Photovoltaic station intelligent inspection method and system based on object model

Abstract

The invention relates to the technical field of intelligent inspection, and discloses a photovoltaic station intelligent inspection method based on an object model, the photovoltaic station intelligent inspection method based on the object model can be divided into a terminal layer, a platform layer and an application layer, the terminal layer is composed of an intelligent inspection robot, and the platform layer is composed of a communication device, a switch and a server. The application layer is an affiliated application, an intelligent inspection comprehensive centralized control platform is built in a server, an unmanned aerial vehicle and an intelligent inspection robot are deployed in a photovoltaic field station to form an air-ground cooperative unmanned inspection network, and the intelligent inspection comprehensive monitoring platform supports a B / S browser / server-based architecture and can be deployed in a public network environment or an intranet environment. The system is generally deployed in a central control room server, supports multiple standard industrial protocol sets such as MODBUS, CAN, MQTT, HTTP, RTSP, GB28181, TCP and the like, and has the advantages that the system can carry out systematic, unmanned and intelligent inspection service on a photovoltaic field station, the accuracy of a monitoring result is improved, and the like.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of intelligent inspection, in particular to a photovoltaic station intelligent inspection method and system based on a physical model. BACKGROUND

[0002] A photovoltaic station is a facility for converting solar energy into electric energy by using photovoltaic modules, which is composed of photovoltaic modules, inverters, lines, switches, transformers and other equipment, and can convert the generated direct current into alternating current and send it into the public power grid. The advantages of the photovoltaic station include green environmental protection, inexhaustible resources and wide application range.

[0003] Publication No. CN118941990A discloses an automatic inspection method for a photovoltaic station, which comprises the following steps: obtaining a two-dimensional orthographic image and a CAD design image of the photovoltaic station, associating photovoltaic module strings in the two-dimensional orthographic image with photovoltaic module strings in the CAD design image to obtain a first association relationship, monitoring the power data of the photovoltaic module strings in the photovoltaic station, triggering unmanned aerial vehicle inspection when there is a defect module string with abnormal power data, obtaining an inspection image taken after the unmanned aerial vehicle inspection, mapping the position of the defect module string to the two-dimensional orthographic image according to the first association relationship, mapping the defect module string to the inspection image according to a second association relationship between the two-dimensional orthographic image and the inspection image, and marking and displaying the position of the defect module string in the inspection image. The system associates power data monitoring with unmanned aerial vehicle inspection, improves the inspection efficiency and accuracy, and maps the defect module string to the inspection image for marking and display, so that the display of the defect module string is more intuitive. However, in actual life, due to the complex terrain, difficult traffic, variable weather and difficult equipment protection of the photovoltaic station in the special industrial environment, it is difficult for the unmanned aerial vehicle to completely inspect the entire photovoltaic station, and the unmanned aerial vehicle is difficult to inspect the abnormal conditions of the internal equipment of the photovoltaic station due to the different heights of the inspection in the inspection process, so that the system can only perform general inspection and cannot be refined to the specific position or specific equipment abnormal condition marking display or early warning. The existing system has further space for improvement in the accuracy of monitoring the photovoltaic station. SUMMARY

[0004] In view of the deficiencies of the prior art, the application provides a photovoltaic station intelligent inspection method and system based on a physical model, which has the advantages of systematic, unmanned and intelligent inspection services for the photovoltaic station and improved accuracy of the monitoring results.

[0005] To achieve the above object, the application provides the following technical scheme: the intelligent inspection method of the photovoltaic station based on the object model can be divided into a terminal layer, a platform layer and an application layer, the terminal layer is composed of intelligent inspection robots, the platform layer is composed of communication devices, switches and servers, and the application layer is an auxiliary application, including: S100, an intelligent inspection comprehensive control platform is built inside the server, and a UAV and an intelligent inspection robot are deployed at the photovoltaic station to form an unmanned inspection network in air-ground cooperation, the intelligent inspection comprehensive control platform supports a B / S browser / server architecture and can be deployed in a public network environment or an intranet environment, is generally deployed in a server in a central control room, supports multiple standard industrial protocols such as MODBUS, CAN, MQTT, HTTP, RTSP, GB28181 and TCP, main components of the UAV include a body, a nest, a wind speed / rainfall / environmental temperature and humidity / nest internal temperature and humidity / water immersion detector, a high-definition camera, a radar sensing system and an infrared thermal imaging lens, and main components of the intelligent inspection robot include a vehicle body, a drive motor, a control box, an obstacle avoidance sensor, a high-definition camera, an infrared thermal imaging lens and a wind speed / rainfall / environmental temperature and humidity detector.

[0006] S200, a photovoltaic station complex scene UAV and intelligent inspection robot system is established inside the intelligent inspection comprehensive control platform; S300, the UAV and the intelligent inspection robot detect various data in the photovoltaic station and upload the detection results to the photovoltaic station complex scene UAV and intelligent inspection robot system, a multi-dimensional intelligent recognition detection algorithm is constructed inside the photovoltaic station complex scene UAV and intelligent inspection robot system, and various defects and abnormalities in the photovoltaic station are perceived; S400, the photovoltaic station complex scene UAV and intelligent inspection robot system optimizes the inspection strategy of the UAV and the intelligent inspection robot according to the detection results and long short-term memory recursion.

[0007] Preferably, the photovoltaic station complex scene UAV and intelligent inspection robot system includes a visible light video monitoring function module, an infrared thermal imaging temperature measurement function module, an environmental detection function module, a voice intercom function module, a robot inspection function module, a task management function module, an inspection report display function module, a data query and analysis function module, an intelligent alarm function module, a real-time map function module and a robot self-checking function module.

[0008] Preferably, the visible light video monitoring function module includes a visible light camera installed inside the intelligent inspection robot. The visible light camera is turned on to collect image data while the unmanned aerial vehicle and the intelligent inspection robot are inspecting inside the photovoltaic station. A high-precision image recognition algorithm is built inside the visible light video monitoring function module, and the collected image data is intelligently analyzed and processed by the high-precision image recognition algorithm to identify the image data content. The visible light video monitoring function module can identify the content as the indicator light, the pressure plate state, the air switch, the pointer instrument, the digital instrument, the knob switch, the knife gap state, and the appearance of the equipment in the power distribution room, thereby replacing the human eye to timely grasp the operation state of the equipment room.

[0009] Preferably, the infrared thermal imaging temperature measurement function module includes an infrared thermal imager installed inside the intelligent inspection robot, and the intelligent alarm function module includes a buzzer installed inside the intelligent inspection robot. The intelligent inspection robot collects device surface temperature data during the inspection process and uploads the collected temperature data to the photovoltaic station complex scene unmanned aerial vehicle and intelligent inspection robot system for analysis. After analysis, the intelligent alarm function module is linked to the analysis results to alarm, thereby effectively diagnosing temperature-sensitive equipment. The robot supports multi-region temperature measurement.

[0010] Preferably, the environment detection function module includes a wind speed / rainfall / environmental temperature and humidity detector installed inside the unmanned aerial vehicle and the intelligent inspection robot. The unmanned aerial vehicle aerial inspection and the intelligent inspection robot ground inspection form air-to-ground two-way detection of the interior of the photovoltaic station, and real-time monitoring and uploading of temperature, humidity, wind speed, and rainfall environmental information within the inspection range to the photovoltaic station complex scene unmanned aerial vehicle and intelligent inspection robot system. The photovoltaic station complex scene unmanned aerial vehicle and intelligent inspection robot system records and statistics the detection data and provides full information for the operation and maintenance personnel to analyze the equipment operation state. The voice intercom function module includes a communication device installed inside the server and the intelligent inspection robot. The staff in the background can have real-time dialogue with the staff near the intelligent inspection robot on site according to the analysis data of the photovoltaic station environment detection, temperature data, and image data through the communication device at the server, and timely adjust the on-site equipment.

[0011] Preferably, the task management function module, the assignable task type is divided into three types of instant task, periodic task, periodic task, through the above three different task types, the inspection type can be divided into comprehensive inspection, routine inspection, special inspection, special inspection, self-defined inspection, the staff can establish different types of inspection task according to various conditions, the robot inspection function module includes two ways of conventional inspection and special inspection, under the conventional inspection, the photovoltaic station complex scene unmanned aerial vehicle and intelligent inspection robot system controls the intelligent inspection robot and unmanned aerial vehicle to start and complete the inspection task according to the pre-set inspection task content, time, path parameter information, the special inspection is set by the staff to set the photovoltaic station internal inspection point, the intelligent inspection robot and unmanned aerial vehicle complete the inspection task of the inspection point, the special inspection also includes that the staff controls the unmanned aerial vehicle and intelligent inspection robot to carry out the inspection, the photovoltaic station complex scene unmanned aerial vehicle and intelligent inspection robot system sets the inspection task of the intelligent robot and unmanned aerial vehicle through the task management function module, and then starts the unmanned aerial vehicle and intelligent inspection robot to carry out the inspection of the photovoltaic station and the collection and processing of the internal image data, temperature data and environmental detection data of the photovoltaic station through the robot inspection function module.

[0012] Preferably, the inspection report display function module has the functions of storing, analyzing, counting, searching and standardizing and sorting the collected image data, temperature data and environmental detection data, supports excel report export and saving, the staff can search the image data, temperature data and environmental detection data in the intelligent inspection comprehensive control platform according to the inspection task or monitoring point distributed by the task management function module, quickly view the monitoring data, the data query and analysis function module makes the intelligent inspection robot automatically generate a report in the intelligent inspection comprehensive control platform after completing a task, the operation and maintenance personnel can search and view the excel report according to time, inspection task and task type in the intelligent inspection comprehensive control platform, the operation and maintenance personnel can search, view and export various excel reports according to the demand, including inspection task excel report, data excel report, alarm record excel report and environmental excel information report.

[0013] Preferably, the intelligent alarm function module can ensure that the intelligent inspection robot can automatically alarm the abnormal data collected during the inspection process through the photovoltaic station complex scene unmanned aerial vehicle and intelligent inspection robot system in the intelligent inspection comprehensive control platform, the collected data is analyzed, compared with the threshold, analyzed for trend and related to the database, the alarm information is presented through the pop-up alarm of the auxiliary software interface, the database alarm record and the buzzer alarm, which timely reminds the operation and maintenance personnel.

[0014] Preferably, the real-time map function module can display the map information of the intelligent inspection robot in the inspection task in real time, including four elements of map path, RFID position, inspection point position and real-time position, and the staff can check at any time in the intelligent inspection integrated control platform and the attached software, and the display map supports manual zooming, dragging and moving, and full screen display operation.

[0015] Preferably, the robot self-checking function module is configured to make the intelligent inspection robot perform self-checking before starting the inspection, and the self-checking content includes the infrared thermal imager, the high-definition camera, the motor, the gimbal, the internal storage and various sensors. When an abnormality of the above components is found, an abnormal state indication is given and uploaded to the photovoltaic station complex scene unmanned aerial vehicle and intelligent inspection robot system, and the staff can quickly judge the repair through the background, so that the maintenance personnel can timely find faults, reduce processing time and improve the efficiency of solving faults.

[0016] Beneficial effects 1. The photovoltaic station intelligent inspection method and system based on the object model form air-to-ground two-way detection of the inside of the photovoltaic station through aerial inspection of the unmanned aerial vehicle and ground inspection of the intelligent inspection robot, and real-time monitoring and uploading of temperature, humidity, wind speed and rainfall environmental information in the inspection range to the photovoltaic station complex scene unmanned aerial vehicle and intelligent inspection robot system, thereby improving the accuracy of the system monitoring result, and the staff in the background can communicate in real time with the staff near the intelligent inspection robot on site according to the analysis data, temperature data and image data of the photovoltaic station environmental detection, and timely adjust the on-site equipment, thereby facilitating user use.

[0017] 2. The photovoltaic station intelligent inspection method and system based on the object model can define the path and task type of air-to-ground two-way inspection through the mutual interaction of the robot inspection function module, the task management function module, the inspection report display function module, the data query and analysis function module, the intelligent alarm function module and the real-time map function module, and the staff can quickly lock the abnormal area and timely repair when the inspection point data is abnormal, thereby facilitating user use.

[0018] 3. The photovoltaic station intelligent inspection method and system based on the object model is configured to make the intelligent inspection robot perform self-checking before starting the inspection, thereby facilitating the maintenance personnel to timely find faults, reducing processing time, improving the efficiency of solving faults, avoiding system data collection abnormalities caused by internal function faults of the unmanned aerial vehicle and intelligent inspection robot, improving the accuracy of system data collection, and facilitating user use. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1Flowchart of the method and system for intelligent inspection of photovoltaic power stations based on object models according to the present application; Figure 2 Method diagram of the method for intelligent inspection of photovoltaic power stations based on object models according to the present application; Figure 3 Complex scene unmanned aerial vehicle and intelligent inspection robot system function module diagram of the method and system for intelligent inspection of photovoltaic power stations based on object models according to the present application; Figure 4 Task management function module diagram of the method and system for intelligent inspection of photovoltaic power stations based on object models according to the present application. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0021] EMBODIMENT Please refer to Figure 1 The intelligent inspection method of photovoltaic power stations based on object models can be divided into a terminal layer, a platform layer and an application layer. The terminal layer is composed of intelligent inspection robots, the platform layer is composed of communication devices, switches and servers, and the application layer is an attached application, including: S100, an intelligent inspection comprehensive control platform is built inside the server, and an unmanned aerial vehicle and an intelligent inspection robot are deployed at the photovoltaic power station to form an unmanned inspection network with air-ground cooperation. The intelligent inspection comprehensive control platform supports a B / S browser / server architecture and can be deployed in a public network environment or an internal network environment. It is generally deployed in a server in a central control room and supports multiple standard industrial protocols such as MODBUS, CAN, MQTT, HTTP, RTSP, GB28181 and TCP. The main components of the unmanned aerial vehicle include a body, a nest, a wind speed / rainfall / environmental temperature and humidity / nest temperature and humidity / water immersion detector, a high-definition camera, a radar sensing system and an infrared thermal imaging lens. The main components of the intelligent inspection robot include a vehicle body, a drive motor, a control box, an obstacle avoidance sensor, a high-definition camera, an infrared thermal imaging lens and a wind speed / rainfall / environmental temperature and humidity detector.

[0022] S200, an unmanned aerial vehicle and an intelligent inspection robot system for complex scenes of photovoltaic power stations are established inside the intelligent inspection comprehensive control platform; S300, the unmanned aerial vehicle and the intelligent inspection robot detect various data in the photovoltaic power station, and upload the detection results to the photovoltaic power station complex scene unmanned aerial vehicle and intelligent inspection robot system, the photovoltaic power station complex scene unmanned aerial vehicle and intelligent inspection robot system internally constructs a multi-dimensional intelligent identification detection algorithm, and perceives various defects and abnormalities in the photovoltaic power station; S400, the photovoltaic power station complex scene unmanned aerial vehicle and intelligent inspection robot system internally optimizes the unmanned aerial vehicle and intelligent inspection robot inspection strategy according to the detection results and long short-term memory recursion.

[0023] Due to the special industrial environment of the complex terrain, difficult traffic, variable weather, and difficult equipment protection of the photovoltaic power station, it is usually difficult to perform autonomous monitoring. The present application develops a photovoltaic power station intelligent inspection method and system based on a physical model based on multiple types and multiple modal sensors, using fusion control, deep learning and other technologies, to intelligently and unmannedly inspect the photovoltaic power station and improve the accuracy of the monitoring results.

[0024] Please refer to Figures 2 to 3 Further in the above description, the photovoltaic power station complex scene unmanned aerial vehicle and intelligent inspection robot system includes a visible light video monitoring function module, an infrared thermal imaging temperature measurement function module, an environment detection function module, a voice intercom function module, a robot inspection function module, a task management function module, an inspection report display function module, a data query and analysis function module, an intelligent alarm function module, a real-time map function module, and a robot self-checking function module.

[0025] The visible light video monitoring function module includes a visible light camera installed inside the intelligent inspection robot. The visible light camera is turned on to collect image data while the unmanned aerial vehicle and the intelligent inspection robot are inspecting inside the photovoltaic power station. The visible light video monitoring function module internally constructs a high-precision image recognition algorithm, and intelligently analyzes and processes the collected image data through the high-precision image recognition algorithm to identify the image data content. The visible light video monitoring function module can identify the contents of the indicator light, the pressure plate state, the air switch, the pointer instrument, the digital instrument, the knob switch, the knife gap state, and the equipment appearance in the power distribution room, so as to replace the human eye and timely grasp the operation state of the equipment room, and ensure the normal operation of the system.

[0026] The infrared thermal imaging temperature measurement function module comprises an infrared thermal imager installed inside the intelligent inspection robot, and the intelligent alarm function module comprises a buzzer installed inside the intelligent inspection robot. The intelligent inspection robot collects device surface temperature data during inspection, and uploads the collected temperature data to the photovoltaic station complex scene unmanned aerial vehicle and intelligent inspection robot system for analysis. After analysis, the intelligent alarm function module is linked to the analysis results to issue an alarm, thereby effectively diagnosing temperature-sensitive devices. The robot supports multi-zone temperature measurement to ensure normal operation of the system.

[0027] The environmental detection function module comprises a wind speed / rainfall / environmental temperature and humidity detector installed inside the unmanned aerial vehicle and intelligent inspection robot. The unmanned aerial vehicle and intelligent inspection robot form air-to-ground two-way detection inside the photovoltaic station through aerial inspection by the unmanned aerial vehicle and ground inspection by the intelligent inspection robot, and monitor and upload temperature, humidity, wind speed, and rainfall environmental information in the inspection range to the photovoltaic station complex scene unmanned aerial vehicle and intelligent inspection robot system. The photovoltaic station complex scene unmanned aerial vehicle and intelligent inspection robot system records and analyzes the detection data to provide comprehensive information for the operation and maintenance personnel to analyze the device operation status. The voice intercom function module comprises a communication device installed inside the server and intelligent inspection robot. The staff behind the server can communicate with the staff near the intelligent inspection robot in real time based on the analysis data of the photovoltaic station environment, temperature data, and image data through the communication device, and can adjust the on-site equipment in a timely manner to improve the accuracy of data collection by the system and facilitate user use.

[0028] The task management function module can assign tasks of three types: instant tasks, periodic tasks, and cycle tasks. The inspection types of the three different task types can be divided into comprehensive inspection, routine inspection, special inspection, special inspection, and custom inspection. Staff can establish different types of inspection tasks according to various situations. The robot inspection function module comprises two modes: regular inspection and special inspection. In regular inspection, the photovoltaic station complex scene unmanned aerial vehicle and intelligent inspection robot system controls the intelligent inspection robot and unmanned aerial vehicle to start and complete the inspection task autonomously based on the pre-set inspection task content, time, and path parameter information. In special inspection, the staff sets the inspection points inside the photovoltaic station, and the intelligent inspection robot and unmanned aerial vehicle complete the inspection task autonomously. Special inspection also includes the staff manually controlling the unmanned aerial vehicle and intelligent inspection robot to perform inspection. The photovoltaic station complex scene unmanned aerial vehicle and intelligent inspection robot system sets the inspection task of the intelligent robot and unmanned aerial vehicle through the task management function module, and then starts the unmanned aerial vehicle and intelligent inspection robot to inspect the photovoltaic station and collect and process the image data, temperature data, and environmental detection data inside the photovoltaic station through the robot inspection function module, thereby improving the applicability of the system.

[0029] The patrol report display function module has the functions of storing, analyzing, counting, searching, and standardizing and sorting the collected image data, temperature data, and environmental detection data, and supports excel report export and saving. The staff can search the image data, temperature data, and environmental detection data in the intelligent patrol integrated control platform according to the patrol task or monitoring point assigned by the task management function module, and quickly view the monitoring data. The data query and analysis function module enables the intelligent patrol robot to automatically generate a report in the intelligent patrol integrated control platform after completing a task. The operation and maintenance personnel can search and view the excel report according to time, patrol task, and task type in the intelligent patrol integrated control platform. The operation and maintenance personnel can search, view, and export various excel reports, including patrol task excel report, data excel report, alarm record excel report, and environmental excel information report.

[0030] The intelligent alarm function module can ensure that the intelligent patrol robot can automatically alarm the abnormal data collected during the patrol process through the photovoltaic power station complex scene unmanned aerial vehicle and intelligent patrol robot system in the intelligent patrol integrated control platform. The alarm information is presented through the pop-up alarm of the auxiliary software interface, the database alarm record, and the buzzer alarm, which timely reminds the operation and maintenance personnel to pay attention.

[0031] The real-time map function module can display the map information of the intelligent patrol robot during the patrol task in real time, including four elements of map path, RFID position, patrol point position, and real-time position. The staff can view the information in the intelligent patrol integrated control platform and the auxiliary software at any time. The display map supports manual zooming, dragging, full-screen display, and other operations. The staff can quickly lock the area of abnormal data and timely repair.

[0032] Please refer to Figure 4 Further in the above description, the robot self-check function module is configured to perform self-checking before starting the patrol. The self-checking content includes infrared thermal imager, high-definition camera, motor, gimbal, internal storage, and various sensors. When an abnormality is found in the above components, an abnormal state indication is given and uploaded to the photovoltaic power station complex scene unmanned aerial vehicle and intelligent patrol robot system. The staff can quickly judge and repair through the background, which facilitates the operation and maintenance personnel to timely find faults, reduces the processing time, improves the efficiency of solving faults, avoids the system data collection abnormality caused by unmanned aerial vehicle and intelligent patrol robot internal function failure, improves the accuracy of system data collection, and facilitates user use.

[0033] Working principle: photovoltaic power station intelligent patrol method based on object model, including: The S100 server internally houses an intelligent inspection and integrated control platform. By deploying drones and intelligent inspection robots at photovoltaic power plants, it forms an unmanned inspection network that coordinates air and ground operations. The intelligent inspection and integrated monitoring platform supports a B / S browser / server architecture and can be deployed in public or private network environments, typically in a central control room server. It supports multiple standard industrial protocols such as MODBUS, CAN, MQTT, HTTP, RTSP, GB28181, and TCP. The main components of the drones include: airframe, nest, wind speed / rainfall / ambient temperature and humidity / nest temperature and humidity / water immersion detectors, high-definition cameras, radar sensing systems, and infrared thermal imaging lenses. The main components of the intelligent inspection robots include: vehicle body, drive motor, control box, obstacle avoidance sensors, high-definition cameras, infrared thermal imaging lenses, and wind speed / rainfall / ambient temperature and humidity detectors.

[0034] S200, the intelligent inspection integrated control platform has built a drone and intelligent inspection robot system for complex scenarios of photovoltaic power stations; The S300 drone and intelligent inspection robot detect various data within the photovoltaic power station and upload the detection results to the complex scene drone and intelligent inspection robot system of the photovoltaic power station. The complex scene drone and intelligent inspection robot system of the photovoltaic power station has built a multi-dimensional intelligent recognition and detection algorithm to perceive various defects and anomalies in the photovoltaic power station. The complex scene drone and intelligent inspection robot system of the photovoltaic power station assigns inspection tasks to drones and intelligent inspection robots according to different task types and inspection types. The drones and intelligent inspection robots control the intelligent inspection robots and drones to start and complete the inspection tasks autonomously according to the pre-set inspection task content, time, and path parameters. During inspections, drones and intelligent inspection robots collect various internal data of photovoltaic power plants. This includes using a visible light video monitoring module to collect data on indicator lights, circuit breaker status, air switches, pointer meters, digital meters, rotary switches, knife switches, and equipment appearance in the power distribution room; using an infrared thermal imaging temperature measurement module to collect equipment surface temperature data; and using an environmental monitoring module to collect environmental information data such as temperature, humidity, wind speed, and rainfall. Through aerial inspections by drones and ground inspections by intelligent inspection robots, a two-way air-to-ground detection system is established for the internal structure of the photovoltaic power plant. The data is then uploaded to the complex scene drone and intelligent inspection robot system for analysis and processing. Based on the analysis, Excel reports and intelligent alarms are generated. Staff can view the Excel reports and intelligent alarm notifications in a timely manner through the intelligent inspection integrated control platform or auxiliary applications. They can also quickly locate the alarm location and repair it using the real-time map module. Simultaneously, staff can also communicate in real time with staff near the intelligent inspection robot using the voice intercom module based on the environmental monitoring analysis data, temperature data, and image data of the photovoltaic power plant, and make timely adjustments to the on-site equipment.

[0035] The S400 photovoltaic power plant complex scene drone and intelligent inspection robot system has a self-check function module. Before starting the inspection, the intelligent inspection robot will perform a self-check, which includes the infrared thermal imager, high-definition camera, motor, gimbal, internal storage, and various sensors. When an abnormality is found in the above components, an abnormality status indication is given and uploaded to the photovoltaic power plant complex scene drone and intelligent inspection robot system. Staff can quickly perform maintenance and judgment through the backend, which facilitates the timely detection of faults by operation and maintenance personnel, reduces processing time, and improves the efficiency of fault resolution. The inspection strategy of the drone and intelligent inspection robot is optimized based on the detection results and long short-term memory recursion.

[0036] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A photovoltaic power station intelligent inspection method based on a physical model, characterized in that: The photovoltaic power station intelligent inspection method based on the object model can be divided into a terminal layer, a platform layer, and an application layer. The terminal layer consists of an intelligent inspection robot, the platform layer consists of communication devices, switches, and servers, and the application layer consists of auxiliary applications, including: The S100 server has an integrated intelligent inspection and control platform built inside, and forms an unmanned inspection network that coordinates air and ground by deploying drones and intelligent inspection robots at photovoltaic power stations. S200, the intelligent inspection integrated control platform has built a drone and intelligent inspection robot system for complex scenarios of photovoltaic power stations; The S300 drone and intelligent inspection robot detect various data inside the photovoltaic power station and upload the detection results to the complex scene drone and intelligent inspection robot system of the photovoltaic power station. The complex scene drone and intelligent inspection robot system of the photovoltaic power station has a multi-dimensional intelligent recognition and detection algorithm built inside, and can perceive various defects and anomalies in the photovoltaic power station. The S400 system optimizes the inspection strategies of drones and intelligent inspection robots in complex photovoltaic power plant scenarios based on detection results and long short-term memory recursion.

2. A photovoltaic power station intelligent inspection system based on a physical model, characterized in that: The photovoltaic power station complex scene drone and intelligent inspection robot system, applied to inspection methods, includes a visible light video monitoring function module, an infrared thermal imaging temperature measurement function module, an environmental detection function module, a voice intercom function module, a robot inspection function module, a task management function module, an inspection report display function module, a data query and analysis function module, an intelligent alarm function module, a real-time map function module, and a robot self-inspection function module.

3. The intelligent inspection system for photovoltaic power plants based on a physical model according to claim 2, characterized in that: The visible light video monitoring module includes a visible light camera installed inside an intelligent inspection robot. While the drone and intelligent inspection robot are inspecting the photovoltaic power station, the visible light camera is activated to collect image data. The module incorporates a high-precision image recognition algorithm, which intelligently analyzes and processes the collected image data to identify its content. The visible light video monitoring module can identify indicators, switch status, circuit breakers, pointer meters, digital meters, rotary switches, knife switches, and equipment appearance within the power distribution room, thus replacing human eyes in timely monitoring of the equipment's operating status.

4. The intelligent inspection system for photovoltaic power plants based on a physical model according to claim 2, characterized in that: The infrared thermal imaging temperature measurement module includes an infrared thermal imager installed inside the intelligent inspection robot, and the intelligent alarm module includes a buzzer installed inside the intelligent inspection robot. During the inspection process, the intelligent inspection robot collects surface temperature data of the equipment and uploads the collected temperature data to the photovoltaic power station complex scene drone and intelligent inspection robot system for analysis. After analysis, the robot will trigger an alarm in conjunction with the intelligent alarm module based on the analysis results, thereby effectively diagnosing temperature-sensitive equipment. The robot supports multi-area temperature measurement.

5. The intelligent inspection system for photovoltaic power plants based on a physical model according to claim 2, characterized in that: The environmental monitoring module includes wind speed / rainfall / ambient temperature and humidity detectors installed inside the drone and intelligent inspection robot. Through aerial inspection by the drone and ground inspection by the intelligent inspection robot, a two-way air-to-ground monitoring system is established within the photovoltaic power station. This system monitors environmental information such as temperature, humidity, wind speed, and rainfall within the inspection area in real time and uploads it to the complex scene drone and intelligent inspection robot system of the photovoltaic power station. The system records and statistically analyzes the detection data and provides comprehensive information for maintenance personnel to analyze the equipment's operating status. The voice intercom module includes a communication device installed inside the server and intelligent inspection robot. Back-end staff can use the communication device on the server to communicate in real time with staff near the intelligent inspection robot on-site, based on the analyzed data, temperature data, and image data from the photovoltaic power station's environmental monitoring, and make timely adjustments to the on-site equipment.

6. The intelligent inspection system for photovoltaic power plants based on a physical model according to claim 2, characterized in that: The task management module allows for the assignment of three types of tasks: immediate tasks, periodic tasks, and recurring tasks. These three task types are further categorized into inspection types: comprehensive inspection, routine inspection, special inspection, special inspection, and custom inspection. Staff can create different types of inspection tasks based on various situations. The robot inspection module includes two modes: routine inspection and special inspection. Under routine inspection, the photovoltaic power plant's complex scene drone and intelligent inspection robot system autonomously initiates and completes the inspection task based on pre-set inspection task content, time, and path parameters. Under special inspection, staff set inspection points within the photovoltaic power plant, and the intelligent inspection robot and drone autonomously complete the inspection at these points. Special inspection also includes staff manually operating drones and intelligent inspection robots for inspection. The photovoltaic power plant's complex scene drone and intelligent inspection robot system sets the inspection tasks for the intelligent robots and drones through the task management module, and then activates the drones and intelligent inspection robots through the robot inspection module to inspect the photovoltaic power plant and collect and process internal image data, temperature data, and environmental monitoring data.

7. The intelligent inspection system for photovoltaic power plants based on a physical model according to claim 2, characterized in that: The inspection report display module is capable of storing, analyzing, statistically analyzing, and retrieving collected image data, temperature data, and environmental monitoring data. It also standardizes and sorts this data, supports exporting and saving Excel reports. Staff can retrieve image data, temperature data, and environmental monitoring data within the intelligent inspection integrated control platform based on inspection tasks or monitoring points assigned by the task management module, quickly viewing monitoring data. The data query and analysis module automatically generates reports within the intelligent inspection integrated control platform after the intelligent inspection robot completes a task. Maintenance personnel can search and view Excel reports on the platform based on time, inspection task, and task type. They can also search, view, and export various Excel reports as needed, including inspection task Excel reports, data Excel reports, alarm record Excel reports, and environmental information Excel reports.

8. The intelligent inspection system for photovoltaic power plants based on a physical model according to claim 2, characterized in that: The intelligent alarm module ensures that during the inspection process, the intelligent inspection robot can automatically alarm on abnormal data collected by the drone and intelligent inspection robot system in the complex scene of the photovoltaic power station within the intelligent inspection integrated control platform. This alarm is achieved through data collection and analysis, threshold comparison, trend analysis, and database-related technologies. The alarm information is presented through pop-up alarms in the auxiliary software interface, database alarm records, and buzzer alarms, promptly reminding maintenance personnel to pay attention.

9. The intelligent inspection system for photovoltaic power plants based on a physical model according to claim 2, characterized in that: The real-time map module can display map information of the intelligent inspection robot during its inspection tasks, including four elements: map path, RFID location, inspection point location, and real-time location. Staff can view the map at any time in the intelligent inspection integrated control platform and its auxiliary software. The displayed map supports manual zooming, dragging and moving, and full-screen display.

10. The intelligent inspection system for photovoltaic power plants based on a physical model according to claim 2, characterized in that: The robot self-inspection module is designed so that the intelligent inspection robot will perform a self-inspection before starting the inspection. The self-inspection includes the infrared thermal imager, high-definition camera, motor, gimbal, internal storage, and various sensors. When an abnormality is found in a component, an abnormal status indication is given and uploaded to the complex scene drone and intelligent inspection robot system of the photovoltaic power station. Staff can quickly perform inspection and judgment through the background, which makes it convenient for maintenance personnel to find faults in time, reduce processing time, and improve the efficiency of troubleshooting.

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