CN113649322A - Unmanned aerial vehicle cleaning system for photovoltaic panel - Google Patents
Unmanned aerial vehicle cleaning system for photovoltaic panel Download PDFInfo
- Publication number
- CN113649322A CN113649322A CN202110983994.3A CN202110983994A CN113649322A CN 113649322 A CN113649322 A CN 113649322A CN 202110983994 A CN202110983994 A CN 202110983994A CN 113649322 A CN113649322 A CN 113649322A
- Authority
- CN
- China
- Prior art keywords
- aerial vehicle
- unmanned aerial
- photovoltaic panel
- power generation
- photovoltaic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 87
- 238000010248 power generation Methods 0.000 claims abstract description 109
- 230000002159 abnormal effect Effects 0.000 claims abstract description 95
- 238000001514 detection method Methods 0.000 claims abstract description 43
- 238000004891 communication Methods 0.000 claims abstract description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 105
- 239000003344 environmental pollutant Substances 0.000 claims description 65
- 231100000719 pollutant Toxicity 0.000 claims description 65
- 239000012459 cleaning agent Substances 0.000 claims description 29
- 238000002329 infrared spectrum Methods 0.000 claims description 27
- 238000009434 installation Methods 0.000 claims description 27
- 238000005286 illumination Methods 0.000 claims description 17
- 230000035939 shock Effects 0.000 claims description 17
- 239000006096 absorbing agent Substances 0.000 claims description 13
- 238000007790 scraping Methods 0.000 claims description 13
- 238000004364 calculation method Methods 0.000 claims description 12
- 239000007921 spray Substances 0.000 claims description 11
- 238000005507 spraying Methods 0.000 claims description 10
- 239000007788 liquid Substances 0.000 claims description 9
- 238000001179 sorption measurement Methods 0.000 claims description 8
- 238000010521 absorption reaction Methods 0.000 claims description 3
- 238000003384 imaging method Methods 0.000 claims description 3
- 239000003599 detergent Substances 0.000 description 14
- 230000005611 electricity Effects 0.000 description 8
- 230000000694 effects Effects 0.000 description 5
- 238000013016 damping Methods 0.000 description 4
- 239000000428 dust Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000002372 labelling Methods 0.000 description 3
- 238000013528 artificial neural network Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000010801 machine learning Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/14—Wipes; Absorbent members, e.g. swabs or sponges
- B08B1/143—Wipes
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/04—Cleaning involving contact with liquid
- B08B3/08—Cleaning involving contact with liquid the liquid having chemical or dissolving effect
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
- G01R31/385—Arrangements for measuring battery or accumulator variables
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
- G01R31/396—Acquisition or processing of data for testing or for monitoring individual cells or groups of cells within a battery
-
- 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
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- General Chemical & Material Sciences (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
The application provides an unmanned aerial vehicle cleaning system for a photovoltaic panel, which comprises a photovoltaic power station, an electric quantity detection device, a control background and an unmanned aerial vehicle, wherein the photovoltaic power station, the electric quantity detection device, the control background and the unmanned aerial vehicle are connected through communication devices; by the unmanned aerial vehicle cleaning system for the photovoltaic panel, the photovoltaic panel with abnormal power generation is comprehensively judged, so that whether the photovoltaic panel with abnormal power generation amount is really caused by the fact that the panel surface of the photovoltaic panel needs to be cleaned or not can be accurately judged; if the judgment result shows that the board surface of the photovoltaic board with abnormal power generation really needs to be cleaned, the unmanned aerial vehicle cleans the board surface of the photovoltaic board with abnormal power generation amount and needing to be cleaned according to the cleaning instruction sent by the control background, the traditional manual cleaning mode is replaced, and the cleaning efficiency of the photovoltaic board is improved.
Description
Technical Field
The invention relates to the technical field of solar photovoltaic, in particular to an unmanned aerial vehicle cleaning system for a photovoltaic panel.
Background
With the support of our country on the development of renewable energy industry, especially on the solar photovoltaic power generation industry, large-scale photovoltaic power stations have been played in many places of our country.
According to the solar energy distribution condition of China, the northwest region, the southwest region, the Qinghai-Tibet plateau region, the inner Mongolia region, the North China region and the like all have abundant solar energy resources, but the construction of solar power stations in the regions has the problem of large wind, sand and dust.
When the irradiance is 400-1000W/m2When the range is changed, the open-circuit voltage of the solar cell module is basically kept constant, and the power of the solar cell module is basically in direct proportion to the irradiance.
According to the results of preliminary study, the dust or the accumulated snow covering the surface of the battery component can cause the loss of the conversion efficiency of the solar battery component to reach more than 5 percent, and the battery component of the photovoltaic power station in the areas such as the loess plateau of the Qinghai Tibet of China is more easily covered by the dust and the accumulated snow, thereby seriously affecting the generated energy of the power station.
Generally, solar photovoltaic power stations are megawatt-level, and the number of used battery assemblies is more than hundreds of thousands of battery assemblies, so that the manual cleaning of photovoltaic panels is obviously not reasonable.
Disclosure of Invention
In view of at least one of the above problems in the prior art, an embodiment of the present invention provides an unmanned aerial vehicle cleaning system for photovoltaic panels, which performs comprehensive judgment on photovoltaic panels with abnormal power generation, so as to accurately judge whether the photovoltaic panels with abnormal power generation amount are really caused by the need of cleaning the panel surfaces of the photovoltaic panels; if the judgment result shows that the board surface of the photovoltaic board with abnormal power generation really needs to be cleaned, the unmanned aerial vehicle cleans the board surface of the photovoltaic board with abnormal power generation amount and needing to be cleaned according to the cleaning instruction sent by the control background, the traditional manual cleaning mode is replaced, and the cleaning efficiency of the photovoltaic board is improved.
In order to achieve the above purpose of the invention, the following technical scheme is adopted:
an unmanned aerial vehicle cleaning system for a photovoltaic panel comprises a photovoltaic power station, an electric quantity detection device, a control background and an unmanned aerial vehicle, wherein the photovoltaic power station, the electric quantity detection device, the control background and the unmanned aerial vehicle are connected through communication devices;
an electric quantity detection device is installed on a photovoltaic panel of the photovoltaic power station and is connected with the control background through a communication device;
the electric quantity detection device is used for detecting the value of the generated electric quantity of the photovoltaic panel under the current illumination intensity;
the control background is used for judging whether the difference value between the generated energy numerical value and the generated energy standard value of the photovoltaic panel under the current illumination intensity is larger than a preset abnormal threshold value or not, if so, generating an abnormal power generation signal, and determining the position information of the photovoltaic panel with abnormal power generation according to the serial number of the electric quantity detection device;
the unmanned aerial vehicle is used for receiving the position information of the photovoltaic panel with abnormal power generation, which is sent by the control background, finding the photovoltaic panel with abnormal power generation according to the position information of the photovoltaic panel with abnormal power generation, acquiring images of the panel surface of the photovoltaic panel with abnormal power generation by the unmanned aerial vehicle, feeding the acquired images back to the control background, comparing the acquired images with preset standard images by the control background, and if the comparison result exceeds a set image threshold value, generating a cleaning instruction for the photovoltaic panel with abnormal power generation by the control console and feeding the cleaning instruction back to the unmanned aerial vehicle;
the unmanned aerial vehicle is provided with a cleaning device, and the unmanned aerial vehicle controls the cleaning device to clean the photovoltaic panel with abnormal power generation;
the unmanned aerial vehicle is also provided with a key pollutant infrared spectrum judging device which is used for collecting the infrared spectrum of pollutants on the photovoltaic panel with abnormal power generation, and the infrared spectrum of the collected pollutants is fed back to the control background, the control background compares the infrared spectrum of the pollutants with a standard infrared spectrum preset in the control background to determine the types of key pollutants on the photovoltaic panel with abnormal power generation, cleaning instructions for different types of key pollutants are preset in the control background, according to the determined type of the key pollutant, the control background sends a cleaning instruction corresponding to the key pollutant type to the unmanned aerial vehicle, the unmanned aerial vehicle controls the cleaning device to perform key cleaning on key pollutants on the photovoltaic panel, which are abnormal in power generation, according to the received key pollutant cleaning instruction.
Further, the cleaning device comprises a water spraying mechanism and a wiping mechanism, the water spraying mechanism is installed at the bottom of the unmanned aerial vehicle, and the wiping mechanism is installed at the bottom of the water spraying mechanism;
the water spraying mechanism comprises a water tank, a mounting frame, a clear water nozzle, a cleaning agent nozzle and a water pump;
the water tank is mounted at the bottom of the unmanned aerial vehicle through the mounting frame, the inside of the water tank is divided into a clear water tank and a cleaning agent tank, liquid level sensors are mounted in the clear water tank and the cleaning agent tank, and a water feeding port communicated with the clear water tank and a cleaning agent feeding port communicated with the cleaning agent tank are arranged on the outer surface of the water tank;
the clear water nozzle is mounted on the water tank and communicated with the clear water tank, the cleaning agent nozzle is mounted on the water tank and communicated with the cleaning agent tank, water pumps are respectively mounted in the clear water tank and the cleaning agent tank, the clear water nozzle is communicated with the clear water tank through the water pumps, and the cleaning agent nozzle is communicated with the cleaning agent tank through the water pumps;
the key pollutant infrared spectrum judgment device comprises a shell, an infrared spectrometer and a calculation processor;
the shell is connected with the bottom of the water tank, the infrared spectrometer is installed on the shell, and the computing processor is installed in the shell and connected with the infrared spectrometer.
Further, the wiping mechanism includes a mechanical arm and a wiper;
the mechanical arm is connected with the bottom of the water tank, and the wiper is installed on the mechanical arm;
the wiper comprises a frame body, a first wiping sponge, a second wiping sponge, a third wiping sponge and a scraping strip;
the frame body is connected with the mechanical arm, a first mounting position is arranged at the end head of the frame body, a second mounting position and a third mounting position are respectively arranged at two side parts of the frame body, and a scraping strip mounting position is arranged at the end tail part of the frame body;
the first wiping sponge is detachably connected with the first installation position, the second wiping sponge is detachably connected with the second installation position, the third wiping sponge is detachably connected with the third installation position, and the scraping strip is installed on the scraping strip installation position.
Further, the arm includes first linking arm, second linking arm and third linking arm, first linking arm, second linking arm and third linking arm articulate the connection in proper order, the bottom at the water tank is installed to first linking arm, the third linking arm with the support body is connected, first linking arm with install the hydraulic stem between the second linking arm, the second linking arm with install the hydraulic stem between the third linking arm.
Furthermore, the first installation position, the second installation position and the third installation position are all provided with a rotary buckle, and the first wiping sponge, the second wiping sponge and the third wiping sponge are all provided with a through groove detachably connected with the rotary buckle;
the rotary buckle comprises a rotary shaft and a stop block, the rotary shaft is arranged on the first installation position, the second installation position and the third installation position, the stop block is rotatably connected with the rotary shaft, and the stop block is the same as the through groove in shape.
Further, still include power device, power device installs unmanned aerial vehicle is last, power device with the hydraulic stem is connected.
Further, the frame body is triangular.
Further, the unmanned aerial vehicle further comprises a negative pressure adsorption device, and the negative pressure adsorption device is installed at the bottom of the support leg of the unmanned aerial vehicle;
the negative pressure adsorption device comprises a shock absorber, a sucking disc and an air pump;
the shock absorber is installed unmanned aerial vehicle the supporting leg bottom, the sucking disc is installed on the shock absorber, install the aspiration pump mounting bracket on the supporting leg, the aspiration pump is installed on the aspiration pump mounting bracket, the aspiration pump with the sucking disc intercommunication.
Further, the bumper shock absorber includes link, lower link, guide bar and damping spring, go up the link with the supporting leg bottom is connected, the link sets up down go up the link below, the link passes through down the guide bar with go up the link and connect, the damping spring suit is in on the guide bar.
The device comprises an unmanned aerial vehicle supply machine room, wherein an unmanned aerial vehicle charging seat, a sponge pollution degree detection device, a sponge cleaning device, a sponge replacement mechanical arm, an unmanned aerial vehicle fault detector, a daily irradiation intensity monitor, a photovoltaic power generation amount monitor and a historical record storage unit are respectively arranged in the unmanned aerial vehicle supply machine room;
the roof of the unmanned aerial vehicle supply machine room is automatically opened and closed;
the unmanned aerial vehicle supply machine room is internally provided with a plurality of unmanned aerial vehicle charging seats, and the unmanned aerial vehicle charging seats are internally provided with radar scanning devices, so that the unmanned aerial vehicle can fly back to precisely butt and land on the unmanned aerial vehicle charging seats according to a path through the radar scanning devices;
the sponge pollution degree detection device comprises an AGV trolley, a shell, an infrared imager and a calculation processor;
the shell is installed on the AGV trolley, the infrared imager is installed on the shell, the computing processor is installed in the shell and connected with the infrared imager, and the infrared imager is used for generating an infrared image of the wiping sponge; the calculation processor is used for calculating the absorption rate of high-frequency pollutants in the infrared image and calculating the content of the pollutants on the imaging pixel;
the sponge cleaning device comprises an AGV trolley, a barrel body, a driving water pump and an electric spray head, wherein the barrel body is installed on the AGV trolley, a cleaning agent is stored in the barrel body, the driving water pump is placed in the barrel body, and the driving water pump is connected with the electric spray head installed on the barrel body;
the sponge replacing mechanical arm comprises an AGV trolley and an automatic mechanical arm body arranged on the AGV trolley;
the unmanned aerial vehicle fault detector comprises an AGV trolley and an unmanned aerial vehicle fault detector body arranged on the AGV trolley;
the daily irradiation intensity monitor is mounted on the roof of the unmanned aerial vehicle supply machine room and used for collecting and analyzing the illumination intensity;
the photovoltaic power generation monitor is installed in the unmanned aerial vehicle supply machine room and used for collecting daily power generation of the photovoltaic power station;
the historical record storage unit is installed in the unmanned aerial vehicle supply machine room, the historical record storage unit is used for connecting the daily irradiation intensity monitor with the photovoltaic power generation capacity monitor, will the historical operation data of the daily irradiation intensity monitor with the photovoltaic power generation capacity monitor are saved.
By adopting the technical scheme, the invention has the following beneficial effects:
the comprehensive judgment is adopted for the photovoltaic panel with abnormal power generation, firstly, the power generation quantity value of the photovoltaic panel under the current illumination intensity is detected through an electric quantity detection device arranged on the photovoltaic panel, and the data is sent to a control background through a communication device (the data base of the control background can be used for constructing a standard power generation quantity value of the photovoltaic panel corresponding to the current illumination intensity according to historical weather data and the prior art such as neural network learning and the like), the control background is used for judging whether the difference value between the power generation quantity value and the standard power generation quantity value of the photovoltaic panel under the current illumination intensity is larger than a preset abnormal threshold value (the preset abnormal threshold value can be manually set or obtained by machine calculation through a machine learning method), if the difference value is larger than the preset abnormal threshold value, a power generation abnormal signal is generated (namely the difference value between the power generation quantity value under the current illumination intensity of the photovoltaic panel and the standard power generation quantity value is larger than the preset abnormal threshold value, confirming that the current photovoltaic distribution board is abnormal in power generation), and according to the serial number of the electric quantity detection device (the electric quantity detection device arranged on the photovoltaic board of the photovoltaic power station can be labeled according to a preset sequence, and the labeling result is stored in a database of a control background, the serial number of the electric quantity detection device is determined, and the position information of the photovoltaic board corresponding to the serial number of the electric quantity detection device is also determined), and the position information of the photovoltaic board with abnormal power generation (the position information here refers to the coordinate position data of the photovoltaic board with abnormal power generation in the photovoltaic power station) is determined; and the control background sends the position information of the photovoltaic panel with abnormal power generation to the unmanned aerial vehicle.
Secondly, the unmanned aerial vehicle finds the photovoltaic panel with the abnormal power generation according to the position information of the photovoltaic panel with the abnormal power generation, the unmanned aerial vehicle collects images of the panel surface of the photovoltaic panel with the abnormal power generation and feeds the collected images back to the control background, the control background compares the collected images with preset standard images (the purpose here is to judge whether the photovoltaic panel with the abnormal power generation is really caused by the fact that the photovoltaic panel needs to be cleaned, the standard images are images when the panel surface of the photovoltaic panel does not need to be cleaned), if the comparison result exceeds a set image threshold value, the control background generates a cleaning instruction for the photovoltaic panel with the abnormal power generation at present and feeds the cleaning instruction back to the unmanned aerial vehicle, and the unmanned aerial vehicle controls the cleaning device to clean the photovoltaic panel with the abnormal power generation at present.
By the unmanned aerial vehicle cleaning system for the photovoltaic panel, the photovoltaic panel with abnormal power generation is comprehensively judged, so that whether the photovoltaic panel with abnormal power generation amount is really caused by the fact that the panel surface of the photovoltaic panel needs to be cleaned or not can be accurately judged; if the judgment result shows that the board surface of the photovoltaic board with abnormal power generation really needs to be cleaned, the unmanned aerial vehicle cleans the board surface of the photovoltaic board with abnormal power generation amount and needing to be cleaned according to the cleaning instruction sent by the control background, the traditional manual cleaning mode is replaced, and the cleaning efficiency of the photovoltaic board is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are 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 schematic structural diagram of an unmanned aerial vehicle cleaning system for a photovoltaic panel provided by the invention.
Fig. 2 is a schematic view of a connection relationship between the electric quantity inspection device and the photovoltaic panel provided by the present invention.
Fig. 3 is a schematic view of a first perspective structure of a connection relationship between the unmanned aerial vehicle and the cleaning device provided by the invention.
Fig. 4 is a schematic view of a second perspective structure of the connection relationship between the unmanned aerial vehicle and the cleaning device provided by the invention.
Fig. 5 is a schematic structural view of a water tank provided by the present invention.
Fig. 6 is a sectional view a-a in fig. 5.
Fig. 7 is a schematic structural view of a wiper according to the present invention.
Fig. 8 is a schematic structural diagram of a wiping mechanism provided by the present invention.
Fig. 9 is a schematic structural view of a first wiping sponge provided by the present invention.
Fig. 10 is a schematic structural view of a second sponge for wiping according to the present invention.
Fig. 11 is a structural view of a third wiping sponge provided by the present invention.
Fig. 12 is a schematic structural view of the rotating buckle provided by the present invention.
Fig. 13 is a schematic structural view of a shock absorber provided by the present invention.
Fig. 14 is a schematic structural diagram of an unmanned aerial vehicle replenishment machine room provided by the invention.
Fig. 15 is a schematic structural view of a hidden roof of a supply machine room of an unmanned aerial vehicle provided by the invention.
Reference numerals: 1-a photovoltaic power station; 2-electric quantity detection means; 3, controlling a background; 4-unmanned aerial vehicle; 5-a cleaning device; 6-a water spraying mechanism; 7-a wiping mechanism; 61-a water tank; 62-a mounting frame; 63-clear water nozzle; 64-a detergent nozzle; 65-a water pump; 611-a clear water tank; 612-detergent water tank; 613-liquid level sensor; 614-water adding port; 615-detergent addition port; 71-a robotic arm; 72-a wiper; 721-a frame body; 722-a first wiping sponge; 723-second wiping sponge; 724-third sponge; 725-scraping strip; 711-first connecting arm; 712-a second connecting arm; 713-third link arm; 714-hydraulic rod; 8, rotating the buckle; 9-through groove; 81-a rotating shaft; 82-a stop; 10-negative pressure adsorption device; 11-support legs; 101-a shock absorber; 102-a suction cup; 103-air pump; 104-a suction pump mounting bracket; 1011-upper connecting frame; 1012-lower connecting frame; 1013-a guide bar; 1014-a damping spring; 12-unmanned aerial vehicle supply machine room; 14-a photovoltaic panel; 15-key pollutant infrared spectrum judging device; 151-a housing; 152-an infrared spectrometer; 121-unmanned aerial vehicle charging seat; 122-sponge pollution degree detection device; 123-sponge cleaning device; 124-sponge replacement mechanical arm; 125-unmanned aerial vehicle fault detector; 126-day irradiation intensity monitor; 127-a photovoltaic power generation monitor; 128-history storage unit; 1221-an AGV; 1222-an infrared imager; 1231-barrel body; 1232-electric sprinkler; 1241-automatic arm body; 1251 — unmanned aerial vehicle fault detector body.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The first embodiment is as follows:
as shown in fig. 1-15, the present application provides an unmanned aerial vehicle cleaning system for a photovoltaic panel, which includes a photovoltaic power station 1, an electric quantity detection device 2, a control background 3 and an unmanned aerial vehicle 4, wherein the photovoltaic power station 1, the electric quantity detection device 2, the control background 3 and the unmanned aerial vehicle 4 are connected through communication devices;
an electric quantity detection device 2 is installed on a photovoltaic panel 14 of the photovoltaic power station 1, the electric quantity detection device 2 is installed on the back of the photovoltaic panel 14 and connected with the photovoltaic panel 14, and the electric quantity detection device 2 is connected with a control background 3 through a communication device;
the electric quantity detection device 2 is used for detecting the value of the generated quantity of the photovoltaic panel 14 under the current illumination intensity;
the control background 3 is used for judging whether the difference value between the generated energy numerical value under the current illumination intensity of the photovoltaic panel 14 and the generated energy standard value is larger than a preset abnormal threshold value or not, if so, generating an abnormal power generation signal, and determining the position information of the photovoltaic panel 14 with abnormal power generation according to the serial number of the electric quantity detection device 2;
the unmanned aerial vehicle 4 is used for receiving the position information of the photovoltaic panel 14 with abnormal power generation, which is sent by the control background 3, the unmanned aerial vehicle 4 finds the photovoltaic panel 14 with abnormal power generation according to the position information of the photovoltaic panel 14 with abnormal power generation, the unmanned aerial vehicle 4 carries out image acquisition on the panel surface of the photovoltaic panel 14 with abnormal power generation and feeds back the acquired image to the control background 3, the control background 3 compares the acquired image with a preset standard image, and if the comparison result exceeds a set image threshold value, a cleaning instruction is generated for the photovoltaic panel 14 with abnormal power generation at present and is fed back to the unmanned aerial vehicle 4;
the unmanned aerial vehicle 4 is provided with a cleaning device 5, and the unmanned aerial vehicle 4 controls the cleaning device 5 to clean the photovoltaic panel 14 with abnormal power generation;
the unmanned aerial vehicle 4 is also provided with an important pollutant infrared spectrum judging device 15, the important pollutant infrared spectrum judging device 15 is used for collecting the infrared spectrum of pollutants on the photovoltaic panel 14 with abnormal power generation and feeding back the collected infrared spectrum of the pollutants to the control background 3, the control background 3 compares the infrared spectrum of the collected pollutants with the standard infrared spectrum preset in the control background 3 to determine the type of the important pollutants on the photovoltaic panel 14 with abnormal power generation, cleaning instructions for different types of the important pollutants are preset in the control background 3 (according to the types of the pollutants on the photovoltaic panel 14 common in the area, cleaning instructions for the important pollutants are preset in the control background 3 in advance to improve the cleaning effect on the important pollutants on the photovoltaic panel 14), according to the determined type of the important pollutants, the control background 3 sends the cleaning instructions corresponding to the current type of the important pollutants to the unmanned aerial vehicle 4, the unmanned aerial vehicle 4 controls the cleaning device 5 to perform key cleaning on key pollutants on the photovoltaic panel 14 with abnormal power generation according to the received key pollutant cleaning instruction.
The photovoltaic panel 14 with abnormal power generation is comprehensively judged, firstly, the power generation quantity value of the photovoltaic panel 14 under the current illumination intensity is detected through the electric quantity detection device 2 installed on the photovoltaic panel 14, and data are sent to the control background 3 through the communication device; (the database of the control background 3 may construct a standard value of the generated energy of the photovoltaic panel 14 corresponding to the current illumination intensity according to historical weather data by using the prior art such as neural network learning, etc.), the control background 3 is configured to determine whether the difference between the generated energy value of the photovoltaic panel 14 at the current illumination intensity and the standard value of the generated energy is greater than a preset abnormal threshold (the preset abnormal threshold may be manually set or obtained by machine calculation by using a machine learning method), if the difference is greater than the preset abnormal threshold, a signal of abnormal power generation is generated (i.e., the difference between the generated energy value of the photovoltaic panel 14 at the current illumination intensity and the standard value of the generated energy is greater than the preset abnormal threshold, the current photovoltaic panel is determined to be abnormal in power generation), and according to the serial number of the power detection devices 2 (the power detection devices 2 installed on the photovoltaic panel 14 of the photovoltaic power station 1, labeling can be performed in advance according to a set sequence, labeling results are stored in a database of the control background 3, the serial number of the electric quantity detection device 2 is determined, and the position information of the photovoltaic panel 14 corresponding to the serial number of the electric quantity detection device 2 is also determined, and the position information of the photovoltaic panel 14 with abnormal power generation (the position information here refers to coordinate position data of the photovoltaic panel 14 with abnormal power generation in the photovoltaic power plant 1) is determined; the control background 3 sends the position information of the photovoltaic panel 14 with abnormal power generation to the unmanned aerial vehicle 4.
Secondly, the unmanned aerial vehicle 4 performs video inspection on the photovoltaic panel 14 according to the position information of the photovoltaic panel 14 with abnormal power generation to find the photovoltaic panel 14 with abnormal power generation, the unmanned aerial vehicle 4 performs image acquisition on the panel surface of the photovoltaic panel 14 with abnormal power generation and feeds back the acquired image to the control background 3, the control background 3 compares the acquired image with a preset standard image (the purpose here is to judge whether the photovoltaic panel 14 with abnormal power generation is really caused by the fact that the photovoltaic panel 14 needs to be cleaned, the standard image is the image when the panel surface of the photovoltaic panel 14 does not need to be cleaned), if the comparison result exceeds a set image threshold value, the control background 3 generates a cleaning instruction for the photovoltaic panel 14 with abnormal power generation at present and feeds back the cleaning instruction to the unmanned aerial vehicle 4, and the unmanned aerial vehicle 4 controls the cleaning device 5 to clean the photovoltaic panel 14 with abnormal power generation at present.
In addition, the unmanned aerial vehicle 4 is also provided with an important pollutant infrared spectrum judgment device 15, the important pollutant infrared spectrum judgment device 15 is used for collecting the infrared spectrum of pollutants on the photovoltaic panel 14 with abnormal power generation, the control background 3 compares the infrared spectrum of the pollutants with the standard infrared spectrum preset in the control background 3 to determine the type of the important pollutants on the photovoltaic panel 14 with abnormal power generation, cleaning instructions for different types of important pollutant types are preset in the control background 3 (some cleaning instructions for the important pollutants are preset in the control background 3 according to the types of the pollutants on the photovoltaic panel 14 common in the area), the control background 3 sends cleaning instructions corresponding to the current important pollutant types to the unmanned aerial vehicle 4 according to the determined type of the important pollutants, and the unmanned aerial vehicle 4 sends cleaning instructions for the important pollutants according to the received types of the important pollutants, the cleaning device 5 is controlled to perform key cleaning on key pollutants on the photovoltaic panel 14 with abnormal power generation, so that the cleaning effect on the key pollutants on the photovoltaic panel 14 with abnormal power generation is ensured.
Through the unmanned aerial vehicle cleaning system for photovoltaic board of this application, replaced the mode of traditional artifical clearance, improved the clean efficiency to photovoltaic board 14.
Specifically, the cleaning device 5 comprises a water spraying mechanism 6 and a wiping mechanism 7, the water spraying mechanism 6 is installed at the bottom of the unmanned aerial vehicle 4, and the wiping mechanism 7 is installed at the bottom of the water spraying mechanism 6;
the water spraying mechanism 6 comprises a water tank 61, a mounting frame 62, a clear water nozzle 63, a detergent nozzle 64 and a water pump 65;
the water tank 61 is mounted at the bottom of the unmanned aerial vehicle 4 through the mounting frame 62, the inside of the water tank 61 is divided into a clear water tank 611 and a detergent tank 612, liquid level sensors 613 are mounted in the clear water tank 611 and the detergent tank 612, the liquid level sensors 613 refer to lower liquid level sensors, namely when liquid levels in the clear water tank 611 and the detergent tank 612 reach the liquid level sensors 613, the liquid level sensors 613 give an alarm and feed back, a water filling port 614 communicated with the clear water tank 611 and a detergent filling port 615 communicated with the detergent tank 612 are arranged on the outer surface of the water tank 61; the clean water nozzle 63 is mounted on the water tank 61 and communicated with the clean water tank 611, the detergent nozzle 64 is mounted on the water tank 61 and communicated with the detergent water tank 612, the water pumps 65 are respectively mounted in the clean water tank 611 and the detergent water tank 612, the clean water nozzle 63 is communicated with the clean water tank 611 through the water pumps 65, and the detergent nozzle 64 is communicated with the detergent water tank 612 through the water pumps 65.
Specifically, the key pollutant infrared spectrum determination device 15 includes a housing 151, an infrared spectrometer 152 and a calculation processor;
the shell 151 is connected with the unmanned aerial vehicle 4, the infrared spectrometer 152 is installed on the shell 151, and the calculation processor is installed in the shell 151 and connected with the infrared spectrometer 152;
wherein, the infrared spectrometer 152 is used for collecting the infrared spectrum of the pollutant on the photovoltaic panel with abnormal power generation.
Specifically, the wiping mechanism 7 includes a robot arm 71 and a wiper 72;
the mechanical arm 71 is connected with the bottom of the water tank 61;
the wiper 72 includes a frame body 721, a first wiping sponge 722, a second wiping sponge 723, a third wiping sponge 724, and a wiper strip 725;
the frame body 721 is connected with the mechanical arm 71;
the end part of the frame body 721 is provided with a first mounting position, the two side parts of the frame body 721 are respectively provided with a second mounting position and a third mounting position, and the tail end of the frame body 721 is provided with a scraping strip mounting position;
the first wiping sponge 722 is detachably connected with the first installation position, the second wiping sponge 723 is detachably connected with the second installation position, the third wiping sponge 724 is detachably connected with the third installation position, and the scraping bar 725 is installed on the scraping bar installation position.
Specifically, the mechanical arm 71 comprises a first connecting arm 711, a second connecting arm 712 and a third connecting arm 713, the first connecting arm 711, the second connecting arm 712 and the third connecting arm 713 are sequentially hinged, the first connecting arm 711 is installed at the bottom of the water tank 61, the third connecting arm 713 is connected with the frame body 721, a hydraulic rod 714 is installed between the first connecting arm 711 and the second connecting arm 712, a hydraulic rod 714 is installed between the second connecting arm 712 and the third connecting arm 713, and the length of the mechanical arm 71 and the movement of the mechanical arm 71 can be adjusted through the hydraulic rod 714.
Specifically, the first installation position, the second installation position and the third installation position are all provided with a rotary buckle 8, and the first wiping sponge 722, the second wiping sponge 723 and the third wiping sponge 724 are all provided with a through groove 9 detachably connected with the rotary buckle 8.
Specifically, the rotating buckle 8 includes a rotating shaft 81 and a stopper 82, the rotating shaft 81 is installed on the first installation position, the second installation position and the third installation position, the stopper 82 is rotatably connected with the rotating shaft 81, and the shape of the stopper 82 is the same as that of the through groove 9.
It should be noted that the purpose of providing the first wiping sponge 722, the second wiping sponge 723 and the third wiping sponge 724 in the present application is to consider the replacement cost, that is, the first wiping sponge 722, the second wiping sponge 723 and the third wiping sponge 724 can be replaced individually, and the overall replacement is not required, which reduces the use cost of the wiper 72, and in addition, in order to facilitate the replacement of the three wiping sponges, the present application designs the rotating buckle 8, and when any or all of the three wiping sponges need to be replaced, the stopper 82 only needs to be rotated by rotating the stopper 82 to a position matching with the through slot 9 on the corresponding wiping sponge, so that the wiping sponge can be taken out from the rotating buckle 8, and the new wiping sponge passes through the stopper 82 through the through slot 9, and then the stopper 82 is rotated, and the wiping sponge is fastened on the frame body through the stopper 82. After the first wiping sponge 722, the second wiping sponge 723 and the third wiping sponge 724 wipe the surface of the photovoltaic panel 14 with abnormal power generation, the scraping strip 725 can more easily wipe off water drops left on the surface of the photovoltaic panel 14 with abnormal power generation.
Specifically, the unmanned aerial vehicle 4 is further provided with a power device, the power device is connected with the hydraulic rod 714, and power is provided for the extension and retraction of the hydraulic rod 714 through the power device.
Specifically, the frame body 721 is triangular, and there is less resistance between the triangular frame body 721 and the plate surface of the photovoltaic panel 14.
Specifically, still include negative pressure adsorption equipment 10, negative pressure adsorption equipment 10 installs in unmanned aerial vehicle 4's supporting leg 11 bottom.
Specifically, the negative pressure adsorption apparatus 10 includes a damper 101, a suction cup 102, and a suction pump 103;
Specifically, the shock absorber 101 includes an upper connecting frame 1011, a lower connecting frame 1012, a guide rod 1013, and a shock absorbing spring 1014, wherein the upper connecting frame 1011 is connected to the bottom of the supporting leg 11, the lower connecting frame 1012 is disposed below the upper connecting frame 1011, the lower connecting frame 1012 is connected to the upper connecting frame 1011 through the guide rod 1013, and the shock absorbing spring 1014 is sleeved on the guide rod 1013.
Specifically, the system further comprises an unmanned aerial vehicle supply machine room 12, wherein an unmanned aerial vehicle charging seat 121, a sponge pollution degree detection device 122, a sponge cleaning device 123, a sponge replacing mechanical arm 124, an unmanned aerial vehicle fault detector 125, a daily irradiation intensity monitor 126, a photovoltaic power generation amount monitor 127 and a history record storage unit 128 are respectively installed in the unmanned aerial vehicle supply machine room 12;
the roof of the unmanned aerial vehicle supply machine room 12 is automatically opened and closed, and the structure for realizing automatic opening and closing of the roof is the prior art, and the automatic opening and closing structure of the roof is not described again;
a plurality of unmanned aerial vehicle charging seats 121 are installed in the unmanned aerial vehicle supply machine room 12, radar scanning devices are also installed in the unmanned aerial vehicle charging seats 121, and the unmanned aerial vehicle 4 can fly back to be accurately butted and landed on the unmanned aerial vehicle charging seats 121 according to the path through the radar scanning devices;
the sponge pollution degree detection device 122 comprises an AGV trolley 1221, a shell 151, an infrared imager 1222 and a calculation processor;
the shell 151 is installed on an AGV trolley 1221, the infrared imager 1222 is installed on the shell 151, the computing processor is installed in the shell 151 and connected with the infrared imager 1222, and the infrared imager 1222 is used for generating an infrared image of the wiping sponge; the calculation processor is used for calculating the absorption rate of high-frequency pollutants in the infrared image and calculating the content of the pollutants on the imaging pixels, so that the pollution degree of the wiping sponge is obtained, and a reference is provided for cleaning or replacing the wiping sponge;
the sponge cleaning device 123 comprises an AGV trolley 1221, a barrel body 1231, a driving water pump and an electric spray nozzle 1232, the barrel body 1231 is installed on the AGV trolley 1221, a cleaning agent is stored in the barrel body 1231, the driving water pump is placed in the barrel body 1231, the driving water pump is connected with the electric spray nozzle 1232 installed on the barrel body 1231, when the detection result of the sponge pollution degree detection device 122 on the wiping sponge is that the wiping sponge is cleaned, the cleaning agent in the barrel body 1231 is sprayed to the wiping sponge through the electric spray nozzle 1232 and the driving water pump, and the wiping sponge is cleaned through the cleaning agent;
the sponge replacing mechanical arm 124 comprises an AGV trolley 1221 and an automatic mechanical arm body 1241 installed on the AGV trolley 1221, when the sponge pollution degree detection device 122 detects that the wiping sponge is replaced according to the detection result, the automatic mechanical arm body 1241 rotates the buckle 8 to take out the wiping sponge from the rotating buckle 8, then the automatic mechanical arm body 1241 grabs a new wiping sponge to pass through the through groove 9 and the stop 82, then the stop 82 is rotated, and the wiping sponge is fastened on the frame body 721 through the stop 82;
the unmanned aerial vehicle fault detector 125 comprises an AGV trolley 1221 and an unmanned aerial vehicle fault detector body 1251 installed on the AGV trolley 1221, fault detection is carried out on the unmanned aerial vehicle 4 through the unmanned aerial vehicle fault detector body 1251, whether the unmanned aerial vehicle 4 has faults or not is judged, and the detection condition is recorded;
the daily irradiation intensity monitor 126 is installed on the roof of the unmanned aerial vehicle supply machine room 12, and the daily irradiation intensity monitor 126 is used for collecting and analyzing the illumination intensity;
the photovoltaic power generation monitor 127 is installed in the unmanned aerial vehicle supply machine room 12, and the photovoltaic power generation monitor 127 is used for collecting the daily power generation of the photovoltaic power station 1;
the historical record storage unit 128 is installed in the unmanned aerial vehicle supply machine room 12, and the historical record storage unit 128 is used for connecting the daily irradiation intensity monitor 126 and the photovoltaic power generation monitor 127, and stores the historical operation data of the daily irradiation intensity monitor 126 and the photovoltaic power generation monitor 127.
This application, carry out clear process as follows to the face of the unusual photovoltaic board of electricity generation:
firstly, unmanned aerial vehicle 4 needs to descend on the face of the photovoltaic board 14 that generates electricity unusually, sucking disc 102 at first contacts with the face of the photovoltaic board 14 that generates electricity unusually, go up the damping spring 1014 between link 1011 and the lower link 1012 and compress along guide bar 1013, thereby play the effect to unmanned aerial vehicle 4 buffering, bleed air to sucking disc 102 through aspiration pump 103, produce the negative pressure between the face of the photovoltaic board 14 that makes sucking disc 102 and generate electricity unusually, thereby make unmanned aerial vehicle 4 firmly adsorb on the face of the photovoltaic board 14 that generates electricity unusually through sucking disc 102. Then, clear water is sprayed on the surface of the photovoltaic panel 14 with abnormal power generation through the clear water nozzle 63, so as to remove floating dust on the surface of the photovoltaic panel 14 with abnormal power generation and wet dirt on the surface of the photovoltaic panel 14 with abnormal power generation, which is beneficial to improving the wiping effect of the wiper 72, then the cleaning agent nozzle 64 is controlled to spray cleaning agent on the surface of the photovoltaic panel 14 with abnormal power generation, after the cleaning agent is sprayed, a period of time can be waited (the cleaning agent is convenient to react with the dirt on the surface of the photovoltaic panel 14 with abnormal power generation for a period of time), the power device controls the hydraulic rod 714 between the first connecting arm 711 and the second connecting arm 712 to stretch, and the hydraulic rod 714 between the second connecting arm 712 and the third connecting arm 713 to stretch, so that the mechanical arm 71 drives the wiper 72 within a certain range to wipe the surface of the photovoltaic panel 14 with abnormal power generation, a pressure sensor can be added on the wiper 72, so that a feedback is given to the contact between the wiper 72 and the surface of the photovoltaic panel 14 with abnormal power generation, and the wiping strength of the mechanical arm 71 on the surface of the photovoltaic panel 14 with abnormal power generation can be adjusted according to the feedback result of the pressure sensor.
In addition, through key pollutant infrared spectrum judgment device 15, confirm the type of key pollutant on the unusual photovoltaic board 14 of electricity generation, control backstage 3 will send the clean instruction that corresponds with current key pollutant type to unmanned aerial vehicle 4, unmanned aerial vehicle 4 is according to the clean instruction of key pollutant of receipt, for example, key pollutant clean instruction can control arm 71 to increase the dynamics of wiping the face of the unusual photovoltaic board 14 of electricity generation, guarantees the clean effect to the key pollutant on the unusual photovoltaic board 14 of electricity generation.
While the preferred embodiments of the present invention have been described, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. An unmanned aerial vehicle cleaning system for a photovoltaic panel is characterized by comprising a photovoltaic power station, an electric quantity detection device, a control background and an unmanned aerial vehicle, wherein the photovoltaic power station, the electric quantity detection device, the control background and the unmanned aerial vehicle are connected through communication devices;
an electric quantity detection device is installed on a photovoltaic panel of the photovoltaic power station and is connected with the control background through a communication device;
the electric quantity detection device is used for detecting the value of the generated electric quantity of the photovoltaic panel under the current illumination intensity;
the control background is used for judging whether the difference value between the generated energy numerical value and the generated energy standard value of the photovoltaic panel under the current illumination intensity is larger than a preset abnormal threshold value or not, if so, generating an abnormal power generation signal, and determining the position information of the photovoltaic panel with abnormal power generation according to the serial number of the electric quantity detection device;
the unmanned aerial vehicle is used for receiving the position information of the photovoltaic panel with abnormal power generation, which is sent by the control background, finding the photovoltaic panel with abnormal power generation according to the position information of the photovoltaic panel with abnormal power generation, acquiring images of the panel surface of the photovoltaic panel with abnormal power generation by the unmanned aerial vehicle, feeding the acquired images back to the control background, comparing the acquired images with preset standard images by the control background, and if the comparison result exceeds a set image threshold value, generating a cleaning instruction for the photovoltaic panel with abnormal power generation by the control console and feeding the cleaning instruction back to the unmanned aerial vehicle;
the unmanned aerial vehicle is provided with a cleaning device, and the unmanned aerial vehicle controls the cleaning device to clean the photovoltaic panel with abnormal power generation;
the unmanned aerial vehicle is also provided with a key pollutant infrared spectrum judging device which is used for collecting the infrared spectrum of pollutants on the photovoltaic panel with abnormal power generation, and the infrared spectrum of the collected pollutants is fed back to the control background, the control background compares the infrared spectrum of the pollutants with a standard infrared spectrum preset in the control background to determine the types of key pollutants on the photovoltaic panel with abnormal power generation, cleaning instructions for different types of key pollutants are preset in the control background, according to the determined type of the key pollutant, the control background sends a cleaning instruction corresponding to the key pollutant type to the unmanned aerial vehicle, the unmanned aerial vehicle controls the cleaning device to perform key cleaning on key pollutants on the photovoltaic panel, which are abnormal in power generation, according to the received key pollutant cleaning instruction.
2. The unmanned aerial vehicle cleaning system for a photovoltaic panel as claimed in claim 1, wherein the cleaning device comprises a water spray mechanism and a wiping mechanism, the water spray mechanism is mounted at the bottom of the unmanned aerial vehicle, and the wiping mechanism is mounted at the bottom of the water spray mechanism;
the water spraying mechanism comprises a water tank, a mounting frame, a clear water nozzle, a cleaning agent nozzle and a water pump;
the water tank is mounted at the bottom of the unmanned aerial vehicle through the mounting frame, the inside of the water tank is divided into a clear water tank and a cleaning agent tank, liquid level sensors are mounted in the clear water tank and the cleaning agent tank, and a water feeding port communicated with the clear water tank and a cleaning agent feeding port communicated with the cleaning agent tank are arranged on the outer surface of the water tank;
the clear water nozzle is mounted on the water tank and communicated with the clear water tank, the cleaning agent nozzle is mounted on the water tank and communicated with the cleaning agent tank, water pumps are respectively mounted in the clear water tank and the cleaning agent tank, the clear water nozzle is communicated with the clear water tank through the water pumps, and the cleaning agent nozzle is communicated with the cleaning agent tank through the water pumps;
the key pollutant infrared spectrum judgment device comprises a shell, an infrared spectrometer and a calculation processor;
the shell is connected with the bottom of the water tank, the infrared spectrometer is installed on the shell, and the computing processor is installed in the shell and connected with the infrared spectrometer.
3. The unmanned aerial vehicle cleaning system for a photovoltaic panel of claim 2, wherein the wiping mechanism comprises a robotic arm and a wiper;
the mechanical arm is connected with the bottom of the water tank, and the wiper is installed on the mechanical arm;
the wiper comprises a frame body, a first wiping sponge, a second wiping sponge, a third wiping sponge and a scraping strip;
the frame body is connected with the mechanical arm, a first mounting position is arranged at the end head of the frame body, a second mounting position and a third mounting position are respectively arranged at two side parts of the frame body, and a scraping strip mounting position is arranged at the end tail part of the frame body;
the first wiping sponge is detachably connected with the first installation position, the second wiping sponge is detachably connected with the second installation position, the third wiping sponge is detachably connected with the third installation position, and the scraping strip is installed on the scraping strip installation position.
4. The unmanned aerial vehicle cleaning system for the photovoltaic panel as claimed in claim 3, wherein the mechanical arm comprises a first connecting arm, a second connecting arm and a third connecting arm, the first connecting arm, the second connecting arm and the third connecting arm are sequentially hinged and connected, the first connecting arm is installed at the bottom of the water tank, the third connecting arm is connected with the frame body, a hydraulic rod is installed between the first connecting arm and the second connecting arm, and a hydraulic rod is installed between the second connecting arm and the third connecting arm.
5. The unmanned aerial vehicle cleaning system for the photovoltaic panel as claimed in claim 3, wherein the first mounting position, the second mounting position and the third mounting position are all provided with a rotating buckle, and the first wiping sponge, the second wiping sponge and the third wiping sponge are all provided with a through groove detachably connected with the rotating buckle;
the rotary buckle comprises a rotary shaft and a stop block, the rotary shaft is arranged on the first installation position, the second installation position and the third installation position, the stop block is rotatably connected with the rotary shaft, and the stop block is the same as the through groove in shape.
6. The unmanned aerial vehicle cleaning system for a photovoltaic panel of claim 4, further comprising a power plant mounted on the unmanned aerial vehicle, the power plant connected with the hydraulic ram.
7. The unmanned aerial vehicle cleaning system for photovoltaic panels of claim 3, wherein the frame is triangular.
8. The unmanned aerial vehicle cleaning system for a photovoltaic panel as claimed in claim 1, further comprising a negative pressure suction device mounted at a bottom of a support leg of the unmanned aerial vehicle;
the negative pressure adsorption device comprises a shock absorber, a sucking disc and an air pump;
the shock absorber is installed unmanned aerial vehicle the supporting leg bottom, the sucking disc is installed on the shock absorber, install the aspiration pump mounting bracket on the supporting leg, the aspiration pump is installed on the aspiration pump mounting bracket, the aspiration pump with the sucking disc intercommunication.
9. The unmanned aerial vehicle cleaning system for photovoltaic panels as claimed in claim 8, wherein the shock absorber comprises an upper connecting frame, a lower connecting frame, a guide rod and a shock absorbing spring, the upper connecting frame is connected with the bottom of the support leg, the lower connecting frame is arranged below the upper connecting frame, the lower connecting frame is connected with the upper connecting frame through the guide rod, and the shock absorbing spring is sleeved on the guide rod.
10. The unmanned aerial vehicle cleaning system for the photovoltaic panel as claimed in claim 5, further comprising an unmanned aerial vehicle replenishment machine room, wherein an unmanned aerial vehicle charging seat, a sponge pollution degree detection device, a sponge cleaning device, a sponge replacement mechanical arm, an unmanned aerial vehicle fault detector, a daily irradiation intensity monitor, a photovoltaic power generation amount monitor and a history storage unit are respectively installed in the unmanned aerial vehicle replenishment machine room;
the roof of the unmanned aerial vehicle supply machine room is automatically opened and closed;
the unmanned aerial vehicle supply machine room is internally provided with a plurality of unmanned aerial vehicle charging seats, and the unmanned aerial vehicle charging seats are internally provided with radar scanning devices, so that the unmanned aerial vehicle can fly back to precisely butt and land on the unmanned aerial vehicle charging seats according to a path through the radar scanning devices;
the sponge pollution degree detection device comprises an AGV trolley, a shell, an infrared imager and a calculation processor;
the shell is installed on the AGV trolley, the infrared imager is installed on the shell, the computing processor is installed in the shell and connected with the infrared imager, and the infrared imager is used for generating an infrared image of the wiping sponge; the calculation processor is used for calculating the absorption rate of high-frequency pollutants in the infrared image and calculating the content of the pollutants on the imaging pixel;
the sponge cleaning device comprises an AGV trolley, a barrel body, a driving water pump and an electric spray head, wherein the barrel body is installed on the AGV trolley, a cleaning agent is stored in the barrel body, the driving water pump is placed in the barrel body, and the driving water pump is connected with the electric spray head installed on the barrel body;
the sponge replacing mechanical arm comprises an AGV trolley and an automatic mechanical arm body arranged on the AGV trolley;
the unmanned aerial vehicle fault detector comprises an AGV trolley and an unmanned aerial vehicle fault detector body arranged on the AGV trolley;
the daily irradiation intensity monitor is mounted on the roof of the unmanned aerial vehicle supply machine room and used for collecting and analyzing the illumination intensity;
the photovoltaic power generation monitor is installed in the unmanned aerial vehicle supply machine room and used for collecting daily power generation of the photovoltaic power station;
the historical record storage unit is installed in the unmanned aerial vehicle supply machine room, the historical record storage unit is used for connecting the daily irradiation intensity monitor with the photovoltaic power generation capacity monitor, will the historical operation data of the daily irradiation intensity monitor with the photovoltaic power generation capacity monitor are saved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110983994.3A CN113649322A (en) | 2021-08-25 | 2021-08-25 | Unmanned aerial vehicle cleaning system for photovoltaic panel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110983994.3A CN113649322A (en) | 2021-08-25 | 2021-08-25 | Unmanned aerial vehicle cleaning system for photovoltaic panel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113649322A true CN113649322A (en) | 2021-11-16 |
Family
ID=78492863
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110983994.3A Pending CN113649322A (en) | 2021-08-25 | 2021-08-25 | Unmanned aerial vehicle cleaning system for photovoltaic panel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113649322A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114465572A (en) * | 2022-01-28 | 2022-05-10 | 华能大理风力发电有限公司洱源分公司 | Gravity lock type photovoltaic power station large-load cleaning unmanned aerial vehicle cleaning system |
| CN114578815A (en) * | 2022-02-25 | 2022-06-03 | 苏州浪潮智能科技有限公司 | Machine room of intelligent cleaning server cabinet and intelligent cleaning method |
| CN114596267A (en) * | 2022-02-28 | 2022-06-07 | 几何智慧城市科技(广州)有限公司 | Monitoring operation and maintenance method, system, equipment and storage medium of photovoltaic power station |
| CN116651798A (en) * | 2023-07-31 | 2023-08-29 | 国网安徽省电力有限公司合肥供电公司 | Automatic patrol unmanned aerial vehicle auxiliary cleaning system |
| CN117284721A (en) * | 2023-11-23 | 2023-12-26 | 张家港市华申工业橡塑制品有限公司 | Intelligent decontamination method and system for rubber-plastic conveyor belt |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105215034A (en) * | 2015-11-16 | 2016-01-06 | 上海许继电气有限公司 | Realize the system and method for photovoltaic plant solar panel intelligence cleaning |
| CN107947723A (en) * | 2017-11-23 | 2018-04-20 | 浙江国自机器人技术有限公司 | A kind of cleaning method of photovoltaic cleaning robot |
| CN208316663U (en) * | 2018-04-12 | 2019-01-01 | 佛山天源创新科技有限公司 | A kind of solar energy photovoltaic panel maintenance unmanned plane |
| CN109379040A (en) * | 2018-11-26 | 2019-02-22 | 武汉理工大学 | Photovoltaic plant inspection cleaning unmanned plane and its clean method based on machine vision |
| CN208623620U (en) * | 2018-07-24 | 2019-03-19 | 宁夏中科嘉业新能源研究院（有限公司） | The Clean- unmanned plane formula cleaner of photovoltaic power station |
| WO2019167079A1 (en) * | 2018-03-01 | 2019-09-06 | Mohan Suraj | Automatic cleaning vehicle for photovoltaic panels |
| CN111900761A (en) * | 2020-08-05 | 2020-11-06 | 李魏 | Operation and maintenance management system for solar photovoltaic power station |
| CN113193830A (en) * | 2021-05-28 | 2021-07-30 | 中清能绿洲科技股份有限公司 | Photovoltaic cleaning system |
-
2021
- 2021-08-25 CN CN202110983994.3A patent/CN113649322A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105215034A (en) * | 2015-11-16 | 2016-01-06 | 上海许继电气有限公司 | Realize the system and method for photovoltaic plant solar panel intelligence cleaning |
| CN107947723A (en) * | 2017-11-23 | 2018-04-20 | 浙江国自机器人技术有限公司 | A kind of cleaning method of photovoltaic cleaning robot |
| WO2019167079A1 (en) * | 2018-03-01 | 2019-09-06 | Mohan Suraj | Automatic cleaning vehicle for photovoltaic panels |
| CN208316663U (en) * | 2018-04-12 | 2019-01-01 | 佛山天源创新科技有限公司 | A kind of solar energy photovoltaic panel maintenance unmanned plane |
| CN208623620U (en) * | 2018-07-24 | 2019-03-19 | 宁夏中科嘉业新能源研究院（有限公司） | The Clean- unmanned plane formula cleaner of photovoltaic power station |
| CN109379040A (en) * | 2018-11-26 | 2019-02-22 | 武汉理工大学 | Photovoltaic plant inspection cleaning unmanned plane and its clean method based on machine vision |
| CN111900761A (en) * | 2020-08-05 | 2020-11-06 | 李魏 | Operation and maintenance management system for solar photovoltaic power station |
| CN113193830A (en) * | 2021-05-28 | 2021-07-30 | 中清能绿洲科技股份有限公司 | Photovoltaic cleaning system |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114465572A (en) * | 2022-01-28 | 2022-05-10 | 华能大理风力发电有限公司洱源分公司 | Gravity lock type photovoltaic power station large-load cleaning unmanned aerial vehicle cleaning system |
| CN114465572B (en) * | 2022-01-28 | 2024-01-30 | 华能大理风力发电有限公司洱源分公司 | Gravity lock type cleaning system for large-load cleaning unmanned aerial vehicle of photovoltaic power station |
| CN114578815A (en) * | 2022-02-25 | 2022-06-03 | 苏州浪潮智能科技有限公司 | Machine room of intelligent cleaning server cabinet and intelligent cleaning method |
| CN114578815B (en) * | 2022-02-25 | 2024-01-26 | 苏州浪潮智能科技有限公司 | Machine room for intelligent cleaning server cabinet and intelligent cleaning method |
| CN114596267A (en) * | 2022-02-28 | 2022-06-07 | 几何智慧城市科技(广州)有限公司 | Monitoring operation and maintenance method, system, equipment and storage medium of photovoltaic power station |
| CN116651798A (en) * | 2023-07-31 | 2023-08-29 | 国网安徽省电力有限公司合肥供电公司 | Automatic patrol unmanned aerial vehicle auxiliary cleaning system |
| CN116651798B (en) * | 2023-07-31 | 2023-12-22 | 国网安徽省电力有限公司合肥供电公司 | Automatic patrol unmanned aerial vehicle auxiliary cleaning system |
| CN117284721A (en) * | 2023-11-23 | 2023-12-26 | 张家港市华申工业橡塑制品有限公司 | Intelligent decontamination method and system for rubber-plastic conveyor belt |
| CN117284721B (en) * | 2023-11-23 | 2024-02-06 | 张家港市华申工业橡塑制品有限公司 | Intelligent decontamination method and system for rubber-plastic conveyor belt |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113649322A (en) | Unmanned aerial vehicle cleaning system for photovoltaic panel | |
| CN104539233B (en) | Photovoltaic array component cleans dust pelletizing system automatically | |
| CN103599907B (en) | A kind of photovoltaic battery panel Full-automatic of auto-navigation | |
| CN206392479U (en) | A kind of photovoltaic cleaning device | |
| CN111957623A (en) | Intelligent photovoltaic panel cleaning robot based on intelligent camera and cleaning method thereof | |
| CN209439042U (en) | A kind of windshield wiper type photovoltaic module cleaning device | |
| CN108856152A (en) | A kind of new-energy automobile solar panel cleaning apparatus for self | |
| CN116068130B (en) | Outdoor carbon emission monitoring system | |
| CN115488124A (en) | Photovoltaic cleaning robot is driven to new forms of energy intelligence | |
| CN215430413U (en) | Device for removing dust on surface of wind blade | |
| CN209647167U (en) | A kind of photovoltaic module cleaning systems | |
| CN106623155A (en) | Solar automatic-detection water-saving photovoltaic cleaning device | |
| CN209174516U (en) | A kind of photovoltaic plant and glass curtain wall cleaning flight deduster | |
| CN203167985U (en) | Feeding device of automatic sugarcane cleaning machine | |
| CN205652108U (en) | Quick washing equipment | |
| CN212597492U (en) | Automatic cleaning device for flexible solar cell module for high-power solar power supply vehicle | |
| CN213301325U (en) | Outdoor environment monitoring device | |
| CN115800901A (en) | Solar cell module of PCB backboard | |
| CN212284968U (en) | Photovoltaic board intelligence cleaning machines people based on intelligence camera | |
| CN211385983U (en) | High altitude insulator self-cleaning device | |
| CN113972889A (en) | Multi freedom cantilever type solar panel belt cleaning device | |
| CN211127710U (en) | Large-stroke self-charging field-changing photovoltaic cleaning system | |
| CN111701938A (en) | Flexible solar cell module automatic cleaning device for high-power solar power supply vehicle | |
| CN208608957U (en) | A kind of solar energy photovoltaic generator | |
| CN109772840B (en) | Intelligent robot for cleaning photovoltaic cell panel |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20211116 |
|
| RJ01 | Rejection of invention patent application after publication |