CN-121333217-B - Control method and system of photovoltaic cleaning detection assembly based on infrared perception

CN121333217BCN 121333217 BCN121333217 BCN 121333217BCN-121333217-B

Abstract

The invention relates to the technical field of photovoltaic equipment, in particular to a control method and a control system of a photovoltaic cleaning detection assembly based on infrared perception, wherein the control method comprises the steps of starting a travelling mechanism, and controlling a front infrared perception unit, a visible light acquisition unit and an environment perception unit to acquire infrared thermal image data, surface texture data and environment parameter data of a photovoltaic panel to be cleaned; the method comprises the steps of calibrating infrared thermal image data according to environmental parameter data, identifying pollution areas by combining surface texture data, grading to generate a pollution distribution map, respectively configuring lifting parameters and motion parameters for a plurality of groups of independent cleaning execution units to control operation of the independent cleaning execution units, controlling a rear infrared sensing notification unit to acquire the cleaned infrared thermal image data, verifying cleaning effects and identifying abnormal hot spots by difference with data before cleaning, matching the abnormal hot spots with a fault feature library, completing fault diagnosis, and transmitting related data to a cloud platform. The photovoltaic equipment operation and maintenance efficiency and reliability can be improved by considering the cleaning pertinence and the fault detection function.

Inventors

Hu Lunhu
Yuan Yachen
LIU CHENG
LI JIAN
LIANG HAICHENG
LIU PENGFEI
BAOYINHEXI
CHENG TIANCAI
GAO YUNFENG
LIU YAZE
YUAN ZHENHUA
XUE ZHONG

Assignees

内蒙古工业大学

Dates

Publication Date: 20260508
Application Date: 20250905

Claims (9)

1. The control method of the photovoltaic cleaning detection assembly based on infrared perception is characterized by comprising the following steps of: Starting a travelling mechanism, controlling a front infrared sensing unit, a visible light acquisition unit and an environment sensing unit to synchronously work, and acquiring infrared thermal image data, surface texture data and environment parameter data of a photovoltaic panel to be cleaned; Carrying out radiation calibration on the infrared thermal image data according to the environmental parameter data, identifying a pollution area by combining surface texture data, calculating pollution levels, and generating a pollution distribution map of the photovoltaic panel to be cleaned, wherein the pollution levels are determined by calculating the weighted value of the infrared radiation temperature difference and the area occupation ratio of the pollution area, and the calculation formula is as follows: ; Wherein, the In order to be of a pollution grade, Is the weight coefficient of the temperature difference, Is an area occupying ratio weight coefficient, and ; To provide an infrared radiation temperature differential between the contaminated area and the clean area, For the minimum identifiable temperature difference threshold value, Is the maximum temperature difference threshold; For the area of the contaminated area, The total area of the single detection area; Respectively configuring lifting parameters and motion parameters for a plurality of groups of independent cleaning execution units according to the pollution level of each region in the pollution distribution map, wherein the lifting parameters are the descending height of the cleaning execution units, and the motion parameters are the rotation speed of the cleaning execution units; Controlling the multiple groups of independent cleaning execution units to operate according to corresponding lifting parameters and motion parameters respectively, and completing differential cleaning of the photovoltaic panel to be cleaned; controlling a rear infrared sensing unit to acquire infrared thermal image data of the cleaned photovoltaic panel, performing differential calculation on the infrared thermal image data after calibration and the infrared thermal image data before cleaning, and verifying the cleaning effect and identifying abnormal hot spots according to a differential result; Extracting features of the abnormal hot spots, and matching the extracted features with a preset fault feature library to generate a fault diagnosis result; and uploading the pollution distribution map, the lifting parameters, the motion parameters, the cleaning effect data and the fault diagnosis result to a cloud platform.
2. The method of claim 1, wherein the pollution level is positively correlated to the drop height and negatively correlated to the rotational speed.
3. The method for controlling an infrared perception based photovoltaic cleaning detection assembly according to claim 1, wherein the differential calculation is specifically: And carrying out pixel-by-pixel temperature difference calculation on the infrared thermal image data of the same position before and after cleaning to generate a differential thermal image, and judging that the area is not thoroughly cleaned and marked as a stubborn dirty area when the temperature difference value of the area in the differential thermal image is larger than a preset cleaning threshold value.
4. The method for controlling an infrared sensing-based photovoltaic cleaning detection assembly according to claim 3, wherein the abnormal hot spot identification specifically comprises: And extracting a continuous hot spot region outside the stubborn spot region from the differential heat map, acquiring shape characteristics, area characteristics and temperature gradient characteristics of the region, matching the characteristics with diode failure, EVA delamination and cell crack characteristics in a preset fault characteristic library, and judging that a photovoltaic panel fault exists in the corresponding region when the matching degree is larger than a preset threshold value.
5. The method for controlling an infrared sensing-based photovoltaic cleaning detection assembly according to claim 1, wherein the environmental parameter data includes an environmental temperature, a humidity and an irradiance, and the infrared thermal image data is subjected to radiation calibration according to the environmental parameter data, and a calibration formula is: ; Wherein, the For the true temperature after calibration to be reached, In order to measure the temperature of the material, In order to be at the temperature of the environment, In order to be the humidity of the environment, In order for the irradiance to be the same, 、、 And is an environmental calibration factor.
6. The method for controlling an infrared sensing-based photovoltaic cleaning detection assembly according to claim 1, wherein the plurality of groups of independent cleaning execution units are arranged in two rows in a staggered manner, and projection positions of a front row of cleaning execution units and a rear row of cleaning execution units are not overlapped and cover the whole cleaning area.
7. The method for controlling an infrared perception based photovoltaic cleaning detection assembly according to claim 1, wherein the cloud platform generates an operation and maintenance report according to the uploaded data, wherein the operation and maintenance report comprises pollution distribution statistics, cleaning effect evaluation, fault location and type statistics, and meanwhile predicts a photovoltaic panel performance degradation trend based on historical data.
8. Control system of clean detection subassembly of photovoltaic based on infrared perception, characterized in that includes: The multi-source sensing module comprises a front infrared sensing unit, a visible light acquisition unit, an environment sensing unit and a rear infrared sensing unit, and is used for acquiring infrared thermal image data, surface texture data, environment parameter data of a photovoltaic panel to be cleaned and infrared thermal image data of the photovoltaic panel after cleaning, and transmitting the acquired original data to the data processing module; the system comprises a data processing module, a control decision module, a data processing module, a control decision module and a control decision module, wherein the data processing module is used for receiving original data, carrying out radiation calibration on infrared thermal image data according to the environmental parameter data, combining surface texture data to identify a pollution area and calculate a pollution level, and generating a pollution distribution map of a photovoltaic panel to be cleaned; The control decision module is used for generating a differentiated cleaning strategy according to the pollution distribution map output by the data processing module, sending a corresponding control instruction to the cleaning execution module, and generating a cleaning effect verification instruction and a fault diagnosis instruction according to the difference result and the hot spot matching result output by the data processing module; The cleaning execution module is used for receiving the control instruction of the control decision module and converting the control instruction into a driving signal so as to control the external multiple groups of independent cleaning execution units to complete corresponding cleaning actions; And the data transmission module is used for uploading the data generated by the data processing module and the control decision module to the cloud platform.
9. The control system of the infrared sensing based photovoltaic cleaning detection assembly according to claim 8, wherein each group of independent cleaning execution units comprises a lifting mechanism, a driving mechanism and a cleaning brush, the lifting mechanism is used for driving the driving mechanism and the cleaning brush to adjust the height of the surface of the photovoltaic panel, and the driving mechanism is used for driving the cleaning brush to rotate.

Description

Control method and system of photovoltaic cleaning detection assembly based on infrared perception Technical Field The invention relates to the technical field of photovoltaic equipment, in particular to a control method and a system of a photovoltaic cleaning detection assembly based on infrared perception. Background Along with the acceleration of global energy transformation process, photovoltaic power generation realizes continuous and rapid increase of installed capacity by virtue of clean and renewable advantages. In the use process, the photoelectric conversion efficiency of pollutants such as dust, bird droppings, pollen and the like deposited on the surface of the photovoltaic panel can be obviously reduced, so that the surface of the photovoltaic panel needs to be cleaned regularly in order to ensure the power generation benefit of the photovoltaic power station. In a photovoltaic power station, photovoltaic panels in different areas are affected by environmental factors, and have different pollutant distributions, such as dust accumulation in areas close to roads, pollution to pollen and fallen leaves in areas with vegetation on the periphery, and bird droppings on high-position panels, although the conventional photovoltaic cleaning device tries to integrate sensors, the functions are limited to basic obstacle avoidance or simple pollution identification, quantitative grading of pollution degree cannot be realized, so that a cleaning strategy presents obvious rough characteristics, excessive cleaning of the photovoltaic panels and brushes in a slightly polluted area can cause excessive abrasion of the photovoltaic panels and brushes, energy consumption and consumable replacement cost are increased, and in a severely polluted area, the power generation efficiency is affected due to insufficient cleaning of the photovoltaic panels and brushes. In addition, the fault diagnosis of the photovoltaic panel also needs to rely on independent infrared detection equipment to carry out independent operation, so that equipment purchasing and operation and maintenance cost is increased, and the detection result can not reflect the real performance state of the cleaned photovoltaic panel in time possibly due to the time interval of two cleaning operations. Disclosure of Invention The invention provides a control method and a system for a photovoltaic cleaning detection assembly based on infrared perception, which are used for realizing integration of differential cleaning, cleaning effect verification and fault diagnosis of a photovoltaic panel, and can effectively solve the problems in the background technology. In order to achieve the above object, in a first aspect, the present invention provides a control method of a photovoltaic cleaning detection assembly based on infrared sensing, including: Starting a travelling mechanism, controlling a front infrared sensing unit, a visible light acquisition unit and an environment sensing unit to synchronously work, and acquiring infrared thermal image data, surface texture data and environment parameter data of a photovoltaic panel to be cleaned; Carrying out radiation calibration on the infrared thermal image data according to the environmental parameter data, identifying a pollution area by combining the surface texture data, calculating pollution levels, and generating a pollution distribution map of the photovoltaic panel to be cleaned, wherein the pollution levels are determined by calculating the weighted value of the infrared radiation temperature difference and the area occupation ratio of the pollution area, and the calculation formula is as follows: ; Wherein, the In order to be of a pollution grade,Is the weight coefficient of the temperature difference,Is an area occupying ratio weight coefficient, and;To provide an infrared radiation temperature differential between the contaminated area and the clean area,For the minimum identifiable temperature difference threshold value,Is the maximum temperature difference threshold; For the area of the contaminated area, The total area of the single detection area; Respectively configuring lifting parameters and motion parameters for a plurality of groups of independent cleaning execution units according to the pollution level of each region in the pollution distribution map, wherein the lifting parameters are the descending height of the cleaning execution units, and the motion parameters are the rotation speed of the cleaning execution units; controlling a plurality of groups of independent cleaning execution units to operate according to corresponding lifting parameters and motion parameters respectively, and completing differential cleaning of the photovoltaic panel to be cleaned; controlling a rear infrared sensing unit to acquire infrared thermal image data of the cleaned photovoltaic panel, performing differential calculation on the infrared thermal image data after calibration and the infrared thermal imag