CN113888559A - Intelligent control method for photovoltaic module cleaning robot - Google Patents
Intelligent control method for photovoltaic module cleaning robot Download PDFInfo
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- 238000004140 cleaning Methods 0.000 title claims abstract description 111
- 238000000034 method Methods 0.000 title claims abstract description 23
- 239000000428 dust Substances 0.000 claims abstract description 29
- 238000009825 accumulation Methods 0.000 claims abstract description 26
- 238000004364 calculation method Methods 0.000 claims description 32
- 101150079996 Isc1 gene Proteins 0.000 claims description 8
- 101100497923 Viola odorata Voc1 gene Proteins 0.000 claims description 8
- 230000008054 signal transmission Effects 0.000 claims description 8
- 101100169313 Viola odorata Voc2 gene Proteins 0.000 claims description 4
- 238000013500 data storage Methods 0.000 claims description 4
- 230000003287 optical effect Effects 0.000 claims description 4
- 238000007781 pre-processing Methods 0.000 claims description 4
- 238000005406 washing Methods 0.000 claims 1
- 238000005265 energy consumption Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 238000007405 data analysis Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000010248 power generation Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 238000011160 research Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
- G06T7/001—Industrial image inspection using an image reference approach
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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
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/11—Region-based segmentation
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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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30204—Marker
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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
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Abstract
The invention relates to the technical field of photovoltaic module cleaning, and discloses an intelligent control method of a photovoltaic module cleaning robot, which comprises the following steps: s1: the image acquisition module comprises an image collector, the image collector is arranged on one side of the photovoltaic assembly, the image collector collects images of the photovoltaic assembly in a clean state and takes the images as initial images, and then the image collector intermittently acquires a set of reference images; s2: calculating the dust accumulation degree; s3: calculating the similarity; s4: a cleaning zone is determined. The invention can preliminarily judge whether the whole photovoltaic module needs to be cleaned, carries out handle control from a large direction, reduces control steps, improves efficiency, can consider the cleaning states of all photovoltaic modules in the photovoltaic module area, improves the accuracy of cleaning judgment of the photovoltaic modules and is convenient to clean different areas.
Description
Technical Field
The invention relates to the technical field of photovoltaic module cleaning, in particular to an intelligent control method of a photovoltaic module cleaning robot.
Background
The photovoltaic module is exposed in the air for a long time, dust is easily deposited on the surface of the photovoltaic module, the illumination intensity which can be received by the surface of the module is reduced, the output power of the module is reduced, and finally the power generation amount of a photovoltaic power station is reduced. According to related data and existing researches, long-time dust deposition can reduce the peak output power of the photovoltaic module by about 40% at most, and the module needs to be cleaned irregularly in order to reduce the influence of the reduction of the power generation amount caused by the fact that the photovoltaic module is shielded by dust.
At present, by determining the cleaning degree of one photovoltaic module in a photovoltaic power station, when the cleaning degree of the photovoltaic module is low, all the photovoltaic modules in the whole photovoltaic power station are determined to be required to be cleaned, and all the photovoltaic modules in the whole photovoltaic power station are cleaned in a unified mode, so that the energy consumption is high, the control during cleaning is not perfect, and the requirements of people cannot be met.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides an intelligent control method of a photovoltaic module cleaning robot, which solves the problems that all photovoltaic modules in the whole photovoltaic power station need to be cleaned uniformly during general cleaning, the energy consumption is high, the control during cleaning is not perfect, and the requirements of people cannot be met.
(II) technical scheme
In order to achieve the purpose, the invention provides the following technical scheme:
an intelligent control method of a photovoltaic module cleaning robot comprises the following steps:
s1: the image acquisition module comprises an image collector, the image collector is arranged on one side of the photovoltaic assembly, the image collector collects images of the photovoltaic assembly in a clean state and takes the images as initial images, and then the image collector intermittently acquires a set of reference images;
s2: calculating the dust accumulation degree, firstly collecting the maximum open-circuit voltage and short-circuit current Voc1 and Isc1 of the photovoltaic module in an initial image state, collecting the maximum open-circuit voltage and short-circuit current Voc2 and Isc2 of the optical progenitor module in a reference image state in a set of reference images, presetting a dust accumulation degree threshold value after collection, and then calculating the dust accumulation degree Dj, wherein the calculation formula is as follows: dj ═ ((Voc1-Voc2)/Voc1+ (Isc1-Isc2)/Isc1)/2 × 100%, when the calculated data exceed the threshold value, proceed to the next step, otherwise directly determine that cleaning is not needed;
s3: calculating similarity, comparing a reference image in an acquired reference image set with an initial image, then calculating the similarity, splitting the initial image and the reference image during calculation, splitting the initial image and the reference image into 1-1000 sub-images, marking, comparing each group of sub-images after marking, and cleaning sub-image areas with the similarity lower than 20-80%;
s4: determining a cleaning area, determining the area to be cleaned of the photovoltaic module by calculating the similarity, sending marking information of the area to be cleaned, outputting the marking information to a cleaning controller, and controlling the cleaning robot to clean through the cleaning controller;
s5: cleaning for multiple times, after cleaning is carried out by controlling the cleaning robot through the cleaning controller, acquiring the reference image of the photovoltaic module again through the image acquisition module, calculating the similarity of the cleaned area, and if the similarity does not meet the requirement, cleaning again;
s6: data storage, data backup of similarity calculation, dust accumulation degree data and cleaning frequency data are carried out, and statistical sorting is carried out so as to facilitate later checking.
As a further aspect of the present invention, the set of reference images in S1 is at least two reference images of the photovoltaic module, and the time interval between two adjacent reference images is 2 to 8 days.
Further, a dust accumulation degree calculating module is included in S2, and the dust accumulation degree calculating module is connected to the image capturing module.
On the basis of the scheme, the S3 comprises an image preprocessing module and a similarity calculation module, the similarity calculation module is connected with a signal transmission module, and the signal transmission module is connected with a cleaning controller.
Further, collecting the reference image of the photovoltaic module again after cleaning again in the step S5, then performing similarity calculation, and reporting an alarm condition if the requirement is not met after cleaning for three times.
On the basis of the above scheme, the S5 includes an alarm unit, and the alarm unit is connected to the similarity calculation module.
In a further aspect of the present invention, data analysis is performed after the data is sorted in S6, and the areas that often need to be cleaned are programmed and cleaned periodically.
(III) advantageous effects
Compared with the prior art, the invention provides an intelligent control method of a photovoltaic module cleaning robot, which has the following beneficial effects:
1. according to the invention, whether the whole photovoltaic module needs to be cleaned or not can be preliminarily judged by calculating the dust accumulation degree, the control is carried out from a large direction, the control steps are reduced, and the efficiency is improved.
2. According to the method and the device, whether the photovoltaic module area needs to be cleaned or not is determined by calculating the similarity between the initial image and the reference image of the photovoltaic module, the cleaning degree of the whole photovoltaic module area is analyzed when the photovoltaic module is cleaned, the cleaning states of all the photovoltaic modules in the photovoltaic module area can be considered, the accuracy of cleaning judgment of the photovoltaic module is improved, cleaning aiming at different areas is facilitated, the cleaning precision of the photovoltaic module is improved, and the energy consumption is reduced.
3. According to the invention, through multiple times of cleaning and data acquisition, the area to be cleaned can be ensured to be thoroughly cleaned to meet the requirement.
4. According to the invention, through the arrangement of the alarm unit, the alarm can be given when the requirement cannot be met in multiple times of cleaning, and the working personnel is informed to carry out treatment, so that the problem is solved in time.
Drawings
Fig. 1 is a schematic flow structure diagram of an intelligent control method for a photovoltaic module cleaning robot according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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 invention.
Example 1
Referring to fig. 1, an intelligent control method of a photovoltaic module cleaning robot includes the following steps:
s1: the image acquisition module comprises an image collector, the image collector is arranged on one side of the photovoltaic assembly, the image collector collects images of the photovoltaic assembly in a clean state and takes the images as initial images, and then the image collector intermittently acquires a set of reference images;
s2: calculating the dust accumulation degree, firstly collecting the maximum open-circuit voltage and short-circuit current Voc1 and Isc1 of the photovoltaic module in an initial image state, collecting the maximum open-circuit voltage and short-circuit current Voc2 and Isc2 of the optical progenitor module in a reference image state in a set of reference images, presetting a dust accumulation degree threshold value after collection, and then calculating the dust accumulation degree Dj, wherein the calculation formula is as follows: the Dj is ((Voc1-Voc2)/Voc1+ (Isc1-Isc2)/Isc1)/2 x 100%, when the calculated data exceed a threshold value, the next step is carried out, otherwise, the cleaning is directly determined not to be needed, so that whether the whole photovoltaic module needs to be cleaned or not can be preliminarily judged, the control is carried out from a large direction, the control steps are reduced, and the efficiency is improved;
s3: calculating similarity, comparing a reference image in an acquired set of reference images with an initial image, calculating the similarity, splitting the initial image and the reference image during calculation, splitting the initial image and the reference image into 1000 sub-images, marking, comparing each group of sub-images after marking, cleaning the sub-image regions with the similarity lower than 70%, determining whether the photovoltaic module regions need to be cleaned or not by calculating the similarity between the initial image and the reference image of the photovoltaic module, analyzing the cleaning degree of the whole photovoltaic module region during cleaning of the photovoltaic module, considering the cleaning states of all the photovoltaic modules in the photovoltaic module region, improving the accuracy of cleaning judgment of the photovoltaic module, facilitating cleaning aiming at different regions, improving the cleaning precision of the photovoltaic module and reducing energy consumption;
s4: determining a cleaning area, determining the area to be cleaned of the photovoltaic module by calculating the similarity, sending marking information of the area to be cleaned, outputting the marking information to a cleaning controller, and controlling the cleaning robot to clean through the cleaning controller;
s5: cleaning for multiple times, namely, after cleaning is performed by controlling a cleaning robot through a cleaning controller, acquiring a reference image of the photovoltaic module again through an image acquisition module, calculating the similarity of the cleaned area, cleaning again if the similarity does not meet the requirement, and ensuring that the area to be cleaned can be thoroughly cleaned to meet the requirement through multiple times of cleaning and data acquisition;
s6: data storage, data backup of similarity calculation, dust accumulation degree data and cleaning frequency data are carried out, and statistical sorting is carried out so as to facilitate later checking.
The collection of the reference images in the S1 is at least two photovoltaic module reference images, the time interval of the reference images obtained in two adjacent times is 7 days, the S2 comprises a dust accumulation degree calculation module, the dust accumulation degree calculation module is connected with an image acquisition module, the S3 comprises an image preprocessing module and a similarity calculation module, the similarity calculation module is connected with a signal transmission module, the signal transmission module is connected with a cleaning controller, the photovoltaic module reference images are acquired again after cleaning is carried out again in the S5, then similarity calculation is carried out, and warning condition reporting is carried out if the requirements are not met after the three times of cleaning.
It should be particularly noted that S5 includes an alarm unit, the alarm unit is connected to the similarity calculation module, and the alarm unit is set to give an alarm when multiple cleanings fail to meet the requirement, so as to notify the worker to handle the problem and solve the problem in time, and S6 performs data analysis after data is sorted, performs program design on the area which often needs to be cleaned, and performs cleaning periodically.
Example 2
Referring to fig. 1, an intelligent control method of a photovoltaic module cleaning robot includes the following steps:
s1: the image acquisition module comprises an image collector, the image collector is arranged on one side of the photovoltaic assembly, the image collector collects images of the photovoltaic assembly in a clean state and takes the images as initial images, and then the image collector intermittently acquires a set of reference images;
s2: calculating the dust accumulation degree, firstly collecting the maximum open-circuit voltage and short-circuit current Voc1 and Isc1 of the photovoltaic module in an initial image state, collecting the maximum open-circuit voltage and short-circuit current Voc2 and Isc2 of the optical progenitor module in a reference image state in a set of reference images, presetting a dust accumulation degree threshold value after collection, and then calculating the dust accumulation degree Dj, wherein the calculation formula is as follows: the Dj is ((Voc1-Voc2)/Voc1+ (Isc1-Isc2)/Isc1)/2 x 100%, when the calculated data exceed a threshold value, the next step is carried out, otherwise, the cleaning is directly determined not to be needed, so that whether the whole photovoltaic module needs to be cleaned or not can be preliminarily judged, the control is carried out from a large direction, the control steps are reduced, and the efficiency is improved;
s3: calculating similarity, comparing a reference image in an acquired set of reference images with an initial image, calculating the similarity, splitting the initial image and the reference image during calculation, splitting the initial image and the reference image into 100 sub-images, marking, comparing each group of sub-images after marking, cleaning the sub-image regions with the similarity lower than 80%, determining whether the photovoltaic module regions need to be cleaned or not by calculating the similarity between the initial image and the reference image of the photovoltaic module, analyzing the cleaning degree of the whole photovoltaic module region during cleaning of the photovoltaic module, considering the cleaning states of all the photovoltaic modules in the photovoltaic module region, improving the accuracy of cleaning judgment of the photovoltaic module, facilitating cleaning aiming at different regions, improving the cleaning precision of the photovoltaic module and reducing energy consumption;
s4: determining a cleaning area, determining the area to be cleaned of the photovoltaic module by calculating the similarity, sending marking information of the area to be cleaned, outputting the marking information to a cleaning controller, and controlling the cleaning robot to clean through the cleaning controller;
s5: cleaning for multiple times, namely, after cleaning is performed by controlling a cleaning robot through a cleaning controller, acquiring a reference image of the photovoltaic module again through an image acquisition module, calculating the similarity of the cleaned area, cleaning again if the similarity does not meet the requirement, and ensuring that the area to be cleaned can be thoroughly cleaned to meet the requirement through multiple times of cleaning and data acquisition;
s6: data storage, data backup of similarity calculation, dust accumulation degree data and cleaning frequency data are carried out, and statistical sorting is carried out so as to facilitate later checking.
The collection of the reference images in the S1 is at least two photovoltaic module reference images, the time interval of the reference images acquired twice in the adjacent process is 4 days, the S2 comprises a dust accumulation degree calculation module, the dust accumulation degree calculation module is connected with an image acquisition module, the S3 comprises an image preprocessing module and a similarity calculation module, the similarity calculation module is connected with a signal transmission module, the signal transmission module is connected with a cleaning controller, the photovoltaic module reference images are acquired again after cleaning is carried out again in the S5, then similarity calculation is carried out, and warning condition reporting is carried out if the requirements are not met after the three times of cleaning.
It should be particularly noted that S5 includes an alarm unit, the alarm unit is connected to the similarity calculation module, and the alarm unit is set to give an alarm when multiple cleanings fail to meet the requirement, so as to notify the worker to handle the problem and solve the problem in time, and S6 performs data analysis after data is sorted, performs program design on the area which often needs to be cleaned, and performs cleaning periodically.
In the description herein, it is noted that relational terms such as first and second, and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. An intelligent control method of a photovoltaic module cleaning robot is characterized by comprising the following steps:
s1: the image acquisition module comprises an image collector, the image collector is arranged on one side of the photovoltaic assembly, the image collector collects images of the photovoltaic assembly in a clean state and takes the images as initial images, and then the image collector intermittently acquires a set of reference images;
s2: calculating the dust accumulation degree, firstly collecting the maximum open-circuit voltage and short-circuit current Voc1 and Isc1 of the photovoltaic module in an initial image state, collecting the maximum open-circuit voltage and short-circuit current Voc2 and Isc2 of the optical progenitor module in a reference image state in a set of reference images, presetting a dust accumulation degree threshold value after collection, and then calculating the dust accumulation degree Dj, wherein the calculation formula is as follows: dj ═ ((Voc1-Voc2)/Voc1+ (Isc1-Isc2)/Isc1)/2 × 100%, when the calculated data exceed the threshold value, proceed to the next step, otherwise directly determine that cleaning is not needed;
s3: calculating similarity, comparing a reference image in an acquired reference image set with an initial image, then calculating the similarity, splitting the initial image and the reference image during calculation, splitting the initial image and the reference image into 1-1000 sub-images, marking, comparing each group of sub-images after marking, and cleaning sub-image areas with the similarity lower than 20-80%;
s4: determining a cleaning area, determining the area to be cleaned of the photovoltaic module by calculating the similarity, sending marking information of the area to be cleaned, outputting the marking information to a cleaning controller, and controlling the cleaning robot to clean through the cleaning controller;
s5: cleaning for multiple times, after cleaning is carried out by controlling the cleaning robot through the cleaning controller, acquiring the reference image of the photovoltaic module again through the image acquisition module, calculating the similarity of the cleaned area, and if the similarity does not meet the requirement, cleaning again;
s6: data storage, data backup of similarity calculation, dust accumulation degree data and cleaning frequency data are carried out, and statistical sorting is carried out so as to facilitate later checking.
2. An intelligent control method for a photovoltaic module cleaning robot as claimed in claim 1, wherein the set of reference images in S1 is at least two reference images for photovoltaic module, and the time interval between two adjacent reference images is 2-8 days.
3. The intelligent control method of a photovoltaic module cleaning robot as claimed in claim 1, wherein the S2 includes a dust accumulation degree calculating module, and the dust accumulation degree calculating module is connected to the image collecting module.
4. The intelligent control method of a photovoltaic module cleaning robot as claimed in claim 3, wherein S3 includes an image preprocessing module and a similarity calculation module, the similarity calculation module is connected with a signal transmission module, and the signal transmission module is connected with a cleaning controller.
5. The intelligent control method of a photovoltaic module cleaning robot as claimed in claim 1, wherein the photovoltaic module reference image is collected again after the cleaning in S5, then the similarity calculation is performed, and the alarm reporting is performed if the requirement is not met after the cleaning is performed three times.
6. The intelligent control method of a photovoltaic module washing robot as claimed in claim 5, wherein an alarm unit is included in the S5, and the alarm unit is connected with the similarity calculation module.
7. The intelligent control method of a photovoltaic module cleaning robot as claimed in claim 1, wherein the data is sorted and analyzed in S6, and the areas which need to be cleaned frequently are programmed and cleaned periodically.
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| CN115446841A (en) * | 2022-10-26 | 2022-12-09 | 西安万飞控制科技有限公司 | Robot control method, system, terminal and medium for cleaning photovoltaic panel |
| CN115532756A (en) * | 2022-09-29 | 2022-12-30 | 中国电建集团河南省电力勘测设计院有限公司 | Photovoltaic power station washing water collection and automatic spraying control system and method |
| CN116346022A (en) * | 2023-05-31 | 2023-06-27 | 威驰腾(福建)汽车有限公司 | Roof solar device and vehicle |
| CN117381803A (en) * | 2023-12-13 | 2024-01-12 | 深圳市辉熙智能科技有限公司 | Automatic cleaning method of cleaning robot and cleaning robot |
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