Ground inspection equipment of photovoltaic module and control method of ground inspection equipment

Abstract

The invention relates to ground inspection equipment for a photovoltaic module and a control method of the ground inspection equipment. The crawler-type walking mechanisms are arranged on the two sides of the machine body and comprise crawler belt assemblies and servo motors, and the servo motors are used for driving crawler belts to move; the PLC is connected with the servo motor and monitors the electric quantity of the power supply module in real time through an ADC (Analog to Digital Converter) interface; and the main controller is used for determining a return path in response to the fact that the return condition is met, and controlling the crawler-type walking mechanism to move according to the return path, and the determined return path comprises at least one of the following items: if the completion progress of the current task does not reach the preset progress, the current task does not reach the preset progress; determining a return path according to the task execution path, the obstacle information, the current residual electric quantity and the charging pile information; and determining a return path based on the electric quantity information, the position information and the obstacle identification information of each device in the device cluster. According to the method and the device, the equipment can perform reasonable path planning during homeward voyage so as to ensure efficient and successful homeward voyage.

Description

Technical Field

[0001] This application relates to the field of photovoltaic technology, and particularly to a ground inspection device for photovoltaic modules and its control method. Background Art

[0002] The ground inspection device collects images of photovoltaic modules when walking within the area of the photovoltaic modules.

[0003] In the existing technology, the design of the power system of the ground inspection device fails to fully consider the terrain adaptability, resulting in unstable driving in complex terrains, and there are problems with unreasonable path planning during the return journey, leading to situations where the return cannot be successfully achieved or the return process is inefficient. Summary of the Invention

[0004] To address the above technical problems, this application provides a ground inspection device for photovoltaic modules and its control method, which adopts a crawler-type walking mechanism to improve the walking stability and can perform reasonable path planning during the return journey to ensure an efficient and successful return.

[0005] To solve the above technical problems, this application provides a ground inspection device for photovoltaic modules, including: A fuselage; A first image acquisition device, arranged at the front of the fuselage; A second image acquisition device, arranged at the bottom of the fuselage and connected to the control end through a first interface; A crawler-type walking mechanism, arranged on both sides of the fuselage, including a crawler assembly and a servo motor, where the servo motor is used to drive the crawler assembly to move so as to drive the fuselage to move; A power supply module, used to provide electrical energy for the electrical components of the ground inspection device; A PLC, connected to the servo motor and used to monitor the power of the power supply module in real time through an ADC interface; A main controller, respectively connected to the first image acquisition device, the second image acquisition device and the PLC; The main controller is configured to: Judge whether the return condition is met; In response to meeting the return condition, determine the return path and control the crawler-type walking mechanism to move according to the return path. The determination of the return path includes at least one of the following: If the completion progress of the current task has not reached the preset progress, determine the return path according to the task execution path, obstacle information, current remaining power and charging pile information; Determine the return path based on the power information, position information and obstacle recognition information of each device in the device cluster.

[0006] In some embodiments, determining the return path further includes: If the completion progress of the current task reaches a preset progress, determine the return path based on the obstacle information, the current remaining power, and the charging pile information.

[0007] In some embodiments, determining the return path based on the obstacle information, the current remaining power, and the charging pile information includes: When the current remaining power is greater than or equal to the first power threshold, determine the charging pile that can be charged fastest based on the charging pile information and the obstacle information, and determine the corresponding return path; When the current remaining power is less than the first power threshold, determine the nearest charging pile based on the charging pile information and the obstacle information, and determine the corresponding return path.

[0008] In some embodiments, determining the return path based on the power information, the position information, and the obstacle recognition information of each device in the device cluster includes: Determine the target device in the device cluster for assisting the current device to charge based on the power information, the position information, and the obstacle recognition information of each device in the device cluster; According to the position information and the obstacle recognition information of the target device, determine the first return path for the current device to move to the target device; According to the charging result at the target device and the obstacle recognition information, determine the second return path for the current device to move from the target device to the charging pile.

[0009] In some embodiments, determining whether the return condition is met includes at least one of the following: Predict the longest running time that the remaining power can support based on the power consumption model, and adjust the longest running time according to the task progress to determine whether the current return condition is met; Determine whether the current is a task stop node. If so, determine whether the return condition is met; Determine whether the return condition is met according to the priority of the current task being executed.

[0010] In some embodiments, the main controller is further configured to: Determine the current minimum power threshold according to the remaining walking distance; Determine the power supply strategy according to the current remaining power, the minimum power threshold, and the working states of each power-consuming component.

[0011] In some embodiments, determining the power supply strategy according to the current remaining power, the minimum power threshold, and the working states of each power-consuming component includes: When the current remaining power is greater than or equal to the current minimum power threshold and the first type of electrical components are in the working state, supply power to the first type of electrical components; When the current remaining power is less than the current minimum power threshold and the first type of electrical components are in the working state, save the working data of the first type of electrical components and stop supplying power to the first type of electrical components.

[0012] In some embodiments, the PLC includes an STM32 series microcontroller.

[0013] In some embodiments, the PLC is also connected to a control terminal and a regenerative resistor.

[0014] In some embodiments, an indicator light and a display device are provided on the body, and the controller is further configured to: After the system is powered on, perform a system self-check; If a fault is detected, control the indicator light to light up and display relevant fault information through the display device.

[0015] In some embodiments, the controller is further configured to: During the movement of the crawler-type traveling mechanism, judge the required moving direction based on the acquisition data of the first image acquisition device; If the moving direction is straight, send a straight-line instruction to the PLC to make the PLC control the crawler-type traveling mechanism to move straight; If the moving direction is turning, send a turning instruction to the PLC to make the PLC control the crawler-type traveling mechanism to turn; If the moving direction is reaching the edge, send a stop instruction to the PLC to make the PLC control the crawler-type traveling mechanism to stop moving.

[0016] This application also provides a control method for a ground inspection device of a photovoltaic module, including: Judge whether the return condition is met; In response to meeting the return condition, determine a return path and control the crawler-type traveling mechanism to move according to the return path. The determination of the return path includes at least one of the following: If the completion progress of the current task has not reached the preset progress, determine the return path according to the task execution path, obstacle information, current remaining power, and charging pile information; Determine the return path based on the power information, position information, and obstacle recognition information of each device in the device cluster.

[0017] The present application also provides an electronic device, including a storage medium and a controller. A computer program is stored on the storage medium, and when the computer program is executed by the controller, the steps of the method described above are implemented.

[0018] The present application also provides a storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method described above are implemented.

[0019] The ground inspection device and its control method for a photovoltaic module of the present application, the device includes: a fuselage; a crawler-type walking mechanism arranged on both sides of the fuselage, including a crawler assembly and a servo motor, and the servo motor is used to drive the crawler to move; a PLC, connected to the servo motor, and the power of the power module is monitored in real time through an ADC interface; a main controller, configured to: in response to meeting the return condition, determine a return path, and control the crawler-type walking mechanism to move according to the return path. Determining the return path includes at least one of the following: if the completion progress of the current task does not reach the preset progress, determine the return path according to the task execution path, obstacle information, current remaining power, and charging pile information; determine the return path based on the power information, position information, and obstacle recognition information of each device in the device cluster. In the present application, the device can perform reasonable path planning during return to ensure an efficient and successful return. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic structural diagram of a ground inspection device for a photovoltaic module shown according to an embodiment.

[0021] Figure 2 is one of the schematic structural diagrams of a crawler-type walking mechanism shown according to an embodiment.

[0022] Figure 3 is another schematic structural diagram of a crawler-type walking mechanism shown according to an embodiment.

[0023] Figure 4 is a power supply schematic diagram of a crawler-type walking mechanism shown according to an embodiment.

[0024] Figure 5 is a communication schematic diagram of a PLC shown according to an embodiment.

[0025] Figure 6 is a communication schematic diagram of a crawler-type walking mechanism shown according to an embodiment.

[0026] Figure 7 is a schematic diagram of a motion model of a crawler-type walking mechanism shown according to an embodiment.

[0027] Figure 8It is a schematic flowchart of a control method for a ground inspection device of a photovoltaic module shown according to an embodiment. Detailed implementation manners

[0028] To facilitate the understanding of this application, the following will describe this application more comprehensively with reference to the relevant drawings. The preferred embodiments of this application are shown in the drawings. However, this application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the disclosure of this application more thorough and comprehensive.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs. The terms used in the description of this application in this specification are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items. In this application, "each" includes one and more than two quantities.

[0030] Figure 1 It is a schematic structural diagram of a ground inspection device of a photovoltaic module shown according to an embodiment. Figure 2 and Figure 3 is a schematic structural diagram of a crawler-type traveling mechanism shown according to an embodiment. As Figures 1 to 3 shown, the ground inspection device of the photovoltaic module of this application includes a fuselage (not shown in the figure), a first image acquisition device 13, a second image acquisition device 14, a crawler-type traveling mechanism 18, a power supply module 15, a PLC 12 (programmable logic controller), and a main controller 11.

[0031] The first image acquisition device 13 is arranged at the front of the fuselage. During the movement of the ground inspection device, the first image acquisition device 13 acquires images and / or videos in front of the fuselage to provide environmental information around the device.

[0032] The second image acquisition device 14 is arranged at the bottom of the fuselage. During the movement of the ground inspection device, the second image acquisition device 14 acquires images and / or videos under the fuselage to obtain images of the surface of the photovoltaic module, and these images can be used for the detection of defects of the photovoltaic module. The second image acquisition device 14 is connected to the control terminal 20 through a first interface. Thus, it can communicate with the control terminal 20 and transmit the acquired images to the control terminal 20. The images acquired by the second image acquisition device 14 can also be stored locally in the device first and then transmitted to the control terminal 20 when a transmission instruction is received.

[0033] The crawler-type traveling mechanism 18 is arranged on both sides of the fuselage and includes a crawler assembly and a servo motor 181. The servo motor 181 is used to drive the crawler assembly to move so as to drive the fuselage to move. Specifically, the crawler assembly includes crawlers 182, a driving wheel 1821, a driven wheel 1822, and a driven wheel coupling shaft 1824. Crawlers 182 are respectively arranged on both sides of the fuselage. Each crawler 182 is respectively engaged with a driving wheel 1821 and a driven wheel 1822. The driven wheels 1822 on both sides of the fuselage are connected by the driven wheel coupling shaft 1824 to move synchronously. Each driving wheel 1821 is connected to the output shaft of a servo motor 181. By controlling the operation of the servo motor 181, the driving wheel 1821 can be driven to rotate. Further, the driven wheel 1822 is driven by the crawler 182 to realize the overall movement of the fuselage.

[0034] The crawler-type traveling mechanism 18 has a larger contact area with the ground and a longer span, resulting in a smaller pressure on the ground. Therefore, it has stronger obstacle-crossing and ditch-crossing capabilities, is stable in movement and not prone to slipping, has a strong climbing ability and is not prone to tipping over, and has a strong load capacity and is not prone to causing hidden crack damage to the surface of the photovoltaic panel.

[0035] The power supply module 15 is used to provide electrical energy for the electrical components of the ground inspection equipment. The electrical components include various electrical components arranged on the fuselage, including a PLC 12, a main controller 11, a first image acquisition device 13, a second image acquisition device 14, a servo motor 181, etc. The power supply module 15 can adopt a lithium battery, for example. Its characteristics of high energy density and light weight are more suitable for the ground inspection equipment. The power supply module 15 can be connected to a charging circuit. By designing a suitable charging circuit, the safety and efficiency of the power supply module 15 can be ensured, and overcharging or over-discharging can be avoided at the same time.

[0036] Please refer to Figure 4 , the power supply circuit of the power supply module 15 is respectively connected to the control circuit boards of the servo motors 181 on both sides of the fuselage. The servo motors 181 are connected to the corresponding interfaces of the control circuit boards through aviation plugs to realize the power supply from the power supply module 15 to the servo motors 181.

[0037] Please refer to Figure 5 and Figure 6 , the PLC 12 is connected to the servo motor 181 and monitors the power of the power supply module 15 in real time through the ADC interface. In this embodiment, the PLC 12 is implemented based on the STM32 series microcontroller, so that rich peripheral interfaces can be integrated and the control circuit can be simplified, realizing more precise control of the crawler-type traveling mechanism 18. Further, the overall structure of the equipment can be effectively simplified, the failure rate can be reduced, and maintenance is facilitated. On the basis of using the crawler-type traveling mechanism 18, power monitoring is carried out. In the case where the energy consumption of the crawler-type traveling mechanism 18 is relatively large, better working performance can be obtained through the management and optimization of the power energy.

[0038] The main controller 11 is respectively connected to the first image acquisition device 13, the second image acquisition device 14 and the PLC 12, and is used to control the operation of the first image acquisition device 13 and the second image acquisition device 14, and perform data transmission and / or instruction transmission with the PLC 12.

[0039] In some embodiments, the PLC 12 is further connected to the control terminal 20 and the regenerative resistor 16. The control terminal 20 is, for example, a device such as a host computer or a tablet computer. The control terminal 20 can further be connected to a cloud server to obtain more algorithm functions and storage space. The regenerative resistor 16 is used to recover the energy generated when the servo motor 181 works, and further optimize the energy consumption management of the device.

[0040] In some embodiments, please refer to Figure 1 , an indicator light (not shown in the figure) and a display device 17 are provided on the body, and the main controller 11 is further configured to: After the system is powered on, perform a system self-check; If a fault is detected, control the indicator light to light up, and display the relevant fault information through the display device 17.

[0041] Among them, after the system is powered on, initialization is performed. After the initialization is completed, a system self-check is performed. If a fault is detected, control the indicator light to light up, and display the relevant fault information through the display device 17. At this time, the operator can perform fault troubleshooting to eliminate the fault. If no fault is detected, enter the standby state and wait to receive vehicle control operations to work.

[0042] In some embodiments, the main controller 11 is further configured to: During the movement of the crawler-type traveling mechanism 18, judge the required moving direction based on the acquisition data of the first image acquisition device 13; If the moving direction is straight, send a straight instruction to the PLC 12 to make the PLC 12 control the crawler-type traveling mechanism 18 to move straight; If the moving direction is turning, send a turning instruction to the PLC 12 to make the PLC 12 control the crawler-type traveling mechanism 18 to turn; If the moving direction is reaching the edge, send a stop instruction to the PLC 12 to make the PLC 12 control the crawler-type traveling mechanism 18 to stop moving.

[0043] Among them, the acquisition data of the first image acquisition device 13 reflects the information of the surrounding environment, so it can be used to judge the required moving direction. When moving straight, the direction and magnitude of the speeds of the crawler-type traveling mechanisms 18 on both sides of the body are equal, and the linear speed of the body is the linear speed of each crawler-type traveling mechanism 18. When turning, rotate and turn left or right states, such as Figure 7As shown, the speeds of the crawler traveling mechanisms 18 on both sides of the fuselage are the same in magnitude but opposite in direction. The linear speed of the crawler traveling mechanisms 18 is 0, and they only perform rotational motion. At this time, the crawler traveling mechanisms 18 have a lateral component speed along the axial direction of the servo motor 181. Since the component speeds of the crawler traveling mechanisms 18 on both sides are different in magnitude and direction, the fuselage will generate a rotational component motion, and the longitudinal component speed generates a longitudinal component motion. The combined motion is manifested as the fuselage making a circular motion around the ICR (instantaneous center of rotation).

[0044] Please refer to Figure 7 , COM represents the center of mass, ICR represents the instantaneous center of rotation of the device. Taking ICR-COM as the horizontal axis and the geometric center of the device-COM as the vertical axis, the positions of the virtual left and right wheels are assumed to be at points L and R respectively. Using the center of mass as the origin, a coordinate system of the device is established. The positive direction of the Y-axis is the forward movement direction of the device, the positive direction of the X-axis is perpendicular to it and to the left, and the Z-axis is perpendicular to the paper and outward, satisfying the right-hand rule.

[0045] The radius of rotation of the center of mass COM can be expressed as:

[0046] In the formula, dLR represents the virtual wheel spacing, Vl and Vr respectively represent the linear speeds of the virtual left and right wheels (which are also the linear speeds of the left and right crawlers 182), Va and Vb respectively represent the component speeds corresponding to points A and B when the device rotates, and Vay and Vby respectively represent the speeds of points A and B along the Y-axis direction when the device rotates.

[0047] When moving straight, the forward kinematic model calculates the speed of the geometric center of mass COM based on the speeds of the left and right drive wheels. Just keep the speeds of the left and right drive wheels the same. To keep the speeds of the left and right wheels the same, for example, the left and right drive wheels can work in a synchronous manner, and the synchronization time is 0.5 ms.

[0048] When turning, the inverse kinematic model calculates the speed of the geometric center of mass COM based on the speeds of the left and right drive wheels, which are in opposite directions. Just keep the speeds of the left and right drive wheels the same and in opposite directions. To keep the speeds of the left and right wheels the same, for example, the left and right drive wheels can work in a synchronous manner, and the synchronization time is 0.5 ms.

[0049] The forward kinematic model is to calculate the speed of the geometric center of mass COM based on the speeds of the virtual left and right motion drive wheels, and can be expressed as:

[0050] In the above formula, Vc represents the linear speed of the geometric center of mass COM of the device.

[0051] The inverse kinematic model is to decompose the speed of the geometric center of mass COM into the speeds of the left and right drive wheels, and can be expressed as:

[0052] In the above formula, Wc represents the angular velocity of the device around the geometric center of mass COM, which is used for the speed decomposition or synchronization control of the drive wheels.

[0053] In some embodiments, the main controller 11 is configured to: Determine whether the return condition is met; In response to meeting the return condition, determine the return path and control the tracked walking mechanism to move according to the return path. Determining the return path includes at least one of the following: Determine the return path based on obstacle information, current remaining power, and charging pile information; Determine the return path based on the current task information; Determine the return path based on the power information, location information, and obstacle recognition information of each device in the device cluster.

[0054] Among them, the device adopts a tracked walking mechanism. On the basis of improving the walking stability, considering obstacle information, remaining power, task information, and the cooperation of the device cluster during return, reasonable path planning can be carried out to ensure an efficient and successful return.

[0055] In some embodiments, determining whether the return condition is met includes at least one of the following: Predict the longest running time that the remaining power can support based on the power consumption model, and adjust the longest running time according to the task progress to determine whether the current return condition is met; Determine whether the current is a task stop node. If so, determine whether the return condition is met; Determine whether the return condition is met according to the priority of the current task being executed.

[0056] Among them, whether to return can be judged based on power and tasks. The power consumption model characterizes the relationship between the operating state of the device, environmental factors, etc. and power consumption. The operating state of the device includes battery temperature, speed, turning frequency, image acquisition frequency, network status, etc. Environmental factors include environmental temperature, humidity, road surface flatness, etc. Combining the power consumption model, the device can predict in real time the longest running time that the remaining power can support, and dynamically determine the longest running time that can actually be supported according to the task progress, and then dynamically adjust the return time. When the difference between the remaining time to complete the task and the longest running time cannot support the device to return to the charging pile, it is determined that the return condition is met.

[0057] When the current task includes multiple task stop nodes, the device can evaluate whether to return or continue the task after completing each task. Thus, while reducing the impact on the task execution process, it ensures that the device can return to charge in time.

[0058] The priority of the currently executing task is determined according to the regional priority. When executing tasks in a high-priority area, after each area's task is completed, the device can directly return to the charging pile for charging to ensure that the task is not interrupted in each task area and to ensure the accuracy of the task execution result. When executing tasks in a low-priority area, after a task in an area is completed, if the device's power meets the condition to continue executing the task, it can choose to continue executing the next task, thereby improving the task execution efficiency.

[0059] In some embodiments, the current task information includes the completion progress of the current task. Determining the return path based on the current task information includes: If the completion progress of the current task has not reached the preset progress, determine the return path according to the task execution path, obstacle information, current remaining power, and charging pile information; If the completion progress of the current task reaches the preset progress, determine the return path based on the obstacle information, current remaining power, and charging pile information.

[0060] Among them, when the completion progress of the current task has not reached the preset progress, to improve the task execution efficiency, when determining the return path, the task execution path is further considered. Based on the task execution path, obstacle information, current remaining power, and charging pile information, determine the target charging pile, so that the return path partially coincides with the task execution path. Thus, when the device returns to the target charging pile for charging, it can continue to inspect a part of the currently uninspected area. When the completion progress of the current task reaches the preset progress, it can directly return for charging. At this time, determine the return path only based on the obstacle information, current remaining power, and charging pile information.

[0061] In some embodiments, determining the return path based on the obstacle information, current remaining power, and charging pile information includes: When the current remaining power is greater than or equal to the first power threshold, determine the charging pile that can be charged fastest based on the charging pile information and the obstacle information, and determine the corresponding return path; When the current remaining power is less than the first power threshold, determine the nearest charging pile based on the charging pile information and the obstacle information, and determine the corresponding return path.

[0062] Among them, according to the amount of the current remaining power, different strategies are adopted to plan the return path. When the current remaining power is greater than or equal to the first power threshold, determine the charging pile that can be charged fastest based on the charging pile information and the obstacle information, and determine the corresponding return path, so that the device can be charged quickly and the waiting time can be reduced. When determining the charging pile that can be charged fastest, the charging pile information includes the location, idle state, charging power, etc. of the charging pile.

[0063] When the current remaining power is less than the first power threshold, determine the nearest charging pile based on the charging pile information and obstacle information, and determine the corresponding return path, thereby reducing the power consumption during the return journey and ensuring a successful return. Among them, the nearest charging pile can be the charging pile with the shortest straight-line distance from the device, or the charging pile with the shortest return path determined by combining the obstacle information. When determining the return path corresponding to the nearest charging pile, the return path can be planned by the shortest path algorithm (such as Dijkstra algorithm, A* algorithm, etc.), or when the device is equipped with a high-definition map and a positioning system, the map data can be used to plan the return path.

[0064] In some embodiments, determining the return path based on the power information, location information, and obstacle recognition information of each device in the device cluster includes: Determine the target device in the device cluster that is used to assist the current device in charging based on the power information, location information, and obstacle recognition information of each device in the device cluster; According to the location information and obstacle recognition information of the target device, determine the first return path for the current device to move to the target device; According to the charging result at the target device and the obstacle recognition information, determine the second return path for the current device to move from the target device to the charging pile. Among them, when the power of the device is not enough to support returning to the charging pile, a multi-device cooperation method can be adopted for the return. When carrying out multi-device cooperation, the power information, location data, and obstacle information can be shared with each other to cooperate to complete the return. When the power of one device is insufficient, other devices can provide temporary charging support, and the optimal return path can be found through sharing obstacle information. When the current device moves to the target device, wireless charging can be used for charging, thereby improving the success rate and efficiency of temporary docking charging. When the charging result at the target device is still not enough to support a direct return to the charging pile, the second return path can be the return path from the target device through another target device, so that other devices can continue to assist in charging. By means of the assistance return based on the device cluster, the inspection area can be effectively expanded, and at the same time, the requirement for the battery life of the device will not be significantly increased, reducing costs.

[0065] In addition, during the return journey, the device can adaptively adjust the path according to the current operating status (such as battery power, speed, environmental changes, etc.). For example, when the environment changes (such as the emergence of new obstacles), the device can dynamically adjust the return path to avoid getting into an impassable area. In some scenarios, the device can, based on SLAM (Simultaneous Localization and Mapping) technology, accurately determine its current position by constructing a map in real time and performing self-localization, and select a suitable return path according to the current map information. In some scenarios, the device can, based on the Global Path Planning algorithm, perform path planning on a known global map to find the optimal path from the current position to the charging station. In some scenarios, when the inspection environment is relatively complex, the device may encounter unforeseen obstacles or the path may change temporarily. At this time, it can use lidar, ultrasonic sensors, etc. to detect the surrounding environment, avoid obstacles through local path correction, or, according to the sensor feedback, adjust the return path in real time to achieve dynamic path planning and obstacle avoidance, and improve the success rate of the return journey.

[0066] In some embodiments, the main controller is further configured to: During the return journey, determine the current minimum power threshold according to the remaining walking distance; Determine the power supply strategy according to the current remaining power, the minimum power threshold, and the working status of each power-consuming component.

[0067] During the return of the device, the power supply strategy of the power module 15 is adjusted in real time according to the remaining walking distance and the current remaining power to optimize the use of the remaining power, and while ensuring that the device can return to the designated position, reduce the impact of insufficient power on the working status of the device.

[0068] Wherein, the current minimum power threshold refers to the minimum power that can enable the device to return to the designated position. Due to the different ground conditions or the straightness of the path, the power consumption of the tracked walking mechanism 18 changes in real time. Therefore, determining the power supply strategy according to the current remaining power, the minimum power threshold, and the working status of each power-consuming component can adjust the working status of each power-consuming component in real time, thereby ensuring that the device can return to the designated position and, at the same time, reducing the impact of insufficient power on the working status of the device.

[0069] In some embodiments, determining the power supply strategy according to the current remaining power, the minimum power threshold, and the working status of each power-consuming component includes: When the current remaining power is greater than or equal to the current minimum power threshold and the first type of power-consuming component is in the working state, supply power to the first type of power-consuming component; When the current remaining power is less than the current minimum power threshold and the first type of power-consuming component is in the working state, save the working data of the first type of power-consuming component and stop supplying power to the first type of power-consuming component.

[0070] Among them, the first type of power-consuming components includes components such as the second image acquisition device 14 and the network connection module that are not necessary for work when the device returns. However, the work of these power-consuming components can improve work efficiency. Therefore, during the return process of the device, the power supply is adjusted in real time according to the change in power. When the power is still sufficient for the second image acquisition device to use, the second image acquisition device 14 continues to work to acquire images of the photovoltaic module, which can improve the progress of this inspection when the power is low. When the power is not sufficient for the second image acquisition device 14 to continue using, the first type of power-consuming components is turned off and the work data is saved to ensure that the device can return to the designated position.

[0071] The ground inspection device for photovoltaic modules of the present application includes: a fuselage; a crawler-type traveling mechanism provided on both sides of the fuselage, including crawlers and servo motors, and the servo motors are used to drive the crawlers to move; a PLC connected to the servo motor 181 and used to monitor the power of the power supply module in real time through an ADC interface; a main controller for: in response to meeting the return condition, determining a return path and controlling the crawler-type traveling mechanism to move according to the return path. Determining the return path includes at least one of the following: if the completion progress of the current task does not reach the preset progress, determining the return path according to the task execution path, obstacle information, current remaining power, and charging pile information; determining the return path based on the power information, position information, and obstacle recognition information of each device in the device cluster. In the present application, the device adopts a crawler-type traveling mechanism to improve the walking stability and can perform reasonable path planning during the return to ensure an efficient and successful return.

[0072] As Figure 8 shown, the present application also provides a control method for a ground inspection device for photovoltaic modules, including: S1, determining whether the return condition is met; S2, in response to meeting the return condition, determining a return path and controlling the crawler-type traveling mechanism to move according to the return path. Determining the return path includes at least one of the following: if the completion progress of the current task does not reach the preset progress, determining the return path according to the task execution path, obstacle information, current remaining power, and charging pile information; determining the return path based on the power information, position information, and obstacle recognition information of each device in the device cluster.

[0073] In some embodiments, when determining the return path, it further includes: if the completion progress of the current task reaches the preset progress, determining the return path based on the obstacle information, current remaining power, and charging pile information.

[0074] In some embodiments, determining a return path based on the power information, location information, and obstacle recognition information of each device in the device cluster includes: Determining a target device in the device cluster for assisting the current device to charge based on the power information, location information, and obstacle recognition information of each device in the device cluster; Determining a first return path for the current device to move to the target device according to the location information and obstacle recognition information of the target device; Determining a second return path for the current device to move from the target device to the charging pile according to the charging result at the target device and the obstacle recognition information.

[0075] In some embodiments, determining whether the return condition is met includes at least one of the following: Predicting the longest running time that the remaining power can support based on the power consumption model, and adjusting the longest running time according to the task progress to determine whether the current return condition is met; Determining whether the current is a task stop node, and if so, determining whether the return condition is met; Determining whether the return condition is met according to the priority of the currently executed task.

[0076] In some embodiments, the method further includes: During the return process, determining the current minimum power threshold according to the remaining walking distance; Determining a power supply strategy according to the current remaining power, the minimum power threshold, and the working states of each power-consuming component.

[0077] In some embodiments, determining a power supply strategy according to the current remaining power, the minimum power threshold, and the working states of each power-consuming component includes: When the current remaining power is greater than or equal to the current minimum power threshold and the first type of power-consuming component is in the working state, supplying power to the first type of power-consuming component; When the current remaining power is less than the current minimum power threshold and the first type of power-consuming component is in the working state, saving the working data of the first type of power-consuming component and stopping supplying power to the first type of power-consuming component.

[0078] In some embodiments, an indicator light and a display device are provided on the fuselage, and the method further includes: After the system is powered on, performing a system self-check; If a fault is detected, controlling the indicator light to light up and displaying relevant fault information through the display device.

[0079] In some embodiments, the method further includes: During the movement of the crawler walking mechanism, determining the required movement direction based on the acquisition data of the first image acquisition device; If the moving direction is straight ahead, send a straight-ahead instruction to the PLC to make the PLC control the crawler-type traveling mechanism to move straight ahead; If the moving direction is turning, send a turning instruction to the PLC to make the PLC control the crawler-type traveling mechanism to turn; If the moving direction is reaching the edge, send a stop instruction to the PLC to make the PLC control the crawler-type traveling mechanism to stop moving.

[0080] For the specific implementation process of the above method, please refer to the description of the device embodiment and will not be elaborated here.

[0081] This application also provides an electronic device, including a storage medium and a controller. A computer program is stored on the storage medium. When the computer program is executed by the controller, the steps of the method described in the above embodiment are implemented.

[0082] This application also provides a storage medium. A computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the method described in the above embodiment are implemented.

[0083] The above embodiments only represent several implementation manners of this application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of this application, several modifications and improvements can still be made, and these all belong to the protection scope of this application. Therefore, the protection scope of the patent of this application shall be subject to the appended claims.

Claims

1. A ground inspection device for a photovoltaic module, characterized in that, Comprising: A fuselage; A first image acquisition device, arranged at the front of the fuselage; A second image acquisition device, arranged at the bottom of the fuselage, and connected to a control terminal through a first interface; A crawler-type traveling mechanism, arranged on both sides of the fuselage, including a crawler assembly and a servo motor, and the servo motor is used to drive the crawler assembly to move so as to drive the fuselage to move; A power supply module, used to supply electrical energy to the electrical components of the ground inspection equipment; A PLC, connected to the servo motor, and real-time monitoring the power of the power supply module through an ADC interface; A main controller, respectively connected to the first image acquisition device, the second image acquisition device and the PLC; The main controller is configured to: Judge whether the return condition is met; In response to meeting the return condition, determine a return path, and control the crawler-type traveling mechanism to move according to the return path, and the determination of the return path includes at least one of the following: If the completion progress of the current task does not reach the preset progress, determine the return path according to the task execution path, obstacle information, current remaining power and charging pile information; Determine the return path based on the power information, position information and obstacle recognition information of each device in the device cluster.

2. The ground inspection device for a photovoltaic module according to claim 1, characterized in that, The determination of the return path further includes: If the completion progress of the current task reaches the preset progress, determine the return path based on the obstacle information, current remaining power and charging pile information.

3. The ground inspection device for a photovoltaic module according to claim 1, wherein, The determination of the return path based on the power information, position information and obstacle recognition information of each device in the device cluster includes: Determine a target device in the device cluster for assisting the current device to charge based on the power information, position information and obstacle recognition information of each device in the device cluster; According to the position information and obstacle recognition information of the target device, determine a first return path for the current device to move to the target device; According to the charging result at the target device and the obstacle recognition information, determine a second return path for the current device to move from the target device to the charging pile.

4. The ground inspection device for a photovoltaic module according to any one of claims 1 to 3, characterized in that Judging whether the return condition is met includes at least one of the following: Based on the power consumption model, predict the longest running time that the remaining power can support, and adjust the longest running time according to the task progress to determine whether the current meets the return condition; Judge whether the current is a task stop node, if so, judge whether the return condition is met; Judge whether the return condition is met according to the priority of the current task being executed.

5. The ground inspection device for a photovoltaic module according to any one of claims 1 to 3, characterized in that, The main controller is further configured to: During the return process, determine the current minimum power threshold according to the remaining walking distance; Determine a power supply strategy according to the current remaining power, the minimum power threshold and the working states of each electrical component.

6. The ground inspection device for a photovoltaic module according to claim 5, wherein, The determination of the power supply strategy according to the current remaining power, the minimum power threshold and the working states of each electrical component includes: When the current remaining power is greater than or equal to the current minimum power threshold and the first type of electrical component is in a working state, supply power to the first type of electrical component; When the current remaining power is less than the current minimum power threshold and the first type of electrical component is in a working state, save the working data of the first type of electrical component and stop supplying power to the first type of electrical component.

7. A control method for a ground inspection device of a photovoltaic module, characterized in that, Including: Determine whether the return condition is met; In response to meeting the return condition, determine a return path and control the tracked walking mechanism to move according to the return path. The determination of the return path includes at least one of the following: If the completion progress of the current task does not reach the preset progress, determine the return path according to the task execution path, obstacle information, current remaining power, and charging pile information; Determine the return path based on the power information, location information, and obstacle recognition information of each device in the device cluster.

8. An electronic device, comprising a storage medium and a controller, characterized in that, A computer program is stored on the storage medium, and when the computer program is executed by the controller, the steps of the method described in claim 7 are implemented.

9. A storage medium, characterized in that, A computer program is stored on the storage medium, and when the computer program is executed by the processor, the steps of the method described in claim 7 are implemented.

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