can be obtained. The contour edge corresponding to the abnormal device contour can be determined as the first rectangular edge. The vertical distance from the target positioning point to each first rectangular edge can be calculated by a geometric method such as the point-to-line distance formula. According to the vertical distance between the target positioning point and each first rectangular edge, the shortest distance from the target positioning point to each first rectangular edge in the abnormal device contour can be obtained. Among them, the target positioning point refers to a position point where the abnormal object can be located, for example, it can be the center point of the abnormal object, the first rectangular edge refers to the contour edge corresponding to the abnormal device contour in the positioning image, and the shortest distance refers to the vertical distance between the target positioning point and the first rectangular edge.

[0081] S242: Obtain a relative position ratio according to a ratio of the shortest distance to the first side length of the corresponding first rectangular side, and obtain relative position coordinates corresponding to the abnormal object based on the relative position ratio.

[0082] Specifically, the side length corresponding to each first rectangular side can be obtained and determined as the first side length. The relative position ratio is calculated by calculating the ratio of the shortest distance from the target positioning point to the first rectangular side and the first side length of the side. Since there are four first rectangular sides, there will be four shortest distances and four relative position ratios. According to the four relative position ratios, the relative position of the abnormal object within the abnormal device outline can be inferred, and according to the four relative position ratios, the relative position coordinates of the abnormal object in the abnormal device outline can be obtained.

[0083] Among them, the first side length refers to the length corresponding to each first rectangular side, the relative position ratio refers to the ratio that can be used to represent the relative position of the target positioning point relative to the first rectangular side, and the relative position coordinate refers to the coordinate that can be used to represent the relative position of the abnormal object within the outline of the abnormal device.

[0084] S243, obtaining the second rectangular sides of the abnormal device, determining the first rectangular sides corresponding to each of the second rectangular sides, and obtaining the positioning distance according to the product of the second side length of the second rectangular side and the relative position ratio of the corresponding first rectangular side.

[0085] Specifically, in the target layout map, the four sides corresponding to the abnormal device can be determined as the second rectangular sides. Since the outline of the abnormal device in the positioning image corresponds to the abnormal device in the target layout map, the second rectangular sides corresponding to each first rectangular side in the abnormal device can be determined, and the length corresponding to each second rectangular side, that is, the second side length, can be obtained. By multiplying the second side length of each second rectangular side by the relative position ratio of the corresponding first rectangular side, the positioning distance corresponding to the second rectangular side can be obtained, and the positioning distances corresponding to the four second rectangular sides can be obtained respectively.

[0086] The second rectangular side refers to the side corresponding to the abnormal device in the target layout, the second side length refers to the length corresponding to each second rectangular side, and the positioning distance refers to the distance at which the abnormal point can be positioned.

[0087] S244, generating positioning lines that are parallel to the corresponding second rectangular sides and are the positioning distances away from the second rectangular sides, and determining the position points corresponding to the intersections of a plurality of the positioning lines as the abnormal points.

[0088] Specifically, for each second rectangular side, a positioning line parallel to it and at a distance equal to the corresponding positioning distance can be generated. There is an intersection point between multiple positioning lines, which can be determined as the actual position point corresponding to the abnormal object, that is, the abnormal point.

[0089] See also Figure 3 , which is a schematic diagram of determining an abnormal point provided by an embodiment of the present invention, such as Figure 3 As shown in , on the abnormal device, at the corresponding positioning distance from the second rectangular side above, a first positioning line parallel to the second rectangular side can be generated, and at the corresponding positioning distance from the second rectangular side on the left, a second positioning line parallel to the second rectangular side can be generated. There is an intersection point between the two positioning lines, and the intersection point can be determined as the abnormal point corresponding to the abnormal object.

[0090] Through the above implementation, the abnormal point corresponding to the abnormal object on the actual abnormal device can be determined more accurately.

[0091] S25, performing type identification on the abnormal object to obtain an identification type of the abnormal object, and determining a maintenance type of the abnormal object according to the identification type, wherein the maintenance type includes a water pressure cleaning type, an air pressure cleaning type, and an expulsion type.

[0092] Specifically, by performing type identification on the abnormal object, the type corresponding to the abnormal object, that is, the identification type, can be determined. If the abnormal object is a bird, in order to avoid damage to the photovoltaic panel by the bird, the bird resting on the photovoltaic panel can be expelled harmlessly to ensure the normal operation of the photovoltaic panel. The maintenance type corresponding to the abnormal object can be determined to be the expulsion type. If the abnormal object is a pollutant, in order to avoid the pollutant affecting the power generation efficiency of the photovoltaic panel, the pollutant on the photovoltaic panel can be cleaned. The corresponding maintenance type can be determined to be the water pressure cleaning type. When the wind and waves are strong, the surface of the ocean will produce violent fluctuations, and marine life such as fish or seaweed may be washed onto the surface of the photovoltaic panel due to the impact of the waves. Therefore, if the abnormal object is a marine life, in order to avoid the marine life affecting the power generation efficiency of the photovoltaic panel, the marine life attached to the photovoltaic panel can be cleared through a pneumatic device. The corresponding maintenance type can be determined to be the pneumatic cleaning type.

[0093] Through the above implementation, targeted maintenance operations can be performed on photovoltaic panels on the ocean, which can improve the efficiency of the maintenance operations.

[0094] S3, a determination module, is used to determine the maintenance equipment corresponding to the maintenance attribute according to the maintenance type, and determine the maintenance parameters corresponding to the maintenance equipment at the abnormal point.

[0095] After obtaining the maintenance type corresponding to the abnormal object, the maintenance attributes corresponding to different maintenance types are different. The maintenance equipment required to handle the abnormal object can be determined according to the maintenance type, and the operation attributes of the maintenance equipment are corresponding to the maintenance type. For example, for the water pressure cleaning type, the corresponding maintenance equipment can be determined to be a drone with a water pressure cleaning device. For the air pressure cleaning type, the corresponding maintenance equipment can be determined to be a drone with an air pressure cleaning device such as a high-pressure air pump. For the expulsion type, the corresponding maintenance equipment can be determined to be a drone with a sonic expellor.

[0096] After determining the corresponding maintenance equipment, the parameters of the maintenance equipment when performing the corresponding maintenance operation can be determined. The corresponding maintenance parameters are different for different maintenance types. For example, when the maintenance type of the abnormal object is a water pressure cleaning type, the water pressure cleaning device used needs to determine the corresponding water pressure strength, and the corresponding maintenance parameters are related to the water pressure strength. When the maintenance type of the abnormal object is an air pressure cleaning type, it is necessary to determine the cleaning direction and air pressure strength of the air pressure device during the maintenance operation, and the corresponding maintenance parameters are related to the air pressure strength and the cleaning direction. When the maintenance type of the abnormal object is an expulsion type, it is necessary to determine the sound wave strength of the sound wave expulsion device, and the corresponding maintenance parameters are related to the sound wave strength.

[0097] Among them, maintenance attributes refer to the operating attributes of the maintenance equipment corresponding to the maintenance type. Maintenance equipment refers to equipment that can handle abnormal objects on marine photovoltaic panels, such as drones with different processing devices. Maintenance parameters refer to the parameters of the maintenance equipment when performing corresponding maintenance operations.

[0098] Based on the above embodiment, the specific implementation of step S3 may be: S31, determining the maintenance equipment with water pressure maintenance attribute corresponding to the water pressure cleaning type, determining the maintenance equipment with air pressure maintenance attribute corresponding to the air pressure cleaning type, and determining the maintenance equipment with expulsion maintenance attribute corresponding to the expulsion type.

[0099] In actual applications, there may be many types of abnormal objects that may appear on offshore photovoltaic panels, and different abnormal objects correspond to different maintenance types, and different maintenance types correspond to different maintenance equipment. For example, when the abnormal object on the surface of the photovoltaic panel detected by the IoT sensing device is a pollutant, it is necessary to dispatch a maintenance equipment with a cleaning device to perform a cleaning operation. It can be determined that the maintenance type corresponding to the abnormal object is a water pressure cleaning type. At this time, it can be determined that the corresponding maintenance equipment is a maintenance equipment with water pressure maintenance attributes, such as a drone with a water pressure cleaning device. Due to the influence of waves, some marine organisms such as small fish and seaweed may attach to the photovoltaic panels due to the impact of waves. These attached marine organisms will not only affect the photovoltaic panels. The power generation efficiency may also be affected, and physical damage may be caused to the photovoltaic panels. Therefore, when the abnormal object detected by the IoT sensing device is a marine organism, it can be determined that the maintenance type of the abnormal object is an air pressure cleaning type, and the corresponding maintenance equipment can be determined as a maintenance equipment with air pressure maintenance attributes, such as a drone with an air pressure cleaning device such as a high-pressure air pump. For photovoltaic panels at sea, there may be birds such as seagulls staying on them. When the IoT sensing device detects that the abnormal object on the photovoltaic panel is a bird, it is necessary to expel the birds staying on the photovoltaic panel without harm. The maintenance type of the abnormal object can be determined as an expulsion type, and the corresponding maintenance equipment can be determined as a maintenance equipment with expulsion maintenance attributes, such as a drone with a sonic expellor.

[0100] Among them, the water pressure maintenance attribute refers to the operating attribute corresponding to the equipment that performs maintenance operations on photovoltaic panels by adjusting the water pressure intensity, the air pressure maintenance attribute refers to the operating attribute corresponding to the equipment that performs maintenance operations on photovoltaic panels by adjusting the intensity and direction of the air pressure, and the expulsion maintenance attribute refers to the operating attribute corresponding to the equipment that performs maintenance operations on photovoltaic panels by adjusting the sound wave intensity.

[0101] S32, obtaining the abnormal area area corresponding to the abnormal point of the water pressure cleaning type, determining the current water pressure intensity of the maintenance equipment according to the abnormal area area, and obtaining the maintenance parameter according to the current water pressure intensity.

[0102] Specifically, when the maintenance type corresponding to the abnormal point is the water pressure cleaning type, the area corresponding to the abnormal point, that is, the abnormal area, can be obtained. Based on the abnormal area, the water pressure strength required for the corresponding maintenance equipment to clean the area can be determined, that is, the current water pressure strength. The larger the abnormal area, the greater the current water pressure strength required. Based on the current water pressure strength, the maintenance parameters corresponding to the water pressure cleaning type maintenance equipment can be obtained.

[0103] The abnormal region area refers to the area of ​​the region corresponding to the abnormal point, and the current water pressure intensity refers to the water pressure intensity when cleaning the region corresponding to the abnormal point.

[0104] In some embodiments, the specific implementation of step S32 may be: S321, retrieve a plurality of historical cleaning parameters, wherein the historical cleaning parameters include historical area and historical water pressure intensity.

[0105] Specifically, when obtaining the water pressure intensity required for the area corresponding to the abnormal point, multiple parameters for cleaning photovoltaic equipment with pollutants in the historical time period can be retrieved from the database, that is, historical cleaning parameters, including the area corresponding to the photovoltaic equipment with pollutants in the historical time period, that is, the historical area, and the water pressure intensity when cleaning the historical area, that is, the historical water pressure intensity. Based on the historical cleaning parameters, the maintenance parameters corresponding to the current abnormal point can be inferred.

[0106] Among them, historical cleaning parameters refer to the parameters used when cleaning photovoltaic equipment with pollutants within the historical time period, historical area area refers to the area corresponding to photovoltaic equipment with pollutants within the historical time period, and historical water pressure intensity refers to the water pressure intensity when cleaning the historical area area.

[0107] S322, obtaining the area of ​​the historical region with the smallest difference with the area of ​​the abnormal region as the area of ​​the reference region, and determining the area difference between the area of ​​the abnormal region and the area of ​​the reference region.

[0108] Specifically, after obtaining the historical area, the area difference between the abnormal area and each historical area can be obtained. Based on the area difference, the historical area closest to the abnormal area can be obtained, so that the current water pressure intensity that is more consistent with the abnormal area can be obtained. The historical area with the smallest area difference with the abnormal area can be determined as the reference area, and the area difference between the reference area and the abnormal area can be obtained. Subsequently, the water pressure intensity corresponding to the abnormal area can be determined based on the area difference.

[0109] Among them, the area difference refers to the difference between the area of ​​the historical area and the area of ​​the abnormal area.

[0110] S323, determine the offset intensity corresponding to the area difference. If the area of ​​the reference area is smaller than the area of ​​the abnormal area, obtain the current water pressure intensity according to the sum of the historical water pressure intensity and the offset intensity. If the area of ​​the reference area is larger than the area of ​​the abnormal area, obtain the current water pressure intensity according to the difference between the historical water pressure intensity and the offset intensity, and obtain the maintenance parameter according to the current water pressure intensity.

[0111] Specifically, a preconfigured offset strength comparison table can be called up. In the offset strength comparison table, there are multiple preconfigured difference intervals, each difference interval has a corresponding preset offset strength, and by comparing the area difference with multiple difference intervals, the difference interval in which the area difference is located can be determined, and the preset offset strength corresponding to the difference interval can be determined as the offset strength corresponding to the area difference. In actual applications, the area of ​​the reference area may be larger than the area of ​​the abnormal area, or it may be smaller than the area of ​​the abnormal area. In the above two different situations, the method of determining the water pressure strength corresponding to the area of ​​the abnormal area is also different.

[0112] If the area of ​​the reference area is smaller than that of the abnormal area, it can be considered that the current area of ​​the abnormal area may require stronger water pressure to clean the pollutants. At this time, the historical water pressure intensity can be added to the offset intensity to obtain the current water pressure intensity corresponding to the area of ​​the abnormal area. If the area of ​​the reference area is larger than that of the abnormal area, it can be considered that the current area may require smaller water pressure to clean the pollutants. At this time, the historical water pressure intensity can be subtracted from the offset intensity to obtain the current water pressure intensity corresponding to the area of ​​the abnormal area.

[0113] The offset intensity refers to the pre-configured water pressure intensity that offsets the historical water pressure intensity corresponding to the area difference.

[0114] S33, or, determining the cleaning direction and air pressure intensity corresponding to the abnormal point of the air pressure cleaning type, and obtaining the maintenance parameters according to the cleaning direction and air pressure intensity.

[0115] In practical applications, when the abnormal object is a marine organism, the abnormal object can be cleaned up by a maintenance device with air pressure maintenance properties. In order to ensure that the maintenance device with air pressure maintenance properties can quickly remove the marine organism from the surface of the photovoltaic panel and improve the cleaning efficiency, the direction of cleaning the abnormal object and the corresponding air pressure intensity of the maintenance device with air pressure cleaning properties can be determined. The nozzle of the maintenance device with air pressure cleaning properties is aimed at the marine organism on the surface of the photovoltaic panel, and an appropriate distance is ensured between the nozzle and the marine organism to avoid damage to the photovoltaic panel caused by the high-pressure gas ejected by the nozzle. In the cleaning direction, the determined air pressure intensity is used. When the maintenance equipment with air pressure cleaning properties is turned on, the nozzle on the maintenance equipment will spray out high-pressure gas, and the airflow direction of the high-pressure gas can be consistent with the cleaning direction. For example, when the cleaning direction is parallel to the surface of the photovoltaic panel and points from left to right, the airflow direction of the high-pressure gas can also be parallel to the surface of the photovoltaic panel and points from left to right, so that the marine life attached to the surface of the photovoltaic panel can be impacted and blown away. Therefore, the maintenance parameters corresponding to the maintenance equipment with air pressure cleaning properties can be determined according to the cleaning direction and air pressure intensity, and in the subsequent cleaning process, the cleaning direction can be adjusted according to the real-time cleaning situation.

[0116] The cleaning direction refers to the direction in which the maintenance equipment with air pressure cleaning properties cleans the abnormalities, and the air pressure intensity refers to the pressure of the airflow released by the maintenance equipment with air pressure cleaning properties during the cleaning process.

[0117] In some embodiments, the step S33 of "determining the cleaning direction and air pressure intensity corresponding to the abnormal point of the air pressure cleaning type" includes the following steps: S331, obtaining the point distance between the abnormal point and each rectangular side of the abnormal device, and determining the rectangular side with the smallest point distance as the side to be screened.

[0118] When cleaning marine organisms attached to marine photovoltaic panels by maintenance equipment with air pressure cleaning properties, the choice of cleaning direction directly affects the efficiency of the cleaning work. A reasonable cleaning direction can make it easier for marine organisms to be blown away, thereby speeding up the cleaning speed. In practical applications, in order to ensure that photovoltaic panels can capture sunlight to the maximum extent and improve power generation efficiency, marine photovoltaic panels are generally installed with a certain tilt angle. In order to reduce the resistance when cleaning marine organisms and improve the cleaning efficiency, the cleaning direction should be kept parallel to the surface of the photovoltaic panel as much as possible. Since the attachment position of marine organisms on the photovoltaic panel is uncertain, the optimal cleaning direction corresponding to different attachment positions may be different. In order to remove marine organisms more accurately, the cleaning direction can be determined in combination with the actual attachment position of the abnormal object on the abnormal equipment. For example, if the marine organisms are attached to the area on the left side of the photovoltaic panel, it can be considered that the marine organisms are close to the left edge of the photovoltaic panel, then the cleaning direction can be determined as parallel to the surface of the photovoltaic panel and from right to left, so that the marine organisms can be blown away from the photovoltaic panel more easily.

[0119] Specifically, the vertical distance between the abnormal point and each rectangular side of the abnormal device, i.e., the point distance, can be obtained. The rectangular side closest to the abnormal object can be determined through the point distance, and the rectangular side with the smallest point distance can be determined as the side to be screened. Among them, the point distance refers to the vertical distance between the abnormal point and each rectangular side of the abnormal device, and the side to be screened refers to the rectangular side with the smallest point distance.

[0120] S332: When the edge to be screened is a rectangular edge at the upper edge, the edge to be screened is removed, and the rectangular edge with the smallest point distance is re-acquired as the first target edge.

[0121] Specifically, if the edge to be screened is a rectangular edge at the upper edge, if the rectangular edge is determined as the first target edge, then the final cleaning direction may be the direction pointing to the upper edge. Since marine organisms are affected by gravity, when the cleaning direction is upward, it may not be possible to quickly blow marine organisms away from the photovoltaic panel. Therefore, when the edge to be screened is a rectangular edge at the upper edge, the edge to be screened can be removed, and the rectangular edge with the smallest point distance can be re-determined as the first target edge. Among them, the first target edge refers to the rectangular edge with the smallest point distance except the rectangular edge at the upper edge.

[0122] S333: Based on the abnormal point, generate a maintenance line perpendicular to the first target edge, determine the intersection of the maintenance line and the first target edge as the cleaning end point, and determine the direction from the abnormal point to the cleaning end point as the cleaning direction.

[0123] Specifically, after obtaining the first target edge, a maintenance line perpendicular to the first target edge can be generated based on the abnormal point. There is an intersection between the maintenance line and the first target edge, and the intersection can be determined as the cleaning end point, and the direction from the abnormal point to the cleaning end point can be determined as the cleaning direction. The maintenance line is a straight line starting from the abnormal point and perpendicular to the first target edge, and the cleaning end point refers to the intersection of the maintenance line and the first target edge.

[0124] See also Figure 4 , which is a schematic diagram of the cleaning direction of a maintenance device with air pressure maintenance properties provided by an embodiment of the present invention when performing a maintenance operation, such as Figure 4 As shown in , the point distance between the abnormal point and the rectangular side of the lower edge is the smallest, the rectangular side of the lower edge can be determined as the first target side, and starting from the abnormal point, a maintenance line perpendicular to the first target side can be generated, the intersection between the maintenance line and the first target side can be determined as the cleaning end point, and the direction from the abnormal point to the cleaning end point can be determined as the cleaning direction.

[0125] S334, traversing multiple reference area intervals according to the area of ​​the abnormal region corresponding to the abnormal object, determining the reference area interval where the area of ​​the abnormal region is located as the target area interval, and determining the preset air pressure intensity corresponding to the target area interval as the air pressure intensity corresponding to the abnormal point.

[0126] Specifically, when obtaining the air pressure intensity corresponding to the abnormal point, a pre-configured air pressure intensity comparison table can be called up. In the air pressure intensity comparison table, there are multiple pre-configured reference area intervals, and each reference area interval has a corresponding preset air pressure intensity. According to the area of ​​the abnormal region corresponding to the abnormal object, multiple reference area intervals are traversed, and the reference area interval corresponding to the area of ​​the abnormal region can be determined. The reference area interval is determined as the target area interval, and the preset air pressure intensity corresponding to the target area interval can be determined as the air pressure intensity corresponding to the abnormal point.

[0127] Among them, the reference area interval refers to multiple pre-configured area intervals, the target area interval refers to the reference area interval corresponding to the area of ​​the abnormal area, and the preset air pressure intensity refers to the air pressure intensity corresponding to each pre-configured reference area interval.

[0128] S34, or, obtaining a preset expulsion intensity, and obtaining a maintenance parameter of the maintenance equipment at the abnormal point according to the expulsion intensity.

[0129] Specifically, for maintenance equipment with expulsion maintenance attributes, when expelling birds, in order to avoid causing harm to the birds, a non-harmful expulsion intensity can be pre-configured. The preset expulsion intensity must ensure that the birds can be deterred while avoiding causing harm to the birds. According to the pre-configured expulsion intensity, the maintenance parameters of the maintenance equipment with expulsion maintenance attributes when performing maintenance operations at abnormal points can be obtained. Among them, the expulsion intensity refers to the pre-configured intensity of the non-harmful expulsion operation on birds, for example, it can be the intensity of the sonic expelling device.

[0130] Through the above implementation, abnormal objects on the marine photovoltaic panels can be effectively removed to ensure the effective operation of the marine photovoltaic panels.

[0131] S4, a response module, which is used to respond to the startup information of the maintenance device at the abnormal point, and control the maintenance device to perform maintenance operations based on the maintenance parameters.

[0132] After determining the maintenance parameters corresponding to the maintenance equipment, when the maintenance equipment reaches the abnormal point, the corresponding information for starting the maintenance operation can be sent. After responding to the start-up information of the maintenance equipment at the abnormal point, the maintenance equipment can be controlled at the abnormal point to perform corresponding maintenance operations according to the maintenance parameters.

[0133] The startup information refers to the information for starting maintenance work, and the maintenance work refers to the corresponding processing of abnormal objects on the marine photovoltaic panels.

[0134] Based on the above embodiment, the specific implementation of step S4 may be: S41, when the maintenance device is a maintenance device with an air pressure maintenance attribute, respond to the startup information and control the maintenance device to go to the abnormal point.

[0135] Specifically, when the maintenance device is a maintenance device with an air pressure maintenance attribute, after responding to the start information, the maintenance device can be controlled to go to the abnormal point corresponding to the abnormal object.

[0136] S42, acquiring a photographic image of the maintenance device at the abnormal point in real time, and generating a calibration line parallel to the cleaning direction based on a center point of the photographic image.

[0137] In actual applications, when the maintenance equipment uses a pneumatic cleaning device to clean marine life, the airflow may blow the marine life to other locations of the photovoltaic panel, causing the marine life to not be in the original cleaning direction. At this time, the cleaning direction can be updated accordingly based on the real-time shooting image of the maintenance equipment.

[0138] Specifically, after the maintenance equipment reaches the abnormal point, the shooting picture of the maintenance equipment at the abnormal point can be obtained in real time, and the center point of the shooting picture can be obtained. Based on the center point, a straight line parallel to the cleaning direction can be generated, and the straight line can be determined as a calibration line. The calibration line can be used to determine whether the abnormal object is in the cleaning direction.

[0139] The shooting picture refers to the picture when the maintenance equipment takes a real-time picture of the abnormal object corresponding to the abnormal location, and the calibration line refers to a straight line that can be used to calibrate the cleaning direction of the maintenance equipment.

[0140] S43, when the calibration line intersects with the abnormal object, controlling the maintenance equipment to perform maintenance operations based on the cleaning direction and air pressure intensity, and when the calibration line does not intersect with the abnormal object, obtaining the calibration point position of the abnormal object.

[0141] Specifically, when the calibration line intersects with the abnormal object, it can be considered that the abnormal object is in the cleaning direction. At this time, the maintenance equipment can be controlled to perform corresponding maintenance operations in the cleaning direction in combination with the corresponding air pressure intensity until the abnormal object is blown away from the photovoltaic panel. If the abnormal object does not intersect with the calibration line during the maintenance operation, it can be considered that the abnormal object may no longer be in the cleaning direction. At this time, the position point corresponding to the abnormal object, that is, the calibration point, can be re-acquired according to the picture taken by the maintenance equipment, and the cleaning direction is updated according to the calibration point.

[0142] The calibration point refers to a position point at which the cleaning direction can be calibrated.

[0143] S44, re-determining a second target edge corresponding to the calibration point, updating the cleaning direction according to the second target edge, and controlling the maintenance device to continue the maintenance operation based on the updated cleaning direction.

[0144] Specifically, after obtaining the calibration point, the rectangular side that is closest to the point between the calibration points can be re-determined as the second target side corresponding to the calibration point, and the second target side is the rectangular side excluding the rectangular side of the upper edge. According to the calibration point and the second target side, the cleaning direction can be updated, and the vertical direction from the calibration point to the second target side can be determined as the new cleaning direction. The maintenance equipment is controlled to perform corresponding maintenance operations in the updated cleaning direction in combination with the corresponding air pressure intensity.

[0145] The second target edge refers to a rectangular edge that is closest to the point distance between the calibration points.

[0146] Through the above implementation, it is possible to accurately determine whether the abnormal object is in the cleaning direction, and to avoid the abnormal object being blown to other locations due to factors such as airflow, thereby improving the accuracy and efficiency of maintenance operations.

[0147] See also Figure 1 , is a structural diagram of an on-site real-time analysis and decision support system based on multi-parameter Internet of Things technology provided by an embodiment of the present invention. The data processing system of the on-site real-time analysis and decision support system based on multi-parameter Internet of Things technology includes: An acquisition module is used to acquire a captured image taken by an IoT sensing device based on a circular scanning angle, determine that the captured image with an abnormal object is an abnormal image, and determine the effective coverage range of the circular scanning angle according to the abnormal image; An identification module, used to determine the abnormal point of the abnormal object within the effective coverage range, and determine the maintenance type of the abnormal object according to the identification type of the abnormal object; A determination module, configured to determine a maintenance device with a corresponding maintenance attribute according to the maintenance type, and determine a maintenance parameter corresponding to the maintenance device at the abnormal point; The response module is used to respond to the startup information of the maintenance device at the abnormal point and control the maintenance device to perform maintenance operations based on the maintenance parameters.

[0148] Figure 1 The apparatus of the embodiment shown can be used to perform Figure 1 The implementation principles and technical effects of the steps in the method embodiment shown are similar and will not be repeated here.

[0149] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An on-site real-time analysis and decision support system based on multi-parameter IoT technology, characterized in that: include: An acquisition module is used to acquire a captured image taken by an IoT sensing device based on a circular scanning angle, determine that the captured image with an abnormal object is an abnormal image, and determine the effective coverage range of the circular scanning angle according to the abnormal image; An identification module, used to determine the abnormal point of the abnormal object within the effective coverage range, and determine the maintenance type of the abnormal object according to the identification type of the abnormal object; A determination module, configured to determine a maintenance device with a corresponding maintenance attribute according to the maintenance type, and determine a maintenance parameter corresponding to the maintenance device at the abnormal point; The response module is used to respond to the startup information of the maintenance device at the abnormal point and control the maintenance device to perform maintenance operations based on the maintenance parameters.

2. The system according to claim 1, characterized in that An acquisition module is used to acquire a captured image taken by an IoT sensing device based on a circular scanning angle, determine that the captured image with an abnormal object is an abnormal image, and determine the effective coverage range of the circular scanning angle according to the abnormal image, including: Determine a plurality of circular scanning angles according to preset configuration information, and arrange the circular scanning angles from small to large to obtain an angle sequence; Determine in sequence the circular scanning angles in the angle sequence as target angles, and control the IoT sensing device to obtain a captured image based on the target angles; Extracting multiple identification objects in the collected image, performing feature recognition on each of the identification objects, determining that the identification objects with abnormal features are abnormal objects, and determining that the collected image containing the abnormal objects is an abnormal image; Retrieving a target location layout diagram and a monitoring range frame corresponding to the IoT sensing device, and determining a monitoring point position of the IoT sensing device in the target location layout diagram; The monitoring range frame is positioned in the target site layout map based on the monitoring point, and the monitoring range frame is angularly offset based on the target angle to determine the area range corresponding to the monitoring range frame as the effective coverage range.

3. The system according to claim 2, characterized in that The monitoring range frame is positioned in the target layout map based on the monitoring point, and the monitoring range frame is angle-shifted based on the target angle to determine that the area range corresponding to the monitoring range frame is the effective coverage range, including: Positioning the vertices of the monitoring range frame according to the monitoring points, positioning the monitoring range frame in the target layout map, wherein the monitoring range frame is a fan-shaped frame; Connect the vertex of the monitoring range frame and the center point of the arc to obtain an angle line, and determine the reference angle line corresponding to the monitoring point in the target layout diagram; The angle between the angle line and the reference angle line is adjusted to the target angle, and the area range corresponding to the monitoring range frame after the angle adjustment is determined to be the effective coverage range.

4. The system according to claim 2, characterized in that The identification module is used to determine the abnormal point of the abnormal object within the effective coverage range, and determine the maintenance type of the abnormal object according to the identification type of the abnormal object, including: Determine the positioning type of the abnormal object according to multiple position points of the abnormal object within a preset time period, control the IoT sensing device to obtain a positioning image corresponding to the abnormal object based on the positioning type, and update the effective coverage range based on the positioning image, wherein the positioning type includes a dynamic type and a static type; Determine the monitoring equipment within the effective coverage range of the target layout map, obtain the first number of the monitoring equipment and the second number corresponding to each equipment outline in the positioning image, and determine the equipment outline corresponding to each monitoring equipment according to the first number and the second number; Acquire a device profile where the abnormal object exists as an abnormal device profile, and determine that a monitoring device corresponding to the abnormal device profile is an abnormal device; Determine the relative position coordinates of the abnormal object in the outline of the abnormal device, and obtain the position point in the abnormal device corresponding to the relative position coordinates as the abnormal point; The abnormal object is identified by type to obtain an identification type of the abnormal object, and a maintenance type of the abnormal object is determined according to the identification type, wherein the maintenance type includes a water pressure cleaning type, an air pressure cleaning type and an expulsion type.

5. The system according to claim 4, characterized in that Determining the positioning type of the abnormal object according to multiple position points of the abnormal object within a preset time period, controlling the IoT sensing device to obtain a positioning image corresponding to the abnormal object based on the positioning type, and updating the effective coverage range based on the positioning image, including: Acquire multiple collected images taken by the IoT sensing device within a preset time period, and determine the center point of the abnormal object in each of the collected images as the position point; Determine the displacement distances corresponding to the position points of the abnormal object in the adjacent collected images, and when all the displacement distances corresponding to the abnormal object within the preset time period are less than the displacement threshold, determine that the positioning type of the abnormal object is a static type, and obtain the last collected image within the preset time period as the positioning image; When the displacement distance is greater than or equal to the displacement threshold within the preset time period, determining that the positioning type of the abnormal object is a dynamic type, controlling the IoT sensing device to shoot and track the abnormal object, and obtaining the moving path of the abnormal object; When the moving path does not change within the reference time period, the positioning image taken by the IoT sensing device is acquired, and the effective coverage range in the target location layout map is updated according to the current angle of the IoT sensing device.

6. The system according to claim 4, characterized in that Acquiring the relative position coordinates of the abnormal object in the outline of the abnormal device, and determining the position point in the abnormal device corresponding to the relative position coordinates as the abnormal point, including: Determine the center point of the abnormal object as the target positioning point, and obtain the shortest distance from the target positioning point to each first rectangular side in the outline of the abnormal device; Obtain a relative position ratio according to a ratio of the shortest distance to the first side length of the corresponding first rectangular side, and obtain relative position coordinates corresponding to the abnormal object based on the relative position ratio; Acquire the second rectangular sides of the abnormal device, determine the first rectangular sides corresponding to each of the second rectangular sides, and obtain the positioning distance according to the product of the second side length of the second rectangular side and the relative position ratio of the corresponding first rectangular side; Generate a positioning line that is parallel to the corresponding second rectangular side and is the positioning distance away from the second rectangular side, and determine the position point corresponding to the intersection of multiple positioning lines as the abnormal point.

7. The system according to claim 4, characterized in that A determination module, used to determine the maintenance equipment corresponding to the maintenance attribute according to the maintenance type, and determine the maintenance parameters corresponding to the maintenance equipment at the abnormal point, including: Determine the maintenance equipment with water pressure maintenance attribute corresponding to the water pressure cleaning type, determine the maintenance equipment with air pressure maintenance attribute corresponding to the air pressure cleaning type, and determine the maintenance equipment with expulsion maintenance attribute corresponding to the expulsion type; Obtaining the abnormal area corresponding to the abnormal point of the water pressure cleaning type, determining the current water pressure strength of the maintenance equipment according to the abnormal area, and obtaining the maintenance parameter according to the current water pressure strength; or, Determine the cleaning direction and air pressure intensity corresponding to the abnormal point of the air pressure cleaning type, and obtain the maintenance parameter according to the cleaning direction and air pressure intensity; or, A preset expulsion intensity is obtained, and a maintenance parameter of the maintenance equipment at the abnormal point is obtained according to the expulsion intensity.

8. The system according to claim 7, characterized in that Acquiring the abnormal area corresponding to the abnormal point of the water pressure cleaning type, determining the current water pressure strength of the maintenance equipment according to the abnormal area, and obtaining the maintenance parameter according to the current water pressure strength, including: Retrieving a plurality of historical cleaning parameters, wherein the historical cleaning parameters include historical area and historical water pressure intensity; Acquire the area of ​​the historical region with the smallest difference with the area of ​​the abnormal region as the area of ​​the reference region, and determine the area difference between the area of ​​the abnormal region and the area of ​​the reference region; Determine the offset intensity corresponding to the area difference. If the area of ​​the reference area is smaller than that of the abnormal area, obtain the current water pressure intensity according to the sum of the historical water pressure intensity and the offset intensity. If the area of ​​the reference area is larger than that of the abnormal area, obtain the current water pressure intensity according to the difference between the historical water pressure intensity and the offset intensity. Obtain the maintenance parameter according to the current water pressure intensity.

9. The system according to claim 7, characterized in that Determining the cleaning direction and air pressure intensity corresponding to the abnormal point of the air pressure cleaning type includes: Obtaining the point distance between the abnormal point and each rectangular side of the abnormal device, and determining the rectangular side with the smallest point distance as the side to be screened; When the edge to be screened is a rectangular edge at the upper edge, the edge to be screened is removed, and the rectangular edge with the smallest point distance is re-acquired as the first target edge; Taking the abnormal point as a reference, generating a maintenance line perpendicular to the first target edge, determining an intersection of the maintenance line and the first target edge as a cleaning end point, and determining a direction from the abnormal point to the cleaning end point as the cleaning direction; According to the abnormal area area corresponding to the abnormal object, multiple reference area intervals are traversed, the reference area interval where the abnormal area area is located is determined as the target area interval, and the preset air pressure intensity corresponding to the target area interval is determined as the air pressure intensity corresponding to the abnormal point.

10. The system according to claim 9, characterized in that A response module, used to respond to the startup information of the maintenance device at the abnormal point, and control the maintenance device to perform a maintenance operation based on the maintenance parameters, including: When the maintenance device is a maintenance device with an air pressure maintenance attribute, in response to the start information, the maintenance device is controlled to go to the abnormal point; Acquire a photographic image of the maintenance device at the abnormal point in real time, and generate a calibration line parallel to the cleaning direction based on a center point of the photographic image; When the calibration line intersects with the abnormal object, controlling the maintenance device to perform maintenance operations based on the cleaning direction and air pressure intensity, and when the calibration line does not intersect with the abnormal object, obtaining the calibration point position of the abnormal object; A second target edge corresponding to the calibration point is re-determined, the cleaning direction is updated according to the second target edge, and the maintenance device is controlled to continue the maintenance operation based on the updated cleaning direction.

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