CN-122026804-A - Marine photovoltaic detection method and system

Abstract

The application relates to a method and a system for detecting photovoltaic at sea, which are used for realizing efficient detection and digital twin display of a photovoltaic supporting structure by utilizing the motion and perception capability of an underwater robot and combining underwater map building and autonomous inspection planning, thereby improving the operation and maintenance efficiency and safety.

Inventors

• HOU MINGBO
• ZHANG HONGLIANG
• XU JUNBO
• PAN SHILIANG

Assignees

• 深之蓝海洋科技股份有限公司

Dates

Publication Date

20260512

Application Date

20260409

Claims (12)

1. 1. The marine photovoltaic detection method is applied to an underwater robot and is characterized by comprising the following steps of: (a) Collecting multi-source sensor data through a detection assembly of the underwater robot; (b) Constructing map information of a detection area of the offshore photovoltaic as current map information based on prior information related to the offshore photovoltaic and the multi-source sensor data; (c) Generating path planning information according to the current map information and a preset detection scheme; (d) Generating motion control information according to the current map information and the detection scheme; (e) Detecting the offshore photovoltaic by using the underwater robot according to the path planning information and the motion control information to obtain detection data, and (F) And responding to the preset condition of the return charging, and controlling the underwater robot to return to the underwater charging pile for charging according to a preset path.
2. 2. The method of claim 1, wherein after step (f), the method further comprises: transmitting the map information to a shore-based monitoring device through a communication device, so that the shore-based monitoring device optimizes the map information; And (c) receiving optimized map information from the shore-based monitoring device, taking the optimized map information as current map information, and returning to the step (c).
3. 3. The method of claim 1, wherein after step (e) and before step (f), the method further comprises: Determining the positioning and target identification of the offshore photovoltaic support column from the detection data, and And (c) updating the current map information according to the positioning of the supporting column and the target identification, and returning to the step (c).
4. 4. A method according to any one of claims 1 to 3, wherein prior to step (c), the method further comprises: Performing reference alignment operation on the current map information to obtain map information after reference alignment, and And verifying the map information after the reference alignment.
5. 5. A method according to any one of claims 1 to 3, wherein step (c) comprises: determining a conventional inspection path according to the current map information, the detection scheme and the energy consumption condition of the underwater robot, and/or And determining a detection path of the appointed position according to the current map information and the detection task of the appointed position of the offshore photovoltaic in the detection scheme.
6. 6. A method according to any one of claims 1 to 3, wherein step (d) comprises: and determining motion control information in the process of detecting the offshore photovoltaic by the underwater robot according to the current map information, the detection scheme and the multi-source sensor data.
7. 7. A method according to any one of claims 1 to 3, wherein the a priori information comprises a construction structure map of the offshore photovoltaic.
8. 8. An offshore photovoltaic detection system, comprising: a shore-based monitoring device; communication apparatus, and An underwater robot for performing the method of any of claims 1 to 7; Wherein the shore-based monitoring device communicates with the underwater robot through the communication device.
9. 9. The system of claim 8, wherein the shore-based monitoring means is for: receiving multi-source sensor data and constructed map information acquired by the underwater robot; optimizing the map information according to the multi-source sensor data to obtain optimized map information; Sending the optimized map information to the underwater robot; Receiving detection data from the underwater robot; identifying the detection data, determining the marine photovoltaic identification result, and Mapping the offshore photovoltaic identification result to an offshore photovoltaic digital twin model for digital twin display.
10. 10. The system of claim 9, wherein the shore-based monitoring means is further for: aligning the offshore photovoltaic identification result with a preset historical database to show geometrical morphology and surface state changes of the same support column of the offshore photovoltaic at different times; Mapping the offshore photovoltaic recognition result to an offshore photovoltaic digital twin model, and And displaying the defect position, type and historical data comparison corresponding to the offshore photovoltaic through a visual platform according to the offshore photovoltaic identification result.
11. 11. An electronic device comprising a memory having a computer program stored thereon and a processor that when executing the computer program on the memory implements the method of any of claims 1 to 7.
12. 12. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, implements the method of any one of claims 1 to 7.

Description

Marine photovoltaic detection method and system Technical Field The application relates to the technical field of underwater robots and new energy operation and maintenance, in particular to a detection method and a detection system of offshore photovoltaic. Background Offshore photovoltaics are an important development direction in the field of new energy, the large-scale laying process is continuously accelerated, and the photovoltaic panels and the supporting structures are deployed in a complex marine natural environment for a long time. The photovoltaic device is influenced by multiple environmental factors such as seawater corrosion, marine organism adhesion, continuous impact of stormy waves and the like, the problem of deformation and deviation of a supporting structure of the offshore photovoltaic is easy to occur, the photovoltaic module is also often loose, damaged and the like, and if the abnormality of the device cannot be detected and treated in time, the operation stability and the power generation efficiency of the offshore photovoltaic system are directly influenced, so that the operation and maintenance of the offshore photovoltaic device for carrying out normalization and refinement are urgent demands for industry development. At present, a detection mode for an offshore photovoltaic underwater supporting structure and related facilities mainly depends on manual diver field detection or on water surface shipborne equipment to carry out operation, and the detection mode exposes a plurality of technical defects and application defects in practical application, and specifically faces the following problems: The detection efficiency is low, the manual diver operation is limited by the underwater operation time and physical strength, the on-board equipment detection needs to frequently plan the route and lay the detection device, the quick and global coverage detection of the large-scale offshore photovoltaic facilities cannot be realized by the on-board equipment detection, and the overall efficiency of the detection operation is difficult to match with the operation and maintenance requirements of the large-scale offshore photovoltaic development; The operation safety risk is high, the problems of complex water flow, low underwater visibility, uncontrollable wind and waves and the like exist in the marine environment, the potential safety hazards such as collision and drowning are easily faced in the underwater detection of the manual diver, the operation deviation of the water surface ship-borne equipment is easily caused by the influence of sea conditions, and the safety and the reliability of the detection process are difficult to guarantee; The detection coverage is uneven, namely the detection mode of manual work and shipborne is difficult to realize dead angle-free detection of the offshore photovoltaic support structure, detection on the periphery of a remote area and a complex structure is easy to miss, the integrity of detection data is insufficient, and the actual running state of the offshore photovoltaic facility cannot be comprehensively reflected; The existing detection mode is mostly of periodic and temporary operation, lacks long-term continuous monitoring capability of offshore photovoltaic facilities, cannot acquire continuous change data of equipment states, and is difficult to realize early warning and trend analysis of facility faults, and operation and maintenance decisions lack effective data support. In summary, the existing detection means cannot meet the requirements of the offshore photovoltaic industry on efficient, safe, comprehensive and continuous detection operation and maintenance, and development of an intelligent and automatic detection technology suitable for the marine environment is needed, long-term resident autonomous detection of offshore photovoltaic underwater facilities is achieved, and technical support is provided for intelligent operation and maintenance of offshore photovoltaic. Disclosure of Invention Aiming at the problems in the prior art, the application provides an autonomous detection method of the underwater resident underwater robot for the offshore photovoltaic, which utilizes the motion and the perception capability of the underwater robot and combines the underwater map building and the autonomous inspection planning to realize the efficient detection and the digital twin display of the photovoltaic supporting structure, thereby improving the operation and maintenance efficiency and the safety. According to a first aspect of the present application, there is provided a method for detecting a photovoltaic at sea, applied to an underwater robot, comprising: Collecting multi-source sensor data through a detection assembly of the underwater robot; Constructing map information of a detection area of the offshore photovoltaic as current map information based on prior information related to the offshore photovoltaic and the multi-source sen