CN112517473A - Photovoltaic cleaning robot stable operation method and system based on artificial intelligence - Google Patents
Photovoltaic cleaning robot stable operation method and system based on artificial intelligence Download PDFInfo
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- 238000004140 cleaning Methods 0.000 title claims abstract description 82
- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000013473 artificial intelligence Methods 0.000 title claims abstract description 24
- 239000004576 sand Substances 0.000 claims abstract description 94
- 238000001514 detection method Methods 0.000 claims description 19
- 238000010586 diagram Methods 0.000 claims description 17
- 239000011159 matrix material Substances 0.000 claims description 10
- 230000005484 gravity Effects 0.000 claims description 7
- 238000004458 analytical method Methods 0.000 claims description 6
- 238000004064 recycling Methods 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 3
- 239000003086 colorant Substances 0.000 claims description 3
- 238000002372 labelling Methods 0.000 claims description 3
- 230000000087 stabilizing effect Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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Classifications
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- B08B1/32—
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- B08B1/12—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/10—Cleaning arrangements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Abstract
The invention relates to the technical field of artificial intelligence, in particular to a photovoltaic cleaning robot stable operation method and system based on artificial intelligence. The method comprises the steps of obtaining front image information of a battery panel; further acquiring a sand density grade map; controlling the brush through a brush rotation speed model according to the sand density grade; acquiring an included angle between wind speed and wind direction; further acquiring wind power gain of the photovoltaic cleaning robot in the advancing direction; and adjusting the power of the photovoltaic cleaning robot through the power variation model. Parameters of the photovoltaic cleaning robot are controlled through the hairbrush rotating speed model and the advancing power variation model, so that the robot can work at proper cleaning force and constant advancing speed according to different sand densities and different wind directions and wind speeds of different block-shaped areas.
Description
Technical Field
The invention relates to the technical field of artificial intelligence, in particular to a photovoltaic cleaning robot stable operation method and system based on artificial intelligence.
Background
A plurality of photovoltaic power stations are distributed in northwest areas of China, such as Qinghai, Gansu, Ningxia and the like, however, a great amount of wind-blown weather naturally exists in the areas. A great deal of wind sand brings a great deal of cleaning problems to the photovoltaic modules, and particularly, the photovoltaic power stations distributed in the area near the Xinjiang desert are more seriously damaged by the wind sand. The photovoltaic cleaning robot can automatically clean the photovoltaic assembly through the set cleaning task, but because the sand is often very unevenly distributed on the cell panel and the wind power can be influenced by the size and direction of the wind power, the technical problem which has to be solved is solved by flexibly adjusting the cleaning robot under the situation.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide a photovoltaic cleaning robot stable operation method and system based on artificial intelligence, and the adopted technical scheme is as follows:
the invention provides a photovoltaic cleaning robot stable operation method based on artificial intelligence, which comprises the following steps:
acquiring front image information of the battery panel;
comparing and analyzing the front image information with the image information of the standard cell panel, and judging the sand distribution condition to obtain a sand distribution area diagram; uniformly dividing the sand distribution area graph to generate a sand density grade graph and obtain a sand density grade;
controlling the rotating speed v of the brush through a brush rotating speed model according to the sand density gradeBrush with brush headThe higher the sand density grade the higher the brush rotation speed vBrush with brush headThe larger;
acquiring a wind speed v and a wind direction included angle theta with the traveling direction of the photovoltaic cleaning robot in the current environment;
acquiring a wind power gain F of the photovoltaic cleaning robot in the advancing direction according to the wind speed v and the wind direction included angle theta, wherein the wind power gain F is in positive correlation with the local air gravity and the component of the wind speed in the horizontal direction; setting a wind threshold F1When said wind gain F is greater than said wind threshold value F1Recycling the photovoltaic cleaning robot;
adjusting the traveling power of the photovoltaic cleaning robot through a traveling power variation model according to the wind power gain and the brush rotating speed:
where Δ P is the amount of power change to be adjusted, P0Is the power of the photovoltaic cleaning robot without wind gain,
the standard deviation of the wind power gain is shown, and delta is a brush rotating speed influence factor; the brush influence factor delta satisfies the requirement of positive gain of wind power
Meet the requirement of negative gain of wind power
Wherein v is0Is an initial brush rotation speed of the photovoltaic cleaning robot.
Further, the specific method for comparing and analyzing the front image information and the standard battery panel comprises the following steps:
the gray value of each pixel in the area to be detected of the front image information is differentiated from the gray value of each pixel in the area corresponding to the standard cell panel image information, so that the gray difference between each corresponding pixel is obtained, and a gray difference matrix is constructed;
performing binary division on each gray difference in the gray difference matrix; and performing connected domain analysis on the binarized matrix to obtain the number of pixel points representing sand, and constructing the sand distribution area diagram according to the number of the pixel points.
Further, the specific method for generating the sand density grade map by uniformly dividing the sand distribution area map comprises the following steps:
dividing the detection area according to a uniform and single grid, and obtaining the distribution area N of the sand in the grid through connected domain analysisi,jI, j represents the row and column in which the corresponding grid is located;
every four adjacent grids are taken as a unit, and the average value N of the number of the sands in the unit is calculatedaveNamely:
according to the average value N of the number of sand in a unitaveAnd dividing density grades according to the proportion of the total pixel number of the sand area distribution diagram, labeling the regions in the same grade range, setting corresponding colors, and outputting the sand density grade diagram.
Further, the brush rotation speed model includes:
wherein, L is a density grade numerical value, sigma is a preset cleaning expectation, gamma is a preset brush rotation speed coefficient, and alpha is rotation speed compensation; the higher the sand density grade, the greater the rotational speed compensation alpha.
Further, the wind force threshold value F1The dividing method comprises the following steps:
when the acting force of wind power on the photovoltaic cleaning robot in the traveling direction is negative phase gain,
wherein f is a frictional force when the photovoltaic cleaning robot travels, PmaxIs the maximum power.
Further, the wind force threshold value F1The dividing method comprises the following steps:
when the acting force of wind power on the photovoltaic cleaning robot in the traveling direction is positive-phase gain, F1F; wherein f is a friction force when the photovoltaic cleaning robot travels.
Further, the acquiring front image information of the battery panel comprises:
acquiring the front image information of the battery panel by using an unmanned aerial vehicle; the images collected by the unmanned aerial vehicle are spliced to obtain the front panoramic image of the battery panel.
The invention also provides a photovoltaic cleaning robot stable operation system based on artificial intelligence, which comprises: the device comprises an image acquisition module, a sand density detection module, a brush control module, a wind power gain detection module and a power regulation module;
the image acquisition module is used for acquiring the front image information of the battery panel;
the sand density detection module comprises a sand distribution diagram acquisition module and a sand density grade diagram acquisition module; the sand distribution map acquisition module is used for comparing and analyzing the front image information and the standard cell panel image information, judging the sand distribution condition and obtaining a sand distribution area map; the sand density grade map acquisition module is used for generating a sand density grade map through uniform division of the sand distribution area map and acquiring sand density grades;
the brush control module is used for controlling the rotating speed v of the brush through a brush rotating speed model according to the sand density gradeBrush with brush headThe higher the sand density grade the higher the brush rotation speed vBrush with brush headThe larger;
the wind power gain detection module comprises a wind power data acquisition module and a wind power gain acquisition module; the wind power data acquisition module is used for acquiring the wind speed v in the current environment and the wind direction included angle theta with the traveling direction of the photovoltaic cleaning robot; the wind power gain acquisition module is used for acquiring a wind power gain F of the photovoltaic cleaning robot in the advancing direction according to the wind speed v and the wind direction included angle theta, and the wind power gain F is in positive correlation with the local air gravity and the component of the wind speed in the horizontal direction; setting a wind threshold F1When said wind gain F is greater than said wind threshold value F1Recycling the photovoltaic cleaning robot;
the power adjusting module is used for adjusting the traveling power of the photovoltaic cleaning robot through a traveling power variation model according to the wind power gain and the brush rotating speed.
Furthermore, the wind gain detection module acquires the wind speed and the wind direction included angle through a wind speed sensor and a wind direction indicator respectively.
The invention has the following beneficial effects:
1. according to the embodiment of the invention, the rotating speed and the traveling power of the brush of the photovoltaic cleaning robot are adjusted through the collected data such as sand distribution, wind power gain and the like, so that the photovoltaic cleaning robot can adjust different cleaning force and constant traveling speed according to different sand densities and different wind directions and wind speeds of different block-shaped areas.
2. The mathematical model provided by the embodiment of the invention has the advantages of wide parameter definition domain range, strong robustness and easy recognition result, and can improve the working efficiency of robots and reduce errors caused by human factors.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions and advantages of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of a method for stabilizing operation of a photovoltaic cleaning robot based on artificial intelligence according to an embodiment of the present invention;
fig. 2 is a block diagram of a stable operation system of a photovoltaic cleaning robot based on artificial intelligence according to an embodiment of the present invention.
Detailed Description
To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined objects, the following description, in conjunction with the accompanying drawings and preferred embodiments, provides a method and system for stabilizing operation of a photovoltaic cleaning robot based on artificial intelligence, and the detailed implementation, structure, features and effects thereof are described in detail. In the following description, different "one embodiment" or "another embodiment" refers to not necessarily the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
The following specifically describes a specific scheme of the photovoltaic cleaning robot stable operation method and system based on artificial intelligence, which is provided by the invention, with reference to the accompanying drawings.
Referring to fig. 1, a flowchart of a method for stabilizing operation of a photovoltaic cleaning robot based on artificial intelligence according to an embodiment of the present invention is shown, where the method includes:
step S1: and acquiring the front image information of the battery panel.
Establish high definition optics anti-shake camera frame on unmanned aerial vehicle, adjust unmanned aerial vehicle and shoot position to suitable angle, the positive image that every panel was shot in low-altitude flight is through the concatenation, obtains the positive panoramic picture of panel.
And step S2, obtaining a sand density grade map.
Firstly, comparing and analyzing the acquired front image information and the standard battery plate image information, judging the sand distribution condition, and obtaining a sand distribution area diagram, wherein the specific method comprises the following steps of:
1) and (3) subtracting the gray value of each pixel in the region to be detected of the front image information and the corresponding region of the standard cell panel image information to obtain the gray difference x between each corresponding pixel point, and constructing a gray difference matrix.
2) Setting a gray difference threshold value T, and performing binary division on each difference value in the matrix by using gray threshold value transformation for each gray difference x in the gray difference matrix, wherein the formula is as follows:
the gray difference threshold T is set to 150 in the embodiment of the present invention.
3) And performing connected domain analysis on the binarized matrix to obtain the number of 255 pixel points, and constructing a sand distribution area map according to the number of the pixel points.
The sand density grade graph of the generated sand in the detection area is uniformly divided through a sand distribution area graph, and the specific process is as follows:
1) dividing the detection area according to the size of a uniform and single grid, and counting the number of pixels in a single grid by using a connected domain analysis method to obtain the distribution area N in the gridi,jAnd i, j represent the row and column in which the corresponding grid is located.
2) Taking every four adjacent grids as a unit, calculating the average value N of the sand quantity of the grids in the unitaveNamely:
3) according to the average value N of the number of sands of the grids in the unitaveAnd dividing the density grade L by the proportion u of the total pixel number of the sand area distribution diagram, labeling the regions in the same grade range, setting corresponding colors, and outputting a sand density grade diagram. In the embodiment of the invention, 5 density grades which are increased in sequence are set;
when L is 0;
when L is 1;
when L is 2;
when L is 3;
when L is 4.
Step S3: and controlling the brush through a brush rotation speed model according to the sand density grade.
Different sand density grades need different clean dynamics, through brush rotational speed model control brush:
wherein v isBrush with brush headThe rotating speed of the brush, L is a density grade numerical value, sigma is a cleaning expectation set by a system, gamma is a set rotating speed coefficient of the brush of the cleaning robot, alpha is a rotating speed compensation, and the average value N of the quantity of sand isaveThe higher the density grade of the four surrounding unit areas is, the larger the rotation speed compensation alpha is, and the following conditions are met:
in the embodiment of the invention, σ is 0.3, and γ is 15 r/s.
The sand distribution density of different areas needs different cleaning force to be cleaned, so that the cleaning robot is prevented from being unclean, and the energy consumption of the robot can be saved.
Step S4: and acquiring an included angle between the wind speed and the wind direction.
Obtaining the wind speed v under the current environment and the wind direction theta in the traveling direction of the photovoltaic cleaning robot through a wind speed sensor and a wind direction indicator
And step S5, acquiring the wind power gain of the photovoltaic cleaning robot in the advancing direction.
Referring to fig. 2, the wind force acting on the photovoltaic robot is decomposed orthogonally to obtain two directional components, which are:
obtaining the wind gain F of the wind force in the advancing direction of the robot according to the wind speed component as follows:
F＝0.5·r·(vcosθ)2/g
where r is the air gravity and g is the local acceleration of gravity. In the embodiment of the invention, r is 0.01225kN/m3G is 9.8m/s2。
In order to prevent the robot from being damaged by severe weather, a wind power threshold value F needs to be set1When the wind gain F is greater than the wind threshold F1The robot is recovered. When wind blowsWhen the force is negative phase gain to the acting force of the photovoltaic cleaning robot in the advancing direction,
wherein f is the friction force when the photovoltaic cleaning robot travels, PmaxIs the maximum power.
When the acting force of wind power on the photovoltaic cleaning robot in the advancing direction is in positive gain, F1＝f。
Step S6: and adjusting the traveling power of the photovoltaic cleaning robot through the power variation model.
Different wind gain and brush rotation speed need different output power to control the constant speed of the robot to advance, and the advancing power is controlled through an advancing power variation model:
where Δ P is the amount of power change to be adjusted, P0Is the power of the photovoltaic cleaning robot when no wind acts,
the standard deviation of the wind power gain is shown, and delta is a brush rotating speed influence factor; the brush influence factor delta is satisfied when the wind power is positive gain
Meet the requirement of negative gain of wind power
Wherein v is0Is an initial brush rotation speed of the photovoltaic cleaning robot.
In conclusion, parameters of the photovoltaic cleaning robot are controlled through the brush rotation speed model and the traveling power variation model, so that the robot can work at proper cleaning force and constant traveling speed according to different sand densities and different wind directions and wind speeds of different block-shaped areas, and the working efficiency of the photovoltaic cleaning robot is guaranteed in a wind-sand environment.
Referring to fig. 2, a block diagram of a system for stabilizing an operation of a photovoltaic cleaning robot based on artificial intelligence according to an embodiment of the present invention is shown, where the system includes: an image acquisition module 101, a sand density detection module 102, a brush control module 103, a wind gain detection module 104, and a power adjustment module 105.
The image acquisition module 101 is used for acquiring front image information of the battery panel.
The sand density detection module 102 includes a sand distribution map acquisition module 201 and a sand density grade map acquisition module 202. The sand distribution map obtaining module 201 is used for comparing and analyzing the front image information and the standard cell panel image information, judging the sand distribution condition and obtaining a sand distribution area map; the sand density grade map obtaining module 202 is configured to generate a sand density grade map through uniform division of the sand distribution area map.
The brush control module 103 is used for controlling the brush rotation speed v through a brush rotation speed model according to the sand density gradeBrush with brush headBrush rotation speed v higher grade sand densityBrush with brush headThe larger.
The wind gain detection module 104 comprises a wind data acquisition module 301 and a wind gain acquisition module 302; the wind power data acquisition module 301 is used for acquiring the wind speed v in the current environment and the wind direction included angle theta with the traveling direction of the photovoltaic cleaning robot; the wind power gain acquisition module 302 is configured to acquire a wind power gain F of the photovoltaic cleaning robot in the forward direction according to the wind speed v and the wind direction included angle θ, where the wind power gain F is in a positive correlation with the local air gravity and the component of the wind speed in the horizontal direction; setting a wind threshold F1When the wind gain F is greater than the wind threshold F1The photovoltaic cleaning robot is recycled.
The power adjusting module 105 is used for adjusting the traveling power of the photovoltaic cleaning robot through a traveling power variation model according to the wind power gain and the brush rotating speed.
Preferably, the wind gain detection module 104 obtains the wind speed and the wind direction included angle through a wind speed sensor and a wind direction indicator, respectively.
It should be noted that: the precedence order of the above embodiments of the present invention is only for description, and does not represent the merits of the embodiments. And specific embodiments thereof have been described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. A photovoltaic cleaning robot stable operation method based on artificial intelligence is characterized by comprising the following steps:
acquiring front image information of the battery panel;
comparing and analyzing the front image information with the image information of the standard cell panel, and judging the sand distribution condition to obtain a sand distribution area diagram; uniformly dividing the sand distribution area graph to generate a sand density grade graph and obtain a sand density grade;
controlling the brush rotation speed v through a brush rotation speed model according to the sand density gradeBrush with brush headThe higher the sand density grade the higher the brush rotation speed vBrush with brush headThe larger;
acquiring a wind speed v and a wind direction included angle theta with the traveling direction of the photovoltaic cleaning robot in the current environment;
acquiring a wind power gain F of the photovoltaic cleaning robot in the advancing direction according to the wind speed v and the wind direction included angle theta, wherein the wind power gain F is in positive correlation with the local air gravity and the component of the wind speed in the horizontal direction; setting a wind threshold F1When said wind gain F is greater than said wind threshold value F1Recycling the photovoltaic cleaning robot;
adjusting the traveling power of the photovoltaic cleaning robot through a traveling power variation model according to the wind power gain and the brush rotating speed:
where Δ P is the amount of power change to be adjusted, P0Is the power of the photovoltaic cleaning robot without wind gain,
the standard deviation of the wind power gain is shown, and delta is a brush rotating speed influence factor; the brush influence factor delta satisfies the requirement of positive gain of wind power
Meet the requirement of negative gain of wind power
Wherein v is0Is an initial brush rotation speed of the photovoltaic cleaning robot.
2. The photovoltaic cleaning robot stable operation method based on artificial intelligence of claim 1, wherein the specific method for comparing and analyzing the front image information and the standard battery panel is as follows:
the gray value of each pixel in the area to be detected of the front image information is differentiated from the gray value of each pixel in the area corresponding to the standard cell panel image information, so that the gray difference between each corresponding pixel is obtained, and a gray difference matrix is constructed;
performing binary division on each gray difference in the gray difference matrix; and performing connected domain analysis on the binarized matrix to obtain the number of pixel points representing sand, and constructing the sand distribution area diagram according to the number of the pixel points.
3. The photovoltaic cleaning robot stable operation method based on artificial intelligence of claim 1, wherein the specific method for generating the sand density grade map through the uniform division of the sand distribution area map comprises the following steps:
dividing the detection area according to a uniform and single grid, and obtaining the distribution area N of the sand in the grid through connected domain analysisi，jI, j represents the row and column in which the corresponding grid is located;
every four adjacent grids are taken as a unit, and the average value N of the number of the sands in the unit is calculatedaveNamely:
according to the average value N of the number of sand in a unitaveAnd dividing density grades according to the proportion of the total pixel number of the sand area distribution diagram, labeling the regions in the same grade range, setting corresponding colors, and outputting the sand density grade diagram.
4. The artificial intelligence based photovoltaic cleaning robot stable work method according to claim 3, wherein the brush rotation speed model comprises:
wherein, L is a density grade numerical value, sigma is a preset cleaning expectation, gamma is a preset brush rotation speed coefficient, and alpha is rotation speed compensation; the higher the sand density grade, the greater the rotational speed compensation alpha.
5. The method for stable operation of photovoltaic cleaning robot based on artificial intelligence as claimed in claim 1, wherein the wind threshold F1The dividing method comprises the following steps:
when the acting force of wind power on the photovoltaic cleaning robot in the traveling direction is negative phase gain,
wherein f is a frictional force when the photovoltaic cleaning robot travels, PmaxIs the maximum power.
6. The method for stable operation of photovoltaic cleaning robot based on artificial intelligence as claimed in claim 1, wherein the wind threshold F1The dividing method comprises the following steps:
when the acting force of wind power on the photovoltaic cleaning robot in the traveling direction is positive-phase gain, F1F; wherein f is a friction force when the photovoltaic cleaning robot travels.
7. The artificial intelligence based photovoltaic cleaning robot stable working method according to claim 1, wherein the acquiring front image information of the battery panel comprises:
acquiring the front image information of the battery panel by using an unmanned aerial vehicle; the images collected by the unmanned aerial vehicle are spliced to obtain the front panoramic image of the battery panel.
8. A photovoltaic cleaning robot stable operation system based on artificial intelligence, the system comprising: the device comprises an image acquisition module, a sand density detection module, a brush control module, a wind power gain detection module and a power regulation module;
the image acquisition module is used for acquiring the front image information of the battery panel;
the sand density detection module comprises a sand distribution diagram acquisition module and a sand density grade diagram acquisition module; the sand distribution map acquisition module is used for comparing and analyzing the front image information and the standard cell panel image information, judging the sand distribution condition and obtaining a sand distribution area map; the sand density grade map acquisition module is used for generating a sand density grade map through uniform division of the sand distribution area map and acquiring sand density grades;
the brush control module is used for controlling the rotating speed v of the brush through a brush rotating speed model according to the sand density gradeBrush with brush headThe higher the sand density grade the higher the brush rotation speed vBrush with brush headThe larger;
the wind power gain detection module comprises a wind power data acquisition module and a wind power gain acquisition module; the wind power data acquisition module is used for acquiring the wind speed v in the current environment and the wind direction included angle theta with the traveling direction of the photovoltaic cleaning robot; the wind power gain acquisition module is used for acquiring a wind power gain F of the photovoltaic cleaning robot in the advancing direction according to the wind speed v and the wind direction included angle theta, and the wind power gain F is in positive correlation with the local air gravity and the component of the wind speed in the horizontal direction; setting a wind threshold F1When said wind gain F is greater than said wind threshold value F1Recycling the photovoltaic cleaning robot;
the power adjusting module is used for adjusting the traveling power of the photovoltaic cleaning robot through a traveling power variation model according to the wind power gain and the brush rotating speed.
9. The photovoltaic cleaning robot stable operation system based on artificial intelligence of claim 8, wherein the wind gain detection module obtains the wind speed and the wind direction included angle through a wind speed sensor and a wind direction indicator respectively.
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| CN115846338A (en) * | 2023-03-03 | 2023-03-28 | 江苏唯高生物科技有限公司 | Intestine pressing machine cleaning, detecting and adjusting system based on cleaning data |
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| US20160056755A1 (en) * | 2014-08-25 | 2016-02-25 | Sumitomo Electric Industries, Ltd. | Photovoltaic system and panel cleaning method |
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| CN208028843U (en) * | 2018-03-08 | 2018-10-30 | 河南许继仪表有限公司 | A kind of solar panel dust pelletizing system and photovoltaic generating system |
| CN111798650A (en) * | 2020-06-22 | 2020-10-20 | 河北新天科创新能源技术有限公司 | Wind turbine generator fault early warning method based on multi-model combination |
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