Intelligent mobile inspection vehicle for photovoltaic array and automatic control method

Abstract

The invention belongs to the technical field of operation and maintenance and intelligent detection of photovoltaic power generation equipment, and discloses a photovoltaic array-oriented intelligent mobile inspection vehicle and an automatic control method, a plurality of modules of a sensing layer are arranged to cooperatively collect multi-dimensional information, the combination of multi-modal detection and electrical recheck is realized, the limitation of traditional single-modal detection is made up, and the detection efficiency is improved. The method improves the comprehensiveness and accuracy of component defect identification and the path planning, autonomous navigation and cooperative control capabilities of a decision and control layer, can adapt to the complex environment of a photovoltaic array, avoids the defects of low manual inspection efficiency, limited coverage and out-of-focus drifting of an unmanned aerial vehicle, guarantees the inspection stability and coverage, and improves the inspection efficiency. The credible evidence storage function of the communication and operation and maintenance layer constructs a unified credible data management system, realizes traceability of detection records, guarantees result authenticity, and meanwhile, cooperates with remote operation and maintenance to guarantee stable operation of the system. Automatic polling of the photovoltaic array and credible evidence storage of detection results are integrally realized, and assembly-level accurate detection and whole-process intelligent closed-loop control are achieved.

Description

Technical Field

[0001] This invention belongs to the field of photovoltaic power generation equipment operation and maintenance and intelligent testing technology, specifically an intelligent mobile inspection vehicle and automatic control method for photovoltaic arrays. Background Technology

[0002] With the rapid expansion of photovoltaic power generation, the number of various photovoltaic power stations, such as large-scale ground power stations, distributed rooftop arrays, and mountain photovoltaic power stations, continues to increase, and the photovoltaic industry is entering a stage of large-scale development.

[0003] Photovoltaic modules are susceptible to various malfunctions due to a variety of factors during long-term operation. If not handled in a timely manner, they can lead to a decrease in power generation efficiency and may also cause local safety hazards.

[0004] Currently, photovoltaic power plant inspections mainly employ two technical solutions: manual inspection and drone-based inspection. Manual inspection relies on on-site checks by staff, using methods such as manual observation to detect the status of components. Drone inspection, on the other hand, utilizes automated flight equipment to conduct inspections, primarily employing single-mode infrared or visible light detection. It possesses a certain degree of automation and can cover the inspection needs of some photovoltaic power plants.

[0005] Existing inspection solutions suffer from poor adaptability, insufficient detection accuracy, and a lack of reliable data support. Specifically, manual inspection is inefficient, has limited coverage, and its results are heavily influenced by operator experience, making stability difficult to guarantee. UAV inspection is prone to problems such as defocusing and drifting in narrow array spaces or high-reflection environments, and its single detection mode cannot achieve multi-modal fusion and electrical consistency verification, resulting in insufficient comprehensiveness and accuracy. Furthermore, neither solution has established a unified reliable data management system, making it difficult to trace inspection records and ensuring the authenticity of results. These solutions fail to meet the needs of precise module-level inspection and intelligent closed-loop control throughout the entire process in complex photovoltaic array environments. Summary of the Invention

[0006] This invention provides an intelligent mobile inspection vehicle and automatic control method for photovoltaic arrays, which solves the problems of poor adaptability, insufficient detection accuracy and lack of reliable data support in existing inspection solutions.

[0007] To achieve the above objectives, the present invention provides the following technical solution: An intelligent mobile inspection vehicle for photovoltaic arrays includes an information layer, a decision-making and control layer, and a communication and operation and maintenance layer. The perception layer includes a navigation perception module, an imaging detection module, an electrical verification module, and an environment and attitude perception module, which are used to collect multi-dimensional information of the photovoltaic array; The decision and control layer is used to receive multi-dimensional information from the perception layer, perform data fusion and feature extraction, identify defects in the photovoltaic array, and update the inspection path of the inspection vehicle. The communication and operation and maintenance layer is used for data transmission, trusted storage, and system energy and remote operation and maintenance assurance. When the vehicle is running, the policy and control layer performs path planning, autonomous navigation, multimodal detection and electrical verification collaborative control according to the array layout and task priority, so as to realize the automated inspection of the photovoltaic array and the reliable storage of the inspection results.

[0008] Preferably, the navigation perception module adopts a fusion positioning method of vision, radar and inertial measurement to identify the inter-row channels, array boundaries and obstacle information of the photovoltaic array, construct the channel centerline model and perform dynamic path correction to realize the system's autonomous navigation and path tracking.

[0009] Preferably, the imaging detection module has a multimodal imaging channel, which enables synchronous acquisition under the control of a unified trigger signal, and has adaptive exposure and polarization control capabilities. It can automatically adjust imaging parameters according to ambient light and component angle to obtain component surface texture, heat distribution and reflection feature data.

[0010] Preferably, the electrical verification module adopts a non-contact detection method to perform feature sampling on the electrical performance parameters of the photovoltaic module output terminal, and can compare and analyze them with the thermal imaging detection results to achieve photoelectric consistency diagnosis to identify electrical performance faults.

[0011] Preferably, the decision and control layer is based on the edge computing and control module, which realizes the temporal calibration and spatial registration of multi-source data, executes multimodal data fusion, feature extraction and multi-dimensional anomaly identification algorithms, completes defect classification and severity grading, and also has path planning, task scheduling and system coordination and energy consumption management functions.

[0012] Preferably, the edge computing and control module can trigger a stop or re-inspection command when an anomaly is detected, perform secondary detection and confirmation on the suspected fault area, and update the inspection path in real time according to navigation data and task priority, dynamically adjusting the driving route and collection angle.

[0013] Preferably, the communication and operation and maintenance layer includes a communication and security evidence storage module. The communication and security evidence storage module has a built-in encryption unit and a blockchain interface. It performs encryption, hash signature and encapsulation processing on the detection data to generate evidence data packets containing multi-dimensional detection information, thereby realizing encrypted data transmission and blockchain-based evidence storage.

[0014] Preferably, the communication and operation and maintenance layer further includes an energy supply and management module and a remote operation and maintenance and monitoring platform; the energy supply and management module monitors the power status in real time and performs automatic battery swapping or auxiliary charging operations; the remote operation and maintenance and monitoring platform receives and displays operation data, schedules tasks, analyzes results, and generates operation and maintenance reports.

[0015] An automatic control method for an intelligent mobile inspection vehicle for photovoltaic arrays includes: Import photovoltaic array layout information into the inspection vehicle to generate inspection path, work points and task priorities; The inspection vehicle uses a navigation and perception module to identify the boundaries of the array channel and the location of obstacles, and performs path tracking and attitude correction. The imaging detection module simultaneously acquires visible light, infrared, and near-infrared images to enable the detection of component surface and heat distribution. The decision and control layer performs feature extraction and anomaly identification on multi-channel images and triggers a re-inspection process when the confidence level exceeds the threshold. The electrical verification module performs non-contact electrical testing and combines it with thermal imaging results to achieve optical-electrical consistency judgment. By integrating optical, electrical, and environmental data, component-level health status and anomaly classification results are generated; The communication and security evidence storage module encrypts and encapsulates the detection data and uploads it to the blockchain to prevent the results from being tampered with.

[0016] The steps also include the energy supply and management module monitoring power consumption status, performing battery swapping, and providing feedback on the task results.

[0017] Compared with existing technologies, this invention has the following advantages: This invention provides an intelligent mobile inspection vehicle for photovoltaic arrays. It features a multi-module sensing layer that collaboratively collects multi-dimensional information, combining multi-modal detection with electrical verification. This overcomes the limitations of traditional single-modal detection, improving the comprehensiveness and accuracy of component defect identification. The path planning, autonomous navigation, and collaborative control capabilities of the decision and control layer adapt to the complex environment of photovoltaic arrays, avoiding the drawbacks of low efficiency and limited coverage of manual inspections, as well as the focus drift of drones. This ensures inspection stability and coverage. The trusted evidence storage function of the communication and operation and maintenance layer constructs a unified and trusted data management system, enabling traceable inspection records and ensuring the authenticity of results. Simultaneously, it works with remote operation and maintenance to ensure the stable operation of the system. Overall, it achieves automated inspection of photovoltaic arrays and trusted evidence storage of inspection results, realizing precise component-level detection and intelligent closed-loop control throughout the entire process, meeting the inspection needs of the large-scale development of the photovoltaic industry. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of a module of an intelligent mobile inspection vehicle for photovoltaic arrays according to Embodiment 1 of the present invention; Figure 2 This is a flowchart illustrating an automatic control method for an intelligent mobile inspection vehicle for photovoltaic arrays, according to Embodiment 2 of the present invention. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0021] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0022] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0023] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In the description of this invention, it should be noted that unless otherwise explicitly specified and limited, the terms "installed," "connected," "linked," and "set up" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components.

[0024] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0025] Example 1 like Figure 1 As shown, the present invention provides an intelligent mobile inspection vehicle for photovoltaic arrays, including an information layer, a decision and control layer, and a communication and operation and maintenance layer; The perception layer includes a navigation perception module, an imaging detection module, an electrical verification module, and an environment and attitude perception module, which are used to collect multi-dimensional information of the photovoltaic array; The decision and control layer is used to receive multi-dimensional information from the perception layer, perform data fusion and feature extraction, identify defects in the photovoltaic array, and update the inspection path of the inspection vehicle. The communication and operations layer is used for data transmission, trusted storage, and system energy and remote operation and maintenance assurance. When the vehicle is running, the policy and control layer performs path planning, autonomous navigation, multimodal detection and electrical verification collaborative control according to the array layout and task priority, so as to realize the automated inspection of the photovoltaic array and the reliable storage of the inspection results.

[0026] This system is primarily used for automated inspection and intelligent analysis of ground-mounted photovoltaic power stations, distributed rooftop photovoltaic arrays, and mountain photovoltaic power stations. It can perform component-level status detection and defect identification under unattended conditions. During system operation, the perception layer is responsible for on-site information collection, the decision and control layer performs fusion computing and task scheduling, and the communication and operation and maintenance layer realizes data uploading, secure evidence storage, and remote collaboration, thus forming an intelligent closed loop of "perception-analysis-execution-feedback".

[0027] During the overall operation: 1. The perception layer includes a navigation perception module, an imaging detection module, an electrical verification module, and an environment and attitude perception module, used to collect information on the spatial structure, operating status, and environmental conditions of the photovoltaic array. The navigation perception module enables path recognition and obstacle avoidance, the imaging detection module performs visible light and infrared detection, the electrical verification module performs non-contact electrical performance testing, and the environment and attitude perception module provides compensation information such as illumination, temperature, humidity, and attitude angle.

[0028] 2. The decision and control layer, with the edge computing and control module at its core, performs multimodal data fusion, defect identification, and task scheduling. This module extracts features and analyzes anomalies based on multi-source data input from the perception layer, generates inspection instructions, and feeds them back to each execution unit in real time, enabling intelligent decision-making and closed-loop control of the system.

[0029] 3. The communication and operation and maintenance layer includes a communication and security storage module, an energy supply and management module, and a remote operation and maintenance and monitoring platform. These are used to achieve encrypted data transmission, blockchain-based on-chain storage, energy dispatching, and remote status management. The communication module encrypts and hashes the test results, the energy module manages power supply and automatic battery swapping, and the remote monitoring platform schedules tasks, analyzes results, and generates operation and maintenance reports.

[0030] The system achieves organic integration of hardware and software through the aforementioned three-layer architecture. The edge computing and control module serves as the central core, responsible for coordinating task execution and data flow between the perception and operation / maintenance layers, forming a stable closed-loop control logic. The system supports multi-task parallelism, scene adaptation, and energy management functions, and can automatically adjust inspection strategies based on lighting conditions, array orientation, and task priority.

[0031] This embodiment enables autonomous inspection, photovoltaic-electric fusion testing, and reliable data management in a photovoltaic array environment. Compared to traditional manual or single-device testing methods, this system features a clear hierarchical structure, high degree of intelligent operation, strong data security, and superior continuous operation capabilities, providing a reliable system-level solution for intelligent operation and maintenance of photovoltaic power plants.

[0032] To more clearly illustrate the structural composition and collaborative working mechanism of the system of the present invention, the following description is in conjunction with the appendix. Figure 1 This document further explains the composition, connection relationships, and roles of each functional module in the system operation. The design of each module is both independent and logically interconnected, collectively forming a complete intelligent inspection system for photovoltaic arrays, as detailed below: Perception layer: The perception layer is the foundational data input component of the system, primarily used to acquire information about the photovoltaic array's operating environment, component status, and system attitude. The perception layer includes a navigation perception module, an imaging detection module, an electrical verification module, and an environment and attitude perception module. These modules work together to achieve multi-dimensional perception of the array environment.

[0033] 1. Navigation Perception Module The navigation and perception module is used to identify the inter-row channels, array boundaries, and obstacle information of the photovoltaic array. This module uses a fusion positioning system combining binocular vision cameras, millimeter-wave radar, and an inertial measurement unit to construct a model of the array's channel centerline and performs dynamic path correction during inspection tasks. Based on the pose information and spatial obstacle data provided by this module, the system achieves autonomous navigation and precise path tracking, ensuring safe movement and accurate positioning in complex photovoltaic channels.

[0034] 2. Imaging Detection Module The imaging detection module is used to acquire multimodal image information of photovoltaic modules, including visible light, infrared, and near-infrared imaging channels. The module performs synchronous acquisition under the control of a unified trigger signal, obtaining the module's surface texture, heat distribution, and reflection characteristics. This module also features adaptive exposure and polarization control capabilities, automatically adjusting imaging parameters according to ambient light and module angle to obtain clear detection images, providing high-quality input data for subsequent anomaly identification.

[0035] 3. Electrical verification module The electrical verification module is used to detect the electrical operating status of photovoltaic modules. This module employs a non-contact coupling detection unit to sample the voltage, current, and admittance changes at the module's output terminals and compare the results with thermal imaging. By comparing the differences in thermal distribution and electrical response, the system can identify electrical performance faults such as poor contact, partial short circuits, and insulation degradation, achieving photoelectric consistency diagnosis.

[0036] 4. Environment and Attitude Perception Module The environment and attitude perception module is used to collect external environmental parameters and the system's own attitude information. The module monitors environmental conditions and system status in real time through a light sensor, temperature and humidity sensor, and tilt meter, providing compensation factors for imaging detection and temperature field analysis. Attitude information is used to correct imaging angle errors and navigation positioning deviations, improving the stability and accuracy of detection results.

[0037] Decision-making and control level: The decision and control layer is the core intelligent part of the system, mainly composed of edge computing and control modules, used to realize multimodal data fusion, defect identification, path planning and task scheduling.

[0038] 1. Data fusion and feature extraction The edge computing and control module performs unified temporal calibration and spatial registration on multi-source data from the perception layer. A lightweight model is used to fuse and analyze optical images, electrical features, and environmental data, extracting the state feature vectors of the photovoltaic modules to form a module-level health dataset.

[0039] 2. Defect Identification and Intelligent Decision Making Based on the fused feature information, the module executes a multi-dimensional anomaly recognition algorithm to automatically classify and grade the severity of different types of faults, such as cracks, hot spots, obstructions, and electrical degradation. When an anomaly is detected, the system can issue a stop command or a re-inspection command to perform secondary detection and confirmation of suspected fault areas, thereby improving the accuracy of inspections.

[0040] 3. Path planning and task scheduling The edge computing and control module updates the inspection path in real time and dynamically schedules the execution order based on navigation perception data and task priorities. When encountering obstacles or changes in lighting conditions, the system can automatically adjust the driving route and data collection angle to ensure the continuity and optimal performance of the inspection task.

[0041] 4. System Coordination and Energy Management The module monitors the operational status of each subsystem and schedules commands, optimizing power allocation strategies based on task load and remaining battery power. This module also features task fault tolerance and breakpoint resumption capabilities, ensuring stable system operation in complex environments.

[0042] Communication and Operations Layer: The communication and operations layer is the upper-level management and external collaboration part of the system, used for secure data transmission, trusted data storage, energy supply, and remote monitoring. This layer includes a communication and secure data storage module, an energy supply and management module, and a remote operations and monitoring platform.

[0043] 1. Communication and Security Evidence Storage Module This module is responsible for the encrypted transmission and trusted uploading of inspection data to the blockchain. The module has a built-in encryption chip and a blockchain-side connection interface, performing hash signing and encrypted encapsulation on the inspection data to generate an evidence data packet containing image data, electrical parameters, timestamps, and location information. The data is uploaded to a remote platform via a wireless communication link and simultaneously uploaded to the blockchain, achieving tamper-proof and traceable inspection results.

[0044] 2. Energy Supply and Management Module This module provides continuous and stable energy support for the system, including the battery pack, charging and swapping interface, and energy monitoring unit. During task execution, the system monitors the remaining battery power in real time. When the power level falls below a set threshold, it automatically performs a battery swap or switches to auxiliary charging mode to ensure uninterrupted inspection tasks.

[0045] 3. Remote Operation and Monitoring Platform The platform is used to receive and display the system's operational data, detection results, and task status, enabling remote scheduling and anomaly alarms. The platform also features task allocation and model update functions, allowing for remote optimization of the edge computing model based on inspection records, thus enabling the system's self-learning and continuous improvement.

[0046] Through the coordinated operation of the above modules, the system in this embodiment realizes fully autonomous inspection of photovoltaic arrays, optical-electric fusion diagnosis, and reliable data storage.

[0047] The system is based on a modular structure and adopts a layered collaborative architecture, supporting multi-task parallelism, scenario adaptation, and long-term unattended operation.

[0048] Compared with traditional fixed monitoring equipment or manual inspection methods, this system has the characteristics of strong operational autonomy, wide detection coverage, high diagnostic accuracy, and superior data security, providing a standardized intelligent inspection solution for photovoltaic power plants.

[0049] In summary, the intelligent mobile inspection system for photovoltaic arrays provided in this embodiment achieves autonomous detection and reliable data management of photovoltaic module operating status through layered collaboration of the perception layer, decision-making and control layer, and communication and operation and maintenance layer. The system adopts a modular design in its structure, possessing good scalability and maintainability; functionally, it achieves multimodal fusion of optical detection, electrical verification, and environmental perception; and in terms of operational strategy, it introduces edge intelligent analysis and task scheduling mechanisms, enabling the inspection process to have adaptive and self-optimizing capabilities.

[0050] Through coordinated control of navigation perception and imaging detection, the system can maintain high-precision path tracking and stable image acquisition in complex array channels. Through coupled verification of electrical verification and thermal imaging analysis, the system achieves optical-electrical consistency diagnosis, effectively distinguishing between surface hot spots and electrical performance degradation anomalies. Through encrypted transmission and blockchain on-chain mechanisms in the communication and secure evidence storage modules, inspection results are guaranteed to be tamper-proof and traceable. Simultaneously, the energy supply and management module enables dynamic scheduling of remaining power and automatic battery swapping, ensuring long-term stable operation of the system in unattended environments.

[0051] This system is suitable not only for large-scale ground-mounted photovoltaic power plants, but also for distributed rooftop arrays and mountain photovoltaic scenarios, and can be flexibly deployed according to terrain and array layout. The system provides an open interface that can be connected to the power plant monitoring platform to realize remote distribution of operation and maintenance tasks, real-time data transmission, and model parameter updates, thereby forming a closed-loop intelligent operation and maintenance system.

[0052] This system design breaks through the limitations of traditional photovoltaic inspections that rely solely on manual labor and single-modal detection, achieving intelligent collaboration between hardware and software integration, and providing technical support for the full lifecycle health management of photovoltaic power generation facilities. By operating in conjunction with the automatic control method described in Example 2, the system can achieve intelligent operation throughout the entire process, from task planning and path navigation to defect identification and result storage, further improving inspection efficiency and diagnostic reliability.

[0053] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the scope of the invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0054] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can be appropriately combined to form other embodiments that can be understood by those skilled in the art. The above content is only for illustrating the technical concept of the present invention and should not be construed as limiting the scope of protection of the present invention. Any modifications made based on the technical concept proposed in this invention shall fall within the scope of protection of the claims of this invention.

Claims

1. An intelligent mobile inspection vehicle for photovoltaic arrays, characterized in that, It includes the knowledge layer, the decision-making and control layer, and the communication and operation and maintenance layer; The perception layer includes a navigation perception module, an imaging detection module, an electrical verification module, and an environment and attitude perception module, which are used to collect multi-dimensional information of the photovoltaic array; The decision and control layer is used to receive multi-dimensional information from the perception layer, perform data fusion and feature extraction, identify defects in the photovoltaic array, and update the inspection path of the inspection vehicle. The communication and operation and maintenance layer is used for data transmission, trusted storage, and system energy and remote operation and maintenance assurance. When the vehicle is running, the policy and control layer performs path planning, autonomous navigation, multimodal detection and electrical verification collaborative control according to the array layout and task priority, so as to realize the automated inspection of the photovoltaic array and the reliable storage of the inspection results.

2. The intelligent mobile inspection vehicle for photovoltaic arrays according to claim 1, characterized in that, The navigation perception module adopts a fusion positioning method combining vision, radar, and inertial measurement to identify inter-row channels, array boundaries, and obstacle information of the photovoltaic array, construct a channel centerline model, and perform dynamic path correction to achieve autonomous navigation and path tracking of the system.

3. The intelligent mobile inspection vehicle for photovoltaic arrays according to claim 1, characterized in that, The imaging detection module has a multi-modal imaging channel, which can achieve synchronous acquisition under the control of a unified trigger signal. It also has adaptive exposure and polarization control capabilities, and can automatically adjust imaging parameters according to ambient light and component angle to obtain component surface texture, heat distribution and reflection feature data.

4. The intelligent mobile inspection vehicle for photovoltaic arrays according to claim 1, characterized in that, The electrical verification module uses a non-contact detection method to sample the electrical performance parameters at the output end of the photovoltaic module and compare them with the thermal imaging detection results to achieve photoelectric consistency diagnosis and identify electrical performance faults.

5. The intelligent mobile inspection vehicle for photovoltaic arrays according to claim 1, characterized in that, The decision and control layer is based on the edge computing and control module, which realizes the temporal calibration and spatial registration of multi-source data, executes multimodal data fusion, feature extraction and multi-dimensional anomaly identification algorithms, completes defect classification and severity grading, and also has path planning, task scheduling and system coordination and energy consumption management functions.

6. The intelligent mobile inspection vehicle for photovoltaic arrays according to claim 5, characterized in that, When an anomaly is detected, the edge computing and control module can trigger a stop or re-inspection command to perform secondary detection and confirmation of the suspected fault area. It can also update the inspection path in real time based on navigation data and task priority, and dynamically adjust the driving route and collection angle.

7. The intelligent mobile inspection vehicle for photovoltaic arrays according to claim 1, characterized in that, The communication and operation and maintenance layer includes a communication and security evidence storage module. The communication and security evidence storage module has a built-in encryption unit and a blockchain interface. It performs encryption, hash signature and encapsulation processing on the detection data to generate evidence data packets containing multi-dimensional detection information, so as to realize encrypted data transmission and blockchain on-chain evidence storage.

8. The intelligent mobile inspection vehicle for photovoltaic arrays according to claim 1, characterized in that, The communication and operation and maintenance layer also includes an energy supply and management module and a remote operation and maintenance and monitoring platform; the energy supply and management module monitors the power status in real time and performs automatic battery swapping or auxiliary charging operations; the remote operation and maintenance and monitoring platform receives and displays operation data, schedules tasks, analyzes results and generates operation and maintenance reports.

9. An automatic control method for an intelligent mobile inspection vehicle for photovoltaic arrays, characterized in that, include: Import photovoltaic array layout information into the inspection vehicle to generate inspection path, work points and task priorities; The inspection vehicle uses a navigation and perception module to identify the boundaries of the array channel and the location of obstacles, and performs path tracking and attitude correction. The imaging detection module simultaneously acquires visible light, infrared, and near-infrared images to enable the detection of component surface and heat distribution. The decision and control layer performs feature extraction and anomaly identification on multi-channel images and triggers a re-inspection process when the confidence level exceeds the threshold. The electrical verification module performs non-contact electrical testing and combines it with thermal imaging results to achieve optical-electrical consistency judgment. By integrating optical, electrical, and environmental data, component-level health status and anomaly classification results are generated; The communication and security evidence storage module encrypts and encapsulates the detection data and uploads it to the blockchain to prevent the results from being tampered with.

10. The automatic control method for an intelligent mobile inspection vehicle for photovoltaic arrays according to claim 9, characterized in that, The steps also include the energy supply and management module monitoring power consumption status, performing battery swapping, and providing feedback on the task results.

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