A robot-assisted photovoltaic power station automation inspection management system
Patent Information
- Application Number
- CN202610967636.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Priority Date
- 2025-11-07
- Filing Date
- 2026-07-01
- Publication Date
- 2026-10-16
AI Technical Summary
[0004]但在现有技术中，仍无法通过地面巡检端和空域巡检端的协同作业，对光伏场站周界进行全方位、多层次的监测，进一步的，也无法根据巡检确定周界偏移类型，同时不能够借助地面巡检端和空域巡检端的协同工作，实现对光伏设备沉降风险精准检测，为此现提出一种解决方案
1、本发明中，机器配合周界检测单元通过地面巡检端和空域巡检端的协同作业，对光伏场站周界进行全方位、多层次的监测；依据设定的巡检路线，实时采集周界区域的图像和轨迹信息，并与预设路线进行精准比对，能够快速、准确地检测出周界是否存在偏移，一旦发现偏移，立即标记出相应区域，为后续的处理提供明确的目标，在检测到周界偏移后，进一步区分是瞬时偏移还是缓时破坏，对于瞬时偏移，快速判断并发出瞬时偏移信号，自动化巡检平台收到信号后迅速对边界围栏设施进行立即修复，同时对两侧设施进行偏移影响检测，将可能的损失降到最低，对于缓时破坏，产生缓时偏移信号，平台会对边界围栏设施进行维护，并深入分析偏移位置的结构及相关连接结构的受力情况，提前预防持续且缓慢的偏移对光伏场站造成更大的危害；
Smart Images
Figure CN122924201A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of photovoltaic power plant inspection technology, specifically to a robot-assisted automated inspection and management system for photovoltaic power plants. Background Technology
[0002] The robot-assisted photovoltaic power plant automated inspection and management system is a system that combines robotics, sensor technology, artificial intelligence and other technologies to achieve automated and efficient inspection and management of photovoltaic power plant equipment.
[0003] For example, the patent application number 2024116315240 discloses a method, device, equipment and storage medium for multi-camera fusion inspection of photovoltaic power stations, which relates to the field of computer vision technology. It realizes automated inspection and fault detection of photovoltaic power stations under weather and environmental constraints by means of multi-camera data fusion, time synchronization, image preprocessing and feature extraction and analysis technology, thereby improving the accuracy and efficiency of inspection.
[0004] However, in the existing technology, it is still impossible to conduct comprehensive and multi-level monitoring of the perimeter of photovoltaic power plants through the coordinated operation of ground inspection terminals and airspace inspection terminals. Furthermore, it is impossible to determine the type of perimeter offset based on the inspection, and it is also impossible to achieve accurate detection of the settlement risk of photovoltaic equipment by means of the coordinated work of ground inspection terminals and airspace inspection terminals. Therefore, a solution is proposed. Summary of the Invention
[0005] The purpose of this invention is to solve the problems mentioned above by proposing a robot-assisted automated inspection and management system for photovoltaic power plants.
[0006] The objective of this invention can be achieved through the following technical solution: a robot-assisted automated inspection and management system for photovoltaic power plants, comprising an automated inspection platform equipped with a ground inspection terminal and an airspace inspection terminal, and the automated inspection platform having communication connections to: The machine, in conjunction with the perimeter detection unit, performs perimeter inspections of the photovoltaic power station. Through perimeter inspections, it determines the type and location of perimeter offset and provides targeted perimeter protection. The photovoltaic equipment settlement detection unit performs settlement detection on photovoltaic equipment in photovoltaic power stations, infers the settlement risk of photovoltaic equipment, and adjusts the stress when the risk exists. The heat dissipation performance inspection unit is used to inspect the heat dissipation performance of photovoltaic equipment in photovoltaic power plants.
[0007] Furthermore, the process of the machine cooperating with the perimeter detection unit is as follows: Based on the perimeter area of the photovoltaic power station, inspection routes are set for both ground inspection and airspace inspection, and ground inspection routes and airspace inspection routes are set; perimeter area images of the photovoltaic power station are collected through airspace inspection forms, and the real-time collected perimeter area trajectory is obtained based on the real-time collected images and marked as the collected trajectory on the map. Meanwhile, the ground inspection terminal collects data based on the real-time inspection route of the current perimeter area and marks it as a real-time ground trajectory; it compares the set aerial inspection route with the trajectory collected on the map, that is, the set aerial inspection route and the corresponding trajectory collected on the map are corresponding trajectories.
[0008] Furthermore, if there is a deviation between the aerial inspection route and the data acquisition trajectory on the map, it indicates that the perimeter area corresponding to the aerial acquisition angle has shifted, and the corresponding shifted position is marked as the shifted area on the map; conversely, if there is no deviation between the aerial inspection route and the data acquisition trajectory on the map, it indicates that the perimeter area corresponding to the aerial acquisition angle has not shifted, and the corresponding shifted position is marked as the overlapping area on the map. Based on the data collection period of the airspace inspection terminal, the ground inspection terminal conducts simultaneous inspections. According to the set ground inspection route and the real-time ground trajectory comparison, if there is a deviation between the route and the trajectory, the corresponding position is marked as the ground deviation area; otherwise, if there is no deviation between the route and the trajectory, the corresponding position is marked as the ground overlap area.
[0009] Furthermore, the offset area on the map and the offset area on the ground are compared. If they are in the same area, it indicates that there is a perimeter offset in the corresponding area, and the current area is marked as a perimeter risk area; if they are not in the same area, the offset area on the map or the offset area on the ground is marked as an inspection risk area. Data collection and analysis are performed on the perimeter risk area. During the reciprocating inspection at the airspace inspection terminal, the growth rate of the offset distance of the photovoltaic power station boundary fence facilities in the perimeter risk area corresponding to the adjacent inspection period is obtained. If the offset distance growth rate exceeds the set growth rate threshold, an instantaneous offset signal is generated and sent to the automated inspection platform; if the offset distance growth rate does not exceed the set growth rate threshold, a slow offset signal is generated and sent to the automated inspection platform. During ground inspection, the type of deviation of the inspection trajectory after the ground inspection terminal completes the obstacle avoidance of the offset facility is obtained. If the deviation type of the inspection trajectory is inward, an external influence signal is generated and sent to the automated inspection platform; if the deviation type of the inspection trajectory is outward, an internal influence signal is generated and sent to the automated inspection platform.
[0010] Furthermore, upon receiving an instantaneous offset signal, the automated inspection platform immediately repairs the boundary fence facilities and simultaneously detects the impact of the offset on facilities on both sides, centered on the offset location. Upon receiving a delayed offset signal, it maintains the boundary fence facilities and analyzes the stress on the structure and related connecting structures at the current offset location. Upon receiving external influence signals, it identifies moving objects in the surrounding area, centered on the offset location, to detect external intrusions in advance. Upon receiving internal influence signals, it uses the offset location as an interference point to identify the operating trajectory of facilities within the perimeter.
[0011] Furthermore, the process of the photovoltaic equipment settlement detection unit is as follows: Ground-based and airspace-based inspection terminals conduct settlement detection on photovoltaic equipment within photovoltaic power stations. The airspace inspection terminal acquires images of the photovoltaic equipment and, based on the analysis of the acquired images, determines reference points centered on the photovoltaic equipment. The standard for determining the reference points is that no structural movement occurs when the surrounding buildings and facilities are in operation. After determining the photovoltaic equipment and the corresponding reference points, the ground inspection terminal determines the orbital trajectory of the photovoltaic equipment and the reference points, and records the movement parameters of each point corresponding to the orbital trajectory. During the operation of the photovoltaic power station, the settlement of photovoltaic equipment is identified and detected by the airspace inspection terminal. Based on the continuous inspection of the photovoltaic equipment and reference points by the ground inspection terminal, and combined with the movement parameters, the positions of the photovoltaic equipment and reference points corresponding to the location of the ground inspection terminal at different inspection times are obtained, and are marked as the equipment inspection position and the reference inspection position, respectively.
[0012] Furthermore, if the reference inspection position does not fluctuate at different inspection times, it indicates that the reference point is a low settlement point; if the reference inspection position fluctuates at different inspection times, it indicates that the reference point is a high settlement point; if the fluctuation distance of the equipment inspection position at different inspection times is lower than the set distance threshold, it indicates that the photovoltaic equipment is at risk of settlement; conversely, if the fluctuation distance of the equipment inspection position at different inspection times is not lower than the set distance threshold, it indicates that the photovoltaic equipment needs to be compared with a reference.
[0013] Furthermore, based on the images collected by the airspace inspection terminal, the low-settlement points in the images are determined, and the detection height of the airspace inspection terminal is adaptively adjusted to collect images of the photovoltaic equipment and the low-settlement points from multiple angles, determine the positional correspondence between the photovoltaic equipment and the low-settlement points, obtain the number of positions where the positional correspondence changes during the continuous acquisition phase, and at the same time obtain the fluctuation amount of the corresponding positional parameters during the continuous acquisition phase. If the number of locations whose location correspondence changes during the continuous acquisition phase exceeds the threshold percentage of the number of selected points, or if the fluctuation of the corresponding location parameters during the continuous acquisition phase exceeds the set settlement parameter threshold, it is inferred that the photovoltaic equipment is at risk of settlement. If the number of locations whose location correspondence changes during the continuous acquisition phase does not exceed the threshold percentage of the number of selected points, and the fluctuation of the corresponding location parameters during the continuous acquisition phase does not exceed the set settlement parameter threshold, then it can be inferred that the photovoltaic equipment does not have a settlement risk.
[0014] Furthermore, the process of the heat dissipation performance inspection unit is as follows: While the airspace inspection equipment is collecting images, thermal imaging technology is used to collect temperature distribution data in the images to determine whether the heat-generating points overlap with the location of the operating photovoltaic equipment. If they overlap, the heat dissipation performance is inspected; if they do not overlap, the heat-generating points are repaired. After obtaining the heat generation at the heat-generating points within the photovoltaic power station based on the temperature distribution location, the average temperature of the corresponding heat-generating area increases as the heat-generating area diffuses; based on the inspection process of the ground inspection terminal, the average temperature drop span of the corresponding continuous positions along the heat-generating area diffusion trajectory is recorded by the ground inspection terminal. If the heat dissipation area increases while the average temperature of the corresponding heat dissipation area does not exceed the average temperature growth rate, and the average temperature drop span of the continuous positions corresponding to the diffusion trajectory exceeds the average span threshold, then a normal heat dissipation signal is generated and sent to the automated inspection platform. If the heat dissipation area increases while the average temperature of the corresponding heat dissipation area increases at a rate exceeding the average temperature growth rate, or if the average temperature drop span across consecutive locations corresponding to the diffusion trajectory does not exceed the average span threshold, a heat dissipation anomaly signal will be generated and sent to the automated inspection platform.
[0015] Compared with the prior art, the beneficial effects of the present invention are: 1. In this invention, the machine, in conjunction with the perimeter detection unit, conducts comprehensive and multi-layered monitoring of the photovoltaic power station perimeter through the coordinated operation of ground inspection and airspace inspection terminals. Based on the set inspection route, it collects images and trajectory information of the perimeter area in real time and compares them accurately with the preset route. It can quickly and accurately detect whether there is a perimeter offset. Once an offset is detected, the corresponding area is immediately marked, providing a clear target for subsequent processing. After detecting the perimeter offset, it further distinguishes between instantaneous offset and slow damage. For instantaneous offset, it quickly judges and sends an instantaneous offset signal. After receiving the signal, the automated inspection platform quickly repairs the boundary fence facilities and detects the offset impact on the facilities on both sides to minimize possible losses. For slow damage, a slow offset signal is generated. The platform maintains the boundary fence facilities and deeply analyzes the structure of the offset position and the stress of related connection structures to prevent continuous and slow offset from causing greater damage to the photovoltaic power station. It can also effectively identify whether the risk area of the perimeter is affected by external or internal forces based on the offset type of the inspection trajectory of the ground inspection terminal. Through this comprehensive detection and accurate judgment, the safety and stability of the perimeter of the photovoltaic power station are greatly improved, the equipment damage and operation failure caused by external interference and internal anomalies are reduced, and the normal operation of the photovoltaic power station is guaranteed.
[0016] 2. In this invention, the photovoltaic equipment settlement detection unit achieves accurate detection of photovoltaic equipment settlement risk through the collaborative work of ground inspection terminal and airspace inspection terminal. The airspace inspection terminal can determine the reference point of photovoltaic equipment through image acquisition, providing a stable reference standard for subsequent detection. The ground inspection terminal determines the orbit around the photovoltaic equipment and the reference point, and records the movement parameters of each point in detail. These parameters and trajectory information become important basis for judging the settlement risk of photovoltaic equipment. Through the analysis of the position of the ground inspection terminal at different inspection times corresponding to the position of photovoltaic equipment and reference point, and the study of the correspondence between the position of photovoltaic equipment and low settlement point, this unit can accurately determine whether there is a settlement risk of photovoltaic equipment and that no structural movement occurs when the surrounding building facilities are in operation. Once a risk of settlement is detected in the photovoltaic equipment, the unit will quickly conduct a stress analysis on the load-bearing structure of the photovoltaic equipment and promptly maintain the load-bearing structure where the direction of the stress has changed.
[0017] 3. In this invention, the heat dissipation performance inspection unit uses thermal imaging technology to collect temperature distribution data on the images collected by the airspace inspection equipment. In this way, it can quickly and accurately determine whether the heat dissipation performance inspection is required or ... After identifying the heat source, the average temperature increase rate as the heat spreads is obtained based on the temperature distribution location. Combined with the average temperature drop span recorded by the ground inspection terminal at continuous locations along the heat spread trajectory, the heat dissipation performance of the photovoltaic power station is comprehensively evaluated. This effectively avoids changes in equipment operation status due to abnormal heat dissipation and ensures the stable operation of the photovoltaic power station. Attached Figure Description
[0018] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.
[0019] Figure 1 This is a system principle block diagram of the present invention; Figure 2 This is a flowchart of the method of the present invention. Detailed Implementation
[0020] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0021] Please see Figure 1 As shown, a robot-assisted automated inspection and management system for photovoltaic power plants includes an automated inspection platform. The automated inspection platform is equipped with a ground inspection terminal and an airspace inspection terminal. The ground inspection terminal refers to a road robot for inspecting photovoltaic power plants, and the airspace inspection terminal refers to a drone for inspecting photovoltaic power plants. In the automated inspection and management system for photovoltaic power plants, the ground inspection terminal ensures the safety of personnel. Since the working environment of photovoltaic power plants may have some dangerous factors, such as the potential risk of leakage of electrical equipment and personal safety hazards caused by complex terrain, the road robot replaces the manual labor to go deep into dangerous areas for inspection, which can effectively avoid personnel being directly exposed to these risks and ensure the personal safety of the staff. Precise data collection: The road robot is equipped with a variety of high-precision sensors, which can accurately collect various types of data, such as temperature, humidity, and equipment operating parameters. Moreover, the data collection process is not affected by subjective factors, ensuring the objectivity and accuracy of the data. As an airspace inspection device, drones can inspect large-area photovoltaic power stations in a short time by virtue of their flight capabilities, greatly improving inspection efficiency and overcoming the limitations of complex terrain. For example, if the photovoltaic power station is located in a mountainous or hilly area, the drone is not limited by terrain conditions and can easily reach various complex terrain locations to conduct a comprehensive inspection of the photovoltaic equipment, ensuring that the inspection work is thorough. At the same time, the drone can take pictures and monitor the photovoltaic equipment from different angles in the air to obtain all-round perspective information. Intelligent data analysis: By incorporating advanced image recognition and data analysis technologies, the data collected by drones during inspections can be analyzed quickly and accurately, automatically detecting anomalies.
[0022] The automated inspection platform has communication connections with a perimeter detection unit, a photovoltaic equipment settlement detection unit, and a heat dissipation performance inspection unit. The automated inspection platform generates a machine-assisted perimeter detection signal and sends it to the machine-assisted perimeter detection unit. After receiving the machine-assisted perimeter detection signal, the machine-assisted perimeter detection unit performs perimeter inspection of the photovoltaic power station to prevent external intrusion from causing external interference to the current photovoltaic power station equipment, reducing the operational stability of the photovoltaic power station, and improving the operational safety of the photovoltaic power station's operating environment. Based on the perimeter area of the photovoltaic power station, inspection routes are set for the ground inspection terminal and the airspace inspection terminal, and ground inspection routes and air inspection routes are set. The perimeter area of the photovoltaic power station is captured by the airspace inspection form. The real-time perimeter area trajectory is obtained based on the real-time captured images and marked as the acquisition trajectory on the map. Meanwhile, the ground inspection terminal collects data based on the real-time inspection route of the current perimeter area and marks it as a real-time ground trajectory; The aerial inspection route is compared with the data collected on the map, meaning that the aerial inspection route and the corresponding data collected on the map are the same. If there is a deviation between the aerial inspection route and the data acquisition trajectory on the map, it indicates that the perimeter area corresponding to the aerial acquisition angle has shifted, and the corresponding shifted position is marked as the shifted area on the map; conversely, if there is no deviation between the aerial inspection route and the data acquisition trajectory on the map, it indicates that the perimeter area corresponding to the aerial acquisition angle has not shifted, and the corresponding shifted position is marked as the overlapping area on the map. Based on the data collection period of the airspace inspection terminal, the ground inspection terminal conducts simultaneous inspections. According to the set ground inspection route and the real-time ground trajectory comparison, if there is a deviation between the route and the trajectory, the corresponding position is marked as the ground deviation area; otherwise, if there is no deviation between the route and the trajectory, the corresponding position is marked as the ground overlap area. Compare the offset area on the map with the offset area on the ground. If they are in the same area, it indicates that there is a perimeter offset in the corresponding area, and the current area is marked as a perimeter risk area. If they are not in the same area, either the offset area on the map or the offset area on the ground is marked as an inspection risk area. Data collection and analysis are performed on perimeter risk areas. During reciprocating inspections at the airspace inspection terminal, the growth rate of the offset distance of the photovoltaic power station boundary fence facilities in the corresponding perimeter risk areas during adjacent inspection periods is obtained. If the growth rate of the facility offset distance exceeds the set growth rate threshold, it indicates that there is an instantaneous offset in the current perimeter risk area, and an instantaneous offset signal is generated and sent to the automated inspection platform. If the growth rate of the facility offset distance does not exceed the set growth rate threshold, it indicates that there is a slow-onset damage in the current perimeter risk area, and a slow-onset offset signal is generated and sent to the automated inspection platform. During ground inspection, the type of deviation of the inspection trajectory after the ground inspection terminal completes the obstacle avoidance of the offset facility is obtained. If the deviation type of the inspection trajectory is inward, it indicates that the perimeter risk area is affected by external forces, generating external influence signals and sending them to the automated inspection platform; if the deviation type of the inspection trajectory is outward, it indicates that the perimeter risk area is affected by internal forces, generating internal influence signals and sending them to the automated inspection platform. Upon receiving an instantaneous offset signal, the automated inspection platform immediately repairs the boundary fence facilities and simultaneously detects the impact of the offset on the facilities on both sides, centered on the offset position. Upon receiving a slow offset signal, the platform maintains the boundary fence facilities and analyzes the stress on the structure and related connecting structures at the current offset position to prevent continuous and slow offset from causing quantitative changes to qualitative changes and reducing the conversion efficiency of the photovoltaic power station. Upon receiving external influence signals, the system identifies moving objects in the surrounding area using the offset position as the center, thus monitoring external intrusions in advance to ensure the perimeter security of the photovoltaic power station. Upon receiving internal influence signals, the system uses the offset position as the interference point to identify the operating trajectory of facilities within the perimeter, reducing the squeezing or impact on the interference point and causing the perimeter to shift. After completing the perimeter inspection with the machine, the automated inspection platform generates a settlement detection signal for the photovoltaic equipment and sends it to the photovoltaic equipment settlement detection unit. After receiving the equipment, the photovoltaic equipment settlement detection unit performs settlement detection on the photovoltaic power station. Settlement detection can effectively carry out equipment inspection and avoid equipment settlement that could lead to imbalance of forces within the equipment, unnecessary equipment load, and reduced operational stability of the photovoltaic equipment. Ground-based and airspace-based inspection terminals conduct settlement detection on photovoltaic equipment within photovoltaic power stations. The airspace inspection terminal collects images of photovoltaic equipment and analyzes the collected images to determine reference points centered on the photovoltaic equipment. The standard for determining the reference points is that no structural movement occurs when surrounding buildings and facilities are in operation, such as streetlights. After determining the photovoltaic equipment and the corresponding reference point, the ground inspection terminal determines the orbital trajectory of the photovoltaic equipment and the reference point, and records the movement parameters of each point on the orbital trajectory, such as the amplitude of movement and the distance of the movement position from the reference point or the horizontal position of the photovoltaic equipment. During the operation of the photovoltaic power station, the settlement of photovoltaic equipment is identified and detected by the airspace inspection terminal. The photovoltaic equipment and reference points are continuously inspected by the ground inspection terminal according to the circumferential trajectory. Combined with the movement parameters, the positions of the photovoltaic equipment and reference points corresponding to the location of the ground inspection terminal at different inspection times are obtained and marked as the equipment inspection position and the reference inspection position, respectively. If the reference inspection position remains unchanged at different inspection times, it indicates that the reference point is a low settlement point; if the reference inspection position fluctuates at different inspection times, it indicates that the reference point is a high settlement point. It should be noted that the ground inspection terminals are equipped with multiple types of sensors, which can accurately detect data such as height. If the floating distance of the equipment inspection position at different inspection times is lower than the set distance threshold, it indicates that the photovoltaic equipment is at risk of settling; conversely, if the floating distance of the equipment inspection position at different inspection times is not lower than the set distance threshold, it indicates that the photovoltaic equipment needs to be compared with a reference. Based on the images collected by the airspace inspection terminal, the low-settlement points in the images are determined. The detection height of the airspace inspection terminal is adaptively adjusted to collect images of the photovoltaic equipment and the low-settlement points from multiple angles. The positional correspondence between the photovoltaic equipment and the low-settlement points is determined, namely the horizontal positional relationship and the positional correspondence deviation parameters, specifically the vertical height interval, etc. The number of positions where the positional correspondence changes during the continuous acquisition phase is obtained, and the fluctuation amount of the corresponding positional parameters during the continuous acquisition phase is also obtained. If the number of locations whose location correspondence changes during the continuous acquisition phase exceeds the threshold percentage of the number of selected points, or if the fluctuation of the corresponding location parameters during the continuous acquisition phase exceeds the set settlement parameter threshold, it is inferred that the photovoltaic equipment is at risk of settlement. If the number of locations whose location correspondence changes during the continuous acquisition phase does not exceed the threshold percentage of the number of selected points, and the fluctuation of the corresponding location parameters during the continuous acquisition phase does not exceed the set settlement parameter threshold, then it is inferred that the photovoltaic equipment does not have a settlement risk. For photovoltaic equipment at risk of settlement, stress analysis of the load-bearing structure, such as the load-bearing bracket, should be performed. The load-bearing structure whose stress direction has changed should be maintained, and the stress of the photovoltaic equipment should be replanned, such as adjusting the position of the bracket or increasing the number of brackets to adjust the stress on the photovoltaic equipment. After the settlement test of the photovoltaic equipment is completed, a heat dissipation performance inspection signal is generated and sent to the heat dissipation performance inspection unit. After receiving the data, the heat dissipation performance inspection unit will inspect the heat dissipation performance of the photovoltaic equipment in the photovoltaic power station. The machine will assist in the real-time evaluation of the heat dissipation performance of the photovoltaic power station to ensure the internal operation stability of the photovoltaic power station and avoid abnormal heat dissipation that could cause changes in the operating status of the photovoltaic equipment. While the airspace inspection equipment is collecting images, thermal imaging technology is used to collect temperature distribution data in the images to determine whether the heat-generating points overlap with the location of the operating photovoltaic equipment. If they overlap, the heat dissipation performance is inspected; if they do not overlap, the heat-generating points are repaired. After obtaining the heat generation of the heat-generating points in the photovoltaic power station based on the temperature distribution location, the heat-generating area diffusion increases while the average temperature of the corresponding heat-generating area increases at the same time. Based on the inspection process of the ground inspection terminal, under the diffusion trajectory of the heat-generating area, the average temperature drop span of the corresponding continuous positions of the diffusion trajectory is recorded by the ground inspection terminal. If the heat dissipation area increases while the average temperature of the corresponding heat dissipation area does not exceed the average temperature growth rate, and the average temperature drop span of the continuous positions corresponding to the diffusion trajectory exceeds the average span threshold, it indicates that the heat dissipation performance of the photovoltaic power station is normal, and a normal heat dissipation signal is generated and sent to the automated inspection platform. If the heat dissipation of the heat-generating area increases while the average temperature of the corresponding heat-generating area increases at a rate exceeding the average temperature growth rate, or if the average temperature drop span across consecutive locations corresponding to the diffusion trajectory does not exceed the average span threshold, it indicates an abnormality in the heat dissipation performance of the photovoltaic power station. This generates a heat dissipation anomaly signal and sends it to the automated inspection platform. Upon receiving the signal, the automated inspection platform monitors the entire process of heat generation and heat dissipation of the photovoltaic equipment and adjusts and controls the generation and heat dissipation stages.
[0023] Please see Figure 2 As shown, when using this invention, perimeter inspections are conducted on photovoltaic power stations to determine the type and direction of perimeter offset and to implement targeted perimeter protection; settlement detection of photovoltaic equipment is performed on photovoltaic power stations to infer the settlement risk of photovoltaic equipment and to adjust the stress when the risk exists; and heat dissipation performance of photovoltaic equipment within photovoltaic power stations is inspected.
[0024] Thresholds, preset values, preset ranges, etc. are set for result comparison and analysis to determine whether they are good or bad. The value of these thresholds is determined by a combination of large-scale model analysis of sample data and human experience. They can also be adjusted appropriately based on seasonal or common-sense influences. Furthermore, the settings for weighting ratios, influence factors, etc., are based on the magnitude of each parameter's influence on the results. The specific values are allocated to ultimately reflect the impact on the results. The settings for input and storage are also determined by a combination of large-scale model analysis of sample data and human experience. Appropriate adjustments can also be made based on seasonal or rational influence conditions.
[0025] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to any specific implementation. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims
1. A robot-assisted automated inspection and management system for photovoltaic power plants, characterized in that, This includes an automated inspection platform, which is equipped with ground-based and airspace inspection terminals. The automated inspection platform's communication connections include: The machine, in conjunction with the perimeter detection unit, performs perimeter inspections of the photovoltaic power station. Through perimeter inspections, it determines the type and location of perimeter offset and provides targeted perimeter protection. The photovoltaic equipment settlement detection unit performs settlement detection on photovoltaic equipment in photovoltaic power stations, infers the settlement risk of photovoltaic equipment, and adjusts the stress when the risk exists. The heat dissipation performance inspection unit is used to inspect the heat dissipation performance of photovoltaic equipment in photovoltaic power plants.
2. The robot-assisted automated inspection and management system for photovoltaic power plants according to claim 1, characterized in that, The process of the machine cooperating with the perimeter detection unit is as follows: Based on the perimeter area of the photovoltaic power station, inspection routes are set for both ground inspection and airspace inspection, and ground inspection routes and airspace inspection routes are set; perimeter area images of the photovoltaic power station are collected through airspace inspection forms, and the real-time collected perimeter area trajectory is obtained based on the real-time collected images and marked as the collected trajectory on the map. Meanwhile, the ground inspection terminal collects data based on the real-time inspection route of the current perimeter area and marks it as a real-time ground trajectory; it compares the set aerial inspection route with the trajectory collected on the map, that is, the set aerial inspection route and the corresponding trajectory collected on the map are corresponding trajectories.
3. The robot-assisted automated inspection and management system for photovoltaic power plants according to claim 2, characterized in that, If there is a deviation between the aerial inspection route and the data collection trajectory on the map, it indicates that the perimeter area corresponding to the aerial data collection angle has shifted, and the corresponding shifted position is marked as the shifted area on the map. Conversely, if there is no offset between the aerial inspection route and the data collection trajectory on the map, it indicates that there is no offset in the perimeter area corresponding to the aerial data collection angle, and the corresponding offset position is marked as the overlapping area on the map. Based on the data collection period of the airspace inspection terminal, the ground inspection terminal is carried out in conjunction with the inspection. According to the set ground inspection route and the real-time ground trajectory comparison, if there is a deviation between the route and the trajectory, the corresponding position is marked as the ground deviation area. Conversely, if there is no deviation between the route and the trajectory, the corresponding location will be marked as an overlapping area on the ground.
4. The robot-assisted automated inspection and management system for photovoltaic power plants according to claim 3, characterized in that, Compare the offset area on the map with the offset area on the ground. If they are in the same area, it indicates that there is a perimeter offset in the corresponding area. Mark the current area as a perimeter risk area. If they are not in the same area, mark the offset area on the map or the offset area on the ground as the inspection risk area; Data collection and analysis are performed on the perimeter risk area. During the reciprocating inspection at the airspace inspection terminal, the growth rate of the offset distance of the photovoltaic power station boundary fence facilities in the perimeter risk area corresponding to the adjacent inspection period is obtained. If the offset distance growth rate exceeds the set growth rate threshold, an instantaneous offset signal is generated and sent to the automated inspection platform. If the rate of increase of the facility offset distance does not exceed the set growth rate threshold, a slow offset signal is generated and sent to the automated inspection platform; During the inspection at the ground inspection terminal, the offset type of the inspection trajectory after the ground inspection terminal completes the obstacle avoidance of the offset facility is obtained. If the offset type of the inspection trajectory is inward offset, an external influence signal is generated and sent to the automated inspection platform. If the inspection trajectory offset type is outward offset, an internal impact signal is generated and sent to the automated inspection platform.
5. The robot-assisted automated inspection and management system for photovoltaic power plants according to claim 4, characterized in that, Upon receiving an instantaneous offset signal, the automated inspection platform immediately repairs the boundary fence facilities and simultaneously detects the impact of the offset on facilities on both sides, centered on the offset location. Upon receiving a delayed offset signal, it maintains the boundary fence facilities and analyzes the stress on the structure and related connecting structures at the current offset location. Upon receiving an external influence signal, it identifies moving objects in the surrounding area, centered on the offset location, to detect external intrusions in advance. Upon receiving an internal influence signal, it uses the offset location as an interference point to identify the operating trajectory of facilities within the perimeter.
6. The robot-assisted automated inspection and management system for photovoltaic power plants according to claim 1, characterized in that, The process of the photovoltaic equipment settlement detection unit is as follows: Ground-based and airspace-based inspection terminals conduct settlement detection on photovoltaic equipment within photovoltaic power stations. The airspace inspection terminal acquires images of the photovoltaic equipment and, based on the analysis of the acquired images, determines reference points centered on the photovoltaic equipment. The standard for determining the reference points is that no structural movement occurs when the surrounding buildings and facilities are in operation. After determining the photovoltaic equipment and the corresponding reference points, the ground inspection terminal determines the orbital trajectory of the photovoltaic equipment and the reference points, and records the movement parameters of each point corresponding to the orbital trajectory. During the operation of the photovoltaic power station, the settlement of photovoltaic equipment is identified and detected by the airspace inspection terminal. Based on the continuous inspection of the photovoltaic equipment and reference points by the ground inspection terminal, and combined with the movement parameters, the positions of the photovoltaic equipment and reference points corresponding to the location of the ground inspection terminal at different inspection times are obtained, and are marked as the equipment inspection position and the reference inspection position, respectively.
7. The robot-assisted automated inspection and management system for photovoltaic power plants according to claim 6, characterized in that, If the reference inspection position remains unchanged at different inspection times, it indicates that the reference point is a low settlement point; if the reference inspection position fluctuates at different inspection times, it indicates that the reference point is a high settlement point; if the fluctuation distance of the equipment inspection position at different inspection times is lower than the set distance threshold, it indicates that the photovoltaic equipment is at risk of settlement; conversely, if the fluctuation distance of the equipment inspection position at different inspection times is not lower than the set distance threshold, it indicates that the photovoltaic equipment needs to be compared with a reference.
8. The robot-assisted automated inspection and management system for photovoltaic power plants according to claim 7, characterized in that, Based on the images collected by the airspace inspection terminal, the low-settlement points in the images are determined. The detection height of the airspace inspection terminal is adaptively adjusted to collect images of the photovoltaic equipment and the low-settlement points from multiple angles. The positional correspondence between the photovoltaic equipment and the low-settlement points is determined, the number of positions where the positional correspondence changes during the continuous acquisition phase is obtained, and the fluctuation of the corresponding positional parameters during the continuous acquisition phase is also obtained. If the number of locations whose location correspondence changes during the continuous acquisition phase exceeds the threshold percentage of the number of selected points, or if the fluctuation of the corresponding location parameters during the continuous acquisition phase exceeds the set settlement parameter threshold, it is inferred that the photovoltaic equipment is at risk of settlement. If the number of locations whose location correspondence changes during the continuous acquisition phase does not exceed the threshold percentage of the number of selected points, and the fluctuation of the corresponding location parameters during the continuous acquisition phase does not exceed the set settlement parameter threshold, then it can be inferred that the photovoltaic equipment does not have a settlement risk.
9. The robot-assisted automated inspection and management system for photovoltaic power plants according to claim 1, characterized in that, The process of the heat dissipation performance inspection unit is as follows: While the airspace inspection equipment is collecting images, thermal imaging technology is used to collect temperature distribution data in the images to determine whether the heat-generating points overlap with the location of the operating photovoltaic equipment. If they overlap, the heat dissipation performance is inspected; if they do not overlap, the heat-generating points are repaired. After obtaining the heat generation at the heat-generating points within the photovoltaic power station based on the temperature distribution location, the average temperature of the corresponding heat-generating area increases as the heat-generating area diffuses. Based on the inspection process of the ground inspection terminal, the average temperature drop span of the continuous positions corresponding to the diffusion trajectory of the heat-generating area is recorded by the ground inspection terminal.
10. A robot-assisted automated inspection and management system for photovoltaic power plants according to claim 1, characterized in that, If the heat dissipation area increases while the average temperature of the corresponding heat dissipation area does not exceed the average temperature growth rate, and the average temperature drop span of the continuous positions corresponding to the diffusion trajectory exceeds the average span threshold, then a normal heat dissipation signal is generated and sent to the automated inspection platform. If the heat dissipation area increases while the average temperature of the corresponding heat dissipation area increases at a rate exceeding the average temperature growth rate, or if the average temperature drop span across consecutive locations corresponding to the diffusion trajectory does not exceed the average span threshold, a heat dissipation anomaly signal will be generated and sent to the automated inspection platform.