Operation and maintenance management method for photovoltaic power station, and inspection robot

Abstract

The present application discloses an operation and maintenance management method for a photovoltaic power station, and an inspection robot. The method comprises: in an inspection process, acquiring operation data of a photovoltaic device in a photovoltaic power station, wherein the operation data comprises power generation data of the photovoltaic device and / or sensing data of the photovoltaic device; analyzing the operation data, and on the basis of an analysis result, determining whether the photovoltaic device is in an abnormal state; and if the photovoltaic device is in the abnormal state, providing an anomaly processing solution for the abnormal photovoltaic device on the basis of the analysis result. The present application realizes intelligent operation and maintenance of a photovoltaic power station by means of an inspection robot, thereby increasing the operation and maintenance management efficiency.

Description

Photovoltaic power station operation and maintenance management method and inspection robot Technical Field

[0001] The present application relates to the field of photovoltaic technology, and in particular to a photovoltaic power station operation and maintenance management method and an inspection robot. Background Art

[0002] Each power generation device in a photovoltaic power station power generation system usually operates independently. The operating status of each power generation device is monitored by the photovoltaic power station monitoring system. When an abnormality occurs in the equipment, only the alarm status is usually uploaded to the monitoring platform, and the operation and maintenance personnel handle the abnormal problem individually. This monitoring method lacks interactive operations between devices, and the existing power station monitoring system is not intelligent enough to handle equipment abnormalities.

[0003] Summary of the Invention

[0004] In order to solve the above technical problems, the present application provides a photovoltaic power station operation and maintenance management method and a patrol robot.

[0005] Specifically, the technical solution of this application is as follows:

[0006] On the one hand, the present application provides a photovoltaic power station operation and maintenance management method, which is applied to an inspection robot, comprising:

[0007] During the inspection process, the operating data of the photovoltaic equipment in the photovoltaic power station is obtained; the operating data includes the power generation data of the photovoltaic equipment and / or the sensing data of the photovoltaic equipment; the photovoltaic equipment includes photovoltaic modules, photovoltaic brackets, photovoltaic inverter equipment, and connection equipment; the photovoltaic brackets include photovoltaic fixed brackets and photovoltaic tracking brackets;

[0008] Analyzing the operating data and determining whether the photovoltaic device is in an abnormal state according to the analysis result; the abnormal state includes abnormal structural state and abnormal operating state;

[0009] When the photovoltaic device is in the abnormal state, an abnormality handling solution for the abnormal photovoltaic device is provided according to the analysis result.

[0010] In some embodiments, analyzing the operating data and determining whether the photovoltaic device is in an abnormal state based on the analysis result includes:

[0011] Analyzing the sensing data of the photovoltaic module surface to determine whether the photovoltaic module surface has a structural abnormality; the structural abnormality of the photovoltaic module surface includes contamination, damage, and hot spots;

[0012] and / or,

[0013] Analyze the sensing data of the photovoltaic support foundation and / or the photovoltaic support body structure to determine whether the photovoltaic support has an abnormal structural state; the abnormal structural state of the photovoltaic support includes sinking of the support foundation and / or deformation of the support body structure;

[0014] and / or,

[0015] Analyze the perception data of the connection device to determine whether the connection device has a structural abnormality; the connection device includes a connection cable and a junction box on the back of the photovoltaic module.

[0016] In some embodiments, analyzing the operating data and determining whether the photovoltaic device is in an abnormal state based on the analysis result includes:

[0017] Analyze the sensing data of the photovoltaic tracking brackets in the same photovoltaic matrix, and screen out faulty photovoltaic tracking brackets in the photovoltaic matrix that are in abnormal operating states;

[0018] and / or,

[0019] Analyzing the sensing data of the photovoltaic module surface to determine whether an abnormal operating state occurs on the photovoltaic module surface; the abnormal operating state of the photovoltaic module surface includes the photovoltaic module surface being obscured by a shadow;

[0020] and / or,

[0021] Analyze the power generation data of the photovoltaic inverter equipment to determine whether the photovoltaic inverter equipment has an abnormal operating state; the photovoltaic inverter equipment includes a photovoltaic inverter, a box transformer, and a combiner box; the power generation data includes current, voltage, and power generation power.

[0022] In some embodiments, analyzing the sensing data of the photovoltaic tracking brackets in the same photovoltaic matrix to screen out faulty photovoltaic tracking brackets in abnormal operating states in the photovoltaic matrix includes:

[0023] Analyzing the sensing data of the photovoltaic tracking brackets in the same photovoltaic matrix to identify the working angle of each photovoltaic tracking bracket in the photovoltaic matrix;

[0024] Compare the various working angles to screen out abnormal photovoltaic tracking brackets with angle deviations;

[0025] If the working angle of the abnormal photovoltaic tracking bracket is greater than the first preset deviation angle, the abnormal photovoltaic tracking bracket is the faulty photovoltaic tracking bracket;

[0026] If the working angle of the abnormal photovoltaic tracking bracket is greater than the second preset deviation angle, obtaining wind speed data of the area where the photovoltaic power station is located;

[0027] In combination with the wind speed data and the second preset deviation angle, determining whether the abnormal photovoltaic tracking bracket belongs to the faulty photovoltaic tracking bracket;

[0028] Wherein, the second preset deviation angle is smaller than the first preset deviation angle.

[0029] In some embodiments, when the photovoltaic device is in the abnormal state, providing an abnormality handling solution for the abnormal photovoltaic device according to the analysis result includes:

[0030] When the surface of the photovoltaic module is contaminated, a contamination alarm signal is generated according to the result of the perception data analysis of the photovoltaic module surface; the contamination alarm signal is sent to the photovoltaic cleaning control system to notify the photovoltaic cleaning control system to clean the surface of the photovoltaic module;

[0031] and / or,

[0032] When the surface of the photovoltaic module is blocked by a shadow and the photovoltaic module is a tracking photovoltaic module, a bracket angle adjustment signal is generated according to the perception data analysis result of the blocked photovoltaic module; the bracket angle adjustment signal is sent to the photovoltaic tracking control system to notify the photovoltaic tracking control system to adjust the bracket angle of the photovoltaic tracking bracket corresponding to the blocked photovoltaic module;

[0033] and / or,

[0034] When a faulty photovoltaic tracking bracket occurs in the abnormal operating state, a restart signal is generated according to the perception data analysis result of the faulty photovoltaic tracking bracket; the restart signal is sent to the photovoltaic tracking control system to notify the faulty photovoltaic tracking bracket to restart.

[0035] In some embodiments, after sending the restart signal to the photovoltaic tracking control system to notify the faulty photovoltaic tracking bracket to restart, the method includes:

[0036] Analyze the perception data of the faulty photovoltaic tracking bracket after restart. If the faulty photovoltaic tracking bracket is still in the abnormal operating state, generate maintenance information for operation and maintenance personnel based on the analysis results of the perception data of the faulty photovoltaic tracking bracket after restart.

[0037] In some embodiments, when the photovoltaic device is in the abnormal state, providing an abnormality handling solution for the abnormal photovoltaic device according to the analysis result includes:

[0038] When the photovoltaic assembly is in the abnormal state and / or the power generation data of the photovoltaic assembly is abnormal, a power generation optimization signal is sent to the inverter control system, so that the inverter control system adjusts the operating voltage of the photovoltaic assembly in the abnormal state according to the power generation optimization signal and using the operating voltage corresponding to the normal photovoltaic assembly as a reference voltage;

[0039] The normal photovoltaic components include photovoltaic components connected to the same photovoltaic inverter device as the photovoltaic components in the abnormal state.

[0040] On the other hand, the present application provides an inspection robot for use in a photovoltaic power station, comprising:

[0041] A data acquisition unit is used to obtain operating data of photovoltaic equipment in the photovoltaic power station during the inspection process; the operating data includes power generation data of the photovoltaic equipment and / or sensing data of the photovoltaic equipment; the photovoltaic equipment includes photovoltaic modules, photovoltaic brackets, photovoltaic inverter equipment, and connection equipment; the photovoltaic brackets include photovoltaic fixed brackets and photovoltaic tracking brackets;

[0042] a data analysis unit, configured to analyze the operating data and determine whether the photovoltaic device is in an abnormal state according to the analysis result; the abnormal state includes abnormal structural state and abnormal operating state;

[0043] A data processing unit is used to provide an abnormality processing solution for the abnormal photovoltaic device according to the analysis result when the photovoltaic device is in the abnormal state.

[0044] In some embodiments, the data analysis unit is used to analyze the sensing data of the photovoltaic module surface to determine whether the photovoltaic module surface has a structural abnormality; the structural abnormality of the photovoltaic module surface includes contamination, damage, and hot spots;

[0045] and / or,

[0046] The data analysis unit is used to analyze the sensing data of the photovoltaic support foundation and / or the photovoltaic support body structure to determine whether the photovoltaic support has an abnormal structural state; the abnormal structural state of the photovoltaic support includes sinking of the support foundation and / or deformation of the support body structure;

[0047] and / or,

[0048] The data analysis unit is used to analyze the perception data of the connection device and determine whether the connection device has a structural abnormality; the connection device includes a connection cable and a junction box on the back of the photovoltaic module.

[0049] In some embodiments, the data analysis unit is used to analyze the sensing data of the photovoltaic tracking brackets in the same photovoltaic matrix, and screen out faulty photovoltaic tracking brackets in the photovoltaic matrix that are in abnormal operating states;

[0050] and / or,

[0051] The data analysis unit is configured to analyze the sensing data of the photovoltaic module surface to determine whether an abnormal operating state occurs on the photovoltaic module surface; the abnormal operating state of the photovoltaic module surface includes the photovoltaic module surface being obscured by a shadow;

[0052] and / or,

[0053] The data analysis unit is used to analyze the power generation data of the photovoltaic inverter equipment and determine whether the photovoltaic inverter equipment has an abnormal operating status; the photovoltaic inverter equipment includes a photovoltaic inverter, a box transformer, and a combiner box; the power generation data includes current, voltage, and power generation power.

[0054] In some embodiments, the data analysis unit comprises:

[0055] an identification module, configured to analyze the sensing data of the photovoltaic tracking brackets in the same photovoltaic matrix and identify the working angle of each photovoltaic tracking bracket in the photovoltaic matrix;

[0056] A screening module is used to compare the various working angles and screen out abnormal photovoltaic tracking brackets with angle deviations;

[0057] a comparison module, configured to compare the working angle of the abnormal photovoltaic tracking bracket with a first preset deviation angle; if the working angle of the abnormal photovoltaic tracking bracket is greater than the first preset deviation angle, the abnormal photovoltaic tracking bracket is the faulty photovoltaic tracking bracket;

[0058] an acquisition module, configured to acquire wind speed data of the area where the photovoltaic power station is located if the working angle of the abnormal photovoltaic tracking bracket is greater than a second preset deviation angle;

[0059] a judgment module, configured to determine whether the abnormal photovoltaic tracking bracket belongs to the faulty photovoltaic tracking bracket by combining the wind speed data and the second preset deviation angle;

[0060] Wherein, the second preset deviation angle is smaller than the first preset deviation angle.

[0061] In some embodiments, the data processing unit is configured to generate a contamination alarm signal based on the result of analyzing the sensing data of the photovoltaic module surface when the photovoltaic module surface is contaminated; and send the contamination alarm signal to a photovoltaic cleaning control system to notify the photovoltaic cleaning control system to clean the photovoltaic module surface;

[0062] and / or,

[0063] The data processing unit is configured to generate a bracket angle adjustment signal based on the perception data analysis result of the blocked photovoltaic component when the surface of the photovoltaic component is blocked by a shadow and the photovoltaic component is a tracking photovoltaic component; and send the bracket angle adjustment signal to the photovoltaic tracking control system to notify the photovoltaic tracking control system to adjust the bracket angle of the photovoltaic tracking bracket corresponding to the blocked photovoltaic component;

[0064] and / or,

[0065] The data processing unit is used to generate a restart signal based on the perception data analysis results of the faulty photovoltaic tracking bracket when a faulty photovoltaic tracking bracket in the abnormal operating state occurs; and send the restart signal to the photovoltaic tracking control system to notify the faulty photovoltaic tracking bracket to restart.

[0066] In some embodiments, the data processing unit is further used to generate maintenance information for operation and maintenance personnel based on the perception data analysis results of the faulty photovoltaic tracking bracket after restart if the faulty photovoltaic tracking bracket is still in the abnormal operating state after restart.

[0067] In some embodiments, the data processing unit is used to send a power generation optimization signal to the inverter control system when the photovoltaic component is in the abnormal state and / or the power generation data of the photovoltaic component is abnormal, so that the inverter control system adjusts the operating voltage of the photovoltaic component in the abnormal state according to the power generation optimization signal and takes the operating voltage corresponding to the normal photovoltaic component as the reference voltage; wherein the normal photovoltaic component includes a photovoltaic component connected to the same photovoltaic inverter device as the photovoltaic component in the abnormal state.

[0068] Compared with the prior art, this application has at least one of the following beneficial effects:

[0069] (1) This application uses inspection robots to inspect and maintain various photovoltaic equipment in photovoltaic power stations. Compared with traditional inspection methods, the inspection and maintenance method in this application is more intelligent, which can not only effectively improve the operation and maintenance efficiency of photovoltaic power stations, but also reduce the cost of manual inspections.

[0070] (2) This application is based on the inspection robots deployed in photovoltaic power stations to comprehensively obtain the operating data of photovoltaic equipment. By analyzing these operating data, abnormalities of photovoltaic equipment are diagnosed and corresponding abnormality handling solutions are provided, which can comprehensively, accurately and timely detect abnormalities and faults of photovoltaic equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] The preferred implementation scheme will be described below in a clear and understandable manner with reference to the accompanying drawings to further illustrate the above-mentioned characteristics, technical features, advantages and implementation methods of the present application.

[0072] FIG1 is a flow chart of a photovoltaic power station monitoring and operation method according to an embodiment of the present application;

[0073] FIG2 is a schematic diagram of a centralized inverter system according to an embodiment of the present application;

[0074] FIG3 is a schematic diagram of a string inverter system according to an embodiment of the present application;

[0075] FIG4 is a schematic structural diagram of an inspection robot according to an embodiment of the present application;

[0076] FIG5 is another structural diagram of the inspection robot in an embodiment of the present application.

[0077] Description of Figure Numbers:

[0078] Inspection robot 100 , data acquisition unit 110 , infrared camera 111 , high-definition camera 112 , data receiving unit 113 , data analysis unit 120 , and data processing unit 130 . DETAILED DESCRIPTION

[0079] In the following description, specific details such as specific system structures and technologies are provided for illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obstructing the description of the present application with unnecessary details.

[0080] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the specific implementation methods of the present application will be described below with reference to the accompanying drawings. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without inventive work.

[0081] To simplify the drawings, only the portions relevant to the application are schematically depicted in each figure; they do not represent the actual structure of the product. Furthermore, to simplify the drawings and facilitate understanding, in some figures, only one component with the same structure or function is schematically depicted or labeled. In this document, "one" not only means "only one" but also "more than one."

[0082] It will be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections.

[0083] It should be further understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0084] Currently, most photovoltaic power plants use a Supervisory Control and Data Acquisition System (SCADA) system to monitor daily operations. During the operation and maintenance of a photovoltaic power plant, on the one hand, maintenance personnel conduct regular manual inspections of the plant; on the other hand, the SCADA system monitors the operating status of each photovoltaic device. When a device anomaly occurs, it typically only reports an alarm status to the monitoring platform, where maintenance personnel address the issue. Both solutions require significant manpower and introduce delays in detecting anomalies, hindering timely detection and maintenance.

[0085] To solve the above problems, drones are often used for inspections in existing technologies. Although they can improve inspection efficiency to a certain extent, drones usually need to be a certain distance away from the inspected equipment when running, and are unable to troubleshoot some detailed faults, which can easily lead to missed inspections. In addition, drones have relatively simple functions and usually only collect data, but cannot perform data analysis and processing, and their intelligence level is not high.

[0086] Based on this, the embodiment of the present application provides a photovoltaic power station operation and maintenance management method, which uses a patrol robot to monitor the operating status of each photovoltaic equipment in the photovoltaic power station in real time, can promptly identify equipment abnormalities in the photovoltaic power station, and can provide corresponding abnormality handling solutions for abnormal photovoltaic equipment, which is conducive to accurate, timely and comprehensive operation and maintenance management of the photovoltaic power station, improves the intelligence level of photovoltaic power station operation and maintenance, and thus improves the operation and maintenance management efficiency of the photovoltaic power station.

[0087] The following is an explanation with reference to the accompanying drawings. As shown in FIG1 , an embodiment of the present application is a photovoltaic power station operation and maintenance management method, which is applied to an inspection robot and includes the following steps:

[0088] During the inspection process, S101 obtains the operating data of the photovoltaic equipment in the photovoltaic power station; the operating data includes the power generation data of the photovoltaic equipment and / or the perception data of the photovoltaic equipment; the photovoltaic equipment includes photovoltaic modules, photovoltaic brackets, photovoltaic inverter equipment, and connection equipment; the photovoltaic brackets include photovoltaic fixed brackets and photovoltaic tracking brackets.

[0089] Specifically, in the embodiment of the present application, the real-time operating data of each photovoltaic device is obtained by using an inspection robot. The inspection robot can walk along a preset inspection route and perform inspection tasks on different photovoltaic devices planned in the inspection route.

[0090] The operational data of photovoltaic equipment mainly includes two categories: one is power generation data, such as power generation, current, voltage, power generation efficiency and other power generation-related data, which can be obtained through the communication unit installed on the inspection robot itself and through communication between the inspection robot and other systems / equipment; the other is the perception data of photovoltaic equipment, which is mainly obtained through perception devices (infrared cameras, high-definition cameras, ranging sensors, temperature sensors, etc.), such as perception data of the surface / back of photovoltaic modules and different structural parts of photovoltaic brackets. In this embodiment, by acquiring the operational data of photovoltaic equipment in real time and establishing an interactive relationship between the inspection robot and each photovoltaic equipment, it is possible to conduct comprehensive inspections of photovoltaic equipment, which is conducive to comprehensive troubleshooting of equipment failures and improving the efficiency of operation and maintenance management.

[0091] S102 analyzes the operating data and determines whether the photovoltaic equipment is in an abnormal state based on the analysis results; the abnormal state includes abnormal structural state and abnormal operating state.

[0092] Specifically, this embodiment categorizes photovoltaic equipment anomalies into structural anomalies and operational anomalies from the perspectives of equipment structure and equipment operation. Structural anomalies primarily include faults arising from the photovoltaic equipment's own structure, which can be detected by identifying sensory data within operational data, such as bent photovoltaic brackets, damaged photovoltaic modules, or disconnected connecting cables. Operational anomalies primarily include faults arising from the operation of the photovoltaic equipment other than structural anomalies, such as abnormal operating angles of photovoltaic tracking brackets, shadows blocking photovoltaic modules, and abnormal power generation data from the photovoltaic equipment.

[0093] S103: When the photovoltaic equipment is in an abnormal state, an abnormality handling solution for the abnormal photovoltaic equipment is provided according to the analysis result.

[0094] Specifically, when the inspection robot finds that the photovoltaic equipment currently being inspected is in the abnormal state described in the above step S102 during the inspection, it can provide a special abnormality handling solution for the specific abnormality of the abnormal photovoltaic equipment based on the analysis results in step S102. In the traditional drone inspection method, the inspection is mainly focused on the surface of the photovoltaic components, and the drone is far away from the photovoltaic equipment during the inspection, making it impossible to accurately collect data. In addition, the drone inspection method cannot independently perform fault detection and can only perform data collection. In this embodiment, the inspection robot can directly complete fault detection based on the collected data, and can also provide corresponding handling solutions based on the different abnormal conditions of the photovoltaic equipment, with a high degree of intelligence.

[0095] It should be noted that in this embodiment, the inspection robot can not only actively inspect photovoltaic equipment along the inspection route, but can also receive different inspection instructions when performing established inspection tasks and inspect designated equipment, further improving the intelligence of inspection and operation and maintenance. For example, when the inspection robot is inspecting along a certain inspection route, the operation and maintenance personnel find that a photovoltaic string is not generating electricity or the power generation is abnormally low through the photovoltaic power station monitoring system. The inspection instruction can be sent to the inspection robot near the photovoltaic string to control the inspection robot to check the location where the abnormal string may have a fault (such as the component surface, component diode, component cable connector, and inverter terminal of the abnormal string). After the inspection, the fault point is located and the operation and maintenance personnel are notified to perform maintenance on the fault point.

[0096] This embodiment proposes a photovoltaic power station operation and maintenance management method. First, inspection robots deployed within the photovoltaic power station comprehensively acquire operational data from photovoltaic equipment. By analyzing this data, abnormalities in the photovoltaic equipment are diagnosed and addressed accordingly. This embodiment utilizes inspection robots to comprehensively, accurately, and promptly troubleshoot abnormalities and faults in photovoltaic equipment, providing a more intelligent approach to photovoltaic power station inspections and improving inspection management efficiency.

[0097] In one embodiment, based on the above embodiment, the operating data is analyzed, and based on the analysis results, it is determined whether the photovoltaic equipment is in an abnormal state, specifically including:

[0098] Analyze the sensor data on the surface of the photovoltaic module to determine whether the surface of the photovoltaic module has any structural abnormalities; the structural abnormalities on the surface of the photovoltaic module include contamination, damage, and hot spots.

[0099] Specifically, photovoltaic modules are the core equipment in photovoltaic power stations. In order to ensure the power generation of photovoltaic power stations, most photovoltaic modules are installed outdoors. Affected by the outdoor environment (such as sunlight, heavy rain, strong winds, etc.), a lot of stains, dust, sand, bird droppings, etc. will accumulate on the surface of photovoltaic modules, affecting the power generation efficiency of photovoltaic modules. During the process of putting the modules into use, their own structure may also be damaged. For example, improper handling during installation may cause surface cracks, the cells in the module may be hit by external forces and crack, and the surface bolts may become loose. In addition, photovoltaic modules may be blocked by shadows, which may cause hot spot effects and damage the photovoltaic modules.

[0100] These structural abnormalities on the surface of photovoltaic modules seriously affect their service life and power generation efficiency. In this embodiment, these abnormalities are identified and determined by analyzing sensory data from the module surface. For example, a high-definition camera and an infrared camera can be installed on the inspection robot body. The high-definition camera can capture color images of the photovoltaic module surface during operation and analyze surface faults using image recognition technology. The infrared camera can also capture thermal images of the module surface to detect hot spots.

[0101] Furthermore, the data collected by high-definition cameras and infrared cameras can be combined to determine whether hot spots have occurred, thereby improving the accuracy of hot spot detection. For example, the color image of the photovoltaic module surface can be analyzed first to determine whether the module surface is contaminated. If not, the corresponding thermal image can be analyzed to determine whether a hot spot has occurred on the module surface.

[0102] Analyze the perception data of the photovoltaic bracket foundation and / or the photovoltaic bracket main structure to determine whether the photovoltaic bracket has any structural abnormality; the structural abnormality of the photovoltaic bracket includes sinking of the bracket foundation and / or deformation of the bracket main structure.

[0103] Specifically, photovoltaic supports are an important component of photovoltaic power stations, and the support structure mainly includes the support foundation and the support body structure. The stability of the support foundation ensures that the photovoltaic support can have a certain load capacity (wind resistance, snow resistance, structural deadweight, etc.), but due to the influence of climate, weather, region, etc., the support foundation is at risk of sinking. For example, the soil freezes in the cold winter, and shrinks in the hot summer, resulting in reduced friction between the support foundation and the soil, causing sinking. In some areas, the geology is soft and the soil contains a lot of water, which insufficiently supports the support foundation's bearing capacity, causing the foundation to sink, etc. Abnormalities in the support body structure include deformation of the support structure, which is generally caused by extreme weather such as wind and snow, as well as the influence of the support foundation sinking, resulting in deformations such as bending and twisting of the support body structure. In addition to support foundation sinking and support structure deformation, other support faults can also be judged through the support's sensing data, such as whether the bolts and joints on the support are firm and reliable, whether the support surface is damaged or cracked, and whether the support foundation is pulled up or broken.

[0104] Photovoltaic racks are used to support photovoltaic modules, so any abnormalities in the racks directly affect the safe operation of these modules. This embodiment accurately and effectively identifies potential faults in the racks by analyzing sensor data from different parts of the racks. For example, the inspection robot walks along the racks over a period of time, capturing images of the racks' upper surface. By comparing these images, it can identify any unevenness in the rack base's surface and determine if the base is sinking. A high-definition camera can also capture images of the rack body from different angles to identify any bending or twisting deformation.

[0105] Analyze the sensing data of the connected devices to determine whether the connected devices have any structural abnormalities; the connected devices include connecting cables and junction boxes on the back of photovoltaic modules.

[0106] Specifically, connecting cables include those for each photovoltaic device and those between different devices. By analyzing images of cable connectors, the system can identify the connection level (whether they are loose or detached), determine whether they are weak joints, and further detect abnormalities such as heat generation at weak joints. By analyzing cable images, it can identify mechanical damage or sheath damage caused by external forces, and determine whether the cables are deformed. By comparing and analyzing cable images collected over a period of time, it can identify whether the cables are swaying in the wind and determine whether the cable ties that secure them have fallen off due to aging, among other things.

[0107] Furthermore, the connection equipment also includes the junction box on the back of the PV panel. The junction box acts as a connector, connecting the PV panel to control devices such as the inverter. It diverts the current generated by the PV panel and directs it to the power-consuming equipment. Therefore, identifying faults in the junction box is crucial. By analyzing the image of the junction box, it is possible to determine whether the junction box is deformed, twisted, cracked, detached, or burned.

[0108] This embodiment can identify abnormal conditions of various connected devices in a photovoltaic power station. Compared with traditional inspection methods, it can troubleshoot more detailed and focused faults. Compared with traditional manual inspection methods, it saves inspection time and has higher inspection efficiency. Compared with drone inspection methods, this solution has better accuracy.

[0109] The sensing data of photovoltaic tracking brackets in the same photovoltaic matrix are analyzed to screen out faulty photovoltaic tracking brackets in abnormal operating status in the photovoltaic matrix.

[0110] Specifically, photovoltaic modules can be divided into fixed photovoltaic modules and tracking photovoltaic modules based on the type of support they use. Fixed photovoltaic modules use fixed photovoltaic supports, which maintain their position and angle after installation. Tracking photovoltaic modules use photovoltaic tracking supports, which adjust the support angle to ensure that sunlight reaches the photovoltaic module as directly as possible. Compared to fixed photovoltaic modules, they have higher power generation efficiency.

[0111] In photovoltaic power stations, photovoltaic tracking brackets are usually arranged in units of photovoltaic matrices. Each photovoltaic tracking bracket in the matrix needs to ensure that the tracking angle of the bracket is consistent. A photovoltaic matrix includes multiple photovoltaic tracking brackets. The inspection robot can collect the bracket angle feedback data of all photovoltaic tracking brackets in the photovoltaic matrix. Through the bracket angle feedback data, photovoltaic tracking brackets with abnormal angles can be identified.

[0112] Furthermore, in some embodiments, faulty photovoltaic tracking brackets can be screened out in the following manner: analyzing the sensing data of the photovoltaic tracking brackets in the same photovoltaic matrix to identify the working angle of each photovoltaic tracking bracket in the photovoltaic matrix; comparing the various working angles to screen out abnormal photovoltaic tracking brackets with angle deviations; if the working angle of the abnormal photovoltaic tracking bracket is greater than a first preset deviation angle, the abnormal photovoltaic tracking bracket is a faulty photovoltaic tracking bracket; if the working angle of the abnormal photovoltaic tracking bracket is greater than a second preset deviation angle, obtaining wind speed data of the area where the photovoltaic power station is located; the second preset deviation angle is less than the first preset deviation angle; combining the wind speed data and the second preset deviation angle to determine whether the abnormal photovoltaic tracking bracket is a faulty photovoltaic tracking bracket.

[0113] Specifically, the abnormal angle of the tracking bracket is mainly caused by the following reasons: (1) terrain differences. For example, in a sloping terrain, there may be photovoltaic tracking brackets with different installation heights in the same photovoltaic matrix; (2) the bracket angle changes due to natural weather such as strong winds; (3) different photovoltaic tracking brackets are equipped with corresponding drive devices for adjusting the operating angle of the photovoltaic tracking bracket. Failure of the drive device causes the bracket angle to deviate. In combination with these factors, this embodiment sets the deviation angle and uses the sensing data of the tracking bracket to conduct a comprehensive analysis to troubleshoot the fault of the photovoltaic tracking bracket. For example, the first preset deviation angle is 20 degrees, and the second preset deviation angle is 5 degrees. When a large angle deviation of more than 20 degrees occurs, it can be directly considered that the photovoltaic tracking bracket is operating abnormally. When an angle deviation of more than 5 degrees occurs, the anemometer data of the photovoltaic power station meteorological station is first combined to eliminate the angle deviation caused by strong winds: for example, an angle deviation of more than 5 degrees when the wind force is above level 5 can be considered normal; an angle deviation of more than 5 degrees when the wind force is below level 5 can be considered that the photovoltaic tracking bracket is operating abnormally.

[0114] Analyze the sensing data of the photovoltaic module surface to determine whether the photovoltaic module surface has an abnormal operating status; the abnormal operating status of the photovoltaic module surface includes the photovoltaic module surface being blocked by shadows.

[0115] Specifically, abnormalities on the surface of PV modules include not only structural abnormalities (damage, contamination, hot spots, etc.) but also operational abnormalities, such as shadowing. This can occur due to improper module placement without avoiding obstacles, shading caused by surrounding buildings, and shadowing of modules at the edge of the PV array due to the narrow spacing between the PV arrays. Shadowing not only causes voltage imbalances between PV modules, affecting overall power generation, but can also cause hot spot effects in the shaded PV modules, leading to damage.

[0116] Shadow obstruction can also be detected by analyzing the perception data of the surface of photovoltaic modules. For tracking photovoltaic modules, the real-time perception data of their surface can be analyzed to identify whether they are obstructed by shadows. For fixed photovoltaic modules, the perception data during a fixed time period can be analyzed to identify whether shadow obstruction occurs during that time period. For example, the national standard requires that there should be no obstruction from 9 a.m. to 3 p.m., so the perception data of fixed photovoltaic modules between 9 a.m. and 3 p.m. is obtained and analyzed to determine whether obstruction occurs.

[0117] Analyze the power generation data of photovoltaic inverter equipment to determine whether the photovoltaic inverter equipment has any abnormal operating status; photovoltaic inverter equipment includes photovoltaic inverters, box transformers, and combiner boxes; power generation data includes current, voltage, power generation and other power generation related data.

[0118] Specifically, a photovoltaic inverter system is composed of various inverter devices. For example, Figure 2 shows the structure of a centralized inverter system, where a string consists of several photovoltaic modules. For a centralized inverter system, the current generated by each string first passes through a DC combiner box, then is transmitted to a centralized inverter, which is then transferred to a box-type transformer. In addition to these aforementioned devices, other equipment such as distribution cabinets and distribution boxes located between the inverter and box-type transformer are also included. In a photovoltaic inverter system, the power generation data from these devices is collected in a dedicated data collector equipped with a communication device that enables communication with other systems in the photovoltaic power station for data sharing.

[0119] In this embodiment, the inspection robot can communicate with the data collector to obtain power generation data from the photovoltaic inverter equipment and monitor whether the inverter equipment has any abnormal operating status. Using power generation data to determine abnormalities is often used as a supplementary method for judgment. For example, when the operating voltage of the inverter drops, it does not necessarily mean that the inverter has failed, because the overall inverter voltage of the entire system may have dropped. Therefore, to ensure the accuracy of abnormality detection, when determining whether the photovoltaic inverter equipment is abnormal, it is often necessary to combine the abnormal conditions of other photovoltaic equipment (such as modules, brackets, trackers, cables, etc.) for a comprehensive judgment.

[0120] In other implementations, reference may be made to FIG3 , which shows the composition structure of a string inverter system. The string inverter includes multiple MPPT (Maximum Power Point Tracking) ports, and the multiple MPPT ports independently perform AC / DC conversion with each other. Each MPPT DC port is connected to multiple photovoltaic strings, and each photovoltaic string is composed of several photovoltaic modules connected in series. The outputs of the multiple MPPT ports are then connected to the box transformer. Because the string inverter system outputs data from multiple MPPT ports separately, it can accurately monitor the photovoltaic strings connected to each MPPT port, making it easier to achieve precise operation and maintenance. And because of the control of photovoltaic strings by multiple MPPTs, it is easier to solve string voltage differences caused by mismatches and other problems.

[0121] In this embodiment, the process of identifying different abnormal states of photovoltaic equipment is described in detail. Based on the perception data and power generation data of different photovoltaic equipment, the abnormal state of photovoltaic equipment can be identified in a timely and accurate manner through data analysis, avoiding the decline in power generation caused by abnormal photovoltaic equipment. Faults of various equipment in the photovoltaic power station can be checked, and more comprehensive fault analysis results can be provided, which is conducive to improving the inspection and management efficiency of the photovoltaic power station.

[0122] In one embodiment, based on any of the above embodiments, when a photovoltaic device is in an abnormal state, an abnormality handling solution for the abnormal photovoltaic device is provided based on the analysis results, specifically including:

[0123] When contamination occurs on the surface of a photovoltaic module, a contamination alarm signal is generated based on the perception data analysis results of the photovoltaic module surface; the contamination alarm signal is sent to the photovoltaic cleaning control system, notifying the photovoltaic cleaning control system to clean the surface of the photovoltaic module.

[0124] Specifically, the inspection robot can communicate and interact with other systems in the photovoltaic power station. When dust, stains, leaves, bird droppings, and other contaminants appear on the surface of a photovoltaic module, the inspection robot generates a contamination alarm signal based on the sensory data analysis results of the module surface and sends this alarm signal to the photovoltaic cleaning control system. The contamination alarm signal contains information such as the location and degree of contamination of the contaminated photovoltaic module. Based on this alarm signal, the photovoltaic cleaning control system dispatches the appropriate photovoltaic cleaning robot to clean the contaminated module, completing the treatment of the contamination anomaly.

[0125] When the surface of a photovoltaic module is blocked by a shadow and the photovoltaic module is a tracking photovoltaic module, a bracket angle adjustment signal is generated based on the perception data analysis results of the blocked photovoltaic module; the bracket angle adjustment signal is sent to the photovoltaic tracking control system, informing the photovoltaic tracking control system to adjust the bracket angle of the photovoltaic tracking bracket corresponding to the blocked photovoltaic module.

[0126] Specifically, when the inspection robot detects shadows on the surface of a tracking photovoltaic module during an inspection, it generates a bracket angle adjustment signal based on the tracking module's bracket angle analysis results and sends this adjustment signal to the photovoltaic tracking control system. Based on this adjustment signal, the photovoltaic tracking control system adjusts the angle of the corresponding tracking bracket to avoid shadows on the module surface.

[0127] It's important to note that the tracking bracket has a certain adjustment range. If the required angle exceeds this range, adjusting the bracket angle to avoid shadowing is no longer feasible. When shadowing occurs, the operating voltage and current of the shaded component will drop significantly. Therefore, the impact of shadowing can be reduced by adjusting the operating voltage and / or current of the inverter device corresponding to the shaded component.

[0128] When a photovoltaic module is in an abnormal state and / or the power generation data of the photovoltaic module is abnormal, a power generation optimization signal is sent to the inverter control system, so that the inverter control system adjusts the operating voltage of the photovoltaic module in the abnormal state based on the power generation optimization signal and uses the operating voltage corresponding to the normal photovoltaic module as a reference voltage. Normal photovoltaic modules include photovoltaic modules connected to the same photovoltaic inverter device as the photovoltaic module in the abnormal state.

[0129] Specifically, a drop in PV panel power generation data, such as voltage, current, and power generation, indicates a possible abnormality. Abnormal conditions such as contamination, a faulty or damaged connection box, or shadows can affect the panel's power generation efficiency. Therefore, the inspection robot can send power generation optimization signals to the inverter control system in response to these two situations. Alternatively, the robot can combine power generation data with a comprehensive assessment of any abnormal PV panel status detected.

[0130] In a photovoltaic inverter system, the power of the photovoltaic modules connected to the photovoltaic inverter must match the rated capacity of the inverter. Therefore, a photovoltaic inverter usually needs to be connected to multiple photovoltaic modules. As shown in Figures 2 and 3, the photovoltaic modules are first connected in series to form a photovoltaic string, and then the entire string is connected to the photovoltaic inverter. As shown in Figure 3, when a photovoltaic module in any photovoltaic string connected to the same MPPT (Maximum Power Point Tracking) port is in the above two situations, the power generation of the string will decrease. When strings are connected in parallel, if the power generation of one string decreases, it will affect the power generation of other photovoltaic modules. Therefore, in this embodiment, after receiving the power generation optimization signal sent by the inspection robot, the inverter control system selects the operating voltage of the string corresponding to the normal photovoltaic module as the reference voltage, and dynamically adjusts the operating voltage of the string corresponding to the abnormal photovoltaic module according to the changes in the reference voltage. This can isolate the abnormal photovoltaic module string from the normal photovoltaic module string, preventing the abnormal photovoltaic module string from lowering the power generation efficiency of the normal photovoltaic module string, thereby achieving the purpose of optimizing power generation.

[0131] The specific method of voltage adjustment can be flexibly set according to the control method adopted by the inverter control system. For example, assuming that MPPT control is adopted, MPPT control can enable the photovoltaic modules to operate at the maximum power point. Therefore, the operating voltage of each MPPT controller inside the inverter is first adjusted so that the operating voltage of the corresponding photovoltaic module is adjusted to increase the overall power generation of the MPPT port.

[0132] In addition, the above-mentioned method of optimizing power generation is not only applicable to photovoltaic modules. When the power generation data of other photovoltaic equipment is abnormal, the inspection robot can also generate corresponding power generation optimization signals to notify the inverter control system to optimize the photovoltaic inverter equipment to which the abnormal photovoltaic equipment belongs.

[0133] When a faulty photovoltaic tracking bracket occurs and is in an abnormal operating state, a restart signal is generated based on the perception data analysis results of the faulty photovoltaic tracking bracket; the restart signal is sent to the photovoltaic tracking control system to notify the faulty photovoltaic tracking bracket to restart.

[0134] Specifically, when a faulty photovoltaic tracking bracket is identified, the inspection robot will generate a restart signal based on the operating angle analysis results of the faulty photovoltaic tracking bracket and send it to the photovoltaic tracking control system. The restart signal carries the fault information corresponding to the faulty photovoltaic tracking bracket, and the photovoltaic tracking control system controls the restart of the faulty photovoltaic tracking bracket based on the restart signal. If the faulty photovoltaic tracking bracket still has an abnormal operating status after restarting, maintenance information will be generated based on the operating angle analysis results of the faulty photovoltaic tracking bracket. The inspection robot can send the generated maintenance information to the photovoltaic power station monitoring system to notify the operation and maintenance personnel to perform maintenance on the faulty photovoltaic tracking bracket. Alternatively, the operation and maintenance personnel at the inspection site can also directly obtain relevant maintenance information from the display device installed on the inspection robot itself and take corresponding fault maintenance measures.

[0135] After identifying abnormal conditions in PV modules, this embodiment generates corresponding abnormality alarms and processing signals, interacting with other systems in the PV power plant to generate abnormality handling solutions for PV equipment. The inspection robot in this embodiment can independently complete data collection, analysis, and processing, and utilizes communication interactions to generate abnormality handling solutions, effectively reducing labor costs and making the inspection process more intelligent.

[0136] In one embodiment, based on any of the aforementioned method embodiments, communication anomalies of the photovoltaic power station monitoring system can also be detected and corresponding processing solutions can be provided, specifically including: obtaining background operation data of photovoltaic equipment from the photovoltaic power station monitoring system; comparing the background operation data with the real-time operation data to determine whether the background operation data is abnormal; when an abnormality occurs in the background data, a communication abnormality alarm signal is sent to the photovoltaic power station monitoring system to notify the operation and maintenance personnel to maintain the communication of the power station.

[0137] For example, during an inspection, the inspection robot obtains the current operating angle data of a photovoltaic tracker from the PV plant monitoring system. This data is then compared with the actual operating angle of the tracker, as captured by a high-definition camera during an on-site inspection. If the difference between the two exceeds a certain error range, it indicates a communication anomaly between the PV plant monitoring system and the PV tracker control system. The inspection robot then generates a corresponding communication anomaly alarm signal and sends it back to the operation and maintenance personnel, instructing them to perform maintenance on the plant's communications.

[0138] This embodiment discloses a photovoltaic power station operation and maintenance management method applied to an inspection robot, which expands the inspection scope of the inspection robot from photovoltaic equipment to photovoltaic power stations, providing a more comprehensive inspection solution.

[0139] In one embodiment of the present application, as shown in FIG4 , a patrol robot 100 is applied to a photovoltaic power station and includes a data acquisition unit 110 , a data analysis unit 120 , and a data processing unit 130 , wherein:

[0140] The data acquisition unit 110 is used to obtain the operating data of the photovoltaic equipment in the photovoltaic power station during the inspection process; the operating data includes the power generation data of the photovoltaic equipment and / or the perception data of the photovoltaic equipment; the photovoltaic equipment includes photovoltaic modules, photovoltaic brackets, photovoltaic inverter equipment, and connection equipment; the photovoltaic brackets include photovoltaic fixed brackets and photovoltaic tracking brackets.

[0141] The data analysis unit 120 is used to analyze the operating data and determine whether the photovoltaic equipment is in an abnormal state based on the analysis results; the abnormal state includes abnormal structural state and abnormal operating state;

[0142] The data processing unit 130 is used to provide an abnormality handling solution for the abnormal photovoltaic device according to the analysis result when the photovoltaic device is in an abnormal state.

[0143] In one embodiment, the data analysis unit is used to analyze the sensing data of the photovoltaic module surface to determine whether the photovoltaic module surface has a structural abnormality; the structural abnormality of the photovoltaic module surface includes contamination, damage, and hot spots.

[0144] The data analysis unit is used to analyze the perception data of the photovoltaic bracket foundation and / or the photovoltaic bracket body structure to determine whether the photovoltaic bracket has an abnormal structural state; the abnormal structural state of the photovoltaic bracket includes sinking of the bracket foundation and / or deformation of the bracket body structure.

[0145] The data analysis unit is used to analyze the perception data of the connection device and determine whether the connection device has a structural abnormality; the connection device includes a connection cable and a junction box on the back of the photovoltaic module.

[0146] In one embodiment, the data analysis unit is used to analyze the sensing data of the photovoltaic tracking brackets in the same photovoltaic matrix, and screen out faulty photovoltaic tracking brackets in the photovoltaic matrix that are in abnormal operating status;

[0147] The data analysis unit is used to analyze the sensing data of the photovoltaic module surface to determine whether the photovoltaic module surface has an abnormal operating state; the abnormal operating state of the photovoltaic module surface includes the surface being obscured by a shadow;

[0148] The data analysis unit is used to analyze the power generation data of the photovoltaic inverter equipment and determine whether the photovoltaic inverter equipment has an abnormal operating status; the photovoltaic inverter equipment includes a photovoltaic inverter, a box transformer, and a combiner box; the power generation data includes power generation-related data such as current, voltage, and power generation.

[0149] In one embodiment, the data analysis unit includes:

[0150] An identification module is used to analyze the sensing data of the photovoltaic tracking brackets in the same photovoltaic matrix and identify the working angle of each photovoltaic tracking bracket in the photovoltaic matrix;

[0151] A screening module is used to compare the various working angles and screen out abnormal photovoltaic tracking brackets with angle deviations;

[0152] a comparison module, configured to compare the working angle of the abnormal photovoltaic tracking bracket with a first preset deviation angle; if the working angle of the abnormal photovoltaic tracking bracket is greater than the first preset deviation angle, the abnormal photovoltaic tracking bracket is the faulty photovoltaic tracking bracket;

[0153] an acquisition module, configured to acquire wind speed data of the area where the photovoltaic power station is located if the operating angle of the abnormal photovoltaic tracking bracket is greater than a second preset deviation angle; the second preset deviation angle is smaller than the first preset deviation angle;

[0154] The judgment module is used to judge whether the abnormal photovoltaic tracking bracket belongs to the faulty photovoltaic tracking bracket based on the wind speed data and the second preset deviation angle.

[0155] In one embodiment, the data processing unit is configured to generate a contamination alarm signal based on the result of analyzing the sensing data of the photovoltaic module surface when contamination occurs on the photovoltaic module surface; and send the contamination alarm signal to the photovoltaic cleaning control system to notify the photovoltaic cleaning control system to clean the photovoltaic module surface;

[0156] The data processing unit is configured to generate a bracket angle adjustment signal based on the perception data analysis result of the blocked photovoltaic component when the surface of the photovoltaic component is blocked by a shadow and the photovoltaic component is a tracking photovoltaic component; and send the bracket angle adjustment signal to the photovoltaic tracking control system to notify the photovoltaic tracking control system to adjust the bracket angle of the photovoltaic tracking bracket corresponding to the blocked photovoltaic component;

[0157] The data processing unit is used to generate a restart signal based on the perception data analysis results of the faulty photovoltaic tracking bracket when a faulty photovoltaic tracking bracket in the abnormal operating state occurs; and send the restart signal to the photovoltaic tracking control system to notify the faulty photovoltaic tracking bracket to restart.

[0158] In one embodiment, the data processing unit is further used to generate maintenance information for operation and maintenance personnel based on the perception data analysis results of the faulty photovoltaic tracking bracket after restart if the faulty photovoltaic tracking bracket is still in the abnormal operating state after restart.

[0159] In one embodiment, the data processing unit is used to send a power generation optimization signal to the inverter control system when the photovoltaic component is in the abnormal state and / or the power generation data of the photovoltaic component is abnormal, so that the inverter control system adjusts the working voltage of the photovoltaic component in the abnormal state according to the power generation optimization signal using the working voltage corresponding to the normal photovoltaic component as a reference voltage, wherein the normal photovoltaic component includes a photovoltaic component connected to the same photovoltaic inverter device as the photovoltaic component in the abnormal state.

[0160] In one embodiment of the present application, as shown in FIG5 , the inspection robot 100 includes a data acquisition unit 110 , a data analysis unit 120 , and a data processing unit 130 , wherein:

[0161] The data acquisition unit 110 includes an infrared camera 111, a high-definition camera 112, and a data receiving unit 113. The infrared camera 111 and the high-definition camera 112 can be used to collect sensory data from different photovoltaic devices. For example, the infrared camera 111 can collect thermal imaging images of the surface of the photovoltaic module to detect whether there are hot spots on the module surface, and can also collect thermal imaging images of cable joints to detect whether the cables are abnormally heated. The high-definition camera 112 can collect color images of photovoltaic devices such as the surface of the photovoltaic module, photovoltaic brackets, and photovoltaic inverters. Using image recognition technology, it can detect whether there are any abnormalities in the devices from the images of these devices. The data receiving unit 113 can communicate and interact with various data collectors to obtain the power generation data of the corresponding devices, such as obtaining the current, voltage, and power generation power of various photovoltaic inverter devices from the data collector of the photovoltaic inverter system.

[0162] Data analysis unit 120 can analyze various types of data acquired by data acquisition unit 110. For example, image data captured by infrared camera 111 and high-definition camera 112 can be analyzed using image recognition and image comparison to determine the specific fault type. For power generation data received by data receiving unit 113, data comparison can be used to determine whether the data is abnormal, thereby assisting in determining whether the equipment is faulty. Furthermore, after analyzing the operating data of the photovoltaic equipment, data analysis unit 120 can also generate a corresponding inspection report based on the analysis results and send this inspection report to the photovoltaic power station monitoring system, allowing operation and maintenance personnel to promptly monitor the inspection status.

[0163] When data analysis unit 120 identifies an abnormal photovoltaic device, data processing unit 130 can generate a processing signal corresponding to the abnormal device based on the analysis results output by data analysis unit 120. The processing signal can be sent to the control system corresponding to the abnormal device, allowing the control system to perform abnormal processing on the abnormal device based on the adjustment processing signal. Data processing unit 130 can also generate an abnormal alarm signal corresponding to the abnormal device based on the operating data of the abnormal device and send the abnormal alarm signal to the photovoltaic power station monitoring system to notify operation and maintenance personnel to perform maintenance on the abnormal device.

[0164] In this embodiment, the inspection robot, along a pre-defined inspection route, inspects various types of photovoltaic equipment within a photovoltaic power station. Using its built-in data acquisition unit, it can perform real-time inspections of various parts of the photovoltaic equipment, improving the timeliness and accuracy of troubleshooting. The inspection robot is also equipped with a data analysis unit and a data processing unit, capable of analyzing and processing the photovoltaic equipment operating data captured by the data acquisition unit, identifying various types of equipment anomalies and providing corresponding anomaly handling solutions. This makes the inspection process more intelligent, reduces manual inspections, and lowers labor costs.

[0165] It should be noted that the inspection robot embodiments provided in this application and the aforementioned photovoltaic power plant operation and maintenance management method embodiments are based on the same inventive concept and can achieve the same technical effects. Therefore, other specific details of the inspection robot embodiments can refer to the description of the aforementioned photovoltaic power plant operation and maintenance management method embodiments.

[0166] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0167] It should be noted that the above embodiments can be freely combined as needed. The above are only preferred implementations of the present application. It should be noted that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application, and these improvements and modifications should also be considered as the scope of protection of the present application.

Claims

1. A photovoltaic power station operation and maintenance management method, characterized in that: Applied to inspection robots, including: During the inspection process, the operation data of the photovoltaic equipment in the photovoltaic power station is obtained; the operation data includes the power generation data of the photovoltaic equipment and / or the perception data of the photovoltaic equipment; the photovoltaic equipment includes photovoltaic modules, photovoltaic brackets, photovoltaic inverter equipment, and connection equipment; the photovoltaic brackets include photovoltaic fixed brackets and photovoltaic tracking brackets; Analyze the operation data, and determine whether the photovoltaic device is in an abnormal state according to the analysis result; the abnormal state includes abnormal structure state and abnormal operation state; When the photovoltaic device is in the abnormal state, an abnormality handling solution for the abnormal photovoltaic device is provided according to the analysis result.

2. A photovoltaic power station operation and maintenance management method according to claim 1, characterized in that: The analyzing the operating data and judging whether the photovoltaic device is in an abnormal state according to the analysis result includes: Analyze the sensing data of the surface of the photovoltaic module to determine whether the surface of the photovoltaic module has an abnormal structural state; the abnormal structural state of the surface of the photovoltaic module includes contamination, damage, and hot spots; and / or, Analyze the sensing data of the photovoltaic support foundation and / or the photovoltaic support body structure to determine whether the photovoltaic support has an abnormal structural state; the abnormal structural state of the photovoltaic support includes sinking of the support foundation and / or deformation of the support body structure; and / or, Analyze the sensing data of the connection device to determine whether the connection device has an abnormal structural state; the connection device includes a connection cable and a junction box on the back of the photovoltaic module.

3. A photovoltaic power station operation and maintenance management method according to claim 1, characterized in that: The analyzing the operating data and judging whether the photovoltaic device is in an abnormal state according to the analysis result includes: Analyze the sensing data of the photovoltaic tracking brackets in the same photovoltaic matrix, and screen out faulty photovoltaic tracking brackets in abnormal operating states in the photovoltaic matrix; and / or, Analyze the sensing data of the surface of the photovoltaic module to determine whether the surface of the photovoltaic module has an abnormal operating state; the abnormal operating state of the surface of the photovoltaic module includes that the surface of the photovoltaic module is blocked by a shadow; and / or, Analyze the power generation data of the photovoltaic inverter equipment to determine whether the photovoltaic inverter equipment has an abnormal operating state; the photovoltaic inverter equipment includes a photovoltaic inverter, a box transformer, and a combiner box; the power generation data includes current, voltage, and power generation power.

4. A photovoltaic power station operation and maintenance management method according to claim 3, characterized in that: The analyzing the sensing data of the photovoltaic tracking brackets in the same photovoltaic matrix to screen out faulty photovoltaic tracking brackets in abnormal operation state in the photovoltaic matrix includes: Analyze the sensing data of the photovoltaic tracking brackets in the same photovoltaic matrix to identify the working angle of each photovoltaic tracking bracket in the photovoltaic matrix; Compare the various working angles to screen out abnormal photovoltaic tracking brackets with angle deviations; If the working angle of the abnormal photovoltaic tracking bracket is greater than the first preset deviation angle, the abnormal photovoltaic tracking bracket is the faulty photovoltaic tracking bracket; If the working angle of the abnormal photovoltaic tracking bracket is greater than the second preset deviation angle, obtaining wind speed data of the area where the photovoltaic power station is located; In combination with the wind speed data and the second preset deviation angle, determining whether the abnormal photovoltaic tracking bracket belongs to the faulty photovoltaic tracking bracket; Wherein, the second preset deviation angle is smaller than the first preset deviation angle.

5. A photovoltaic power station operation and maintenance management method according to claim 1, characterized in that: When the photovoltaic device is in the abnormal state, providing an abnormality handling solution for the abnormal photovoltaic device according to the analysis result, including: When the surface of the photovoltaic module is contaminated, a contamination alarm signal is generated according to the result of the perception data analysis of the surface of the photovoltaic module; the contamination alarm signal is sent to the photovoltaic cleaning control system to notify the photovoltaic cleaning control system to clean the surface of the photovoltaic module; and / or, When the surface of the photovoltaic component is blocked by a shadow and the photovoltaic component is a tracking photovoltaic component, a bracket angle adjustment signal is generated according to the perception data analysis result of the blocked photovoltaic component; the bracket angle adjustment signal is sent to the photovoltaic tracking control system to notify the photovoltaic tracking control system to adjust the bracket angle of the photovoltaic tracking bracket corresponding to the blocked photovoltaic component; and / or, When a faulty photovoltaic tracking bracket occurs in the abnormal operating state, a restart signal is generated according to the perception data analysis result of the faulty photovoltaic tracking bracket; the restart signal is sent to the photovoltaic tracking control system to notify the faulty photovoltaic tracking bracket to restart.

6. A photovoltaic power station operation and maintenance management method according to claim 5, characterized in that: The step of sending the restart signal to the photovoltaic tracking control system to notify the faulty photovoltaic tracking bracket to restart includes: Analyze the perception data of the faulty photovoltaic tracking bracket after restart. If the faulty photovoltaic tracking bracket is still in the abnormal operating state, generate maintenance information for maintenance by operation and maintenance personnel based on the analysis results of the perception data of the faulty photovoltaic tracking bracket after restart.

7. A photovoltaic power station operation and maintenance management method according to claim 1, characterized in that: When the photovoltaic device is in the abnormal state, according to the analysis result, an abnormal handling solution for the abnormal photovoltaic device is provided, including: When the photovoltaic assembly is in the abnormal state and / or the power generation data of the photovoltaic assembly is abnormal, a power generation optimization signal is sent to the inverter control system, so that the inverter control system adjusts the working voltage of the photovoltaic assembly in the abnormal state according to the power generation optimization signal and takes the working voltage corresponding to the normal photovoltaic assembly as the reference voltage; The normal photovoltaic components include photovoltaic components connected to the same photovoltaic inverter device as the photovoltaic components in the abnormal state.

8. A patrol robot, characterized in that: Applied to photovoltaic power stations, including: A data acquisition unit is used to obtain the operating data of the photovoltaic equipment in the photovoltaic power station during the inspection process; the operating data includes the power generation data of the photovoltaic equipment and / or the perception data of the photovoltaic equipment; the photovoltaic equipment includes photovoltaic modules, photovoltaic brackets, photovoltaic inverter equipment, and connection equipment; the photovoltaic brackets include photovoltaic fixed brackets and photovoltaic tracking brackets; A data analysis unit, used to analyze the operation data and determine whether the photovoltaic device is in an abnormal state according to the analysis result; the abnormal state includes abnormal structure state and abnormal operation state; A data processing unit is used to provide an abnormality handling solution for the abnormal photovoltaic device according to the analysis result when the photovoltaic device is in the abnormal state.

9. The inspection robot according to claim 8, characterized in that: The data analysis unit is used to analyze the sensing data of the surface of the photovoltaic module to determine whether the surface of the photovoltaic module has an abnormal structural state; the abnormal structural state of the surface of the photovoltaic module includes contamination, damage, and hot spots; and / or, The data analysis unit is used to analyze the sensing data of the photovoltaic support foundation and / or the photovoltaic support body structure to determine whether the photovoltaic support has an abnormal structural state; the abnormal structural state of the photovoltaic support includes sinking of the support foundation and / or deformation of the support body structure; and / or, The data analysis unit is used to analyze the sensing data of the connection device to determine whether the connection device has an abnormal structural state; the connection device includes a connection cable and a junction box on the back of the photovoltaic module.

10. The inspection robot according to claim 8, characterized in that: The data analysis unit is used to analyze the sensing data of the photovoltaic tracking brackets in the same photovoltaic matrix, and screen out faulty photovoltaic tracking brackets in abnormal operating states in the photovoltaic matrix; and / or, The data analysis unit is used to analyze the sensing data of the photovoltaic component surface to determine whether the photovoltaic component surface has an abnormal operating state; the abnormal operating state of the photovoltaic component surface includes that the photovoltaic component surface is blocked by a shadow; and / or, The data analysis unit is used to analyze the power generation data of the photovoltaic inverter equipment to determine whether the photovoltaic inverter equipment has an abnormal operating state; the photovoltaic inverter equipment includes a photovoltaic inverter, a box transformer, and a combiner box; the power generation data includes current, voltage, and power generation power.

11. The inspection robot according to claim 10, characterized in that: The data analysis unit comprises: An identification module, used for analyzing the sensing data of the photovoltaic tracking brackets in the same photovoltaic matrix, and identifying the working angle of each photovoltaic tracking bracket in the photovoltaic matrix; The screening module is used to compare the various working angles and screen out the abnormal angles with deviations. Often photovoltaic tracking bracket; A comparison module, used for comparing the working angle of the abnormal photovoltaic tracking bracket with a first preset deviation angle; if the working angle of the abnormal photovoltaic tracking bracket is greater than the first preset deviation angle, the abnormal photovoltaic tracking bracket is the faulty photovoltaic tracking bracket; An acquisition module, configured to acquire wind speed data of the area where the photovoltaic power station is located if the working angle of the abnormal photovoltaic tracking bracket is greater than a second preset deviation angle; A judgment module, used to judge whether the abnormal photovoltaic tracking bracket belongs to the faulty photovoltaic tracking bracket by combining the wind speed data and the second preset deviation angle; Wherein, the second preset deviation angle is smaller than the first preset deviation angle.

12. The inspection robot according to claim 8, characterized in that: The data processing unit is used to generate a contamination alarm signal according to the result of the perception data analysis of the photovoltaic component surface when the photovoltaic component surface is contaminated; send the contamination alarm signal to the photovoltaic cleaning control system to notify the photovoltaic cleaning control system to clean the photovoltaic component surface; and / or, The data processing unit is used to generate a bracket angle adjustment signal according to the perception data analysis result of the blocked photovoltaic component when the surface of the photovoltaic component is blocked by a shadow and the photovoltaic component is a tracking photovoltaic component; send the bracket angle adjustment signal to the photovoltaic tracking control system to notify the photovoltaic tracking control system to adjust the bracket angle of the photovoltaic tracking bracket corresponding to the blocked photovoltaic component; and / or, The data processing unit is used to generate a restart signal according to the perception data analysis result of the faulty photovoltaic tracking bracket when a faulty photovoltaic tracking bracket in the abnormal operation state appears; send the restart signal to the photovoltaic tracking control system to notify the faulty photovoltaic tracking bracket to restart. Restart the computer.

13. The inspection robot according to claim 12, characterized in that: The data processing unit is also used to generate maintenance information for maintenance by operation and maintenance personnel based on the perception data analysis results of the faulty photovoltaic tracking bracket after restart if the faulty photovoltaic tracking bracket is still in the abnormal operating state after restart.

14. The inspection robot according to claim 8, characterized in that: The data processing unit is used to send a power generation optimization signal to the inverter control system when the photovoltaic component is in the abnormal state and / or the power generation data of the photovoltaic component is abnormal, so that the inverter control system adjusts the working voltage of the photovoltaic component in the abnormal state according to the power generation optimization signal and takes the working voltage corresponding to the normal photovoltaic component as the reference voltage; The normal photovoltaic components include photovoltaic components connected to the same photovoltaic inverter device as the photovoltaic components in the abnormal state.

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