Factory intelligent operation and maintenance inspection method and system

Abstract

The invention relates to the technical field of operation and maintenance inspection, and discloses a factory intelligent operation and maintenance inspection method and a system thereof.The factory intelligent operation and maintenance inspection method comprises the following steps that an inspection area and photovoltaic panel coordinates are set, a first route path is generated, and an unmanned aerial vehicle inspects a photovoltaic panel and a convergence cable according to the first route path; and shooting an inspection area by adopting a site camera, judging that hidden danger behaviors exist in the recorded video, assisting in positioning the coordinates of the hidden danger behaviors through the coordinates of the photovoltaic panel, and planning and generating a second route path according to the inspection area, the coordinates of the photovoltaic panel and the coordinates of the hidden danger behaviors. According to the method, the coordinate position of the sheep flock when the sheep flock eats grass or stays at the bus wire is presumed through the coordinate of the photovoltaic panel, the first route path is modified according to the presumed grass eating or staying coordinate of the sheep flock to generate the second route path, and the grass eating or staying coordinate of the sheep flock is polled through the second route path, so that the cruising efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of operation and maintenance inspection, and in particular to an intelligent operation and maintenance inspection method and system for factories. Background Technique

[0002] The inspection of photovoltaic power stations is a key link to ensure the efficient and stable operation of photovoltaic systems. A scientific and perfect inspection system needs to be established. The following is a detailed description of the inspection work of photovoltaic power stations. The inspection work of photovoltaic power stations mainly includes three aspects: equipment inspection, technology application, and operation and maintenance management. In terms of equipment inspection, it is necessary to focus on the surface cleanliness, hidden cracks, and hot spot effects of photovoltaic modules, and use an infrared thermal imager to regularly detect the temperature distribution of the modules. For inverters, it is necessary to check the status of the operation indicator lights, the working conditions of the cooling fans, and the stability of the output parameters. For cable joints and busbar boxes, it is necessary to focus on checking the insulation performance and temperature rise. For the support system, it is necessary to check the structural stability and the status of the anti-corrosion coating. In terms of technology application, modern photovoltaic power stations generally adopt unmanned aerial vehicle (UAV) inspection combined with AI image recognition technology, which can quickly detect component abnormalities. The intelligent monitoring system can collect the operation data of each device in real time to achieve fault warning. The infrared thermal imaging technology can accurately locate hidden dangers such as poor electrical connections. In terms of operation and maintenance management, it is necessary to establish a hierarchical inspection system of "daily inspection + monthly inspection + annual major inspection", equip professional inspection tools and protective equipment, make detailed inspection records, and establish an equipment health file.

[0003] Existing photovoltaic power stations include two parts, an outdoor part and an indoor part. The outdoor part includes photovoltaic panels, busbar wires, and busbar boxes, etc. Photovoltaic panels and busbar boxes are generally installed on the ground, and busbar wires are usually buried in the ground to extend their service life. For the convenience of maintenance, the general depth is 700mm - 1000mm. When it is necessary to inspect the outdoor part on rainy days, a UAV equipped with a camera is used for inspection. However, the existing UAV operation and maintenance inspection cannot observe whether the potholes generated on the ground touch the busbar wires. Secondly, when a place that needs to be repaired is found, only the coordinates can be sent, and the personnel have to slowly find the repair place according to the coordinates, which is likely to delay the emergency repair time. Summary of the Invention

[0004] The present invention provides an intelligent operation and maintenance inspection method and system for factories, which has the beneficial effect of quickly discovering the places that need to be repaired and making marks for easy search by personnel, and solves the problems mentioned in the above background technique that the existing UAV operation and maintenance inspection cannot observe whether the potholes generated on the ground touch the busbar wires, and secondly, when a place that needs to be repaired is found, only the coordinates can be sent, and the personnel have to slowly find the repair place according to the coordinates, which is likely to delay the emergency repair time.

[0005] The present invention provides the following technical solutions: An intelligent operation and maintenance inspection method for factories includes the following steps:

[0006] Set up the inspection area and the coordinates of the photovoltaic panels to generate the first flight path, and the drone inspects the photovoltaic panels and the busbar cables according to the first flight path;

[0007] Use the site camera to shoot the inspection area to generate a recorded video;

[0008] Determine that there are potential hazard behaviors in the recorded video, use the coordinates of the photovoltaic panels to assist in positioning the coordinates of the potential hazard behavior, and plan and generate the second flight path according to the inspection area, the coordinates of the photovoltaic panels, and the coordinates of the potential hazard behavior;

[0009] The drone carrying the detection equipment moves to the location of the potential hazard behavior, and uses the detection equipment to determine whether there are potential hazards at the location of the potential hazard behavior;

[0010] When potential hazards are confirmed, the drone dumps paint markers to the location of the potential hazard behavior and uploads the coordinates of the confirmed potential hazard behavior.

[0011] As an alternative solution of the factory intelligent operation and maintenance inspection method and system of the present invention, wherein: mark the coordinates where the busbar cable coincides with the location of the potential hazard behavior;

[0012] Set the cable embedding threshold. When the depth data of the land at the coincident coordinates detected by the detection equipment is ≥ the cable embedding threshold, it is determined that there are potential hazards at the coordinates;

[0013] The distance between the detection equipment and the ground is equal to the set flight height.

[0014] As an alternative solution of the factory intelligent operation and maintenance inspection method and system of the present invention, wherein: determine the inclination of the rainwater according to the wind direction, and adjust the flight attitude of the drone in the rainwater;

[0015] Adjust the angle of the detection equipment according to the inclination of the rainwater, and plan the path approaching the location of the potential hazard behavior.

[0016] As an alternative solution of the factory intelligent operation and maintenance inspection method and system of the present invention, wherein: the detection equipment includes a mobile camera, an ultrasonic sensor, a laser sensor, a Hall effect sensor, and an infrared thermal imager;

[0017] The mobile camera is used to take images of the land depression;

[0018] The ultrasonic sensor and the laser sensor detect the depth data of the land depression;

[0019] The Hall effect sensor detects the leakage data;

[0020] The temperature sensor detects whether there is serious overheating.

[0021] As an alternative solution of the factory intelligent operation and maintenance inspection method and system of the present invention, it further includes historical data, and the historical data records the coordinates of previous maintenance positions;

[0022] Set a maintenance frequency threshold. When the previous maintenance position coordinates ≥ the maintenance frequency threshold, select the previous maintenance position coordinates, and generate a second flight path assisted by the selected previous maintenance position coordinates.

[0023] As an alternative solution of the factory intelligent operation and maintenance inspection method and system of the present invention, it takes pictures of the image through a mobile camera according to the coordinates of the potential hazard behavior, pixelates the image, and uses the flight altitude and the pixels of the image to confirm the graphic size through a scale, so as to confirm the opening perimeter of the potential hazard area;

[0024] The drone dumps paint marks according to the opening perimeter of the potential hazard area.

[0025] As an alternative solution of the factory intelligent operation and maintenance inspection method and system of the present invention, it adjusts the dumping ratio according to the opening perimeter of the potential hazard area;

[0026] Plan the paint dumping path according to the coordinate digital image of the potential hazard area, and the paint dumping path is the same as the coordinate digital image of the potential hazard area.

[0027] As an alternative solution of the factory intelligent operation and maintenance inspection method and system of the present invention, the second flight path includes a flight path and a detection path;

[0028] The flight path includes the path between the current path point of the drone and the path point near the potential hazard;

[0029] The detection path includes the path between the path point near the potential hazard and the path point at the potential hazard;

[0030] Determine the coordinates of the potential hazard behavior and the next connected flight path;

[0031] The flight of the next flight path is used to blow away the water droplets on the detection equipment

[0032] As an alternative solution of the factory intelligent operation and maintenance inspection method and system of the present invention, the paint marks include three color marks: red, yellow, and blue;

[0033] The red paint mark indicates danger and requires power-off maintenance;

[0034] The yellow paint mark indicates doubt and requires a detailed inspection of the potential hazard area;

[0035] The blue paint mark indicates safety and requires re-burying the potential hazard area

[0036] The present invention also provides a system applying a method for intelligent operation and maintenance inspection of a factory, including:

[0037] A generation module, which determines the coordinates of photovoltaic panels and the coordinates of busbar cables in a photovoltaic power station, generates an inspection area, and determines a first flight path according to the inspection area;

[0038] A shooting module, which records videos at the photovoltaic panels and the busbar cables in real time through the shooting module, and determines the coordinates of potential hazard behaviors according to the coordinates of the photovoltaic panels and the busbar cables;

[0039] A detection module, which determines whether there are potential hazards at the potential hazard behaviors through the detection module, and modifies the first flight path to generate a second flight path accordingly;

[0040] A storage module, which is used to store the videos shot by the shooting module and historical maintenance data;

[0041] A marking module, which stores pigments of three colors, and marks different risk identifications by pouring different colors of pigments.

[0042] The present invention has the following beneficial effects:

[0043] 1. For the intelligent operation and maintenance inspection method and system of the factory, the coordinate position of the flock when grazing or staying at the busbar cable is deduced according to the coordinates of the photovoltaic panels, and the first flight path is modified according to the deduced coordinates of the flock grazing or staying to generate a second flight path. The second flight path is used to focus on inspecting the coordinates where the flock grazes or stays, thereby improving the cruising efficiency.

[0044] 2. For the intelligent operation and maintenance inspection method and system of the factory, by pouring pigments onto the potential hazard coordinates, maintenance personnel can first find the X-axis coordinate points, and then look along the Y-axis direction to view the positions of the pigment marks on the ground, without having to confirm each Y-axis coordinate point one by one, thereby improving the subsequent maintenance efficiency and increasing the emergency repair time.

[0045] 3. For the intelligent operation and maintenance inspection method and system of the factory, by adjusting the flight speed of the drone and setting the speed of the next flight path to the maximum flight speed limit, the water droplets on the detection device are blown away by the wind resistance, thereby improving the subsequent detection quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a schematic structural diagram of the intelligent operation and maintenance inspection method of the present invention.

[0047] Figure 2 It is a schematic diagram of the UI interface of the intelligent operation and maintenance inspection platform of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0048] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0049] Embodiment 1

[0050] Please refer to Figure 1 - Figure 2 , wherein a method for intelligent operation and maintenance inspection of a factory includes the following steps:

[0051] Set up an inspection area and the coordinates of the photovoltaic panels, generate a first flight path, and the drone inspects the photovoltaic panels and the busbar cables according to the first flight path;

[0052] Use a site camera to photograph the inspection area and generate a recorded video;

[0053] Determine that there is a potential hazard behavior in the recorded video, assist in positioning the coordinates of the potential hazard behavior through the coordinates of the photovoltaic panels, and plan and generate a second flight path according to the inspection area, the coordinates of the photovoltaic panels, and the coordinates of the potential hazard behavior;

[0054] The drone carries a detection device and moves to the location of the potential hazard behavior, and determines whether there is a hazard at the location of the potential hazard behavior through the detection device;

[0055] When a hazard is confirmed, the drone dumps paint to mark the location of the potential hazard behavior and uploads the coordinates of the confirmed potential hazard behavior.

[0056] Existing photovoltaic power stations include two parts, an outdoor part and an indoor part. The outdoor part includes photovoltaic panels, busbar wires, and busbar boxes, etc. The photovoltaic panels and busbar boxes are generally installed on the ground. The busbar wires are usually buried in the ground to extend their service life. For convenient maintenance, the general depth is 700 mm - 1000 mm. When it is necessary to inspect the outdoor part on rainy days, a drone carrying a camera is used for inspection. However, the existing drone operation and maintenance inspection cannot observe whether the potholes generated on the ground touch the busbar wires. Secondly, when a place that needs to be repaired is found, only the coordinates can be sent, and the workers have to slowly find the repair place according to the coordinates, which is likely to delay the emergency repair time.

[0057] Potential hazard behaviors include situations such as when sheep are grazing near the busbar wires and digging holes, rats burrowing near the busbar wires, geological changes, and places where the busbar wires have been repaired. When the above situations are washed by rain, it may cause the busbar wires to be exposed;

[0058] When the sheep are grazing or staying near the busbar wires, record them through the site camera;

[0059] Coordinates are sequentially assigned to each photovoltaic panel, and based on the coordinates of the photovoltaic panels, the coordinate positions of the sheep flock when grazing or staying at the busbar wire are deduced. Then, according to the deduced grazing or staying coordinates of the sheep flock, the first flight path is modified to generate the second flight path, and the second flight path is used to focus on inspecting the grazing or staying coordinates of the sheep flock, thereby improving the cruising efficiency;

[0060] It should be particularly noted that path planning is carried out according to the UAV path planning algorithm. Among them, the UAV path planning algorithm includes the greedy algorithm, the ant algorithm, etc.;

[0061] For a two-dimensional or regular rasterized three-dimensional map, the greedy algorithm can quickly converge to a feasible solution by combining heuristic rules (such as the shortest Euclidean distance);

[0062] The ant algorithm explores multiple paths through the positive feedback mechanism of pheromones, avoiding falling into local optima, and is especially suitable for global path planning in complex three-dimensional environments (such as forests and mountains);

[0063] Among them, when the sheep flock grazes and digs pits, mice dig holes, geological changes occur, or the busbar wire has been repaired and washed by rainwater, pits will be formed, and the pits will be filled with rainwater. At this time, the mobile camera carried by the UAV cannot determine whether there are potential hazards, so detection equipment is installed on the UAV;

[0064] The detection equipment includes a mobile camera, an ultrasonic sensor, a laser sensor, a Hall effect sensor, and an infrared thermal imager;

[0065] The mobile camera is used to take images of the land depression, so as to take images of the opening of the land depression;

[0066] The ultrasonic sensor and the laser sensor detect the depth data of the land depression;

[0067] The Hall effect sensor detects leakage data. When a leakage occurs, the Hall effect sensor is used to detect whether there is leakage;

[0068] The temperature sensor detects whether there is a heating situation. When a fault or circuit damage occurs, a high-temperature situation will occur. Therefore, the temperature sensor is used to assist the Hall effect sensor in judging whether there is leakage or serious heating;

[0069] When it is confirmed that there are problems with the pit or the ground line, mark the coordinates of this place as potential hazard coordinates and upload them for the repairer to come here for repair according to the potential hazard coordinates;

[0070] Furthermore, since the outdoor part of a photovoltaic power station covers an area of hundreds to thousands of mu, there are subsequent hidden danger coordinates, and the photovoltaic panels are used as a reference. However, it is time-consuming to find the hidden danger coordinates among numerous X-axis or Y-axis coordinate points. Therefore, a paint pouring device is mounted at the lower end of the drone. By pouring paint onto the hidden danger coordinates, maintenance personnel can first find the X-axis coordinate points and then look along the Y-axis direction to view the positions of the paint marks on the ground, without having to confirm each Y-axis coordinate point one by one, thereby improving the subsequent maintenance efficiency and increasing the emergency repair time.

[0071] Embodiment 2

[0072] This embodiment is an improvement based on Embodiment 1. Specifically, please refer to Figure 1 - Figure 2 , mark the coordinates where the busbar cable coincides with the hidden danger behavior;

[0073] Set a cable embedding threshold. When the detection device detects that the soil depth data at the coincident coordinates ≥ the cable embedding threshold, it is determined that there is a hidden danger at these coordinates;

[0074] The distance between the detection device and the ground is equal to the set flight height.

[0075] Input the construction drawing of the busbar cable to determine the coordinates of the busbar cable;

[0076] The mobile camera takes an opening image of the land depression or the temperature sensor detects whether there is a heating situation. Based on the above image or detection situation and using the coordinates of the photovoltaic panel as a reference, the approximate coordinates are deduced. When the error between the deduced approximate coordinates and the coordinates of the busbar cable is small, it is determined that there is a hidden danger at the deduced approximate coordinates, and they are marked accordingly to assist in modifying the first flight path and thus planning and generating the second flight path;

[0077] Furthermore, since the land where the busbar cable is installed may be uneven, and the busbar cable needs to be buried more than 700 mm into the ground, it is necessary to adjust the flight height of the drone in real time. Only when the flight heights are the same can the detection equipment carried by the drone detect accurately. Therefore, the busbar cable is detected by ultrasonic sensors and laser sensors. Taking the busbar cable as the detection reference point, the flight height between the drone and the ground is determined, thereby improving the detection accuracy of the detection equipment carried by the drone.

[0078] Embodiment 3

[0079] This embodiment is an improvement based on Embodiment 2. Specifically, please refer to Figure 1 - Figure 2 , determine the inclination of the rainwater according to the wind direction and adjust the flight attitude of the drone in the rainwater;

[0080] Adjust the angle of the detection equipment according to the inclination of the rainwater and plan a path approaching the hidden danger behavior.

[0081] Combine with the weather software to obtain wind direction data and estimate the rainfall tilt angle, and adjust the angle of the drone according to the tilt angle of the rainwater, so as to make the detection device avoid most of the rainwater;

[0082] Since the converging cable may be far away from the position of the solar panel, the drone needs to detect and photograph in the rain. The path close to the hidden danger behavior includes that the drone after angle adjustment is at the position of the solar panel closest to the hidden danger behavior. Then calibrate the coordinates of the hidden danger behavior, and detect the distance between the hidden danger behavior and the current position of the drone according to the tilt angles of the ultrasonic sensor and the laser sensor. This distance is the hypotenuse data, and the current horizontal distance of the drone and the horizontal distance to detect the hidden danger behavior are the adjacent side data. At this time, calculate the opposite side data through trigonometric functions, and the detection height is constant. Therefore, subtract the constant height from the opposite side data to obtain the height position that the current drone needs to descend, so that the drone under the solar panel does not need to adjust the flight height while detecting the ground clearance height, so that the drone after adjusting the height can quickly fly to the hidden danger behavior for extreme detection, thereby improving the detection efficiency. Then after the detection is completed, return along the original path to inspect the next hidden danger behavior;

[0083] It should be noted that the ground clearance height is detected in advance at a long distance by tilting the ultrasonic sensor and the laser sensor, so that the drone can smoothly adjust from the current node height position to the next node height position. When the drone flies to the hidden danger behavior, adjust the ultrasonic sensor and the laser sensor again to make the ultrasonic sensor and the laser sensor perpendicular to the ground for easy detection.

[0084] Embodiment 4

[0085] This embodiment is an improvement based on Embodiment 3. Specifically, please refer to Figure 1 - Figure 2 , and also includes historical data, which records the coordinates of previous maintenance positions;

[0086] Set a maintenance frequency threshold. When the previous maintenance position coordinates ≥ the maintenance frequency threshold, select the previous maintenance position coordinates, and generate a second flight path according to the selected previous maintenance position coordinates for auxiliary planning.

[0087] The maintenance frequency threshold is 2 maintenance times a week. When the previous maintenance position coordinates ≥ 2 maintenance times a week, select the previous maintenance position coordinates to modify the second flight path;

[0088] When the interval distance between the selected previous maintenance position coordinates and the coordinates of the hidden danger behavior is not less than 5m - 15m, give priority to inspecting the previous maintenance position coordinates here to improve the inspection efficiency.

[0089] Embodiment 5

[0090] This embodiment is an improvement based on Embodiment 4. Specifically, please refer to Figure 1 - Figure 2 , take images by moving the camera according to the coordinates of the potential hazard behavior, pixelate the images, and confirm the graphic size by using the flight height and the pixels of the image through the scale, so as to confirm the opening perimeter of the potential hazard location;

[0091] The drone dumps paint markers according to the opening perimeter of the potential hazard location.

[0092] The moving camera takes vertical shots;

[0093] Since the flight height and focal length are determined, the images taken by the moving camera are pixelated. The calculation formula for the actual size of the object is:

[0094] ;

[0095] f is the camera focal length, H is the shooting height, d is the corresponding size in the image, and M is the scale;

[0096] For example, the pixel length of an object in the image is 500 pixels, the camera focal length is 8 mm, and the flight height H = 100 m. Then the actual size is 500 * (100 / 0.008) = 6250000 mm = 6.25 km;

[0097] Obtain the opening diameter of the potential hazard location through the above calculation, and obtain the opening perimeter of the potential hazard location through the circle circumference calculation formula;

[0098] Subsequently, take images of the potential hazard location and the closest photovoltaic panel at the same position and height, and calculate the distance between the potential hazard location and the photovoltaic panel. Since the coordinates of the photovoltaic panel are determined, the coordinates of the potential hazard location are obtained by adding or subtracting on the X-axis or Y-axis to obtain the distance between the potential hazard location and the photovoltaic panel;

[0099] It should be noted that when the potential hazard location is not perpendicular or parallel to the photovoltaic panel, by setting up a vertical line and a horizontal line, the horizontal line extends from the photovoltaic panel, and the vertical line extends from the center of the potential hazard location. The vertical line and the horizontal line intersect to form an intersection point. Calculate the distance from the intersection point to the photovoltaic panel and the distance from the intersection point to the center of the potential hazard location through the above calculation formula, and add or subtract the data on the X-axis and Y-axis accordingly, so as to obtain the distance between the potential hazard location and the photovoltaic panel and obtain the coordinate position of the potential hazard location;

[0100] It should be noted that the row spacing of the photovoltaic panels is 7 meters, the adjacent spacing is 1 meter, and several photovoltaic panels are arranged in sequence. The coordinates of the first photovoltaic panel are (0, 0);

[0101] The coordinates of the second photovoltaic panel on the X-axis are (1, 1), and the coordinates of the third photovoltaic panel on the X-axis are (2, 1), and so on;

[0102] The coordinates of the second photovoltaic panel on the Y-axis are (1, 8), the coordinates of the third photovoltaic panel on the Y-axis are (2, 8), and so on;

[0103] The drone flies to the coordinates of the hidden danger, and then pours the pigment according to the opening perimeter of the hidden danger. The pigment surrounds the opening of the hidden danger in a circle, so as to achieve accurate pouring of the pigment to the hidden danger, and the pouring range is around the perimeter of the hidden danger. Therefore, a large amount of dye will be contaminated on the land of the hidden danger, thus reducing the possibility of the dye being washed away by rainwater and ensuring the integrity of the mark, which is convenient for the subsequent maintenance personnel to quickly find the mark;

[0104] It should be noted that the dye is selected as natural soil dye, which is soluble in the land and will not cause pollution to the land.

[0105] Embodiment 6

[0106] This embodiment is an improvement based on Embodiment 5. Specifically, please refer to Figure 1 - Figure 2 , and adjust the pouring ratio according to the opening perimeter of the hidden danger;

[0107] Plan the pouring path of the pigment according to the coordinate digital image of the hidden danger, and the pouring path of the pigment is the same as the coordinate digital image of the hidden danger.

[0108] In order to further improve the visibility of the mark, change the mark around the opening perimeter of the hidden danger to a digital mark of the same proportional size, and the numerical mark is the integer number of the X-axis or Y-axis of the coordinate position of the hidden danger;

[0109] Preferably, change the mark around the opening perimeter of the hidden danger to a digital mark larger than the same proportional size, so as to let the poured pigment draw a number away from the opening of the hidden danger, thus reducing the problem of dye loss caused by the flowing water of the soil at the opening of the hidden danger;

[0110] The second flight path includes a flight path and a detection path;

[0111] The flight path includes the path between the current path point of the drone and the path point near the hidden danger;

[0112] The detection path includes the path between the path point near the hidden danger and the path point of the hidden danger;

[0113] Determine the coordinates of the hidden danger behavior and the next flight path connected;

[0114] The flight of the next flight path is used to blow away the water droplets on the detection device.

[0115] After the drone flies to the coordinates of the hidden danger area without any obstruction and takes pictures of the hidden danger area, it returns along the original route. At this time, the drone and the detection device may be adhered with rainwater, which will affect the detection of the next area. Therefore, adjust the flight speed of the drone, set the speed of the next flight path to the maximum flight speed limit, and blow away the water droplets on the detection device through air resistance, so as to improve the subsequent detection quality;

[0116] Specifically, the drone flies to the path point near the hidden danger, detects from the path point near the hidden danger to the coordinate point of the hidden danger, and then returns to the path point near the hidden danger. The flight path from the current path point near the hidden danger to the next path point near the hidden danger is the flight path, and the speed of this section of the flight path is the maximum flight speed limit.

[0117] Embodiment 7

[0118] This embodiment is an improvement based on Embodiment 6. Specifically, please refer to Figure 1 - Figure 2 , and the paint is marked with three colors: red, yellow, and blue;

[0119] The red paint mark indicates danger and requires power-off maintenance;

[0120] The yellow paint mark indicates doubt and requires a detailed inspection of the hidden danger area;

[0121] The blue paint mark indicates safety and requires re-burying the hidden danger area.

[0122] Determine the risk result according to the detection data of Embodiment 1,

[0123] When there are no photovoltaic-related devices at the hidden danger area, but there are only potholes and other situations, it is defined as safe, and blue marks are poured to indicate safety;

[0124] When there are photovoltaic-related devices near the hidden danger area, and no leakage or serious heating problems are detected by the Hall effect sensor and the temperature sensor, it is located as doubtful, and yellow paint is poured to indicate doubt;

[0125] When there are photovoltaic-related devices near the hidden danger area, and leakage or serious heating problems are detected by the Hall effect sensor and the temperature sensor, it is located as dangerous, and red paint is poured to indicate danger;

[0126] Priority is given to processing the red paint area, followed by the yellow paint area, and finally the blue paint area.

[0127] Embodiment 8

[0128] The present invention also provides a system applying a factory intelligent operation and maintenance inspection method, including:

[0129] A generation module determines the coordinates of the photovoltaic panels and the busbar cables of a photovoltaic power station, generates an inspection area, and determines a first flight path based on the inspection area;

[0130] A shooting module records the videos at the photovoltaic panels and the busbar cables in real time, and determines the coordinates of the hazard behaviors based on the coordinates of the photovoltaic panels and the busbar cables;

[0131] A detection module determines whether there are hazards at the hazard behavior locations through the detection module, and modifies the first flight path to generate a second flight path accordingly;

[0132] A storage module is used to store the videos taken by the shooting module and historical maintenance data;

[0133] A marking module stores pigments of three colors. Different colors of pigments are poured to mark different risk identifications. The marking module includes a storage tank, a nozzle, and a water pump, which are connected by pipelines.

[0134] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device.

[0135] The above are only the preferred embodiments of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and refinements can still be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A factory intelligent operation and maintenance inspection method, characterized in that It includes the following steps: Set up the inspection area and the coordinates of the photovoltaic panels, generate the first flight path, and the drone inspects the photovoltaic panels and the busbar cables according to the first flight path; Use the site camera to photograph the inspection area and generate a recorded video; Judge the hidden danger behaviors in the recorded video, assist in positioning the coordinates of the hidden danger behaviors through the coordinates of the photovoltaic panels, and plan and generate the second flight path according to the inspection area, the coordinates of the photovoltaic panels and the coordinates of the hidden danger behaviors; The drone carries the detection equipment and moves to the location of the hidden danger behavior, and judges whether there is a hidden danger at the location of the hidden danger behavior through the detection equipment; When a hidden danger is confirmed, the drone dumps paint marks at the location of the hidden danger behavior and uploads the coordinates of the confirmed hidden danger behavior; 2. The factory intelligent operation and maintenance inspection method according to claim 1, characterized in that: Mark the coordinates where the busbar cable coincides with the location of the hidden danger behavior; Set the cable embedding threshold. When the land depth data of the coincident coordinates detected by the detection equipment ≥ the cable embedding threshold, it is determined that there is a hidden danger at the coordinates; The distance between the detection equipment and the ground is equal to the set flight height; 3. The factory intelligent operation and maintenance inspection method according to claim 1, wherein: Determine the inclination of the rainwater according to the wind direction and adjust the flight attitude of the drone in the rainwater; Adjust the angle of the detection equipment according to the inclination of the rainwater and plan the path approaching the location of the hidden danger behavior; 4. The factory intelligent operation and maintenance inspection method according to claim 3, characterized in that: The detection equipment includes a mobile camera, an ultrasonic sensor, a laser sensor, a Hall effect sensor and an infrared thermal imager; The mobile camera is used to photograph the image of the land depression; The ultrasonic sensor and the laser sensor detect the land depression depth data; The Hall effect sensor detects the leakage data; The temperature sensor detects whether there is serious overheating; 5. The factory intelligent operation and maintenance inspection method according to claim 4, wherein: It also includes historical data, and the historical data records the coordinates of the previous maintenance locations; Set the maintenance frequency threshold. When the previous maintenance location coordinates ≥ the maintenance frequency threshold, select the previous maintenance location coordinates, and assist in planning and generating the second flight path according to the selected previous maintenance location coordinates; 6. The factory intelligent operation and maintenance inspection method according to claim 1, characterized in that: Take an image through the mobile camera according to the coordinates of the hidden danger behavior, pixelate the image, and confirm the graphic size by using the flight height and the pixels of the image through the scale, so as to confirm the opening perimeter of the hidden danger; The drone dumps paint marks according to the opening perimeter of the hidden danger; 7. The factory intelligent operation and maintenance inspection method according to claim 6, characterized in that: Adjust the dumping ratio according to the opening perimeter of the hidden danger; Plan the paint dumping path according to the coordinate digital image of the hidden danger, and the paint dumping path is the same as the coordinate digital image of the hidden danger; 8. The factory intelligent operation and maintenance inspection method according to claim 7, wherein: The second flight path includes a flight path and a detection path; The flight path includes the path between the current path point of the drone and the path point near the hidden danger; The detection path includes the path between the path point near the hidden danger and the path point at the hidden danger; Determine the coordinates of the hidden danger behavior and the next connected flight path; The flight of the next flight path is used to blow away the water droplets on the detection equipment; 9. The factory intelligent operation and maintenance inspection method according to claim 7, wherein: The paint marks are marked in three colors: red, yellow and blue; The red paint mark indicates danger and requires power-off maintenance; The yellow paint mark indicates suspicion and requires a detailed inspection of the hidden danger; The blue paint mark indicates safety and requires re-burying the hidden danger; 10. A patrol inspection system applying a factory intelligent operation and maintenance patrol inspection method, characterized in that, It includes: A generation module determines the coordinates of the photovoltaic panels and the busbar cables of a photovoltaic power station, generates an inspection area, and the generation module determines a first flight path according to the inspection area; A shooting module records the videos at the photovoltaic panels and the busbar cables in real time through the shooting module, and determines the coordinates of the potential hazard behavior through the coordinates of the photovoltaic panels and the busbar cables; A detection module determines whether there are potential hazards at the potential hazard behavior through the detection module, and modifies the first flight path to generate a second flight path; A storage module is used to store the videos shot by the shooting module and historical maintenance data; A marking module stores pigments of three colors, and marks different risk identifications by pouring different colors of pigments.

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