Intelligent robot inspection system and inspection method for photovoltaic equipment

Abstract

The invention discloses a photovoltaic equipment intelligent robot inspection system and inspection method, and the system comprises an inspection vehicle which is provided with a loading platform; the photovoltaic charging system is arranged on the loading platform; the sensor assembly is arranged on the loading platform, and the sensor assembly comprises an infrared imaging sensor, an acoustic imaging sensor and a humidity sensor; the protection device comprises a protection cover, the protection cover can be switched between an unfolded state and a folded state, in the unfolded state, the protection cover completely covers the sensor assembly, in the folded state, the protection cover is far away from the sensor assembly, and the protection device is electrically connected with the sensor assembly; the navigation system and the sensor assembly are both in communication connection with the control system. According to the intelligent robot inspection system for the photovoltaic equipment, the inspection efficiency of the photovoltaic equipment is higher, inspection is more comprehensive, and safe and stable operation of the photovoltaic equipment is well guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic inspection equipment, and particularly to an intelligent robot inspection system and inspection method for photovoltaic equipment. Background Art

[0002] The photovoltaic power generation industry has developed vigorously in the process of continuous promotion and in-depth implementation of the concept of clean energy. The safe and stable operation of photovoltaic equipment is a crucial influencing factor for photovoltaic power generation. Therefore, it is usually necessary for inspection personnel to conduct inspection operations on photovoltaic equipment to ensure its safe and stable operation.

[0003] The traditional inspection method is for inspection personnel to check each photovoltaic module in the photovoltaic equipment one by one. Since photovoltaic equipment often has a wide distribution area, high-voltage areas, remote geographical locations, and harsh environments, the traditional inspection method has problems such as high inspection costs, high danger during inspection, poor inspection flexibility, and difficulty in fully covering the inspection.

[0004] In the related art, using robots to replace inspection personnel to conduct inspection operations in the distribution area of photovoltaic equipment can well avoid the problems existing in manual inspection. However, the inspection function is relatively single, it is prone to failure in relatively harsh environmental conditions, the running stability and reliability are not good, and the battery life is insufficient, making it difficult to continuously conduct inspections for a long time, resulting in poor inspection efficiency of photovoltaic equipment. Summary of the Invention

[0005] The present invention aims to at least solve one of the technical problems existing in the prior art. For this reason, the present invention provides an intelligent robot inspection system for photovoltaic equipment, which can more comprehensively inspect photovoltaic equipment, can operate more stably and reliably in harsh environments, has a longer battery life, and can perform inspection operations more efficiently.

[0006] The present invention also provides an inspection method for the above-mentioned intelligent robot inspection system for photovoltaic equipment.

[0007] The intelligent robot inspection system for photovoltaic equipment according to the first aspect of the present invention includes: an inspection vehicle, which is provided with a loading platform; a photovoltaic charging system, which is arranged on the loading platform; a sensor assembly, which is arranged on the loading platform, and the sensor assembly includes an infrared imaging sensor, an acoustic imaging sensor and a humidity sensor; a protection device, which includes a protective cover, and the protective cover is switchable between an unfolded state and a stored state. In the unfolded state, the protective cover completely covers the sensor assembly. In the stored state, the protective cover is away from the sensor assembly, and the protection device is electrically connected to the sensor assembly; a navigation system and a control system, and both the navigation system and the sensor assembly are communicatively connected to the control system.

[0008] In the intelligent robot inspection system for photovoltaic equipment according to the present invention, by setting an inspection vehicle, a photovoltaic charging system, a sensor assembly, a protection device and a navigation system, the control system can cooperate with the navigation system to enable the inspection vehicle to perform automatic cruise operations well. The photovoltaic charging system can well improve the endurance of the inspection vehicle, so that the inspection vehicle can cooperate with the sensor assembly and the protection device to perform inspection operations more durably. The protection device can protect the sensor assembly in bad weather, so that the intelligent robot inspection system for photovoltaic equipment can operate more stably and reliably to perform inspection operations, thereby making the inspection efficiency of the photovoltaic equipment higher, the inspection more comprehensive and safer, and the inspection effect better, and well guaranteeing the safe and stable operation of the photovoltaic equipment.

[0009] In some embodiments of the present invention, the photovoltaic charging system includes: a photovoltaic panel and a robotic arm, the robotic arm is installed on the loading platform, the photovoltaic panel is detachably installed on the robotic arm, the robotic arm is used to adjust the orientation of the photovoltaic panel, and the robotic arm is electrically connected to the control system; a light intensity sensor, which is arranged on the loading platform and communicatively connected to the control system; a battery device, which is arranged on the inspection vehicle and is used to supply power to the inspection vehicle, the photovoltaic charging system, the sensor assembly, the protection device, the navigation system and the control system, and the battery device is electrically connected to the photovoltaic panel.

[0010] In some embodiments of the present invention, the sensor assembly further includes a temperature sensor, and the temperature sensor is electrically connected to the control system.

[0011] In some embodiments of the present invention, the navigation system includes: a vision sensor, which is arranged on the loading platform and is located at the front end of the inspection vehicle in the forward direction; a positioning module, which is arranged on the inspection vehicle, and both the positioning module and the vision sensor are communicatively connected to the control system.

[0012] In some embodiments of the present invention, the intelligent robot inspection system for photovoltaic devices further includes a remote control platform, and the remote control platform is communicatively connected to the control system.

[0013] In one embodiment of the present invention, the control system includes: a control module, the control module is electrically connected to the inspection vehicle, the photovoltaic charging system, the sensor assembly, the protection device and the navigation system; a communication module, the communication module is electrically connected to the control module, and the communication module is communicatively connected to the remote control platform; an audible and visual alarm module, the audible and visual alarm module is disposed on the inspection vehicle and / or the remote control platform, and the audible and visual alarm module is electrically connected to the communication module.

[0014] According to the photovoltaic device intelligent robot inspection method of the second aspect of the present invention, which is applied to the photovoltaic device intelligent robot inspection system of the first aspect of the present invention, the photovoltaic device intelligent robot inspection method includes: obtaining a planned inspection route; inspecting the photovoltaic devices along the inspection route; obtaining the operating state parameters and environmental parameters of the photovoltaic devices; determining whether the operating parameters and environmental parameters of the photovoltaic devices are abnormal; alarming when the operating state parameters are abnormal; when the environmental parameters are abnormal, reducing the inspection speed and starting the protection device to cover the sensor assembly.

[0015] According to the photovoltaic device intelligent robot inspection method of the present invention, by applying the photovoltaic device intelligent robot inspection system of the above first aspect, by setting the inspection vehicle to inspect the photovoltaic devices along the inspection route, setting an alarm when the operating state is abnormal, and the protection device covering the sensor assembly when the environmental parameters are abnormal, the inspection vehicle can cooperate with the sensor assembly and the protection device to perform the inspection operation more persistently. The protection device can protect the sensor assembly in bad weather, so that the photovoltaic device intelligent robot inspection system can operate more stably and reliably to perform the inspection operation, thereby making the inspection efficiency of the photovoltaic devices higher, the inspection more comprehensive and safer, and the inspection effect better, and well guaranteeing the safe and stable operation of the photovoltaic devices.

[0016] In some embodiments of the present invention, the step of inspecting the photovoltaic devices along the inspection route includes: confirming the path accessibility in the direction of the inspection route; when the path in the direction of the inspection route is unobstructed, performing normal inspection; when the path in the direction of the inspection route is blocked, planning a temporary detour path, passing through the blocked position along the temporary detour path, and continuing the inspection.

[0017] In some embodiments of the present invention, when inspecting the photovoltaic devices along the inspection route, the photovoltaic device intelligent robot inspection method further includes: adjusting the orientation of the photovoltaic panels for charging.

[0018] In some embodiments of the present invention, the operating state parameters include: temperature parameters and vibration parameters, and the environmental parameters include ambient temperature and ambient humidity.

[0019] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. Description of the Drawings

[0020] Figure 1 It is a schematic diagram when the protective cover is in the retracted state in the intelligent robot inspection system for photovoltaic equipment according to an embodiment of the present invention;

[0021] Figure 2 It is a schematic diagram when the protective cover is in the deployed state in the intelligent robot inspection system for photovoltaic equipment according to an embodiment of the present invention;

[0022] Figure 3 It is a schematic diagram of the inspection vehicle, navigation system and control system in the intelligent robot inspection system for photovoltaic equipment according to an embodiment of the present invention;

[0023] Figure 4 It is a flowchart of the intelligent robot inspection method for photovoltaic equipment according to an embodiment of the present invention;

[0024] Figure 5 It is a flowchart of the intelligent robot inspection method for photovoltaic equipment according to another embodiment of the present invention;

[0025] Figure 6 It is a flowchart of the intelligent robot inspection method for photovoltaic equipment according to still another embodiment of the present invention.

[0026] Reference Signs:

[0027] 10. Inspection vehicle; 11. Loading platform;

[0028] 20. Photovoltaic charging system; 21. Photovoltaic panel; 22. Manipulator;

[0029] 30. Sensor assembly;

[0030] 40. Protective device; 41. Protective cover;

[0031] 50. Navigation system; 51. Vision sensor; 52. Positioning module;

[0032] 60. Control system;

[0033] 100. Intelligent robot inspection system for photovoltaic equipment. Detailed Embodiments

[0034] Embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present invention, and should not be construed as limiting the present invention.

[0035] Next, reference is made to Figures 1 - 3 describe an intelligent robot inspection system 100 for photovoltaic equipment according to an embodiment of the first aspect of the present invention.

[0036] As Figures 1 - 3 shown, the intelligent robot inspection system 100 for photovoltaic equipment according to an embodiment of the first aspect of the present invention includes: an inspection vehicle 10, a photovoltaic charging system 20, a sensor assembly 30, a protection device 40, a navigation system 50, and a control system 60.

[0037] Specifically, the inspection vehicle 10 is provided with a loading platform 11; the photovoltaic charging system 20 is arranged on the loading platform 11; the sensor assembly 30 is arranged on the loading platform 11, and the sensor assembly 30 includes an infrared imaging sensor, an acoustic imaging sensor, and a humidity sensor; the protection device 40 includes a protective cover 41, and the protective cover 41 can be switched between an unfolded state and a retracted state. In the unfolded state, the protective cover 41 completely covers the sensor assembly 30, and in the retracted state, the protective cover 41 is away from the sensor assembly 30. The protection device 40 is electrically connected to the sensor assembly 30; both the navigation system 50 and the sensor assembly 30 are communicatively connected to the control system 60.

[0038] In this embodiment, the intelligent robot for photovoltaic equipment includes an inspection vehicle 10. The inspection vehicle 10 is provided with a loading platform 11, which has a simple structure and can facilitate the assembly and arrangement of devices or components such as the photovoltaic charging system 20 on the inspection vehicle 10, and is also convenient for carrying other detection tools and maintenance tools, etc. When the intelligent robot for photovoltaic equipment performs an inspection operation, the inspection vehicle 10 can carry devices or components such as the photovoltaic charging system 20 and travel in the installation area of the photovoltaic equipment to perform the inspection operation. The infrared imaging sensor of the sensor assembly 30 can perform infrared imaging detection on the photovoltaic equipment, so that an infrared image of the photovoltaic equipment can be obtained.

[0039] It can be understood that when a fault occurs in the operation of the photovoltaic equipment, the temperature of the faulty part of the photovoltaic equipment will be abnormal. For example, when an electrical component in the photovoltaic equipment is short-circuited, the temperature of the short-circuited part of the electrical component will rise. Then, in the image obtained by the infrared imaging sensor, the operating condition of the photovoltaic equipment can be well detected through the temperature distribution and temperature conditions in the image.

[0040] In this embodiment, the sensor assembly 30 further includes an acoustic imaging sensor. The acoustic imaging sensor can capture images when abnormal conditions such as vibration or partial discharge occur in components of the photovoltaic device, etc., so that abnormal conditions such as component damage vibration and partial discharge in the photovoltaic device can be well detected. For example, when the support frame for supporting the photovoltaic panel becomes rusty and breaks, the acoustic imaging sensor can detect the vibration of the photovoltaic panel or the support frame, etc. For example, when partial discharge occurs in the electrical equipment in the photovoltaic device, the acoustic imaging sensor can obtain an image of the location where partial discharge occurs in the photovoltaic device based on information such as the sound waves or ultrasonic waves generated during partial discharge, so as to conveniently and accurately detect abnormalities such as vibration and partial discharge in the photovoltaic device and determine the abnormal location, thereby facilitating subsequent maintenance and other processing by the operation and maintenance personnel.

[0041] In this embodiment, the sensor assembly 30 further includes a humidity sensor. The humidity sensor can well detect the environmental humidity at the location inspected by the inspection vehicle 10. The protection device 40 is electrically connected to the sensor assembly 30. When in the deployed state, the protection device 40 completely covers the sensor assembly 30, and when in the stored state, the protection device 40 is away from the sensor assembly 30. In this way, the protection device 40 can protect the sensor assembly 30 in a timely manner according to the environmental conditions detected by the humidity sensor. For example, when the humidity sensor detects that the air humidity in the environment is relatively high, it means that the inspection vehicle 10 and the sensor assembly 30 are in an environment where it is about to rain or is already raining. The protection device 40 can switch to the deployed state to completely cover the sensor assembly 30, thereby preventing the sensor assembly 30 from being exposed to the rain environment and malfunctioning. Especially in the case of heavy rain, the protection device 40 can play a good protective role for the sensor assembly 30, so that the sensor assembly 30 can operate more stably and reliably in a harsh environment.

[0042] When the weather condition is good, the protective cover 41 is in the stored state and is arranged away from the sensor assembly 30, which can reduce the obstruction caused by the structure of the protective cover 41 to the detection of the infrared imaging sensor, acoustic imaging sensor, and humidity sensor in the sensor assembly 30, enabling the sensor assembly 30 to stably perform detection operations on the photovoltaic device.

[0043] Exemplarily, the protective cover 41 of the protection device 40 can be a folding rain curtain structure or a retractable rain curtain structure, etc. The protective cover 41 can be deployed or stored under the action of a driving device such as a driving motor to meet the usage requirements. The cover body of the protective cover 41 can be a plastic part or other material parts that can transmit infrared rays and sound waves, so that after the protective cover 41 covers the sensor assembly 30, the infrared imaging sensor and the acoustic imaging sensor can still perform detection operations well, so that the intelligent robot of the photovoltaic device can still continuously perform detection operations in bad weather, making the inspection operation efficiency of the photovoltaic device higher.

[0044] In this embodiment, an infrared imaging sensor and an acoustic imaging sensor are used to detect the operation status of the photovoltaic device. The infrared imaging sensor and the acoustic imaging sensor perform detection in a non-contact manner, with high detection efficiency. They can detect the temperature, vibration, partial discharge, etc. of the photovoltaic device, and the detection functions are more diverse and comprehensive, enabling better detection of the operation status of the photovoltaic device, and thus making the inspection effect of the photovoltaic device intelligent robot better.

[0045] In this embodiment, the inspection system 100 of the photovoltaic device intelligent robot further includes a navigation system 50 and a control system 60. The navigation system 50 and the sensor assembly 30 are both communicatively connected to the control system 60. The navigation system 50 can play a good navigation role for the advancement of the inspection vehicle 10, enabling the inspection vehicle 10 to automatically travel along the navigation path under the navigation of the navigation system 50 via the control system 60 for inspection operations. Specifically, the inspection vehicle 10 can be provided with a driving device, and the control system 60 is electrically connected to the driving device. The control system 60 controls the inspection vehicle 10 to travel along a preset route according to the navigation information of the navigation system 50, thereby realizing the automatic inspection operation of the photovoltaic device intelligent robot on the photovoltaic device.

[0046] In this embodiment, the photovoltaic charging system 20 can charge during the inspection travel of the inspection vehicle 10, enabling the driving endurance of the inspection vehicle 10 to be well improved, so that the photovoltaic device intelligent robot can continuously perform inspections for a long time, and further improving the inspection efficiency of the photovoltaic device.

[0047] In this embodiment, the inspection vehicle 10 is used to load the photovoltaic charging system 20, the sensor assembly 30, etc. for automatic inspection operations, and the sensor assembly 30 is provided with an infrared imaging sensor and an acoustic imaging sensor to detect the photovoltaic device, which can well avoid problems such as missed detection of some devices during manual inspection and potential safety hazards to inspection personnel in high-voltage areas, making the inspection of the photovoltaic device more efficient and comprehensive.

[0048] When the intelligent robot inspection system 100 of the photovoltaic equipment is operating, the inspection vehicle 10 can locate its own position through the navigation system 50. The control system 60 controls the inspection vehicle 10 to travel along the inspection path according to the information of the navigation system 50 and others. During the process of the inspection vehicle 10 traveling along the inspection path, the sensor assembly 30 continuously detects the photovoltaic equipment and the environmental conditions. The storage cover of the protection device 40 is in the storage state, and the photovoltaic charging system 20 performs the charging operation to provide more electric energy. When the weather changes, such as when it rains, the control system 60 can control the protection device 40 to operate, so that the protective cover 41 completely covers the sensor assembly 30, thereby playing a good protective role for the sensor assembly 30. The infrared imaging sensor and the acoustic imaging sensor in the sensor assembly 30 can increase the detection frequency to detect more accurately. The inspection vehicle 10 can reduce the traveling speed to cooperate with the sensor assembly 30 to detect the photovoltaic equipment more stably and accurately in bad weather.

[0049] According to the intelligent robot inspection system 100 of the photovoltaic equipment of the embodiment of the present invention, by setting the inspection vehicle 10, the photovoltaic charging system 20, the sensor assembly 30, the protection device 40 and the navigation system 50, the control system 60 can cooperate with the navigation system 50 to enable the inspection vehicle 10 to perform the automatic cruise operation well. The photovoltaic charging system 20 can well improve the endurance of the inspection vehicle 10, so that the inspection vehicle 10 can cooperate with the sensor assembly 30 and the protection device 40 to perform the inspection operation more durably. The protection device 40 can play a protective role for the sensor assembly 30 in bad weather, so that the intelligent robot inspection system 100 of the photovoltaic equipment can operate more stably and reliably to perform the inspection operation, thereby making the inspection efficiency of the photovoltaic equipment higher, the inspection more comprehensive and safer, and the inspection effect better, and well guaranteeing the safe and stable operation of the photovoltaic equipment.

[0050] In some embodiments of the present invention, such as Figure 1 and Figure 2 shown, the photovoltaic charging system 20 may include: a photovoltaic panel 21, a robotic arm 22, a light intensity sensor, and a battery device.

[0051] The robotic arm 22 is installed on the loading platform 11. The photovoltaic panel 21 is detachably installed on the robotic arm 22. The robotic arm 22 is used to adjust the orientation of the photovoltaic panel 21. The robotic arm 22 is electrically connected to the control system 60. The light intensity sensor is arranged on the loading platform 11 and is communicatively connected to the control system 60. The battery device is arranged on the inspection vehicle 10 and is used to supply power to the inspection vehicle 10, the photovoltaic charging system 20, the sensor assembly 30, the protection device 40, the navigation system 50, and the control system 60. The battery device is electrically connected to the photovoltaic panel 21.

[0052] In this embodiment, the photovoltaic charging system 20 includes a photovoltaic panel 21 and a robotic arm 22. The photovoltaic panel 21 is detachably mounted on the robotic arm 22. The robotic arm 22 is used to adjust the orientation of the photovoltaic panel 21 and is electrically connected to the control system 60. The structure is simple. During the driving of the inspection vehicle 10, the robotic arm 22 can flexibly adjust the orientation of the photovoltaic panel 21, so that the orientation of the photovoltaic panel 21 can always face the direct sunlight direction, thereby enabling the photovoltaic panel 21 to absorb solar energy to the greatest extent and convert it into electrical energy. Furthermore, it can better provide more sufficient electrical energy for the inspection vehicle 10 and the sensor assembly 30, etc., enabling the inspection vehicle 10 to have a longer cruising range, so that the intelligent robot can operate more persistently and efficiently.

[0053] In this embodiment, the photovoltaic charging system 20 further includes a light intensity sensor and a battery device. The light intensity sensor is communicatively connected to the control system 60. The light intensity sensor can detect the change of light intensity in the environment in real time, so as to obtain the change of light in the environment. The control system 60 can flexibly control the movement of the robotic arm 22 according to the change of light, so that the orientation of the photovoltaic panel 21 can always face the direct sunlight direction. Exemplarily, the robotic arm 22 can be provided with a rotatable support arm and a fixed arm. The support arm is rotatably mounted on the loading platform 11, and the fixed arm is rotatably connected to the support arm. Driving devices such as a driving motor can drive the robotic arm 22 to rotate, swing and other actions as needed, so as to change the orientation of the photovoltaic panel 21. And while changing the photovoltaic panel 21, the movement of the robotic arm 22 can also adjust the position height of the photovoltaic panel 21 according to needs, so that when there is an obstacle in the direct sunlight direction, the photovoltaic panel 21 can change its position to stably receive sunlight.

[0054] When the inspection vehicle 10 is driving, the battery device can supply power to the inspection vehicle 10, the robotic arm 22, the sensor assembly 30, the protection device 40, the navigation system 50 and the control system 60, etc. The photovoltaic panel 21 can store the converted electrical energy into the battery device, thereby replenishing the power, making the inspection operation time of the intelligent robot more persistent. For example, devices such as the inspection vehicle 10 can continuously conduct inspections for 24 hours, so that the inspection efficiency of the photovoltaic device is higher.

[0055] In this embodiment, the photovoltaic panel 21 is detachably mounted on the robotic arm 22, which can make the use of the photovoltaic panel 21 and the robotic arm 22 more flexible and convenient, enabling the robotic arm 22 to be used for more operations. Exemplarily, when there is dust or the like on the surface of the photovoltaic device that needs to be cleaned, the inspection vehicle 10 can perform inspections without loading the photovoltaic panel 21. The robotic arm 22 can be equipped with a cleaning tool. Thus, during the driving process of the inspection vehicle 10, the robotic arm 22 can use the cleaning tool to clean the photovoltaic device through operations such as rotation to ensure the normal operation of the photovoltaic device. Or the robotic arm 22 and the photovoltaic panel 21 can also be automatically separated and installed as needed. For example, the robotic arm 22 can be provided with structures such as claws that are clamped to the photovoltaic panel 21. When the inspection vehicle 10 encounters a photovoltaic device that needs to be cleaned during the inspection process, the robotic arm 22 can rotate by a certain angle to move the photovoltaic panel 21 to the storage position of the inspection vehicle 10. After the robotic arm 22 is separated from the photovoltaic panel 21, it is self-assembled and connected to the cleaning tool, and then the robotic arm 22 drives the cleaning tool to clean the photovoltaic device, as well as other assembly and separation methods, etc. In this embodiment, by detachably connecting the robotic arm 22 and the photovoltaic panel 21, the robotic arm 22 can not only be used for the support and adjustment of the photovoltaic panel 21, but also for the cleaning operation of the photovoltaic device, so that the robotic arm 22 can be utilized more fully. The robotic arm 22 is equipped with a cleaning tool for cleaning operations, which can reduce the frequency of manual cleaning, thereby reducing the workload of maintenance personnel and making the maintenance of the photovoltaic device more convenient and easier.

[0056] In some embodiments of the present invention, the sensor assembly 30 may further include a temperature sensor, and the temperature sensor is electrically connected to the control system 60.

[0057] In this embodiment, the sensor assembly 30 further includes a temperature sensor, and the temperature sensor is electrically connected to the control system 60. The structure is simple and can well detect the temperature environment state of the photovoltaic device. Since the ambient temperature will change correspondingly when the photovoltaic device has a temperature anomaly, the setting of the temperature sensor can, to a certain extent, obtain the operating condition of the photovoltaic device by detecting the ambient temperature, thereby making the detection of the photovoltaic device more accurate and reliable. At the same time, the temperature sensor can cooperate with the humidity sensor to better detect the environmental state, enabling the control system 60 to better and more accurately judge the occurrence of rain, so that the protection device 40 can cover the sensor assembly 30 more accurately and timely.

[0058] In an embodiment of the present invention, the intelligent robot inspection system 100 for photovoltaic devices may further include a rain sensor and a particle sensor, and both the rain sensor and the particle sensor are electrically connected to the control system 60.

[0059] In this embodiment, a rain sensor is provided, which can enable the sensor assembly 30 to more accurately detect rain, so that the protection device 40 can operate more stably to effectively protect the sensor assembly 30. The particle sensor can detect the dust situation in the air, so that the protection device 40 can cover the sensor assembly 30 in time when there is a dust storm, reducing the damage caused by dust to the sensor assembly 30. Thus, in cooperation with humidity sensors, temperature sensors, etc., the sensor assembly 30 can be well protected in weather conditions such as rain, snow, and dust, so that the photovoltaic device intelligent robot can perform inspection operations more stably and reliably. Exemplarily, the photovoltaic device intelligent robot inspection system 100 can also obtain the weather states at different times from weather information, so that the protection device 40 can protect the sensor assembly 30 in time.

[0060] In some embodiments of the present invention, as Figure 1 and Figure 3 shown, the navigation system 50 may include: a vision sensor 51 and a positioning module 52. The vision sensor 51 is disposed on the loading platform 11 and at the front end of the inspection vehicle 10 in the forward direction (such as Figure 1 the front end in the front-rear direction shown); the positioning module 52 is disposed on the inspection vehicle 10, and both the positioning module 52 and the vision sensor 51 are communicatively connected to the control system 60.

[0061] In this embodiment, the navigation system 50 includes a vision sensor 51 and a positioning module 52. The vision sensor 51 is disposed on the loading platform 11 and at the front end of the inspection vehicle 10 in the forward direction. The structure is simple and the layout is reasonable. The vision sensor 51 can well detect the path conditions in the forward direction of the inspection vehicle 10, so that the inspection vehicle 10 can timely obtain path information for inspection or parking to avoid obstacles. For example, when there is an obstacle on the path, the control system 60 can stop the vehicle in time according to the path conditions obtained by the vision sensor 51, thus well avoiding the situation that the inspection vehicle 10 hits the obstacle, and enabling the inspection vehicle 10 to perform inspection operations more safely and reliably.

[0062] In this embodiment, the navigation system 50 is provided with a positioning module 52, which can well meet the need for automatic cruise of the inspection vehicle 10. The photovoltaic device intelligent robot can obtain the position information of the inspection vehicle 10 through the positioning module 52, so that the control system 60 can real-time obtain the position where the inspection vehicle 10 is located. Thus, the control system 60 can plan an inspection path according to the position information and control the inspection vehicle 10 to travel along the inspection path for inspection operations. When the inspection vehicle 10 encounters an obstacle ahead, the control system 60 can also control the inspection vehicle 10 to bypass the obstacle and continue to travel, so that the operation of the inspection vehicle 10 is more stable, reliable and continuous, and the inspection operation of the photovoltaic device intelligent robot is more stable and efficient. Optionally, the positioning module 52 can be a Beidou navigation module or a global positioning module 52, etc.

[0063] In this embodiment, the vision sensor 51 can cooperate with a humidity sensor, a temperature sensor, etc. to better detect the environmental conditions. Exemplarily, the vision sensor 51 can well obtain an environmental image, so that the control system 60 can more accurately judge the environmental conditions according to the environmental image combined with the environmental information detected by the humidity sensor, etc. For example, when the environmental image is relatively dim or images such as raindrops or dust appear, the control system 60 can well control the protection device 40 to perform protection operations, so that the sensor assembly 30 can be well protected.

[0064] In an embodiment of the present invention, the sensor assembly 30 can form a multi-sensor fusion system with a light intensity sensor, a vision sensor 51, a rain sensor, a particle sensor, etc. The multi-sensor fusion system combines the functions of each sensor well, so that the reliability and accuracy of sensor detection can be well improved. During the operation of the photovoltaic device intelligent robot inspection system 100, each sensor can cooperate with each other more coordinately. For example, the vision sensor 51 can cooperate with the humidity sensor and the rain sensor to detect the environment from multiple dimensions, so that the control system 60 can obtain more comprehensive environmental information, and then the control system 60 can more accurately and reliably control the inspection vehicle 10, the protection device 40, etc. to operate. The coordinated cooperation of each sensor can reduce the overall energy consumption of multiple sensors to a certain extent and extend the service life.

[0065] In some embodiments of the present invention, the photovoltaic device intelligent robot inspection system 100 may further include a remote control platform, and the remote control platform is communicatively connected to the control system 60.

[0066] In this embodiment, the intelligent robot inspection system 100 for photovoltaic equipment further includes a remote control platform, which is communicatively connected to the control system 60, and can well meet the operation requirements of the intelligent robot inspection system 100 for photovoltaic equipment. When the intelligent robot inspection system 100 for photovoltaic equipment is operating, the images of the photovoltaic equipment acquired by the sensor assembly 30 can be transmitted to the remote control platform in real time, enabling the operation and maintenance personnel to view the operation status of the photovoltaic equipment in real time according to the infrared thermal image, so that the operation status of the photovoltaic equipment can be conveniently and immediately monitored. Furthermore, the operation and maintenance personnel or the on-duty personnel can conveniently judge and analyze based on the acquired image information and confirm to perform maintenance in a timely manner when the photovoltaic equipment fails. Thus, the operation of the photovoltaic equipment can be better safeguarded. At the same time, the operation and maintenance personnel can also control the driving of the inspection vehicle 10 through the remote control platform, so that the inspection path of the inspection vehicle 10 can be flexibly adjusted according to the actual situation. For example, when the operation and maintenance personnel find that there are potential risks in the equipment at a certain position in the photovoltaic equipment or more detailed detection is required, the operation and maintenance personnel can control the inspection vehicle 10 to drive to the equipment for detection at the remote control platform.

[0067] In an embodiment of the present invention, the control system 60 may include: a control module, a communication module, and an audible and visual alarm module. The control module is electrically connected to the inspection vehicle 10, the photovoltaic charging system 20, the sensor assembly 30, the protection device 40, and the navigation system 50; the communication module is electrically connected to the control module and communicatively connected to the remote control platform; the audible and visual alarm module is provided on the inspection vehicle 10 and / or the remote control platform, and the audible and visual alarm module is electrically connected to the communication module.

[0068] In this embodiment, the control system 60 further includes a control module, a communication module, and an audible and visual alarm module. The control module is electrically connected to the inspection vehicle 10, the photovoltaic charging system 20, the sensor assembly 30, the protection device 40, and the navigation system 50, and can well meet the operation and use requirements of the control system 60. In this embodiment, the communication module is communicatively connected to the control module and the remote control platform, and can well meet the cooperation operation requirements between the remote control platform and the inspection vehicle 10, etc., enabling the information such as images and parameters acquired by the sensor assembly 30 to be conveniently transmitted to the remote control platform, and enabling the operation and maintenance personnel to conveniently control the inspection operations of devices such as the inspection vehicle 10 and the robotic arm 22.

[0069] In this embodiment, the acoustic-optic alarm module is arranged on the inspection vehicle 10 and / or the remote control platform. For example, an acoustic-optic alarm module can be arranged on the inspection vehicle 10, or an acoustic-optic alarm module can be arranged on the remote control platform, or acoustic-optic alarm modules are arranged on both the inspection vehicle 10 and the remote control platform. When the intelligent robot for photovoltaic equipment detects an abnormality in the photovoltaic equipment, the acoustic-optic alarm module on the inspection vehicle 10 can give an acoustic-optic alarm, and / or the acoustic-optic alarm module on the remote control platform gives an alarm, so that the operation and maintenance personnel or the duty personnel can immediately obtain the message of the abnormality of the photovoltaic equipment, and the abnormality in the photovoltaic equipment can be processed in time. The way of acoustic-optic alarm can intuitively and efficiently transmit the message to the operation and maintenance personnel, etc., so that the operation and maintenance personnel, etc. can conveniently monitor the photovoltaic equipment, avoid missing information, and thus can better guarantee the operation stability and reliability of the photovoltaic equipment to a certain extent.

[0070] Next, refer to Figures 1 - 6 Describe the inspection method of the intelligent robot for photovoltaic equipment according to the second aspect embodiment of the present invention.

[0071] As Figures 1 - 6 shown, the inspection method of the intelligent robot for photovoltaic equipment according to the embodiment of the present invention is applied to the inspection system 100 of the intelligent robot for photovoltaic equipment according to the first aspect embodiment of the present invention. The inspection method of the intelligent robot for photovoltaic equipment includes: obtaining the planned inspection route; inspecting the photovoltaic equipment along the inspection route; obtaining the operating state parameters and environmental parameters of the photovoltaic equipment; judging whether the operating parameters and environmental parameters of the photovoltaic equipment are abnormal; giving an alarm when the operating state parameters are abnormal; when the environmental parameters are abnormal, reducing the inspection speed and starting the protection device 40 to cover the sensor assembly 30.

[0072] In this embodiment, the inspection method includes obtaining the planned inspection route. The control system 60 on the inspection vehicle 10 can obtain the position information of the inspection vehicle 10 through the positioning module 52. The operation and maintenance personnel can pre-plan the optimal inspection route according to the distribution of each device and equipment in the photovoltaic equipment and input it into the control system 60. The control system 60 can well control the inspection vehicle 10 to inspect the photovoltaic equipment along the inspection route according to the inspection route and the position information of the inspection vehicle 10, so that the inspection vehicle 10 can realize the function of automatic tracing. At the same time, the position information of the inspection vehicle 10 can reflect the position information of the corresponding detected equipment, so that the inspection system 100 of the intelligent robot for photovoltaic equipment can accurately and quickly locate the abnormal area when an abnormality is detected, which is convenient for the subsequent processing of the operation and maintenance personnel.

[0073] In this embodiment, the operating state parameters and environmental parameters of the photovoltaic device are obtained. The sensor assembly 30 can obtain the operating state parameters and environmental parameters of the photovoltaic device during the driving process of the inspection vehicle 10, enabling the control system 60 to determine whether the operating state of the photovoltaic device is abnormal based on the operating state parameters and environmental parameters of the photovoltaic device. When the operating state parameters are abnormal, the acoustic and optical alarm module alarms. When the environmental state is abnormal, the protection device 40 operates, and the protective cover 41 covers the sensor assembly 30, and the inspection vehicle 10 reduces its driving speed. Thus, the inspection vehicle 10 can maintain a stable driving state in a harsh environmental state, and the sensor assembly 30 can more stably detect a single device for a longer time, thereby reducing the influence of the harsh environment and making the obtained operating state parameters more accurate and error-free.

[0074] In this embodiment, by setting the inspection vehicle 10 to inspect the photovoltaic device along the inspection route, problems such as incomplete inspection and large safety hazards in manual inspection are well avoided, making the inspection of the photovoltaic device more efficient. Setting an alarm when the operating state is abnormal enables the operation and maintenance personnel to reliably and timely obtain information about the abnormality of the photovoltaic device, so that the operation and maintenance personnel can promptly handle the abnormality of the photovoltaic device, thus ensuring the stable operation of the photovoltaic device well. The protection device 40 covers the sensor assembly 30 when the environmental parameters are abnormal, which can play a good protective role for the sensor assembly 30, making the operation stability and reliability of the sensor assembly 30 better, and enabling the inspection vehicle 10, etc. to better adapt to the inspection operation under harsh environmental conditions, making the intelligent robot inspection system 100 of the photovoltaic device operate more persistently and efficiently for inspection operations, and making the inspection efficiency of the photovoltaic device higher.

[0075] According to the photovoltaic device intelligent robot inspection method of the embodiment of the present invention, by applying the intelligent robot inspection system 100 of the photovoltaic device in the above-mentioned first aspect embodiment, by setting the inspection vehicle 10 to inspect the photovoltaic device along the inspection route, setting an alarm when the operating state is abnormal, and the protection device 40 covering the sensor assembly 30 when the environmental parameters are abnormal, the inspection vehicle 10 can cooperate with the sensor assembly 30 and the protection device 40 to perform inspection operations more persistently. The protection device 40 can protect the sensor assembly 30 in bad weather, making the intelligent robot inspection system 100 of the photovoltaic device operate more stably and reliably for inspection operations, thereby making the inspection efficiency of the photovoltaic device higher, the inspection more comprehensive and safe, and the inspection effect better, and ensuring the safe and stable operation of the photovoltaic device well.

[0076] In some embodiments of the present invention, while obtaining the planned inspection route, the intelligent robot inspection method for photovoltaic devices may further include confirming that the surface of the photovoltaic panel 21 is clean and unobstructed. This can enable the photovoltaic panel 21 to be in the best operating state before the inspection vehicle 10 conducts an inspection, avoiding situations where the photovoltaic panel 21 is blocked by dust collection, fallen leaves, or other obstructions, so that the photovoltaic panel 21 can stably and efficiently absorb solar energy during subsequent inspections to charge the inspection vehicle 10.

[0077] In some embodiments of the present invention, referring to Figure 5 As shown, when inspecting the photovoltaic devices along the inspection route, it includes: confirming the path passability in the inspection route direction; when the path in the inspection route direction is normal, conducting a normal inspection; when the path in the inspection route direction is blocked, planning a temporary detour path, passing through the blocked position along the temporary detour path, and continuing the inspection.

[0078] In this embodiment, when inspecting the photovoltaic devices along the inspection route, the path passability in the inspection route direction is confirmed. For example, the inspection vehicle 10 can obtain the path image in the driving direction through the visual sensor 51, so as to judge whether the path is passable. When the path is passable, the inspection vehicle 10 can drive forward normally for inspection. When the path is blocked, the control system 60 can temporarily plan a detour path in combination with the inspection route and the position information of the inspection vehicle 10, so that the inspection vehicle 10 can bypass the obstacle along the temporary detour path and drive onto the normal inspection route, and then the inspection vehicle 10 can continue to drive forward to conduct the inspection operation.

[0079] In this embodiment, by confirming the path passability in the inspection route direction and having the inspection vehicle 10 bypass the obstacle along the detour path when the path is blocked, automatic obstacle avoidance during the driving of the inspection vehicle 10 can be well achieved, so that the inspection vehicle 10 can drive more stably and reliably during the inspection to continuously conduct the inspection operation, reduce manual intervention and processing, and well improve the inspection efficiency of the photovoltaic devices.

[0080] In some embodiments of the present invention, referring to Figure 6 As shown, when inspecting the photovoltaic devices along the inspection route, the intelligent robot inspection method for photovoltaic devices may further include: adjusting the orientation of the photovoltaic panel 21 for charging.

[0081] In this embodiment, when inspecting the photovoltaic devices along the inspection route, it further includes adjusting the orientation of the photovoltaic panel 21 for charging. This can enable the photovoltaic panel 21 to absorb solar energy more efficiently to better supplement the electric energy, so that the inspection vehicle 10 and the sensor assembly 30, etc. can conduct the inspection operation for a longer time, and thus can better improve the inspection efficiency of the intelligent robot for photovoltaic devices on the photovoltaic devices.

[0082] Next, reference will be made to Figures 1 - 3Describe the intelligent robot inspection system 100 for photovoltaic devices according to a specific embodiment of the present invention.

[0083] As Figures 1 - 3 shown, the intelligent robot inspection system 100 for photovoltaic devices includes an inspection vehicle 10, a photovoltaic charging system 20, a sensor assembly 30, a protection device 40, a navigation system 50, a control system 60, a rain sensor, a particle sensor, and a remote control platform.

[0084] The inspection vehicle 10 is provided with a loading platform 11, and the device platform can be used to place detection tools, cleaning tools, etc. The photovoltaic charging system 20 includes a photovoltaic panel 21, a robotic arm 22, a light intensity sensor, and a battery device. The photovoltaic panel 21 is detachably mounted on the robotic arm 22, the robotic arm 22 is mounted on the loading platform 11, and both the light intensity sensor and the battery device are mounted on the inspection vehicle 10. The sensor assembly 30 is mounted on the loading platform 11 and includes an infrared imaging sensor, an acoustic imaging sensor, a humidity sensor, and a temperature sensor.

[0085] The protection device 40 is mounted on the loading platform 11 and includes a protective cover 41. The protective cover 41 can be unfolded under the driving action of a driving device to completely cover the sensor assembly 30 or be received on the loading platform 11 and away from the sensor assembly 30. The navigation system 50 includes a positioning module 52 and a vision sensor 51. The positioning module 52 is a Beidou navigation module, the positioning module 52 is mounted on the inspection vehicle 10, and the vision sensor 51 is mounted on the loading platform 11 and located at the front end of the inspection vehicle 10 in the driving direction.

[0086] The control system 60 and the rain sensor and the particle sensor are all mounted on the inspection vehicle 10. The control system 60 includes a control module, a communication module, and an acoustic-optic alarm module. The control module is communicatively connected to the communication module, and the communication module is communicatively connected to the remote control platform. The control system 60 is electrically connected to the photovoltaic charging system 20, the inspection vehicle 10, the sensor assembly 30, the protection device 40, the navigation system 50, the rain sensor, and the particle sensor. The sensor assembly 30, the light intensity sensor, the rain sensor, and the particle sensor form a multi-sensor fusion system. The remote control platform can also be provided with an acoustic-optic alarm module.

[0087] In this embodiment, by setting up the inspection vehicle 10, the photovoltaic charging system 20, the sensor assembly 30, the protection device 40, and the navigation system 50, the control system 60 can cooperate with the navigation system 50 to enable the inspection vehicle 10 to perform automatic cruise operations well. The photovoltaic charging system 20 can effectively improve the endurance of the inspection vehicle 10, enabling the inspection vehicle 10 to cooperate with the sensor assembly 30 and the protection device 40 to perform inspection operations more persistently. The protection device 40 can protect the sensor assembly 30 in bad weather, enabling the intelligent robot inspection system 100 of photovoltaic equipment to operate more stably and reliably for inspection operations, thereby making the inspection efficiency of photovoltaic equipment higher, the inspection more comprehensive and safer, and the inspection effect better, and ensuring the safe and stable operation of photovoltaic equipment well.

[0088] The following refers to Figures 1 - 6 Describe the intelligent robot inspection method for photovoltaic equipment according to a specific embodiment of the present invention.

[0089] As Figures 1 - 6 shown, when the intelligent robot inspection system 100 of photovoltaic equipment operates to continuously inspect and monitor the photovoltaic equipment in a photovoltaic power station, the operation and maintenance personnel can plan the optimal inspection route according to the layout and distribution of the photovoltaic equipment in the photovoltaic power station. The control system 60 obtains the inspection route. At the same time, the operation and maintenance personnel can check the inspection vehicle 10 and its various device components. For example, they can check whether the photovoltaic panel 21 is clean and unobstructed to ensure that it can efficiently absorb solar energy.

[0090] The control system 60 controls the inspection vehicle 10 to travel along the inspection route according to the position information obtained by the navigation system 50 in combination with the inspection route. Exemplarily, the control system 60 can quickly locate the position of the inspection vehicle 10 through the vision sensor 51 and the positioning module 52 and match it with the data of the inspection route. The inspection vehicle 10 moves forward smoothly along the inspection route based on the information such as the ground or track markings collected by the vision sensor 51.

[0091] During the process of the inspection vehicle 10 traveling along the inspection route, each sensor in the multi-sensor fusion system operates. The infrared imaging sensor continuously scans the photovoltaic equipment to obtain the temperature data of the photovoltaic equipment, and through the control system 60, transmits the infrared image and temperature data to the remote control platform. The acoustic imaging sensor continuously detects the vibration data of the photovoltaic equipment, and through the control system 60, transmits the acoustic image and vibration data to the remote control platform, enabling the on-duty personnel or maintenance personnel to view the temperature distribution of the photovoltaic equipment and the vibration condition of the photovoltaic equipment from the remote control platform. The infrared imaging sensor and the acoustic imaging sensor cooperate to obtain the operating state parameters of the photovoltaic equipment. The operating state parameters are the temperature parameters and vibration parameters. The humidity sensor and the temperature sensor cooperate to detect the humidity and temperature in the environment. The rain sensor and the particle sensor can cooperate to detect the rain condition and dust condition in the environment. The light intensity sensor can detect the light intensity. Exemplarily, multiple light intensity sensors cooperate to detect the light intensity in different directions to obtain the sunlight irradiation condition. The vision sensor 51 obtains the road image in the forward direction of the inspection vehicle 10.

[0092] The control system 60 obtains the operating state parameters and environmental parameters of the photovoltaic equipment detected by each sensor in the multi-sensor fusion system and transmits them to the remote control platform. When the operating state parameters are abnormal, such as abnormal temperature or vibration, the acoustic and light alarm modules of the control system 60 and the acoustic and light alarm modules on the remote control platform can simultaneously emit acoustic and light alarms, enabling the maintenance personnel to immediately understand the abnormal situation of the photovoltaic equipment and process the abnormality of the photovoltaic equipment according to the position information provided by the inspection vehicle 10.

[0093] When the environmental parameters are abnormal, such as when it is detected that there is rain or sandstorm weather, the control system 60 can control the protective device 40 to operate, so that the protective cover 41 completely covers the sensor assembly 30, enabling each sensor in the sensor assembly 30 to be protected comprehensively without dead angles. The driving speed of the inspection vehicle 10 is reduced, and the control system 60 can increase the analysis frequency of the data obtained by the sensors to prevent data misjudgment caused by interference from bad weather. After the weather improves, the control system 60 can control the protective cover 41 to switch from the deployed state to the retracted state, the inspection vehicle 10 can resume the normal inspection speed, and the control system 60 resumes to the normal state of analyzing and processing the data obtained by the sensors.

[0094] During the operation of the inspection vehicle 10, the control system 60 can adjust the orientation of the photovoltaic panel 21 through the robotic arm 22 according to the acquired light intensity information, so that the photovoltaic panel 21 can always efficiently absorb solar energy to charge the battery device. When the vision sensor 51 detects an obstacle in front of the inspection vehicle 10, such as construction equipment or fallen branches on the path, the control system 60 can combine the current position of the inspection vehicle 10 with the inspection route to plan a temporary detour path, enabling the inspection vehicle 10 to bypass the obstacle and continue normal inspection operations. Exemplarily, the control system 60 can send the obstacle information and the detour situation of the inspection vehicle 10 to the remote control platform to ensure that the operation and maintenance personnel can keep track of the inspection progress in real time.

[0095] During the operation of the inspection vehicle 10, the operation and maintenance personnel can monitor the inspection status of the inspection vehicle 10, as well as information such as the infrared images and acoustic images of the photovoltaic equipment in real time through the remote control platform. The operation and maintenance personnel can control the inspection vehicle 10 to change the inspection tasks according to needs for flexible inspection operations. For example, when the operation and maintenance personnel discover potential risks in a certain device of the photovoltaic equipment or more detailed inspection is required, the operation and maintenance personnel can control the inspection vehicle 10 to drive to the designated device for inspection.

[0096] When the photovoltaic equipment needs to be surface-cleaned, the photovoltaic panel 21 can be removed from the robotic arm 22, and a cleaning tool is installed on the robotic arm 22. Thus, during the operation of the inspection vehicle 10 for inspection, the robotic arm 22 can drive the cleaning tool to clean the photovoltaic equipment to ensure the normal operation of the photovoltaic equipment.

[0097] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0098] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality" means two or more unless otherwise specifically defined.

[0099] In the present invention, unless otherwise clearly defined and limited, the terms "installed", "connected", "connected to", "fixed", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or a communication connection; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0100] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0101] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and purposes of the present invention, and the scope of the present invention is defined by the claims and their equivalents.

Claims

1. An intelligent robot inspection system for a photovoltaic device, characterized in that, Comprising: An inspection vehicle (10), the inspection vehicle (10) being provided with a loading platform (11); A photovoltaic charging system (20), the photovoltaic charging system (20) being disposed on the loading platform (11); A sensor assembly (30), the sensor assembly (30) being disposed on the loading platform (11), the sensor assembly (30) including an infrared imaging sensor, an acoustic imaging sensor and a humidity sensor; A protection device (40), the protection device (40) including a protective cover (41), the protective cover (41) being switchable between an unfolded state and a retracted state, in the unfolded state, the protective cover (41) completely encloses the sensor assembly (30), in the retracted state, the protective cover (41) is away from the sensor assembly (30), the protection device (40) being electrically connected to the sensor assembly (30); A navigation system (50) and a control system (60), the navigation system (50) and the sensor assembly (30) both being communicatively connected to the control system (60).

2. The intelligent robot inspection system for photovoltaic equipment according to claim 1, wherein The photovoltaic charging system (20) includes: A photovoltaic panel (21) and a robotic arm (22), the robotic arm (22) being installed on the loading platform (11), the photovoltaic panel (21) being detachably installed on the robotic arm (22), the robotic arm (22) being used to adjust the orientation of the photovoltaic panel (21), the robotic arm (22) being electrically connected to the control system (60); A light intensity sensor, the light intensity sensor being disposed on the loading platform (11) and communicatively connected to the control system (60); A battery device, the battery device being disposed in the inspection vehicle (10) and used to supply power to the inspection vehicle (10), the photovoltaic charging system (20), the sensor assembly (30), the protection device (40), the navigation system (50) and the control system (60), the battery device being electrically connected to the photovoltaic panel (21).

3. The intelligent robot inspection system for photovoltaic equipment according to claim 1, characterized in that, The sensor assembly (30) further includes a temperature sensor, the temperature sensor being electrically connected to the control system (60).

4. The intelligent robot inspection system for photovoltaic equipment according to any one of claims 1-3, characterized in that, The navigation system (50) includes: A vision sensor (51), the vision sensor (51) being disposed on the loading platform (11) and located at the front end of the inspection vehicle (10) in the forward direction; A positioning module (52), the positioning module (52) being disposed in the inspection vehicle (10), the positioning module (52) and the vision sensor (51) both being communicatively connected to the control system (60).

5. The intelligent robot inspection system for photovoltaic equipment according to any one of claims 1-3, characterized in that, It further includes a remote control platform, the remote control platform being communicatively connected to the control system (60).

6. The intelligent robot inspection system for photovoltaic equipment according to claim 5, wherein The control system (60) includes: A control module, the control module being electrically connected to the inspection vehicle (10), the photovoltaic charging system (20), the sensor assembly (30), the protection device (40) and the navigation system (50); A communication module, the communication module being electrically connected to the control module, the communication module being communicatively connected to the remote control platform; An audible and visual alarm module, which is arranged on the inspection vehicle (10) and / or the remote control platform, and the audible and visual alarm module is electrically connected to the communication module.

7. An intelligent robot inspection method for a photovoltaic device, characterized in that, Applied to the intelligent robot inspection system for photovoltaic equipment according to any one of claims 1-6, the intelligent robot inspection method for photovoltaic equipment includes: Obtain the planned inspection route; Inspect the photovoltaic equipment along the inspection route; Obtain the operating state parameters and environmental parameters of the photovoltaic equipment; Judge whether the operating parameters and environmental parameters of the photovoltaic equipment are abnormal; Alarm when the operating state parameters are abnormal; When the environmental parameters are abnormal, reduce the inspection speed and activate the protection device (40) to cover the sensor assembly (30).

8. The intelligent robot inspection method for a photovoltaic device according to claim 7, characterized in that, The step of inspecting the photovoltaic equipment along the inspection route includes: Confirm the path passability in the direction of the inspection route; When the path in the direction of the inspection route is normal, conduct normal inspection; When the path in the direction of the inspection route is blocked, plan a temporary detour path, pass through the blocked position along the temporary detour path, and continue the inspection.

9. The intelligent robot inspection method for a photovoltaic device according to claim 7, characterized in that When inspecting the photovoltaic equipment along the inspection route, the intelligent robot inspection method for photovoltaic equipment further includes: adjusting the orientation of the photovoltaic panel (21) for charging.

10. The intelligent robot inspection method for a photovoltaic device according to claim 7, wherein The operating state parameters include: temperature parameters and vibration parameters, and the environmental parameters include environmental temperature and environmental humidity.

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