Photovoltaic panel patrol early warning method and system of aircraft, and program product

Abstract

The embodiment of the invention provides a photovoltaic panel patrol early warning method and system of an aircraft and a program product. The method is applied to a server in communication connection with the aircraft. The aircraft carries a distance measuring device; the method comprises the following steps: acquiring an inspection route for a to-be-detected photovoltaic string; the patrol route comprises a detection waypoint; controlling the aircraft to fly to the detection waypoint along the patrol route; determining the current installation parameters of the photovoltaic string based on the detection data of the distance measuring device on the photovoltaic string under the detection waypoint; the current installation parameter comprises a first distance from the distance measuring device to the photovoltaic string at present, or comprises the first distance and a current horizontal inclination angle of the photovoltaic string; and if the current installation parameter meets the preset abnormal condition, outputting early warning information about the occurrence of the abnormality of the photovoltaic string. And the server judges whether the photovoltaic string is abnormal or not based on the first distance between the aircraft and the photovoltaic string under the detection waypoint and the horizontal inclination angle. The whole detection process does not need complex algorithm processing, and the detection efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of aircraft inspection technology, and more specifically, to an aircraft photovoltaic panel inspection and early warning method, system, and program product. Background Art

[0002] In the field of renewable energy, photovoltaic power generation technology has gradually become an important energy solution. As the core component of the photovoltaic power generation system, the height and angle of the photovoltaic panel installation directly affect the energy conversion efficiency of the photovoltaic string and the overall performance of the photovoltaic system. However, when the mountain moves downward or the mountain sinks, it will affect the installation position of the photovoltaic panel on the mountain, thereby affecting the power generation of the photovoltaic panel. Therefore, providing a method that can efficiently detect whether the installation position of the photovoltaic panel is abnormal has become a technical problem that needs to be solved in this field. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a photovoltaic panel inspection and early warning method, system, and program product for an aircraft, so as to achieve the technical effect of efficiently detecting whether the installation position of the photovoltaic panel is abnormal.

[0004] In a first aspect, an embodiment of the present application provides a photovoltaic panel inspection and early warning method for an aircraft, the method being applied to a server connected to the aircraft in communication; the aircraft being equipped with a distance measuring device; the method comprising: Acquire a patrol route for the photovoltaic string to be detected; the patrol route includes detection waypoints; Controlling the aircraft to fly along the patrol route to the detection waypoint; Based on the detection data of the photovoltaic string by the distance measuring device at the detection waypoint, the current installation parameters of the photovoltaic string are determined; wherein the current installation parameters include the first distance from the distance measuring device to the photovoltaic string at present, or the current installation parameters include the first distance and the current horizontal inclination angle of the photovoltaic string; If the current installation parameters meet the preset abnormal conditions, the warning information of the abnormality of the photovoltaic string is output.

[0005] In the above implementation process, a patrol route is set for the photovoltaic strings, and the installation position of the photovoltaic strings is detected after the aircraft reaches the detection waypoint. The server then determines whether the photovoltaic strings are abnormal based on the current first distance and horizontal inclination of the photovoltaic strings, and outputs warning information in the case of abnormalities. The entire detection process does not require complex algorithm processing, which can greatly improve the detection efficiency of photovoltaic panels.

[0006] Further, the detection waypoint is determined based on the position information of the characteristic point of the photovoltaic string when the photovoltaic string is located at the initial installation position after the installation is completed.

[0007] In the above implementation process, when the photovoltaic string is located at the initial installation position after installation, the detection waypoint is determined based on the position information of the characteristic points in the photovoltaic string. When the installation position of the photovoltaic string has not changed, the installation parameters obtained by the aircraft at the detection waypoint are consistent each time. Therefore, it is possible to determine whether the installation position of the photovoltaic string has changed by monitoring the changes in the installation parameters, and then output warning information of abnormal photovoltaic strings.

[0008] Further, the obtaining of the current installation parameters of the photovoltaic string based on the detection data of the photovoltaic string by the distance measuring device at the detection waypoint includes: Acquire the first distance currently measured by the distance measuring device at the detection waypoint; Acquire a second distance from the distance measuring device to the ground; Based on the first distance, the second distance and the preset installation dimension information of the photovoltaic string, the current horizontal inclination angle of the photovoltaic string is determined; wherein the installation dimension information includes the length of the inclined side of the photovoltaic string and the initial horizontal inclination angle of the photovoltaic string after the installation is completed.

[0009] In the above implementation process, the first distance between the photovoltaic string and the vehicle is detected multiple times at a fixed detection waypoint, and then the current horizontal inclination angle of the photovoltaic string is calculated based on the triangular geometric relationship. The entire process only requires the aircraft to fly to the fixed detection waypoint and perform distance measurement operations. No complex algorithm processing or prerequisite preparation is required, which can greatly improve the detection efficiency of photovoltaic panels and reduce detection costs.

[0010] Furthermore, if the installation parameters meet the preset abnormal conditions, outputting the warning information of the abnormality of the photovoltaic string includes: If the difference between the current installation parameters and the initial installation parameters is greater than a preset change threshold, an early warning message is output to indicate the collapse of the photovoltaic string; wherein the initial installation parameters include the initial distance from the distance measuring device to the photovoltaic string when the photovoltaic string is located at the initial installation position after the installation is completed, and the initial horizontal inclination angle of the photovoltaic string.

[0011] In the above implementation process, by comparing whether the difference between the current installation parameters and the initial installation parameters is greater than the preset change threshold, it is determined whether the photovoltaic string has collapsed, and then outputting warning information indicating the collapse, which improves the efficiency of collapse detection while reducing the cost of collapse detection.

[0012] Furthermore, if the installation parameters meet the preset abnormal conditions, outputting the warning information of the abnormality of the photovoltaic string includes: Obtaining a set of installation parameters detected within a preset time period; If the horizontal inclination angle in the installation parameter set shows a decreasing trend over time, and / or the first distance shows an increasing trend over time, a warning message is outputted to indicate that the photovoltaic string has a tendency to collapse.

[0013] In the above implementation process, by collecting the set of installation parameters detected within a preset time period and monitoring the changing trend of the installation parameters over time to determine whether the photovoltaic string has a tendency to collapse, the photovoltaic string can be intervened and repaired before the collapse occurs, avoiding the increase in repair costs and repair difficulties caused by repairing after the collapse, and also avoiding the loss of the photovoltaic string after the collapse.

[0014] A second aspect of the embodiment of the present application provides a photovoltaic panel warning method, the method is applied to an aircraft equipped with a distance measuring device; the aircraft is in communication connection with a server; the method comprises: Acquire a patrol route for the photovoltaic string to be detected; the patrol route includes detection waypoints; Flying along the patrol route to the detection waypoint; Controlling the distance measuring device to collect detection data of the photovoltaic string at the detection waypoint; The detection data is sent to the server so that the server determines the current installation parameters of the photovoltaic string based on the detection data, and outputs warning information of abnormality of the photovoltaic string when the current installation parameters meet the preset abnormal conditions; wherein the current installation parameters include the first distance from the distance measuring device to the photovoltaic string, or the current installation parameters include the first distance and the current horizontal inclination angle of the photovoltaic string.

[0015] A third aspect of the embodiments of the present application provides a photovoltaic panel early warning system, the system comprising: An aircraft, used for obtaining a patrol route for a photovoltaic string to be detected; the patrol route includes a detection waypoint; flying along the patrol route to the detection waypoint; controlling the distance measuring device to collect detection data of the photovoltaic string at the detection waypoint; and sending the detection data to the server; The server is used to determine the current installation parameters of the photovoltaic string based on the detection data; and when the current installation parameters meet the preset abnormal conditions, output the warning information of the abnormality of the photovoltaic string; wherein the current installation parameters include the first distance from the distance measuring device to the photovoltaic string, or the current installation parameters include the first distance and the current horizontal inclination angle of the photovoltaic string.

[0016] A fourth aspect of the embodiments of the present application provides a computer program product, wherein the computer program product includes a computer program, and when the computer program is executed by a processor, the method described in any one of the first aspect or the second aspect is implemented.

[0017] A fifth aspect of an embodiment of the present application provides an electronic device, the electronic device comprising: processor; a memory for storing processor-executable instructions; Wherein, when the processor calls the executable instruction, it implements the operation of any method described in the first aspect or the second aspect.

[0018] A sixth aspect of an embodiment of the present application provides a computer-readable storage medium having computer instructions stored thereon, which, when executed by a processor, implement the steps of any of the methods described in the first aspect or the second aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 A schematic diagram of the composition of a photovoltaic panel early warning system provided in an embodiment of the present application; Figure 2 A schematic diagram of a photovoltaic panel early warning method provided in an embodiment of the present application; Figure 3 A schematic diagram of a process flow of another photovoltaic panel early warning method provided in an embodiment of the present application; Figure 4 A schematic diagram of calculating the horizontal inclination angle of a photovoltaic string in an embodiment of the present application; Figure 5 A schematic diagram of a process flow of another photovoltaic panel early warning method provided in an embodiment of the present application; Figure 6 A hardware structure diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0022] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0023] In order to detect the installation position of photovoltaic panels in related technologies, image recognition is usually performed on the collected images of photovoltaic panels to detect whether the photovoltaic panels have collapsed or other abnormalities. However, on the one hand, image recognition technology involves the training and application of models, which requires a lot of training and parameter adjustment work in the early stage. The image recognition process also involves complex pre-image processing algorithms, resulting in high detection costs and low detection efficiency. On the other hand, in different regional landforms, the installation height and installation angle of photovoltaic panels have different requirements, which also increases the difficulty of using image recognition technology to detect the installation position of photovoltaic panels in multiple regional landforms.

[0024] To this end, the present application provides a new aircraft-based photovoltaic panel inspection and early warning method, system, and program product. Figure 1 The application scenario of this application is shown. Figure 1 As shown, a photovoltaic panel warning system includes a server 110 and an aircraft 120 that are in communication connection. The aircraft 120 includes but is not limited to a drone, an airplane, a helicopter, etc. The aircraft 120 is equipped with a distance measuring device, which may include but is not limited to one or more devices with a distance testing function among a laser radar, a millimeter wave radar, an ultrasonic sensor, and an infrared distance measuring sensor.

[0025] The first aspect of the present application provides a photovoltaic panel inspection and early warning method for an aircraft, which is applied to Figure 1 The server 110 shown includes: Figure 2 Steps 210 to 240 are shown.

[0026] Step 210: Acquire a patrol route for the photovoltaic strings to be inspected; the patrol route includes inspection waypoints.

[0027] Exemplarily, the photovoltaic string includes a plurality of photovoltaic panels, which are formed by splicing a plurality of photovoltaic panels.

[0028] As an example, the server 110 is deployed with a control platform, such as a four-dimensional holographic control platform, which can be used to customize, plan and generate a flight plan for the aircraft 120, including the route, flight time, flight speed, etc., and can also receive and process the detection data and image data sent back by the aircraft 120, etc.

[0029] As an example, the server 110, such as the control platform, is deployed with a three-dimensional model. The three-dimensional model displays the information of photovoltaic panels installed in various regions. The photovoltaic panel information includes but is not limited to the location information, installation height, installation angle, power generation, etc. of the photovoltaic strings. Based on this, the photovoltaic strings to be detected can be selected from the three-dimensional model. If the server 110, such as the control platform, has pre-stored patrol routes corresponding to the photovoltaic strings, the pre-stored patrol routes can be directly read after the photovoltaic strings to be detected are determined. If the patrol routes are not pre-stored, the corresponding patrol routes can be generated based on the location information of the photovoltaic strings to be detected.

[0030] The patrol route includes detection waypoints, which may include one or more detection waypoints. If there is one photovoltaic string to be detected, the patrol route includes one detection waypoint. If there are multiple photovoltaic strings to be detected, the patrol route includes multiple detection waypoints connected in sequence, and each detection waypoint corresponds to one photovoltaic string to be detected.

[0031] Step 220: Control the aircraft to fly along the patrol route to the detection waypoint.

[0032] After determining the patrol route of the photovoltaic string to be inspected, the server 110 can send a flight instruction carrying the patrol route to the aircraft 120, so as to control the aircraft 120 to fly along the patrol route to the inspection waypoint. Among them, if the patrol route includes multiple inspection waypoints, the aircraft 120 can be controlled to fly to multiple inspection waypoints in sequence along the patrol route. After arriving at each inspection waypoint, the aircraft 120 collects the inspection data of the corresponding photovoltaic string respectively. Among them, the aircraft 120 can transmit the inspection data back to the server 110 in real time after collecting the inspection data of each photovoltaic string. Alternatively, the aircraft 120 can transmit the collected inspection data back to the server 110 after collecting the inspection data of multiple or all photovoltaic strings. The strategy for returning the inspection data can be found in the relevant technology and will not be expanded here.

[0033] Step 230: Based on the detection data of the photovoltaic string by the distance measuring device at the detection waypoint, determine the current installation parameters of the photovoltaic string, wherein the current installation parameters include the first distance from the distance measuring device to the photovoltaic string, or the current installation parameters include the first distance and the current horizontal inclination angle of the photovoltaic string.

[0034] After the aircraft 120 reaches the detection waypoint, it can use the distance measuring device to obtain the detection data of the photovoltaic string at the detection waypoint. The detection data at least includes the first distance between the distance measuring device and the photovoltaic string at present.

[0035] It is understandable that if the installation position of the photovoltaic string changes due to reasons such as mountain movement or mountain settlement, then after the aircraft 120 reaches the detection waypoint, it is necessary to first determine the orientation of the photovoltaic string relative to the aircraft 120 before detecting the first distance. In order to further improve the detection efficiency, in some embodiments, the first distance can be the first vertical distance from the current distance measuring device to the photovoltaic string. The first vertical distance refers to the distance from the distance measuring device to the photovoltaic string in the vertical direction. It is understandable that if the installation position of the photovoltaic string changes, the first vertical distance between the distance measuring device and the photovoltaic string will also change, so it is possible to determine whether the installation position of the photovoltaic string is abnormal by monitoring the first vertical distance.

[0036] As an example, the distance measuring device is mounted on the bottom of the aircraft 120, and the detection direction is vertically downward. As another example, the distance measuring device can be mounted on other parts of the aircraft 120, and the distance measuring device includes multiple detection directions, one of which is vertically downward. Therefore, the distance measuring device can be used to detect the first vertical distance from the photovoltaic string.

[0037] After collecting the detection data, the aircraft 120 can transmit the detection data back to the server 110. Optionally, the aircraft 120 can also collect image data of the photovoltaic string. For example, the aircraft 120 is equipped with an image acquisition device, and uses the image acquisition device to collect image data of the photovoltaic string. For another example, the distance measuring device has an image acquisition function, and the distance measuring device can be used to collect image data and the first distance of the photovoltaic string. In this way, the aircraft 120 can transmit the image data carrying the detection data back to the server 110.

[0038] After receiving the detection data, the server 110 can determine the current installation parameters of the photovoltaic string based on the detection data. It is understandable that the installation height and horizontal inclination of the photovoltaic string will affect the power generation of the photovoltaic string, and different installation angles must correspond to different horizontal inclinations to optimize the power generation of the photovoltaic string. The change in the installation position of the photovoltaic string can be reflected by its installation height and horizontal inclination. Therefore, the current installation parameters include at least the first distance in the detection data. In addition to the first distance, the current installation parameters may also include the current horizontal inclination of the photovoltaic string. Among them, the horizontal inclination refers to the inclination formed by the photovoltaic string relative to the horizontal plane, and its calculation process is described below.

[0039] Step 240: If the current installation parameters meet the preset abnormal conditions, output warning information of abnormality of the photovoltaic string.

[0040] For example, after obtaining the current installation parameters of the photovoltaic string, it can be determined whether the current installation parameters meet the preset abnormal conditions. If the current installation parameters include a first distance and a horizontal inclination angle, then when the first distance or the horizontal inclination angle meets the abnormal conditions, it can be determined that the photovoltaic string is abnormal, and the warning information is output.

[0041] It can be seen that the photovoltaic panel inspection and early warning method provided by the present application sets an inspection route for the photovoltaic string, and detects the installation position of the photovoltaic string after the aircraft arrives at the detection waypoint. The server then determines whether the photovoltaic string is abnormal based on the current first distance and horizontal inclination of the photovoltaic string, and outputs early warning information in the case of abnormality. The entire detection process does not require complex algorithm processing, which can greatly improve the detection efficiency of photovoltaic panels.

[0042] Steps 210 to 240 are described in detail below.

[0043] Regarding the process of determining the detection waypoint, in some embodiments, the detection waypoint is determined based on the position information of the characteristic points of the photovoltaic string when the photovoltaic string is located at the initial installation position after the installation is completed.

[0044] As mentioned above, the installation height and horizontal inclination of the photovoltaic string will affect the power generation of the photovoltaic string. Therefore, before the photovoltaic string is installed, a series of simulation calculations are required to determine the optimal installation height and horizontal inclination. After the photovoltaic string is installed, the position information of its feature points when the photovoltaic string is located at the initial installation position can be determined. Among them, the feature point refers to the geometric feature point of the geometric shape presented by the photovoltaic string, such as the center, center of gravity, center of a circle, vertex, etc. The position information of the feature point includes the world coordinate information of the feature point. It can be understood that after determining the position information of the feature point of the photovoltaic string at the initial installation position, the coordinate information of the detection waypoint can be determined. Thereafter, in each cruise of the photovoltaic string, the aircraft 120 will arrive at the detection waypoint for detection. Even if the installation position of the subsequent photovoltaic string changes due to reasons such as mountain subsidence, the position of the detection waypoint will not change accordingly.

[0045] As an example, when the photovoltaic string is installed, the detection waypoint can be determined to be directly above the feature point, that is, the longitude and latitude of the detection waypoint are consistent with the longitude and latitude of the feature point, or the difference is within a preset range, and the height of the detection waypoint is different from the height of the feature point. It can be understood that the location information of the feature point is related to the installation position of the photovoltaic string. If the installation position of the photovoltaic string has not changed (including the installation height and the horizontal inclination), the position of the feature point will not change. In this way, each time the aircraft 120 arrives at the detection waypoint, it will perform detection at the same relative position relative to the photovoltaic string, so the measured detection data, such as the first distance and the first vertical distance, are also the same.

[0046] On the contrary, if the installation height or horizontal inclination of the photovoltaic string changes, the position of the characteristic point will also change. At this time, after the aircraft 120 reaches the detection waypoint, the relative position with the photovoltaic string will also change, and the measured detection data will change.

[0047] It can be seen that in this embodiment, when the photovoltaic string is located at the initial installation position after installation, the detection waypoint is determined based on the position information of the characteristic point in the photovoltaic string. When the installation position of the photovoltaic string has not changed, the installation parameters obtained by the aircraft at the detection waypoint are consistent each time. Therefore, it is possible to determine whether the installation position of the photovoltaic string has changed by monitoring the changes in the installation parameters, and then output warning information of abnormal photovoltaic strings.

[0048] According to some embodiments of the present application, step 230 may specifically include: Figure 3 Steps 231 to 233 are shown.

[0049] Step 231: Obtain the first distance currently measured by the distance measuring device at the detection waypoint.

[0050] The process of obtaining the first distance can be referred to the above embodiment and will not be described again here.

[0051] Step 232: Obtain a second distance from the current distance measuring device to the ground.

[0052] Exemplarily, the second distance refers to the distance from the ranging device to the ground in the vertical downward direction, which can also be called the height above the ground. As an example, the second distance can be measured and saved by the aircraft 120 when the photovoltaic string is located at the initial installation position after the installation is completed. In this way, when executing step 232, the pre-stored second distance can be read directly. As another example, considering that the topography may change due to reasons such as mountain subsidence, the distance from the aircraft 120 to the ground will also change. Therefore, the second distance can be measured in real time by the ranging device. For example, a target waypoint can be set around the detection waypoint, and the aircraft 120 tests the second distance to the ground through the ranging device at the target waypoint, thereby improving the calculation accuracy of the subsequent horizontal inclination angle.

[0053] Step 233: Determine the current horizontal inclination angle of the photovoltaic string based on the first distance, the second distance and the preset installation dimension information of the photovoltaic string; wherein the installation dimension information includes the length of the inclined side of the photovoltaic string and the initial horizontal inclination angle of the photovoltaic string after the installation is completed.

[0054] For example, Figure 4The calculation process of the initial horizontal inclination angle and the current horizontal inclination angle of the photovoltaic panel is shown. After the photovoltaic string is installed, it is located at position a, that is, position a is the initial installation position of the photovoltaic string. At the initial installation position a, the initial horizontal inclination angle of the photovoltaic panel is α. Taking the feature point as the center point of the photovoltaic string as an example, the detection waypoint c can be set directly above the center point d of the photovoltaic string. In this way, after the photovoltaic string is installed, when the aircraft is located at the detection waypoint c, the initial distance h1 from the photovoltaic string located at the initial installation position a can be detected by the ranging device. At the same time, the second distance H from the ground can be detected by the ranging device. In addition, based on the assembly size of the photovoltaic string, the length of the inclined side of the photovoltaic string can also be known. The inclined side refers to the side of the geometric figure presented by the photovoltaic string that is not parallel to the horizontal plane, such as Figure 4 As shown in the inclined side L in FIG. Therefore, the initial horizontal tilt angle α of the photovoltaic string can be determined based on the second distance H, the initial distance h1 and the length of the inclined side L of the photovoltaic string. Specifically, since the minimum distance from the photovoltaic string to the ground (i.e., Δh in the figure) is very small, the impact on the calculation of the horizontal tilt angle can be ignored. Therefore, the calculation formula of the initial horizontal tilt angle α is shown in formula (1).

[0055] Formula (1) The initial distance h1 and the initial horizontal inclination angle α are initial installation parameters of the photovoltaic string and can be stored in the storage space for subsequent use.

[0056] Subsequently, the installation position of the PV string may gradually change to position b. At this time, the position of the center point d of the PV string has changed, the current horizontal inclination angle is β, and the detection waypoint c is no longer directly above the center point d. When the aircraft reaches the detection waypoint for the nth time, the first distance h detected from the PV string is n It is also different from the initial first distance h1. At this time, based on the current first distance h n , the second distance H (pre-stored distance to the ground or obtained through real-time detection), the length of the inclined side L of the photovoltaic string and the initial horizontal tilt angle α of the photovoltaic string to calculate the current horizontal tilt angle β of the photovoltaic string. The calculation formula of the current horizontal tilt angle β is shown in formula (2).

[0057] Formula (2) It can be seen that this embodiment detects the first distance to the photovoltaic string multiple times at a fixed detection waypoint, and then infers the current horizontal inclination angle of the photovoltaic string based on the triangular geometric relationship. The entire process only requires the aircraft to fly to the fixed detection waypoint and perform distance measurement operations. No complicated algorithm processing or prerequisite preparation is required, which can greatly improve the detection efficiency of photovoltaic panels and reduce detection costs.

[0058] Based on any of the above embodiments, in step 240, when the current installation parameters meet abnormal conditions, outputting warning information may specifically include step 241 or step 242-step 243.

[0059] Step 241: If the difference between the current installation parameters and the initial installation parameters is greater than a preset change threshold, output a warning message for indicating the collapse of the photovoltaic string; wherein the initial installation parameters include the initial distance from the distance measuring device to the photovoltaic string when the photovoltaic string is located at the initial installation position after the installation is completed, and the initial horizontal inclination angle of the photovoltaic string.

[0060] Exemplarily, if the current installation parameters include the first distance from the distance measuring device to the photovoltaic string, the difference between the current installation parameters and the initial installation parameters is greater than the preset change threshold, which means that the difference between the first distance and the initial distance is greater than the preset distance change threshold. This indicates that the current height of the photovoltaic string is significantly different from the initial height, and it can be determined that the photovoltaic string has collapsed, so an early warning message for indicating the collapse of the photovoltaic string is output.

[0061] Exemplarily, if the current installation parameters include the first distance and the current horizontal inclination of the photovoltaic string, the difference between the current installation parameters and the initial installation parameters is greater than the preset change threshold, which may include that the difference between the first distance and the initial distance is greater than the preset distance change threshold, and / or the difference between the current horizontal inclination and the initial horizontal inclination is greater than the preset angle change threshold. This indicates that the current height of the photovoltaic string is significantly different from the initial height, and / or the current horizontal inclination of the photovoltaic is significantly different from the initial horizontal inclination, and it can be determined that the photovoltaic string has collapsed, so an early warning message for prompting the collapse of the photovoltaic string is output.

[0062] It can be seen that this embodiment determines whether the photovoltaic string has collapsed by comparing whether the difference between the current installation parameters and the initial installation parameters is greater than the preset change threshold, thereby outputting early warning information indicating the collapse, thereby improving the efficiency of collapse detection while reducing the cost of collapse detection.

[0063] Step 242: Acquire a set of installation parameters detected within a preset time period; Step 243: if the horizontal inclination angle in the installation parameter set shows a decreasing trend over time, and / or the first distance shows an increasing trend over time, output warning information for indicating that the photovoltaic string has a tendency to collapse.

[0064] Exemplarily, by having the aircraft fly along a patrol route to a detection waypoint multiple times within a preset time period to collect detection data, multiple installation parameters within the preset time period can be collected to form an installation parameter set.

[0065] According to the collection time of each installation parameter in the installation parameter set, the changing trend of the installation parameters of the photovoltaic string within the preset time period can be determined, and based on the changing trend, it can be judged whether the photovoltaic string has a tendency to collapse. It can be understood that the collapse of the photovoltaic string is a continuously changing process. For example, if the horizontal inclination angle shows a trend of decreasing angle over time, it means that the photovoltaic string is getting closer and closer to the horizontal plane, and therefore has a tendency to collapse. For another example, if the first distance between the ranging device and the photovoltaic string of the aircraft shows a trend of increasing distance at the detection waypoint, since the detection waypoint is fixed, it means that the photovoltaic string is getting closer and closer to the ground, and therefore has a tendency to collapse. At this time, early warning information that the photovoltaic string has a tendency to collapse can be output.

[0066] It can be seen that this embodiment collects a set of installation parameters detected within a preset time period, and determines whether the photovoltaic string has a tendency to collapse by monitoring the changing trend of the installation parameters over time, so that the photovoltaic string can be intervened and repaired before the collapse occurs, avoiding the increase in repair costs and repair difficulties caused by repairing after the collapse, and also avoiding the loss of the photovoltaic string after the collapse.

[0067] In addition, the present application also provides a photovoltaic panel inspection and early warning method for an aircraft, and the specific process is as follows.

[0068] When the photovoltaic string is installed and located at the initial installation position, a detection waypoint can be determined based on the geometric center point of the photovoltaic string. For example, it can be determined that the detection waypoint is located directly above the geometric center point, and the height of the detection waypoint is 30-40 meters. Subsequently, a patrol route including the detection waypoint can be formulated and stored. The aircraft can fly along the patrol route to the detection waypoint, and use the onboard ranging device to detect the initial vertical distance of the center point of the photovoltaic string, and detect the second vertical distance to the ground. At the same time, the aircraft can also use the onboard image acquisition device to collect image data of the photovoltaic string, and carry the initial vertical distance in the image data back to the server. Based on the initial vertical distance, the second vertical distance and the length of the inclined side of the photovoltaic string, the server uses the above formula (1) to determine the initial horizontal inclination of the photovoltaic string.

[0069] It can be understood that photovoltaic strings usually have a certain horizontal inclination angle and are not completely parallel to the horizontal plane. The horizontal inclination angle of photovoltaic strings is generally greater than 10°. Therefore, when a photovoltaic panel with a certain horizontal inclination angle is displaced, the vertical height of its center point relative to the detection waypoint will also change. Therefore, the aircraft can fly along the same patrol route to the same detection waypoint according to the preset inspection cycle to detect the first vertical distance of the photovoltaic string. The first vertical distance can also be carried in the real-time collected image data and transmitted back to the server. Based on the first vertical distance, the second vertical distance, the length of the inclined side of the photovoltaic string, and the initial horizontal inclination angle, the server uses the above formula (2) to determine the current horizontal inclination angle of the photovoltaic string.

[0070] By comparing whether the difference between the first vertical distance and the initial vertical distance is greater than a preset distance change threshold, and / or comparing whether the difference between the current horizontal inclination angle and the initial horizontal inclination angle is greater than a preset angle change threshold, it can be determined whether the photovoltaic string has collapsed and output corresponding collapse warning information.

[0071] By obtaining the first vertical distance and the horizontal inclination within a period of time, the change trend of the first vertical distance and the change trend of the horizontal inclination of the photovoltaic string within the period of time can be obtained. If the horizontal inclination shows a trend of decreasing angle over time, and / or the first vertical distance shows a trend of increasing distance over time, it means that although the photovoltaic string has not collapsed yet, it has a trend of collapse and will collapse at some point in the future. At this time, the corresponding collapse tendency warning information can be output.

[0072] It can be seen that by setting a patrol route for the photovoltaic string, the installation position of the photovoltaic string is detected after the aircraft reaches the detection waypoint. The server then determines whether the photovoltaic string has collapsed or has a tendency to collapse based on the current first vertical distance and current horizontal inclination of the photovoltaic string, and outputs the corresponding warning information. The entire detection process does not require complex algorithm processing, which can greatly improve the detection efficiency of photovoltaic panels. At the same time, the collapse trend of the photovoltaic string can also be predicted, so that maintenance can be intervened before the photovoltaic string collapses, reducing maintenance costs.

[0073] The second aspect of the present application provides a photovoltaic panel inspection and early warning method for an aircraft, which is applied to Figure 1 The aircraft 120 shown includes Figure 5 Step 510 - Step 510 as shown.

[0074] Step 510: Acquire a patrol route for the photovoltaic strings to be inspected; the patrol route includes inspection waypoints.

[0075] For example, a pre-stored or real-time generated patrol route may be obtained from the server 110. The process of determining the patrol route and the detection waypoints is as described in the above embodiment and will not be described in detail here.

[0076] Step 520: Fly along the patrol route to the detection waypoint.

[0077] For example, in response to the flight instruction carrying the patrol route sent by the server 110 , the aircraft 120 may fly along the patrol route to the detection waypoint.

[0078] Step 530: Control the distance measuring device to collect the detection data of the photovoltaic string at the detection waypoint.

[0079] Exemplarily, the detection data at least includes a first distance from the distance measuring device to the photovoltaic string at present. The detection process of the first distance can refer to the above embodiment.

[0080] Step 540: Send the detection data to the server so that the server determines the current installation parameters of the photovoltaic string based on the detection data, and outputs warning information of the abnormality of the photovoltaic string when the current installation parameters meet the preset abnormal conditions; wherein the current installation parameters include the first distance from the distance measuring device to the photovoltaic string, or the current installation parameters include the first distance and the current horizontal inclination angle of the photovoltaic string.

[0081] For example, the way of returning the detection data can refer to the above embodiment. After obtaining the detection data, the server 110 can determine the current installation parameters based on the detection data. The specific determination process can refer to the above embodiment.

[0082] It can be seen that the photovoltaic panel inspection and early warning method provided by the present application sets an inspection route for the photovoltaic string, and detects the installation position of the photovoltaic string after the aircraft arrives at the detection waypoint. The server then determines whether the photovoltaic string is abnormal based on the current first distance and horizontal inclination of the photovoltaic string, and outputs early warning information in the case of abnormality. The entire detection process does not require complex algorithm processing, which can greatly improve the detection efficiency of photovoltaic panels.

[0083] The second aspect of the present application provides a photovoltaic panel inspection and warning system for an aircraft, such as Figure 1 As shown, the photovoltaic panel warning system includes a server 110 and an aircraft 120 .

[0084] The aircraft 120 is used to obtain a patrol route for the photovoltaic string to be detected; the patrol route includes a detection waypoint; fly along the patrol route to the detection waypoint; control the distance measuring device to collect the detection data of the photovoltaic string at the detection waypoint; and send the detection data to the server; Server 110 is used to determine the current installation parameters of the photovoltaic string based on the detection data; and when the current installation parameters meet the preset abnormal conditions, output the warning information of the abnormality of the photovoltaic string; wherein the current installation parameters include the first distance from the distance measuring device to the photovoltaic string, or the current installation parameters include the first distance and the current horizontal inclination angle of the photovoltaic string.

[0085] The implementation process of the functions and effects of each device in the above system is specifically described in the implementation process of the corresponding steps in the above method, which will not be repeated here.

[0086] Based on the photovoltaic panel inspection and early warning method of an aircraft described in any of the above embodiments, the present application also provides a computer program product, which includes one or more computer programs or instructions. The computer program or instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. When the computer program is executed by a processor, the photovoltaic panel early warning method described in any of the above embodiments is implemented.

[0087] Based on the aircraft photovoltaic panel inspection and early warning method described in any of the above embodiments, the present application also provides the following Figure 6 A schematic diagram of the structure of an electronic device is shown in FIG. Figure 1 In the photovoltaic panel early warning method, at the hardware level, the electronic device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory, and of course may also include hardware required for other services. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to implement the photovoltaic panel inspection and early warning method of an aircraft described in any of the above embodiments. For example, the electronic device may be as follows Figure 1 A server 110 or an aircraft 120 is shown.

[0088] The present application also provides a computer storage medium, which stores a computer program. When the computer program is executed by a processor, it can be used to execute a photovoltaic panel inspection and early warning method for an aircraft as described in any of the above embodiments.

[0089] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0090] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0091] If the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program codes.

[0092] The above description is only an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0093] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0094] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

Claims

1. A photovoltaic panel inspection and early warning method for an aircraft, characterized in that: The method is applied to a server that is communicatively connected to an aircraft; The aircraft is equipped with a distance measuring device; the method comprises: Acquire a patrol route for the photovoltaic string to be detected; the patrol route includes detection waypoints; Controlling the aircraft to fly along the patrol route to the detection waypoint; Based on the detection data of the photovoltaic string by the distance measuring device at the detection waypoint, the current installation parameters of the photovoltaic string are determined; wherein the current installation parameters include the first distance from the distance measuring device to the photovoltaic string at present, or the current installation parameters include the first distance and the current horizontal inclination angle of the photovoltaic string; If the current installation parameters meet the preset abnormal conditions, the warning information of the abnormality of the photovoltaic string is output.

2. The method according to claim 1, characterized in that: The detection waypoint is determined based on the position information of the characteristic point of the photovoltaic string when the photovoltaic string is located at the initial installation position after the installation is completed.

3. The method according to claim 1, characterized in that The obtaining the current installation parameters of the photovoltaic string based on the detection data of the photovoltaic string by the distance measuring device at the detection waypoint includes: Acquire the first distance currently measured by the distance measuring device at the detection waypoint; Acquire a second distance from the distance measuring device to the ground; Based on the first distance, the second distance and the preset installation dimension information of the photovoltaic string, the current horizontal inclination angle of the photovoltaic string is determined; wherein the installation dimension information includes the length of the inclined side of the photovoltaic string and the initial horizontal inclination angle of the photovoltaic string after the installation is completed.

4. The method according to any one of claims 1 to 3, characterized in that: If the current installation parameters meet the preset abnormal conditions, outputting the warning information of the abnormality of the photovoltaic string includes: If the difference between the current installation parameters and the initial installation parameters is greater than a preset change threshold, an early warning message is output to indicate the collapse of the photovoltaic string; wherein the initial installation parameters include the initial distance from the distance measuring device to the photovoltaic string when the photovoltaic string is located at the initial installation position after the installation is completed, and the initial horizontal inclination angle of the photovoltaic string.

5. The method according to any one of claims 1 to 3, characterized in that: If the current installation parameters meet the preset abnormal conditions, outputting the warning information of the abnormality of the photovoltaic string includes: Obtaining a set of installation parameters detected within a preset time period; If the horizontal inclination angle in the installation parameter set shows a decreasing trend over time, and / or the first distance shows an increasing trend over time, a warning message is outputted to indicate that the photovoltaic string has a tendency to collapse.

6. A photovoltaic panel inspection and early warning method for an aircraft, characterized in that: The method is applied to an aircraft equipped with a distance measuring device; the aircraft is in communication connection with a server; the method comprises: Acquire a patrol route for the photovoltaic string to be detected; the patrol route includes detection waypoints; Flying along the patrol route to the detection waypoint; Controlling the distance measuring device to collect detection data of the photovoltaic string at the detection waypoint; The detection data is sent to the server so that the server determines the current installation parameters of the photovoltaic string based on the detection data, and outputs warning information of abnormality of the photovoltaic string when the current installation parameters meet the preset abnormal conditions; wherein the current installation parameters include the first distance from the distance measuring device to the photovoltaic string, or the current installation parameters include the first distance and the current horizontal inclination angle of the photovoltaic string.

7. A photovoltaic panel inspection and warning system for an aircraft, characterized in that: The system comprises: An aircraft, used for obtaining a patrol route for a photovoltaic string to be detected; the patrol route includes a detection waypoint; flying along the patrol route to the detection waypoint; controlling a distance measuring device to collect detection data of the photovoltaic string at the detection waypoint; and sending the detection data to a server; The server is used to determine the current installation parameters of the photovoltaic string based on the detection data; and when the current installation parameters meet the preset abnormal conditions, output the warning information of the abnormality of the photovoltaic string; wherein the current installation parameters include the first distance from the distance measuring device to the photovoltaic string, or the current installation parameters include the first distance and the current horizontal inclination angle of the photovoltaic string.

8. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

9. An electronic device, characterized in that: The electronic device comprises: processor; a memory for storing processor-executable instructions; Wherein, when the processor calls the executable instruction, it implements the operation of any method described in claims 1-6.

10. A computer-readable storage medium, characterized in that: Computer instructions are stored thereon, and when the computer instructions are executed by a processor, the steps of any method described in claims 1-6 are implemented.

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