Method and device for evaluating power generation capacity attenuation rate of solar cell panel

Abstract

The invention relates to a method and device for evaluating the power generation capacity attenuation rate of a solar cell panel, and the method comprises the steps: obtaining a sun-Mars ephemeris, and calculating a solar elevation angle, an azimuth angle, a solar fire distance, a sunlight incident angle and an ideal zenith irradiation dose per unit area at a current imaging moment according to the sun-Mars ephemeris; performing radiation correction on each image pixel value of the visible light image according to the terrain reflection influence factor of each pixel point to obtain a corrected pixel value sequence; based on a preset standard atmospheric refractive index and the correction pixel value sequence, using a Rayleigh scattering model to invert a relative atmospheric refractive index at an imaging moment; and based on the ideal zenith irradiation dose per unit area, the sunlight incident angle and the relative atmospheric refractive index, calculating the theoretical non-attenuation power generation power of the solar cell panel, and comparing the theoretical non-attenuation power generation power with the actual power generation power to obtain the power generation capacity attenuation rate. Through the method provided by the invention, atmosphere relative light depth changes at different imaging moments can be inverted, and the accuracy of theoretical non-attenuation generation power calculation is improved.

Description

Technical Field

[0001] This invention relates to the field of equipment health management technology, and more specifically, to a method and apparatus for assessing the degradation rate of solar panel power generation capacity. Background Technology

[0002] Deep space exploration is a crucial component of cosmological exploration and a prerequisite for the development of interstellar resources. Influenced by the different rhythms of various celestial bodies, probes in different locations will face diverse environmental challenges. In the case of Mars exploration, the thin atmosphere of Mars leads to widespread sandification on the surface, making it prone to dust storms. This dust can cover the solar panels of Mars probes, affecting their actual power generation capacity.

[0003] Because Martian weather is unpredictable and there is a lack of continuous direct measurement methods for atmospheric light depth, the actual power generation of solar panels alone cannot accurately describe the changes in their power generation capacity. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a method and apparatus for evaluating the degradation rate of power generation capacity of solar panels, thereby solving at least one of the above-mentioned technical problems.

[0005] In a first aspect, the technical solution of the present invention to solve the above-mentioned technical problems is as follows: a method for evaluating the degradation rate of power generation capacity of a solar panel, the method comprising: Obtain and calculate the solar altitude angle, azimuth angle and Sun-Mars distance at the current imaging time based on the Sun-Mars ephemeris; The solar incidence angle of the solar panel is calculated based on the solar altitude angle and azimuth angle, combined with the normal vector of the solar panel. Based on the distance between the Sun and Mars, the angle of incidence of sunlight, the radius of Mars, and the area of ​​the solar panels at the current imaging time, the ideal zenith irradiance per unit area is calculated. The detector acquires visible light images of the surrounding environment and the area where the solar panels are located. Combining the solar direction vector and the terrain digital elevation model, the terrain reflection influence factor of each pixel in the visible light image is calculated. Based on the terrain reflection influence factor of each pixel, radiometric correction is performed on each image pixel value of the visible light image to obtain a sequence of corrected pixel values. Based on the preset standard atmospheric refractive index and the corrected pixel value sequence, the relative atmospheric refractive index at the current imaging moment is inverted using the Rayleigh scattering model; Based on the ideal zenith irradiance per unit area, the angle of solar incidence, and the relative atmospheric refractive index, the theoretical zero-attenuation power generation of the solar panel is calculated and compared with the actual power generation to obtain the power generation capacity attenuation rate.

[0006] The beneficial effects of this invention are as follows: First, by using ephemeris to accurately calculate the solar altitude angle, azimuth angle, and Sun-Mars distance, and combining this with the solar panel normal vector to calculate the solar incidence angle in real time, the shortcomings of traditional methods in accurately quantifying solar radiation incidence efficiency under the complex lighting geometry of Mars are effectively overcome. Second, by coupling the terrain digital elevation model with the solar direction vector, the terrain reflection influence factor is calculated pixel by pixel and the image is radiometrically corrected, eliminating the radiation deviation caused by differences in Martian surface slope, roughness, and viewing angle, and significantly improving the consistency and comparability of image data from different terrain regions. Third, by using the Rayleigh scattering model to invert the relative atmospheric refractive index, the light transmission attenuation caused by the thin Martian atmosphere and dust weather is quantified into a calculable physical parameter, breaking through the technical bottleneck of the lack of continuous direct measurement methods for Martian atmospheric light depth. Fourth, the theoretical zero-attenuation power generation is obtained by co-calculating the ideal zenith irradiance per unit area, the solar incident angle, and the inverted atmospheric refractive index, and directly compared with the actual power generation. This achieves a quantitative mapping from image pixel values ​​to power generation attenuation rate, establishing a non-contact, visualized, and high-precision evaluation method. Finally, this method does not rely on ground contact measurements and can complete the entire calculation using only the probe's own imaging equipment and ephemeris data. It has strong adaptability and can evaluate the power generation capacity attenuation caused by dust accumulation on solar panels in real time under different weather, terrain, and probe attitude conditions. This provides a reliable decision-making basis for the health management and lifespan prediction of the energy system of the Mars exploration mission, and solves the core problem of insufficient evaluation accuracy caused by the inability to separate the coupled effects of multiple factors such as atmosphere, terrain, and attitude in traditional methods.

[0007] Based on the above technical solution, the present invention can be further improved as follows.

[0008] Furthermore, the solar incidence angle of the solar panel is calculated based on the solar altitude angle and azimuth angle, combined with the normal vector of the solar panel, including: The solar direction vector is calculated based on the solar altitude angle and azimuth angle. The solar incidence angle of the solar panel is calculated based on the normal vector of the solar panel and the solar direction vector.

[0009] Furthermore, based on the preset standard atmospheric refractive index and corrected pixel value sequence, the relative atmospheric refractive index at the current imaging moment is inverted using the Rayleigh scattering model, including: Based on the preset standard atmospheric refractive index, the ratio of the corrected pixel value sequence at the current imaging time to the corrected pixel value sequence on the reference day, the ideal zenith irradiance per unit area corresponding to the reference day, and the ideal zenith irradiance per unit area corresponding to the current imaging time, the relative atmospheric refractive index is obtained by inversion through the Rayleigh scattering model. The reference day is the Martian day corresponding to the standard atmospheric refractive index.

[0010] Furthermore, the above-mentioned combination of solar direction vector and terrain digital elevation model is used to calculate the terrain reflection influence factor of each pixel in the visible light image, including: For each pixel in the visible light image, the terrain normal vector corresponding to the pixel is generated using the terrain digital elevation model; For each pixel, using the solar direction vector as the incident light direction, calculate the cosine of the incident angle between the terrain normal vector and the solar direction vector. For each pixel, using the camera orientation vector as the observation direction, calculate the cosine of the exit angle of the terrain normal vector relative to the camera orientation vector; For each pixel, the cosine values ​​of the incident angle and the exit angle, along with the preset surface roughness and basic reflectivity, are input into the Cook-Torrance BRDF model to obtain the topographic reflection influence factor of the pixel.

[0011] Furthermore, the above-mentioned radiometric correction of each image pixel value in the visible light image based on the terrain reflection influence factor of each pixel point yields a corrected pixel value sequence, including: For each pixel in the visible light image, the original pixel value corresponding to the pixel is divided by the terrain reflection influence factor corresponding to the pixel to obtain the corrected pixel value. Arrange the corrected pixel values ​​of all pixels in their original spatial order to form a sequence of corrected pixel values.

[0012] Furthermore, the above calculation of the theoretical attenuation-free power generation of solar panels based on ideal zenith irradiance per unit area, solar incidence angle, and relative atmospheric refractive index includes: The ideal radiant flux received by the solar panel is calculated based on the ideal zenith irradiance per unit area, the effective area of ​​the solar panel, and the angle of incidence of sunlight. Based on the ideal radiative flux, relative atmospheric refractive index, and power generation efficiency factor, the theoretical attenuation-free power generation of the solar panel is calculated.

[0013] Secondly, to solve the above-mentioned technical problems, the present invention also provides a device for evaluating the degradation rate of solar panel power generation capacity, the device comprising: The acquisition module is used to acquire and calculate the solar altitude angle, azimuth angle and Sun-Mars distance at the current imaging time based on the Sun-Mars ephemeris. The solar incidence angle determination module is used to calculate the solar incidence angle of the solar panel based on the solar altitude angle and azimuth angle, combined with the normal vector of the solar panel. The zenith irradiance determination module is used to calculate the ideal zenith irradiance per unit area based on the Sun-Mars distance, solar incidence angle, Mars radius, and solar panel area at the current imaging time. The corrected pixel value sequence determination module is used to acquire visible light images of the surrounding environment and the area where the solar panels are located by the detector. Combining the solar direction vector and the terrain digital elevation model, it calculates the terrain reflection influence factor of each pixel in the visible light image, and performs radiometric correction on each image pixel value of the visible light image based on the terrain reflection influence factor of each pixel to obtain the corrected pixel value sequence. The relative atmospheric refractive index determination module is used to invert the relative atmospheric refractive index at the current imaging moment based on a preset standard atmospheric refractive index and a corrected pixel value sequence using a Rayleigh scattering model. The power generation capacity attenuation rate determination module is used to calculate the theoretical attenuation-free power generation of solar panels based on the ideal zenith irradiance per unit area, the solar incident angle, and the relative atmospheric refractive index, and compare it with the actual power generation to obtain the power generation capacity attenuation rate.

[0014] Thirdly, in order to solve the above-mentioned technical problems, the present invention also provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the solar panel power generation capacity degradation rate assessment method of the present application.

[0015] Fourthly, in order to solve the above-mentioned technical problems, the present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the solar panel power generation capacity degradation rate assessment method of the present application.

[0016] Additional aspects and advantages of this application will be set forth in part in the description which follows, and will become apparent from the description or may be learned by practice of this application. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below.

[0018] Figure 1 A flowchart illustrating a method for evaluating the degradation rate of power generation capacity of a solar panel, provided in one embodiment of the present invention; Figure 2 A flowchart illustrating another method for evaluating the degradation rate of solar panel power generation capacity provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of a solar panel power generation capacity attenuation rate assessment device provided in one embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of an electronic device provided in one embodiment of the present invention. Detailed Implementation

[0019] The principles and features of the present invention are described below. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0020] The technical solution of the present invention and how the technical solution of the present invention solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of the present invention will now be described with reference to the accompanying drawings.

[0021] The solution provided in this invention can be applied to any application scenario that requires assessment of the degradation rate of solar panel power generation capacity.

[0022] This invention provides a possible implementation, such as... Figure 1 As shown, a flowchart of a method for evaluating the degradation rate of solar panel power generation capacity is provided. This method can be executed by any electronic device, such as a terminal device, or jointly executed by a terminal device and a server. For ease of description, the method provided in this embodiment will be described below using a terminal device as the execution subject as an example. Figure 1 The flowchart shown indicates that the method may include the following steps: S10: Obtain and calculate the solar altitude angle, azimuth angle and solar-Mars distance at the current imaging time based on the solar-Mars ephemeris; S20, based on the solar altitude angle and azimuth angle, combined with the normal vector of the solar panel, the solar radiation incident angle of the solar panel is calculated; S30, based on the distance between the Sun and Mars, the angle of incidence of sunlight, the radius of Mars, and the area of ​​the solar panels at the current imaging time, calculates the ideal zenith irradiance per unit area; S40: Acquire visible light images of the surrounding environment and the area where the solar panels are located by the detector. Combine the solar direction vector and the terrain digital elevation model to calculate the terrain reflection influence factor of each pixel in the visible light image. Then, perform radiometric correction on each image pixel value of the visible light image based on the terrain reflection influence factor of each pixel to obtain the corrected pixel value sequence. S50, based on a preset standard atmospheric refractive index and a corrected pixel value sequence, uses the Rayleigh scattering model to invert the relative atmospheric refractive index at the current imaging moment; S60 calculates the theoretical zero-attenuation power generation of solar panels based on ideal zenith irradiance per unit area, solar incident angle, and relative atmospheric refractive index, and compares it with the actual power generation to obtain the power generation capacity attenuation rate.

[0023] The method of this invention firstly utilizes ephemeris to accurately calculate the solar altitude angle, azimuth angle, and Sun-Mars distance, and combines this with the solar panel normal vector to calculate the solar incidence angle in real time, effectively overcoming the shortcomings of traditional methods that cannot accurately quantify solar radiation incidence efficiency under the complex lighting geometry of Mars. Secondly, by coupling the terrain digital elevation model with the solar direction vector, the terrain reflection influence factor is calculated pixel by pixel and the image is radiometrically corrected, eliminating the radiation deviation caused by differences in Martian surface slope, roughness, and observation angle, significantly improving the consistency and comparability of image data from different terrain regions. Thirdly, the relative atmospheric refractive index is inverted using the Rayleigh scattering model, quantifying the light transmission attenuation caused by the thin Martian atmosphere and dust weather into calculable physical parameters, breaking through the technical bottleneck of the lack of continuous direct measurement methods for Martian atmospheric light depth. Fourth, the theoretical zero-attenuation power generation is obtained by co-calculating the ideal zenith irradiance per unit area, the solar incident angle, and the inverted atmospheric refractive index, and directly compared with the actual power generation. This achieves a quantitative mapping from image pixel values ​​to power generation attenuation rate, establishing a non-contact, visualized, and high-precision evaluation method. Finally, this method does not rely on ground contact measurements and can complete the entire calculation using only the probe's own imaging equipment and ephemeris data. It has strong adaptability and can evaluate the power generation capacity attenuation caused by dust accumulation on solar panels in real time under different weather, terrain, and probe attitude conditions. This provides a reliable decision-making basis for the health management and lifespan prediction of the energy system of the Mars exploration mission, and solves the core problem of insufficient evaluation accuracy caused by the inability to separate the coupled effects of multiple factors such as atmosphere, terrain, and attitude in traditional methods.

[0024] The following specific embodiments further illustrate the solution of the present invention. To quantitatively assess the rate of power generation capacity degradation of solar panels at different times, the present invention introduces visual image information of the detection area environment and three-dimensional terrain information. It integrates imaging optical path, atmospheric scattering, and surface reflection optical path models to perform pixel-level radiometric consistency correction on the imaging results at different times. Utilizing the difference between the Martian zenith solar irradiance flux and the irradiance flux effectively received by the camera under the same optical path conditions, the relative change in atmospheric light depth is inverted, thereby obtaining the theoretical power generation of the solar panels without degradation. The invented method can effectively cope with various conditions such as weather, terrain, and vehicle attitude.

[0025] The evaluation method proposed in this invention comprehensively considers the influence of Martian atmosphere, surrounding terrain and other factors on imaging. It can inversely deduce the changes in atmospheric relative light depth at different imaging times, improve the accuracy of theoretical attenuation-free power generation calculation, and effectively estimate the attenuation rate of solar panel power generation under different weather, terrain and vehicle attitude conditions.

[0026] To facilitate understanding of the proposed solution, some background information is provided below. Due to the relative motion between the Sun and Mars, the solar altitude angle in the fixed Martian coordinate system can be directly calculated. Azimuth and the distance between the sun and Mars .remember At any given moment, the power of the solar radiation emitted towards Mars is If the propagation process from the Sun to Mars can be considered as omnidirectional, lossless, ideal spatial propagation, then the power density reaching the Martian atmospheric surface is: Due to the distance between the sun and Mars Much larger than the radius of Mars Since the thickness is much greater than that of the Martian atmosphere, the subtraction term in the denominator of the above equation can be ignored. P can be understood as P when the angle of incidence of sunlight is not considered. r The angle at which sunlight reaches the zenith surface is denoted as: The smaller δ is, the closer the sun is to the zenith.

[0027] Based on the above content and Figure 2 In this embodiment, the provided method for evaluating the degradation rate of solar panel power generation capacity may include the following steps: S10, Obtain and calculate the solar altitude angle at the current imaging time based on the solar-Mars ephemeris. Azimuth Distance between the sun and the fire ; The current imaging time refers to the specific Martian day and corresponding timestamp when the probe actually captured the visible light image during the assessment of the solar panel's power generation capacity degradation rate.

[0028] S20, based on the solar altitude angle and azimuth angle, combined with the normal vector of the solar panel, the solar radiation incident angle of the solar panel is calculated; The normal vector of the solar panel refers to the unit direction vector that is perpendicular to the plane on which the solar panel is located and points outward, describing the spatial orientation of the solar panel in the fixed coordinate system of Mars.

[0029] One implementation of S20 above is as follows: S201, the solar direction vector is calculated based on the solar altitude angle and azimuth angle; Among them, the solar direction vector refers to the unit direction vector pointing from the probe's location to the sun in the fixed coordinate system of Mars, and is used to accurately describe the incident direction of sunlight.

[0030] S202, the solar incidence angle of the solar panel is calculated based on the normal vector of the solar panel and the solar direction vector.

[0031] The angle of incidence of sunlight on a solar panel refers to the angle between the direction of sunlight and the normal to the plane of the solar panel in the fixed coordinate system of Mars.

[0032] Specifically, because neither the vehicle body nor the solar panels are horizontal, the angle of sunlight incident on the solar panels varies. and The phase difference is between the vehicle body's attitude rotation and the solar panel's rotation. Let the vehicle body's attitude rotation matrix under the pyrometallurgical system be... The tilt angle of the solar panel is denoted as Then the normal vector of the solar panel In the Mars-fixed coordinate system, it is defined as: Sunlight incident direction The description under the pyrometallurgical system is as follows: At this time, the angle of sunlight incident on the solar panel The calculation is as follows: S30, based on the distance between the Sun and Mars, the angle of incidence of sunlight, the radius of Mars, and the area of ​​the solar panels at the current imaging time, calculates the ideal zenith irradiance per unit area; One implementation of S30 above is as follows: Based on the distance between the Sun and Mars, the angle of incidence of sunlight, the radius of Mars, and the area of ​​the solar panels at the current imaging time, the ideal zenith irradiance per unit area is calculated using the following formula.

[0033] Among them, ideal zenith irradiance per unit area refers to the solar radiation power received per unit area perpendicular to the direction of sunlight under ideal conditions (no atmospheric attenuation, no terrain obstruction), and is a benchmark physical quantity for evaluating the theoretical power generation capacity of solar panels.

[0034] Assuming that sunlight does not scatter in the Martian atmosphere, the power delivered to the solar panel, i.e., the ideal zenith irradiance per unit area. Notation: ; in, For the area of ​​the solar panel, The area that receives sunlight. This is the angle of incidence of sunlight on the solar panel.

[0035] S40: Acquire visible light images of the surrounding environment and the area where the solar panels are located by the detector. Combine the solar direction vector and the terrain digital elevation model to calculate the terrain reflection influence factor of each pixel in the visible light image. Then, perform radiometric correction on each image pixel value of the visible light image based on the terrain reflection influence factor of each pixel to obtain the corrected pixel value sequence. The surrounding environment refers to the Martian surface area around the solar panels, including topography, surface material (mainly sand and soil), and geometric features such as slope and aspect. This area is digitally represented using visible light imaging and a digital elevation model (DEM).

[0036] In S40 above, combining the solar direction vector and the digital elevation model of the terrain, the terrain reflection influence factor of each pixel in the visible light image is calculated, including: S401, For each pixel in the visible light image, generate the corresponding terrain normal vector using the terrain digital elevation model. ; S402, for each pixel, using the sun direction vector As the direction of incident light, calculate the terrain normal vector. Relative to the solar direction vector The cosine of the angle of incidence; S403, for each pixel, using the camera orientation vector As the observation direction, calculate the terrain normal vector. Relative to camera orientation vector The cosine of the exit angle; S404, for each pixel, the incident angle cosine value, the exit angle cosine value, and the preset surface roughness are... and basic reflectivity Input the Cook-Torrance BRDF model to obtain the terrain reflection influence factor of each pixel. .

[0037] Based on the above scheme, in step S40 above, radiometric correction is performed on each image pixel value of the visible light image according to the terrain reflection influence factor of each pixel point to obtain a corrected pixel value sequence, including: S405, For each pixel in the visible light image, divide the original pixel value corresponding to the pixel by the terrain reflection influence factor corresponding to the pixel to obtain the corrected pixel value of the pixel. S406 arranges the corrected pixel values ​​of all pixels in their original spatial order to form a sequence of corrected pixel values.

[0038] Specifically, based on the acquired visible light images, the surrounding digital elevation product (DEM) and derived slope / aspect information can be obtained. The reflectance of each terrain sub-region is then calculated based on this. Since the Martian surface is mostly sandy, pure specular reflection is unlikely. Furthermore, the sun's distance from the Martian surface can be considered infinitely far, approximating it as a point light source. Therefore, the Cook-Torrance BRDF model is used to describe the surface's light reflection. Let the local terrain normal vector (terrain normal vector) be denoted as... The angle vector of sunlight incident on the ground plane is The camera lens center axis vector (camera direction vector) is ,remember The percentage of incident light that undergoes diffuse reflection during reflection is [the percentage of diffuse reflection]. For the portion where specular reflection occurs, the energy ratio factor of the reflected light to the incident light (topographic reflection influence factor) is denoted as: In the formula, Corresponding to the classic Lambertian model, the Fresnel equation (F) is used here instead of the isotropic definition of reflectivity; It is composed of the normal distribution function (D), the Fresnel equation (F), and the geometric function (G), and is denoted as: In the formula, For surface roughness, The base reflectivity of the material can be set according to the sand material.

[0039] Based on the above formula, the discount factor between input light intensity and lens sensitivity under ideal incident light conditions can be derived, and this factor is only related to the terrain of the imaging area. The ambient light involved in different pixels during a single image can be considered as the same light source; therefore, under ideal conditions... After correction, the light intensity at different image pixel locations should converge. Let the corrected terrain region pixel value sequence be denoted as... .

[0040] For the solar panel area, due to less dust accumulation, the material chosen in the calculations was an intermediate state between sand and mirror surface. The values ​​are taken as 1 / 10 of the ground area to obtain the corrected pixel value sequence. .

[0041] S50, based on a preset standard atmospheric refractive index and a corrected pixel value sequence, uses the Rayleigh scattering model to invert the relative atmospheric refractive index at the current imaging moment; The aforementioned standard atmospheric refractive index n0 refers to the atmospheric optical refractive index parameter corresponding to the baseline atmospheric day conditions selected in the Mars exploration mission. Specifically, it is defined as follows: in the historical imaging data of the probe, the Martian day with the largest ratio of zenith irradiance to topographic pixel value under clear weather (i.e., no obvious dust storms and the highest atmospheric transparency) is selected as the baseline day. The absolute atmospheric refractive index obtained by inverting the Rayleigh scattering model on this day is agreed to be the standard atmospheric refractive index.

[0042] Its core feature is that it is a relative reference benchmark rather than an absolute physical constant, used to quantify the optical transmission characteristics of the Martian atmosphere under optimal visibility conditions. This benchmark corresponds to a specific ideal zenith irradiance per unit area and a sequence of corrected pixel values, which serve as the normalized denominator for subsequent calculations of the relative atmospheric refractive index n. By comparing the difference in the irradiance-pixel value ratio between the current imaging time and the benchmark day, the relative change in atmospheric attenuation can be inverted, thereby overcoming the technical bottleneck of the lack of continuous and direct measurement methods for the light depth of the Martian atmosphere.

[0043] Alternatively, one implementation of the above S50 is as follows: Based on the preset standard atmospheric refractive index, the ratio of the corrected pixel value sequence at the current imaging time to the corrected pixel value sequence on the reference day, the ideal zenith irradiance per unit area corresponding to the reference day, and the ideal zenith irradiance per unit area corresponding to the current imaging time, the relative atmospheric refractive index is obtained by inversion through the Rayleigh scattering model. The reference day is the Martian day corresponding to the standard atmospheric refractive index.

[0044] Specifically, the Martian day with the highest ratio of zenith irradiance to terrain-corrected pixel values ​​under clear weather conditions is selected as the baseline day. The atmospheric refractive index (standard atmospheric refractive index) calibrated by the Rayleigh scattering model on the baseline day is defined as the standard value n0. The ideal zenith irradiance per unit area of ​​the Martian surface exploration area on the baseline day is... The corrected pixel value sequence for the reference date is The mean pixel value for terrain area correction on the baseline date is mean(P). cor_0 At the current imaging moment, simultaneously calculate the corresponding ideal zenith irradiance P per unit area. r And terrain correction pixel mean (P) cor ).

[0045] In cases where the ratio of zenith radiation intensity to pixel values ​​in the terrain region is close to that of a standard Martian day, it can be assumed that there is no significant dust in the sky. In this case, the atmospheric scattering process is described by the Rayleigh scattering model, and the light intensity reaching the Martian zenith and the light intensity reaching the ground after scattering satisfy the following: In the formula, The intensity of the scattered light. The intensity of the incident light. The scattering angle is... In order to be in Intensity of scattered light in the direction, The wavelength of light Atmospheric refractive index Atmospheric molecular number density, This is the atmospheric density ratio, and this value varies with atmospheric altitude. Changes occur. Since the intensity of scattered light during atmospheric scattering is much less than that of orthogonal light, it can be assumed that all the ground light reflected into the lens comes from orthogonal light, i.e., take... The value is 0; because the wavelengths of light in the red, green, and blue channels are different, The values ​​are estimated and calculated separately for each of the three channels.

[0046] For Mars, and Since it is an unknown quantity, the specific atmospheric refractive index cannot be directly derived. However, we can obtain the relative variation values ​​between different Martian days. Therefore, the relative ratio of atmospheric refractive indices between different Martian days satisfies: in, and These represent the atmospheric refractive indices for different Martian days. and These represent different Martian days. Intensity of scattered light in the direction, and These represent the intensity of incident light on different Martian days.

[0047] Image pixel values ​​can characterize the perceived light intensity during the integral imaging process. Although the dimensions of this value are different from those of radiation intensity, the proportional relationship of the process is the same. Therefore, the proportional process of the above formula holds. Based on the above formula, the relative inferred value of the atmospheric refractive index can be calculated. Expressing the above formula using the actual calculation variables from the previous steps, the relative atmospheric refractive index is: In the formula, superscript This indicates the different visible light bands involved in the calculation.

[0048] S60 calculates the theoretical zero-attenuation power generation of solar panels based on ideal zenith irradiance per unit area, solar incident angle, and relative atmospheric refractive index, and compares it with the actual power generation to obtain the power generation capacity attenuation rate.

[0049] In the above S60, based on the ideal zenith irradiance per unit area, the angle of solar incidence, and the relative atmospheric refractive index, one feasible method for calculating the theoretical attenuation-free power generation of the solar panel is as follows: S601, based on the ideal zenith irradiance per unit area, the effective area of ​​the solar panel, and the angle of incidence of sunlight, the ideal radiative flux received by the solar panel is calculated; S602, based on ideal radiative flux, relative atmospheric refractive index and power generation efficiency factor, calculates the theoretical attenuation-free power generation of solar panels.

[0050] Specifically, the ideal radiative flux described above can be expressed as: in, Here, denoted by , represents the ideal radiative flux, and k represents the power generation efficiency factor, which can be calculated from the base date. The rate of decrease in power generation capacity can be expressed as: in, Indicates the rate of decline in power generation capacity. This indicates the actual power generation capacity.

[0051] Optionally, the method further includes: Establish the transformation relationship between the pixel values ​​of dust accumulation images on solar panels and the attenuation of power generation: The solution of the present invention has the following beneficial effects: 1. Achieving high-precision solar incidence geometry modeling and multi-source information fusion significantly improves the accuracy of theoretical power generation calculation: By solving the solar altitude angle, azimuth angle, and Sun-Mars distance in real time through the solar-Mars ephemeris, and combining the probe attitude matrix and solar panel geometric parameters to accurately construct the normal vector, the solar incidence angle of the solar panel at any time can be accurately calculated; at the same time, the terrain digital elevation model is introduced to generate the terrain normal vector, and the Cook-Torrance BRDF model is used to correct the terrain reflection effect pixel by pixel, effectively eliminating the radiation deviation caused by Martian surface slope, roughness, and camera observation angle, solving the problem that traditional methods cannot separate the geometric coupling effects of attitude, terrain, and illumination, making the calculation benchmark of theoretical attenuated power generation more accurate and reliable.

[0052] 2. Breaking through the bottleneck of Martian atmospheric light depth measurement, a reversible relative atmospheric attenuation quantification model was established: An innovative benchmark day calibration strategy was adopted, selecting the historical Martian day with the largest ratio of zenith irradiance to terrain-corrected pixel value under clear weather as the standard atmospheric state. Through the Rayleigh scattering model, the ratio of current irradiance to benchmark day and the ratio of corrected pixel value were coupled and reversed to the relative atmospheric refractive index. Optical attenuation effects that cannot be directly measured, such as dust weather and changes in atmospheric transparency, were transformed into calculable physical parameters. This overcame the technical limitation of the lack of continuous monitoring methods for the Martian atmosphere and achieved accurate quantification and separation of atmospheric transmission attenuation.

[0053] 3. Construct a non-contact machine vision evaluation system to support autonomous energy health management of deep space probes: Based on the aforementioned precise geometric model and atmospheric inversion parameters, a complete quantitative mapping relationship is established from visible light image pixel values ​​to solar panel power generation attenuation rate. This method requires no ground contact or external calibration equipment and can complete the entire calculation using only the probe's own imaging system. This method is not limited by weather, terrain, or changes in rover attitude and can assess the power generation capacity attenuation caused by dust accumulation in real time. It provides a visualized, automated, and high-precision means of monitoring energy health status for Mars exploration missions, significantly improving the on-orbit autonomous survivability of deep space probes and the scientific nature of mission planning.

[0054] Based on and Figure 1 Based on the same principle as the method shown, this embodiment of the invention also provides a solar panel power generation capacity degradation rate assessment device 20, such as... Figure 3 As shown, the solar panel power generation capacity degradation rate assessment device 20 may include an acquisition module 210, a solar incident angle determination module 220, a zenith irradiance determination module 230, a correction pixel value sequence determination module 240, a relative atmospheric refractive index determination module 250, and a power generation capacity degradation rate determination module 260, wherein: The acquisition module 210 is used to acquire and calculate the solar altitude angle, azimuth angle and solar-Mars distance at the current imaging time based on the solar-Mars ephemeris. The solar incidence angle determination module 220 is used to calculate the solar incidence angle of the solar panel based on the solar altitude angle and azimuth angle, combined with the normal vector of the solar panel. The zenith irradiance determination module 230 is used to calculate the ideal zenith irradiance per unit area based on the distance between the Sun and Mars, the angle of incidence of sunlight, the radius of Mars, and the area of ​​the solar panels at the current imaging time. The correction pixel value sequence determination module 240 is used to acquire visible light images of the surrounding environment and the area where the solar panels are located by the detector, combine the solar direction vector and the terrain digital elevation model, calculate the terrain reflection influence factor of each pixel in the visible light image, and perform radiometric correction on each image pixel value of the visible light image according to the terrain reflection influence factor of each pixel to obtain the correction pixel value sequence. The relative atmospheric refractive index determination module 250 is used to invert the relative atmospheric refractive index at the current imaging moment based on a preset standard atmospheric refractive index and a corrected pixel value sequence using a Rayleigh scattering model. The power generation capacity attenuation rate determination module 260 is used to calculate the theoretical attenuation-free power generation of the solar panel based on the ideal zenith irradiance per unit area, the solar incident angle and the relative atmospheric refractive index, and compare it with the actual power generation to obtain the power generation capacity attenuation rate.

[0055] Optionally, when the aforementioned solar incidence angle determination module calculates the solar incidence angle of the solar panel based on the solar altitude angle and azimuth angle, combined with the normal vector of the solar panel, it is specifically used for: The solar direction vector is calculated based on the solar altitude angle and azimuth angle. The solar incidence angle of the solar panel is calculated based on the normal vector of the solar panel and the solar direction vector.

[0056] Optionally, when the relative atmospheric refractive index determination module 250 retrieves the relative atmospheric refractive index at the current imaging moment using the Rayleigh scattering model based on a preset standard atmospheric refractive index and a corrected pixel value sequence, it is specifically used for: Based on the preset standard atmospheric refractive index, the ratio of the corrected pixel value sequence at the current imaging time to the corrected pixel value sequence on the reference day, the ideal zenith irradiance per unit area corresponding to the reference day, and the ideal zenith irradiance per unit area corresponding to the current imaging time, the relative atmospheric refractive index is obtained by inversion through the Rayleigh scattering model. The reference day is the Martian day corresponding to the standard atmospheric refractive index.

[0057] Optionally, when the above-mentioned corrected pixel value sequence determination module 240 calculates the topographic reflection influence factor of each pixel in the visible light image by combining the solar direction vector and the topographic digital elevation model, it is specifically used for: For each pixel in the visible light image, the terrain normal vector corresponding to the pixel is generated using the terrain digital elevation model; For each pixel, using the solar direction vector as the incident light direction, calculate the cosine of the incident angle between the terrain normal vector and the solar direction vector. For each pixel, using the camera orientation vector as the observation direction, calculate the cosine of the exit angle of the terrain normal vector relative to the camera orientation vector; For each pixel, the cosine values ​​of the incident angle and the exit angle, along with the preset surface roughness and basic reflectivity, are input into the Cook-Torrance BRDF model to obtain the topographic reflection influence factor of the pixel.

[0058] Optionally, when the above-mentioned corrected pixel value sequence determination module 240 performs radiometric correction on each image pixel value of the visible light image based on the topographic reflection influence factor of each pixel point to obtain the corrected pixel value sequence, it is specifically used for: For each pixel in the visible light image, the original pixel value corresponding to the pixel is divided by the terrain reflection influence factor corresponding to the pixel to obtain the corrected pixel value. Arrange the corrected pixel values ​​of all pixels in their original spatial order to form a sequence of corrected pixel values.

[0059] Optionally, the aforementioned power generation capacity attenuation rate determination module 260, when calculating the theoretical attenuation-free power generation of the solar panel based on the ideal zenith irradiance per unit area, the solar incident angle, and the relative atmospheric refractive index, is specifically used for: The ideal radiant flux received by the solar panel is calculated based on the ideal zenith irradiance per unit area, the effective area of ​​the solar panel, and the angle of incidence of sunlight. Based on the ideal radiative flux, relative atmospheric refractive index, and power generation efficiency factor, the theoretical attenuation-free power generation of the solar panel is calculated.

[0060] The solar panel power generation capacity degradation rate assessment device of this invention can execute the solar panel power generation capacity degradation rate assessment method provided in this invention. The implementation principle is similar. The actions performed by each module and unit in the solar panel power generation capacity degradation rate assessment device in each embodiment of this invention correspond to the steps in the solar panel power generation capacity degradation rate assessment method in each embodiment of this invention. For detailed functional descriptions of each module of the solar panel power generation capacity degradation rate assessment device, please refer to the descriptions in the corresponding solar panel power generation capacity degradation rate assessment methods shown above, which will not be repeated here.

[0061] The aforementioned solar panel power generation capacity degradation rate assessment device can be a computer program (including program code) running on a computer device, for example, the solar panel power generation capacity degradation rate assessment device is an application software; the device can be used to execute the corresponding steps in the method provided in the embodiments of the present invention.

[0062] In some embodiments, the solar panel power generation capacity degradation rate assessment device provided in this invention can be implemented using a combination of hardware and software. As an example, the solar panel power generation capacity degradation rate assessment device provided in this invention can be a processor in the form of a hardware decoding processor, which is programmed to execute the solar panel power generation capacity degradation rate assessment method provided in this invention. For example, the processor in the form of a hardware decoding processor can be one or more application specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), or other electronic components.

[0063] In other embodiments, the solar panel power generation capacity degradation rate assessment device provided in this invention can be implemented in software. Figure 3 A device for evaluating the degradation rate of solar panel power generation capacity stored in a memory is shown. It can be software in the form of programs and plug-ins, and includes a series of modules, including an acquisition module 210, a solar incident angle determination module 220, a zenith irradiance determination module 230, a correction pixel value sequence determination module 240, a relative atmospheric refractive index determination module 250, and a power generation capacity degradation rate determination module 260, for implementing the solar panel power generation capacity degradation rate evaluation method provided in the embodiments of the present invention.

[0064] The modules described in the embodiments of the present invention can be implemented in software or hardware. The names of the modules are not, in some cases, limiting the scope of the module itself.

[0065] Based on the same principles as the methods shown in the embodiments of the present invention, the embodiments of the present invention also provide an electronic device, which may include, but is not limited to: a processor and a memory; the memory for storing computer programs; and the processor for executing the methods shown in any embodiment of the present invention by invoking the computer programs.

[0066] In one alternative embodiment, an electronic device is provided, such as Figure 4 As shown, Figure 4 The illustrated electronic device 4000 includes a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, for example, via a bus 4002. Optionally, the electronic device 4000 may further include a transceiver 4004, which can be used for data interaction between the electronic device and other electronic devices, such as sending and / or receiving data. It should be noted that in practical applications, the transceiver 4004 is not limited to one type, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of the present invention.

[0067] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this invention. Processor 4001 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0068] Bus 4002 may include a pathway for transmitting information between the aforementioned components. Bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 4002 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 4 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0069] The memory 4003 may be ROM (Read Only Memory) or other types of static storage devices capable of storing static information and instructions, RAM (Random Access Memory) or other types of dynamic storage devices capable of storing information and instructions, or EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto.

[0070] The memory 4003 stores application code (computer program) for executing the present invention, and its execution is controlled by the processor 4001. The processor 4001 executes the application code stored in the memory 4003 to implement the content shown in the foregoing method embodiments.

[0071] Among these, electronic devices can also be terminal devices. Figure 4 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0072] This invention provides a computer-readable storage medium storing a computer program that, when run on a computer, enables the computer to execute the corresponding content in the aforementioned method embodiments.

[0073] According to another aspect of the present invention, a computer program product or computer program is also provided, comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the methods provided in the various embodiments described above.

[0074] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0075] It should be understood that the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of methods and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0076] The computer-readable storage medium provided in this invention can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0077] The aforementioned computer-readable storage medium carries one or more programs, which, when executed by the electronic device, cause the electronic device to perform the method shown in the above embodiments.

[0078] The above description is merely a preferred embodiment of the present invention and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of disclosure in this invention is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-disclosed concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this invention.

Claims

1. A method of evaluating a solar panel power generation capacity degradation rate, characterized by, The method comprises the following steps: acquiring and calculating the solar elevation angle, azimuth angle and solar-mars distance at the current imaging time according to the solar-mars ephemeris; calculating the solar light incidence angle of the solar panel according to the solar elevation angle and azimuth angle and the normal vector of the solar panel; calculating the ideal unit area zenith irradiance according to the solar-mars distance at the current imaging time, the solar light incidence angle, the radius of Mars and the area of the solar panel; acquiring the visible light image of the surrounding environment and the area where the solar panel is located, calculating the terrain reflection influence factor of each pixel point in the visible light image according to the solar direction vector and the digital terrain model, and performing radiation correction on each image pixel value of the visible light image according to the terrain reflection influence factor of each pixel point to obtain a corrected pixel value sequence; based on the preset standard atmospheric refractive index and the corrected pixel value sequence, the relative atmospheric refractive index at the current imaging time is obtained by using the Rayleigh scattering model; based on the ideal unit area zenith irradiance, the solar light incidence angle and the relative atmospheric refractive index, the theoretical undamped power generation of the solar panel is calculated, and compared with the actual power generation to obtain the power generation capacity attenuation rate.

2. The method of claim 1, wherein, The calculation of the solar light incidence angle of the solar panel according to the solar elevation angle and azimuth angle and the normal vector of the solar panel comprises the following steps: calculating the solar direction vector according to the solar elevation angle and azimuth angle; calculating the solar light incidence angle of the solar panel according to the normal vector of the solar panel and the solar direction vector.

3. The method of claim 1, wherein, The calculation of the relative atmospheric refractive index at the current imaging time based on the preset standard atmospheric refractive index and the corrected pixel value sequence by using the Rayleigh scattering model comprises the following steps: based on the preset standard atmospheric refractive index, the ratio of the corrected pixel value sequence at the current imaging time to the corrected pixel value sequence at the reference day, the ideal unit area zenith irradiance corresponding to the reference day and the ideal unit area zenith irradiance corresponding to the current imaging time, the relative atmospheric refractive index is obtained by using the Rayleigh scattering model, and the reference day corresponds to the Mars day corresponding to the standard atmospheric refractive index.

4. The method according to any one of claims 1 to 3, characterized in that, The calculation of the terrain reflection influence factor of each pixel point in the visible light image by combining the solar direction vector and the digital terrain model comprises the following steps: for each pixel point in the visible light image, a terrain normal vector corresponding to the pixel point is generated by using the digital terrain model; for each pixel point, the incident angle cosine value of the terrain normal vector relative to the solar direction vector is calculated by taking the solar direction vector as the incident light direction; for each pixel point, the exit angle cosine value of the terrain normal vector relative to the camera direction vector is calculated by taking the camera direction vector as the observation direction; for each pixel point, the terrain reflection influence factor of the pixel point is obtained by inputting the incident angle cosine value, the exit angle cosine value, the preset ground roughness and the basic reflectivity into the Cook-Torrance BRDF model.

5. The method according to any one of claims 1 to 3, characterized in that, According to the terrain reflection influence factor of each pixel point, each image pixel value of the visible light image is radiometrically corrected to obtain a corrected pixel value sequence, including: For each pixel point in the visible light image, the original pixel value corresponding to the pixel point is divided by the terrain reflection influence factor corresponding to the pixel point to obtain the corrected pixel value of the pixel point; The corrected pixel values of all pixel points are arranged in the original spatial order to form a corrected pixel value sequence.

6. The method according to any one of claims 1 to 3, characterized in that, The theoretical undamped power generation of the solar cell panel is calculated based on the unit area ideal zenith irradiance, the solar light incidence angle and the relative atmospheric refraction index, including: According to the unit area ideal zenith irradiance, the effective area of the solar cell panel and the solar light incidence angle, the ideal radiation flux received by the solar cell panel is calculated; According to the ideal radiation flux, the relative atmospheric refraction index and the power generation efficiency factor, the theoretical undamped power generation of the solar cell panel is calculated.

7. A solar panel power generation capacity degradation rate evaluation device characterized by comprising: It includes: The acquisition module is used to acquire and calculate the solar elevation angle, azimuth angle and solar-fire distance at the current imaging time according to the sun-mars ephemeris; The solar light incidence angle determination module is used to calculate the solar light incidence angle of the solar cell panel according to the solar elevation angle and azimuth angle combined with the normal vector of the solar cell panel; The zenith irradiance determination module is used to calculate the unit area ideal zenith irradiance according to the solar-fire distance at the current imaging time, the solar light incidence angle, the radius of Mars and the area of the solar cell panel; The corrected pixel value sequence determination module is used to acquire the visible light image of the surrounding environment and the area where the solar cell panel is located, calculate the terrain reflection influence factor of each pixel point in the visible light image combined with the solar direction vector and the terrain digital elevation model, and perform radiometric correction on each image pixel value of the visible light image according to the terrain reflection influence factor of each pixel point to obtain a corrected pixel value sequence; The relative atmospheric refraction index determination module is used to inversely calculate the relative atmospheric refraction index at the current imaging time based on the preset standard atmospheric refraction index and the corrected pixel value sequence by using the Rayleigh scattering model; The power generation capacity attenuation rate determination module is used to calculate the theoretical undamped power generation of the solar cell panel based on the unit area ideal zenith irradiance, the solar light incidence angle and the relative atmospheric refraction index, and compare it with the actual power generation to obtain the power generation capacity attenuation rate.

8. The apparatus of claim 7, wherein, When the solar light incidence angle determination module calculates the solar light incidence angle of the solar cell panel according to the solar elevation angle and azimuth angle combined with the normal vector of the solar cell panel, it is specifically used for: According to the solar elevation angle and azimuth angle, the solar direction vector is calculated; According to the normal vector of the solar cell panel and the solar direction vector, the solar light incidence angle of the solar cell panel is calculated.

9. An electronic device, comprising: It includes a memory, a processor and a computer program stored on the memory and executable on the processor, and the processor implements the method of any one of claims 1-6 when executing the computer program.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement the method in any one of claims 1-6.

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