CN-121033366-B - Photovoltaic board district intelligence weeding control system based on multimode perception

CN121033366BCN 121033366 BCN121033366 BCN 121033366BCN-121033366-B

Abstract

The invention discloses an intelligent weeding control system for a photovoltaic panel area based on multi-mode perception, which relates to the technical field of weeding control and comprises a characteristic extraction module, a control module and a control module, wherein the characteristic extraction module is used for acquiring multi-spectrum image data of the photovoltaic panel area and obtaining a vegetation analysis result; the intelligent weeding system comprises a photovoltaic panel area, a cooperative control parameter determining module, a control feedback module and a control feedback module, wherein the cooperative control parameter determining module is used for carrying out path planning, generating a weeding path, carrying out dynamic energy distribution and determining cooperative control parameters, and the control feedback module is used for carrying out control feedback on a controller of the photovoltaic panel area and executing intelligent weeding operation of the photovoltaic panel area. The invention solves the technical problems of inaccurate weed identification, low weeding efficiency, unreasonable energy distribution, poor weeding effect and energy waste in the photovoltaic panel area in the prior art, and realizes the technical effects of accurate weed identification and efficient weed removal in the photovoltaic panel area, and effectively improves weeding efficiency and energy utilization efficiency.

Inventors

An Zicong
ZHANG JIACHEN
ZHANG QIANGQIANG
GAO YUNFENG
XUE ZHONG
Hu Lunhu
LIU YAZE
LI PEIXING

Assignees

内蒙古工业大学

Dates

Publication Date: 20260505
Application Date: 20250807

Claims (9)

1. Photovoltaic board district intelligence weeding control system based on multimode perception, characterized in that, the system includes: the characteristic extraction module is used for collecting multispectral image data of the photovoltaic panel region, generating a multimodal perception data set, extracting characteristics of the multimodal perception data set, and obtaining a vegetation analysis result according to the perception characteristic set; the cooperative control parameter determining module is used for planning a path according to the vegetation analysis result, generating a weeding path, distributing dynamic energy according to the weeding path and determining cooperative control parameters; The control feedback module is used for carrying out control feedback on the controller of the photovoltaic panel area according to the cooperative control parameters, and updating the cooperative control parameters according to feedback results to execute intelligent weeding operation of the photovoltaic panel area; the control feedback module further includes: the parameter analysis unit is used for analyzing the cooperative control parameters to obtain target blade rotating speed parameters, laser power set values and energy distribution modes; the first control feedback result acquisition unit is used for carrying out control feedback on the blade rotating speed PID controller according to the target blade rotating speed parameter to obtain a first control feedback result; the second control feedback result acquisition unit is used for performing control feedback on the laser power PID controller according to the laser power set value to acquire a second control feedback result; And the coupling control analysis unit is used for carrying out multiparameter coupling control analysis on the first control feedback result and the second control feedback result based on the energy distribution mode, updating the cooperative control parameters to generate a control instruction and executing self-adaptive weeding operation of the photovoltaic panel area.
2. The photovoltaic panel zone intelligent weeding control system based on multi-modal sensing according to claim 1, wherein the feature extraction module further comprises: The acquisition parameter setting unit is used for setting acquisition parameters of the multispectral camera, wherein the acquisition parameters comprise resolution parameters and near infrared band parameters; The image set acquisition unit is used for activating the multispectral camera based on the acquisition parameters, acquiring an RGB image parameter set according to the resolution parameters and acquiring a near infrared image set according to the near infrared band parameters; The space-time registration unit is used for performing space-time registration on the RGB image parameter set and the near infrared image set to generate a space-time aligned image set; and the distortion correction unit is used for carrying out distortion correction based on the space-time aligned image set to obtain the multi-mode sensing data set.
3. The photovoltaic panel zone intelligent weeding control system based on multi-modal sensing according to claim 1, wherein the feature extraction module further comprises: The sensing feature set acquisition unit is used for traversing the multi-mode sensing data set to identify the weed features of the photovoltaic panel area, obtaining a sensing feature set, and drawing a weed probability thermodynamic diagram according to the sensing feature set, wherein the weed probability thermodynamic diagram comprises a weed confidence level; the weed distribution area determining unit is used for carrying out connected domain analysis marking based on the weed probability thermodynamic diagram to determine a weed distribution area; the weed density distribution map acquisition unit is used for calculating the weed distribution area by combining the multi-mode sensing data set to obtain a weed density distribution map; The plant height data acquisition unit is used for calculating vegetation depth of the photovoltaic panel area based on the multi-mode sensing data set and the weed density distribution map to obtain plant height data; And the space superposition unit is used for spatially superposing the weed density distribution map and the plant height data according to the weed confidence level to generate the vegetation analysis result.
4. The intelligent weeding control system for a photovoltaic panel zone based on multi-modal sensing according to claim 3, wherein the sensing feature set acquisition unit further comprises: A weed feature extraction subunit for extracting multi-scale weed features based on traversing the multi-modal perceived dataset by a modified YOLOv network, the backbone network of the modified YOLOv network consisting of CSPDARKNET and SPPF modules; The matching calculation subunit is used for carrying out matching calculation on the multi-mode sensing data set according to the multi-scale weed features to obtain weed confidence degrees of a plurality of pixel points in the multi-mode sensing data set; The regional probability statistics subunit is used for carrying out regional probability statistics based on the weed confidence degrees of the pixel points to generate a regional weed probability distribution matrix; and the bilinear interpolation subunit is used for carrying out bilinear interpolation according to the regional weed probability distribution matrix and drawing the weed probability thermodynamic diagram of the photovoltaic panel region.
5. The intelligent weeding control system for a photovoltaic panel zone based on multi-modal sensing according to claim 4, wherein the cooperative control parameter determination module further comprises: The three-dimensional environment map construction unit is used for carrying out three-dimensional analysis based on the weed density distribution map to construct a three-dimensional environment map; the path topological structure construction unit is used for traversing the three-dimensional environment map to carry out weeding analysis on the photovoltaic panel area and constructing a path topological structure; The initial global path generation unit is used for setting cable safety distance constraint, and performing weeding path planning according to the cable safety distance constraint according to the path topological structure to generate an initial global path; The path segment determining unit is used for carrying out dynamic energy distribution by taking the initial global path as a weeding path and determining a plurality of path segments; And the control analysis unit is used for mapping the path segments to a plurality of controllers to perform control analysis and determining the cooperative control parameters.
6. The intelligent weeding control system for a photovoltaic panel zone based on multi-modal sensing according to claim 5, wherein the three-dimensional environment map building unit further comprises: A density thermodynamic diagram drawing subunit, configured to extract a weed density data set based on the weed density distribution diagram, perform gridding processing on the weed density data set, and draw a density thermodynamic diagram; The grading subunit is used for constructing three-dimensional point cloud parameters of the photovoltaic panel area based on the multi-mode sensing data set, fusing the three-dimensional point cloud parameters with the plant height data, grading according to a fusion result, and determining a plurality of vegetation treatment priorities; and the association integration subunit is used for carrying out association integration on the density thermodynamic diagram and the plant height data according to the vegetation processing priorities to construct the three-dimensional environment map.
7. The multi-modal awareness based intelligent photovoltaic panel weeding control system according to claim 5, wherein the initial global path generation unit further comprises: The safety distance constraint setting subunit is used for identifying the photovoltaic pile foundation coordinates and the cable distribution information based on the path topological structure and setting the cable safety distance constraint; a buffer area radius calculation subunit, configured to calculate a bypassing buffer area radius according to the cable safety distance constraint, and set a buffer area boundary according to the buffer area radius; And the candidate path node construction subunit is used for constructing a plurality of candidate path nodes based on the equidistant identification of the buffer zone boundary, screening the plurality of candidate path nodes, generating a continuous Z-shaped bypass path, and taking the continuous Z-shaped bypass path as the initial global path.
8. The intelligent photovoltaic panel zone weeding control system based on multi-modal sensing according to claim 7, wherein the buffer radius calculation subunit comprises: the central axis extraction micro unit is used for constructing a cable three-dimensional model and extracting a central axis based on the cable three-dimensional model; A safety space construction micro unit for constructing a cylindrical safety space along a central axis based on the cable safety distance constraint; the weeding distance data construction micro unit is used for planning a local path outside the cylindrical safety space and constructing weeding distance data; A path conflict judging micro unit for judging the path conflict according to the weeding distance data, and inserting a detour sub-path when the path conflict exists; And the path curvature calculating micro unit is used for calculating the path curvature based on the detour sub-path and determining the radius of the detour buffer zone.
9. The intelligent weeding control system for a photovoltaic panel zone based on multi-modal sensing according to claim 1, wherein the coupling control analysis unit further comprises: The blade mode switching instruction generation subunit is used for carrying out multi-parameter coupling analysis on the blade rotating speed PID controller based on the energy distribution mode and the first control feedback result to generate a blade mode switching instruction; the laser mode switching instruction generation subunit is used for carrying out multiparameter coupling analysis on the laser power PID controller based on the energy distribution mode and the second control feedback result to generate a laser mode switching instruction; the closed-loop feedback control subunit is used for performing closed-loop feedback control according to the blade mode switching instruction and the laser mode switching instruction to generate cooperative control state parameters; And the control instruction generation subunit is used for updating the cooperative control parameters based on the cooperative control state parameters to generate the control instruction.

Description

Photovoltaic board district intelligence weeding control system based on multimode perception Technical Field The invention relates to the technical field of weeding control, in particular to an intelligent weeding control system for a photovoltaic panel area based on multi-mode sensing. Background Along with the continuous expansion of the scale of photovoltaic power generation, weed cleaning in the photovoltaic panel area becomes a key work for guaranteeing the power generation efficiency and the equipment safety. At present, the manual weeding efficiency is low, the cost is high, the large-scale operation is difficult to realize, the mechanical weeding automation degree is insufficient, the photovoltaic panel is easy to damage, the comprehensive perception and intelligent analysis on the environmental information are lacking, the targeted operation cannot be carried out according to the weed growth condition, the distribution density and the like, and the problems of energy waste, poor weeding effect and the like exist. Meanwhile, the prior art lacks a dynamic optimization mechanism in the aspects of weeding path planning and energy distribution, and is difficult to meet the environmental requirements of complex and changeable photovoltaic panel areas. The technical problems of inaccurate weed identification, low weeding efficiency, unreasonable energy distribution, poor weeding effect and energy waste in the photovoltaic panel area exist in the prior art. Disclosure of Invention The application provides a photovoltaic panel area intelligent weeding control system based on multi-mode sensing, which is used for solving the technical problems of inaccurate weed identification, low weeding efficiency, unreasonable energy distribution, poor weeding effect and energy waste in the photovoltaic panel area in the prior art. In view of the problems, the application provides a photovoltaic panel area intelligent weeding control system based on multi-mode sensing. The application provides a photovoltaic panel area intelligent weeding control system based on multi-mode sensing, which comprises the following components: The intelligent weeding system comprises a feature extraction module, a cooperative control parameter determination module and a control feedback module, wherein the feature extraction module is used for collecting multispectral image data of a photovoltaic panel area, generating a multimodal perception data set, carrying out feature extraction on the multimodal perception data set, obtaining a vegetation analysis result according to the perception feature set, the cooperative control parameter determination module is used for carrying out path planning according to the vegetation analysis result, generating a weeding path, carrying out dynamic energy distribution according to the weeding path, determining a cooperative control parameter, and the control feedback module is used for carrying out control feedback on a controller of the photovoltaic panel area according to the cooperative control parameter and updating the cooperative control parameter according to a feedback result to execute intelligent weeding operation of the photovoltaic panel area. One or more technical schemes provided by the application have at least the following technical effects or advantages: The intelligent weeding system comprises a characteristic extraction module, a cooperative control parameter determination module, a control feedback module and a control feedback module, wherein the characteristic extraction module is used for acquiring multispectral image data of a photovoltaic panel area, generating a multispectral sensing dataset, carrying out characteristic extraction to obtain a vegetation analysis result, the cooperative control parameter determination module is used for carrying out path planning according to the vegetation analysis result, generating a weeding path, carrying out dynamic energy distribution and determining a cooperative control parameter, the control feedback module is used for carrying out control feedback on a controller of the photovoltaic panel area, and carrying out intelligent weeding operation of the photovoltaic panel area according to the feedback result. The technical effects of realizing accurate identification and efficient removal of weeds in the photovoltaic panel area and effectively improving weeding efficiency and energy utilization efficiency are achieved. Drawings In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. Fig. 1 is a schematic structural diagram of a photovoltaic panel area intelligent wee