CN113953242A - Flight device for cleaning photovoltaic panel and cleaning method - Google Patents
Flight device for cleaning photovoltaic panel and cleaning method Download PDFInfo
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- CN113953242A CN113953242A CN202111077670.XA CN202111077670A CN113953242A CN 113953242 A CN113953242 A CN 113953242A CN 202111077670 A CN202111077670 A CN 202111077670A CN 113953242 A CN113953242 A CN 113953242A
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- 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
- B08B3/024—Cleaning by means of spray elements moving over the surface to be cleaned
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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
Abstract
The invention discloses a flying device for cleaning a photovoltaic panel, which comprises: the cleaning mechanism is detachably arranged at the bottom of the flying mechanism; the flight mechanism comprises a flight machine body, and a rotor wing assembly, a control system and an image acquisition device which are arranged on the flight machine body; the cleaning mechanism comprises a cleaning machine body, a cleaning assembly and a walking device, wherein the cleaning assembly and the walking device are installed on the cleaning machine body. The invention also discloses a method for cleaning the flying device for cleaning the photovoltaic panel, which comprises the steps 1 to 6. According to the flight device and the cleaning method for cleaning the photovoltaic panel, disclosed by the invention, the photovoltaic panel is cleaned in water, the cleaning effect is evaluated and judged, and the purposes of thorough cleaning, strong environmental adaptability, convenience in use and high water resource utilization rate are achieved.
Description
Technical Field
The invention relates to the technical field of cleaning robots, in particular to a flying device for cleaning a photovoltaic panel and a cleaning method.
Background
The photovoltaic panel is arranged outdoors, and fine dust particles, soil, bird droppings and the like attached to the surface of the photovoltaic panel can influence the transmittance of light, so that the radiation quantity received by the surface of the component is influenced, and the power generation efficiency is influenced; and the spot that local sheltered from such as surface earth, bird droppings can cause the hot spot effect at photovoltaic board local, reduces the generating efficiency, burns out the subassembly even, consequently in order to improve photovoltaic board generating efficiency, needs regularly to wash the photovoltaic board.
Because the photovoltaic panels are generally erected in the air, and the photovoltaic panels are large in area, the manual cleaning and obstacle crossing capability is insufficient, and the defects of inconvenience, high danger, high maintenance cost and low efficiency exist, more and more photovoltaic panels adopt mechanical cleaning to replace manual work. The technologies adopted by the existing mechanical cleaning generally include two types: one method is that a cleaning robot is used for cleaning the photovoltaic panel by adopting a waterless dry cleaning method, and the cleaning mode cannot clean stubborn stains such as bird droppings, aerosol, dust scabbing and the like, has an unsatisfactory cleaning effect, cannot run in a cross-row mode, and is inconvenient to use; the other type is that the photovoltaic panel is cleaned by adopting a cleaning vehicle, and although the cleaning effect of the cleaning vehicle after water wet cleaning is good, the problems of high cost, low environmental adaptability, low water resource utilization rate and the like exist.
Accordingly, there is a need for improvements in the art that overcome the deficiencies in the prior art.
Disclosure of Invention
The invention aims to provide a flying device for cleaning a photovoltaic panel and a cleaning method to solve the technical problems.
In order to achieve the purpose, the invention adopts the following technical scheme:
a flying apparatus for photovoltaic panel cleaning, the flying apparatus comprising: the cleaning mechanism is detachably arranged at the bottom of the flying mechanism;
the flight mechanism comprises a flight body, and a rotor wing assembly, a control system and an image acquisition device which are arranged on the flight body, wherein the image acquisition device is electrically connected with the control system and acquires data, the control system is in communication connection with an external central server and is used for receiving and transmitting data and instructions, the rotor wing assembly is electrically connected with the control system and is controlled by the control system to provide flight power for the flight device, and the control system receives the instructions from the central server to control the flight device to operate;
the cleaning mechanism comprises a cleaning machine body, a cleaning assembly and a walking device, wherein the cleaning assembly and the walking device are installed on the cleaning machine body, the cleaning assembly and the walking device are electrically connected with the control system, when the image acquisition device identifies stains on the photovoltaic panel, the control system controls the flying device to fall on the photovoltaic panel with the stains, and the image acquisition device continuously identifies the stains and cooperates with the control system to control the walking device to move to the stains and cooperate with the cleaning assembly to clean the stains on the photovoltaic panel.
As a further improved technical scheme of the invention, the instruction sent by the central server is an inspection instruction, the flying device flies according to a preset height and a route and scans stains on a photovoltaic panel in the photovoltaic power station through the image acquisition device, when the image acquisition device finds and determines the position of the stains, the control system sends a first cleaning instruction, the control system controls the flying device to fall on the photovoltaic panel with the stains, and the image acquisition device continuously identifies the stains, controls the walking device to move to the stains by matching with the control system and cleans the stains on the photovoltaic panel by matching with the cleaning assembly.
As a further improved technical scheme of the invention, the image acquisition device acquires the image of the spot on the cleaned photovoltaic panel after cleaning again and judges whether the cleaning reaches the standard, if the cleaning does not reach the standard, the control system sends a second cleaning instruction, the image acquisition device continuously identifies the spot, and the control system is matched to control the walking device to move to the spot and the cleaning assembly to clean the spot on the photovoltaic panel again; and if the standard is met, the control system controls the flying device to take off and continue to execute the incomplete inspection instruction.
As a further improved technical scheme of the invention, the cleaning mechanism further comprises a water supply assembly, when the image acquisition device identifies stains on the photovoltaic panel, the control system controls the water supply assembly to spray cleaning liquid towards the stains before the cleaning assembly cleans, a liquid level detection module is installed in the water supply assembly, the liquid level detection module is electrically connected with the control system, the control system sends a first return command after receiving lower threshold data detected by the liquid level detection module, and the flight device returns; the flight device facial make-up is equipped with the lithium cell, flight mechanism with wiper mechanism all by lithium cell power supply, control system has an electric quantity detection module, control system receives send the second instruction of returning to the journey after the lower threshold value data that electric quantity detection module detected, flight device returns to the journey, flight device returns to the station and carries out the liquid feeding and charges, and after the liquid feeding is accomplished with charging, control system control flight device takes off and continues to carry out uncompleted it patrols and examines the instruction, until it accomplishes to patrol and examine the instruction, flight device returns the station and repaiies.
As a further improved technical solution of the present invention, the control system includes a positioning module, a communication module and a self-checking module, the positioning module is used for acquiring position information of the flying device, the communication module is used for implementing wireless communication and data transmission between the control system and the central server, and the self-checking module is used for monitoring whether the flying device has a fault during operation.
As a further improved technical solution of the present invention, the cleaning assembly includes a cleaning brush and a first driving device, the cleaning brush is rotatably mounted on one side of the cleaning machine body, and the first driving device is connected to the cleaning brush for driving the cleaning brush to rotate.
As a further improved technical scheme of the invention, the water supply assembly comprises a plurality of spray heads, a water storage box and a water pump, the spray heads are arranged on the cleaning machine body at intervals and close to one side of the cleaning assembly, and spray holes of the spray heads are obliquely and downwards arranged towards the outer side; the water pump is connected between the spray head and the water storage box and is used for pumping the cleaning liquid in the water storage box into the spray head to spray.
As a further improved technical scheme of the invention, the rotor assembly comprises four rotors which are rotatably mounted at four corners of the aircraft body and are centrosymmetric, and four second driving devices which are correspondingly connected with the rotors one by one.
As a further improved technical scheme of the invention, the walking device is arranged at the bottom of the cleaning machine body and is a crawler walking mechanism.
The invention also discloses a cleaning method of the cleaning device for cleaning the photovoltaic panel, which comprises the following steps of 1-6:
step 1: the central server sends out a polling instruction to control the flying device to scan stains on a photovoltaic panel in the photovoltaic power station;
step 2: in the inspection process, when the image acquisition device finds and determines the position of the stain, the control system sends a first cleaning instruction to control the flight device to land on the photovoltaic panel to clean the photovoltaic panel;
and step 3: after cleaning, the image acquisition device scans and judges whether the cleaning reaches the standard, and if the cleaning does not reach the standard, the control system sends a second cleaning instruction to clean the photovoltaic panel again; if the standard is met, the control system controls the flying device to take off and continue to execute the unfinished inspection instruction;
and 4, step 4: in the process that the flight device completes the inspection instruction, when the flight device is in fault or lack of supply, the control system receives a return instruction, and the flight device returns;
and 5: if the failure cause is returned, actively calling manual solution after returning, solving the problem that the incomplete inspection instruction is continuously executed, if the failure cause is not supplied, automatically supplying the flight device after returning to the stop station, and continuously executing the incomplete inspection instruction after the supply is finished;
step 6: and returning the flying device to the stop station for finishing until the inspection instructions are completely finished.
Compared with the prior art, the flying device and the cleaning method for cleaning the photovoltaic panel are provided with the flying mechanism and the cleaning mechanism, can automatically fly and patrol according to the preset height and route, carry out image acquisition and analysis recognition on the stains of the photovoltaic panel through the image acquisition device, judge the position of the stains, land the stains to the position of the stains of the photovoltaic panel, carry out water cleaning on the photovoltaic panel, evaluate and judge the cleaning effect, can carry out repeated cleaning for many times, achieve thorough cleaning, particularly have a good cleaning effect on stubborn stains, have strong environmental adaptability, are convenient to use and high in water resource utilization rate, can carry out targeted cleaning on the stains, do not need large-scale cleaning operation, improve the cleaning efficiency, reduce the cleaning cost, make up the defects of the traditional cleaning, and further improve the overall benefit of a cleaning system.
Drawings
Fig. 1 is a schematic perspective view of a flying device for photovoltaic panel cleaning according to the invention;
FIG. 2 is a schematic perspective view of FIG. 1 at another angle;
FIG. 3 is a schematic block diagram of the working flow of the flying device for photovoltaic panel cleaning according to the invention;
FIG. 4 is a schematic block diagram of the steps of the cleaning method of the flying device for cleaning photovoltaic panels according to the present invention.
Reference numerals
An aircraft body-1; a control system-2; an image acquisition device-3; cleaning the machine body-4; a positioning module-5; a communication module-6; cleaning brush-7; a spray head-8; a water storage box-9; a rotor wing-10; a crawler belt walking mechanism-11.
Detailed Description
Exemplary embodiments of the present invention will be described in detail below with reference to the accompanying drawings. If several embodiments exist, the features of these embodiments may be combined with each other without conflict. When the description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The statements made in the following exemplary detailed description do not represent all implementations consistent with the present disclosure; rather, they are merely examples of apparatus, products, and/or methods consistent with certain aspects of the invention, as set forth in the claims below.
The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of the present invention. As used in the specification and claims of this invention, the singular form of "a", "an", or "the" is intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be understood that the use of terms such as "first," "second," and the like, in the description and in the claims of the present invention do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. Unless otherwise indicated, the terms "front," "back," "up," "down," and the like in the description of the invention are used for convenience of description and are not limited to a particular position or spatial orientation. The word "comprise" or "comprises", and the like, is an open-ended expression meaning that an element that precedes "includes" or "comprising" includes "that the element that follows" includes "or" comprises "and its equivalents, that do not preclude the element that precedes" includes "or" comprising "from also including other elements. If the invention is referred to as "a plurality", it means two or more.
Referring to fig. 1 to 3, the present invention discloses a flying device for cleaning a photovoltaic panel, which is suitable for cleaning stains on the surface of objects such as a photovoltaic panel, and especially has a better cleaning effect on stubborn stains. The flying device comprises: flight mechanism and wiper mechanism, wiper mechanism demountable installation are in the flight mechanism bottom, and the convenience is dismantled maintenance to both. When the cleaning device works, the flying mechanism executes flying operation to identify stains, the stains land to the positions of the stains, and then the cleaning mechanism carries out cleaning operation.
Referring to fig. 1, the flight mechanism includes a flight body 1, and a rotor assembly, a control system 2 and an image acquisition device 3 installed on the flight body 1, the control system 2 has a positioning module 5, a communication module 6 and a self-checking module, the positioning module 5 is used for acquiring position information of the flight device, the communication module 6 is used for realizing wireless communication and data transmission between the control system 2 and a central server, and the self-checking module is used for monitoring whether the flight device has a fault during operation. Image acquisition device 3 is the camera, can cooperate control system 2 to realize image acquisition and recognition functions such as flight control, photovoltaic board spot discernment, and image acquisition device 3 is connected and carries out data acquisition with control system 2 electricity, and the data that will gather again are transmitted to outside central server through communication module 6. The control system 2 is communicatively connected to an external central server for receiving and transmitting data and commands. The rotor wing assembly is electrically connected with the control system 2 and is controlled by the control system 2 to provide flight power for the flight device, and the control system 2 receives instructions from the central server to control the operation of the flight device.
Wherein, the rotor subassembly is including rotating four second drive arrangement that install and be four rotors 10 that centrosymmetric and be connected with rotor 10 one-to-one at 1 four corners of aircraft organism, and second drive arrangement is the motor, and the high-speed rotation of control system 2 control motor drive rotor 10 provides flight power by the control system.
Wherein, image acquisition device 3 still can increase thermal imaging or infrared ray etc. device of mutually combining, also can clean the operation night to guarantee the electricity generation of photovoltaic board daytime.
Wherein, the instruction that central server sent is for patrolling and examining the instruction, flight mechanism carries out spot scanning and data collection according to patrolling and examining the instruction according to predetermineeing height and route flight and through the photovoltaic board in the image acquisition device 3 in to the photovoltaic power plant, data collection includes data such as spot image and positional information, send data collection to central server through communication module 6, when image acquisition device 3 found and confirmed the position of spot, control system 2 sends first washing instruction, control system 2 controls flight device and falls on the photovoltaic board that has the spot, rotor subassembly stop operation, cleaning mechanism washs the operation. The image acquisition device 3 continuously identifies stains, controls the walking device to move towards the stains by matching with the control system 2, and cleans the stains on the photovoltaic panel by matching with the cleaning assembly.
With continued reference to fig. 1, the cleaning mechanism includes a cleaning machine body 4, and a cleaning assembly and a traveling device mounted on the cleaning machine body 4, the cleaning assembly and the traveling device are both electrically connected to the control system 2, and the execution commands of the cleaning assembly and the traveling device are both from the control system 2. After the flying device descends to the spot position of the photovoltaic panel, the image acquisition device 3 continuously identifies the spot and cooperates with the control system 2 to control the walking device to move towards the spot and cooperate with the cleaning assembly to clean the spot on the photovoltaic panel.
The image acquisition device 3 acquires the cleaned spot image of the cleaned photovoltaic panel again and judges whether the cleaning reaches the standard, if the cleaning does not reach the standard, the cleaned spot image acquisition data is sent to the central server through the communication module 6, a second cleaning instruction is sent out by the control system 2, the image acquisition device 3 continuously identifies the spot and cooperates with the control system 2 to control the walking device to move to the spot and cooperate with the cleaning assembly to clean the spot on the photovoltaic panel again; and if the standard is met, the control system 2 controls the flying device to take off and continue to execute the unfinished inspection instruction. By adopting the technical means, the cleaning effect can be evaluated and judged, repeated cleaning can be carried out for a plurality of times when necessary, and thorough and clean cleaning is ensured.
Wherein, the cleaning assembly comprises a cleaning brush 7 and a first driving device, the cleaning brush 7 is rotatably installed at one side of the cleaning machine body 4, the first driving device comprises a motor and a transmission assembly, and the motor is connected with the cleaning brush 7 through the transmission assembly and is used for driving the cleaning brush 7 to rotate. The cleaning brush 7 can be, but is not limited to, a flexible brush roll, a squeegee roll, a woven cloth roll, and the like, which can clean the surface.
The cleaning mechanism can further comprise a water supply assembly, when the image acquisition device 3 identifies stains on the photovoltaic panel, the control system 2 controls the water supply assembly to spray cleaning liquid towards the stains before the cleaning assembly cleans, stubborn stains can be removed by adopting the cleaning assembly and matching the water supply assembly, the cleaning is clean, and the cleaning effect is good.
Wherein, water supply assembly includes a plurality of shower nozzles 8, water storage box 9 and water pump, and a plurality of 8 intervals of shower nozzle set up and be close to washing assembly one side top position on washing organism 4, and the orifice of shower nozzle 8 sets up towards outside slope downwards, can spray the washing liquid in photovoltaic board spot position. The water pump is connected between the spray head 8 and the water storage box 9 and is used for pumping the cleaning liquid in the water storage box 9 into the spray head 8 to spray.
Referring to fig. 2, the traveling device is installed at the bottom of the cleaning machine body 4, and the traveling device is a crawler traveling mechanism 11, but the traveling device may also adopt a method and materials for realizing planar movement, such as a wheel traveling mechanism, a ball traveling mechanism, and the like.
In this embodiment, the aircraft facial make-up is equipped with the lithium cell, and flight mechanism and wiper mechanism are supplied power by the lithium cell, and control system 2 has an electric quantity detection module for real-time supervision lithium cell electric quantity. When the electric quantity detection module detects that the electric quantity of the lithium battery is in the lower threshold value, the control system 2 sends a second return flight instruction after receiving the lower threshold value data, and the flight device returns. A liquid level detection module is installed in the water storage box 9 and used for monitoring the liquid level in the water storage box 9 in real time, and the liquid level detection module is electrically connected with the control system 2. When the liquid level detection module monitors that the liquid level in the water storage box 9 is at a lower threshold value, the control system 2 sends a first return instruction after receiving lower threshold value data detected by the liquid level detection module, the flying device returns to the air and automatically returns to the stop station for supply, after liquid adding and charging are completed, the control system 2 controls the flying device to take off and continue to execute unfinished inspection instructions until all the inspection instructions are completed, and the flying device returns to the stop station for finishing.
Referring to fig. 3, the working principle of the present embodiment is as follows: after the charging and water adding work of the flying device is completed at a stop station, according to an inspection instruction of a central server, a control system 2 controls a rotor wing 10 to start to take off and enter an operation flow, according to transmission data of a positioning module 5, the flying device flies according to a preset height and a route, an image acquisition device 3 is used for carrying out image acquisition and analysis recognition on a photovoltaic panel, if stains are found, the inspection stain image acquisition data are sent to the central server through a communication module 6, the control system 2 sends a first cleaning instruction, the control system 2 controls the flying device to fall on the photovoltaic panel with the stains, a rotor wing assembly stops operating, and a cleaning mechanism carries out cleaning operation; the image acquisition device 3 continuously identifies stains and controls the water supply assembly to spray cleaning liquid towards the stains, the control system 2 controls the walking device to move towards the stains and cooperates with the cleaning assembly to clean the stains on the photovoltaic panel, traversing cleaning operation of the photovoltaic panel in a certain area of the position is completed, and no dead angle is left; the image acquisition device 3 is used for evaluating and judging the cleaning effect, and the cleaning operation can be repeated for multiple times if necessary; after the cleaning is finished, taking off and continuing to finish the rest inspection and cleaning operation along the preset height and route; if the lithium battery or the liquid level is in the lower threshold value during the inspection period, namely the electric quantity is insufficient or the water is short, the automatic return flight is carried out, the aircraft takes off again after being supplied to the stop station, and the inspection and cleaning operation of the whole power station is completed.
Referring to fig. 4, the invention also discloses a method for cleaning a flying device for cleaning a photovoltaic panel, which comprises the following steps 1 to 6:
step 1: the central server sends out a polling instruction to control the flying device to scan stains on a photovoltaic panel in the photovoltaic power station;
step 2: in the inspection process, when the image acquisition device 3 finds and determines the position of the stain, the control system 2 sends a first cleaning instruction to control the flight device to land on the photovoltaic panel to clean the photovoltaic panel;
and step 3: after cleaning, the image acquisition device 3 scans and judges whether the cleaning reaches the standard, if not, the control system 2 sends a second cleaning instruction to clean the photovoltaic panel again; if the standard is met, the control system 2 controls the flying device to take off and continue to execute the unfinished inspection instruction;
and 4, step 4: in the process that the flight device completes the inspection instruction, when the flight device is in fault or lack of supply, the control system 2 receives a return instruction, and the flight device returns;
and 5: if the failure cause is returned, actively calling manual solution after returning, solving the problem that the incomplete inspection instruction is continuously executed, if the failure cause is not supplied, automatically supplying the flying device after returning to the stop station, and continuously executing the incomplete inspection instruction after the supply is finished;
step 6: and returning the flying device to the stop station for finishing until the inspection instructions are completely finished.
In summary, the flying device and the cleaning method for cleaning the photovoltaic panel provided by the invention are provided with the flying mechanism and the cleaning mechanism, can automatically fly and patrol according to a preset height and a preset route, carry out image acquisition and analysis recognition on stains on the photovoltaic panel through the image acquisition device, judge the position of the stains, land the stains to the position of the stains on the photovoltaic panel, carry out water cleaning on the photovoltaic panel, evaluate and judge the cleaning effect, can carry out repeated cleaning for many times, achieve thorough cleaning, particularly have a good cleaning effect on stubborn stains, have strong environmental adaptability, are convenient to use and high in water resource utilization rate, can carry out targeted cleaning on the stains, do not need to carry out large-scale cleaning operation, improve the cleaning efficiency, reduce the cleaning cost, make up the defects of the traditional cleaning, and further improve the overall benefit of the cleaning system.
The above embodiments are only used for illustrating the present invention and not for limiting the technical solutions described in the present invention, and the understanding of the present specification should be based on the technical personnel in the technical field, such as the directional descriptions of "front", "back", "left", "right", "upper", "lower", etc., although the present specification has described the present invention in detail with reference to the above embodiments, the ordinary skilled in the art should understand that the technical personnel in the technical field can still make modifications or equivalent substitutions on the present invention, and all the technical solutions and modifications thereof without departing from the spirit and scope of the present invention should be covered in the claims of the present invention.
Claims (10)
1. A flying device for photovoltaic panel cleaning, characterized in that it comprises: the cleaning mechanism is detachably arranged at the bottom of the flying mechanism;
the flight mechanism comprises a flight machine body (1), and a rotor wing assembly, a control system (2) and an image acquisition device (3) which are installed on the flight machine body (1), wherein the image acquisition device (3) is electrically connected with the control system (2) and acquires data, the control system (2) is in communication connection with an external central server and is used for receiving and transmitting data and instructions, the rotor wing assembly is electrically connected with the control system (2) and is controlled by the control system (2) to provide flight power for the flight device, and the control system (2) receives the instructions from the central server to control the flight device to operate;
the cleaning mechanism comprises a cleaning machine body (4), a cleaning assembly and a walking device, wherein the cleaning assembly and the walking device are installed on the cleaning machine body (4), the cleaning assembly and the walking device are electrically connected with the control system (2), when the image acquisition device (3) identifies stains on the photovoltaic panel, the control system (2) controls the flying device to fall on the photovoltaic panel with the stains, the image acquisition device (3) continuously identifies the stains and is matched with the control system (2) to control the walking device to move to the stains and be matched with the cleaning assembly to clean the stains on the photovoltaic panel.
2. Flying device for photovoltaic panel cleaning, according to claim 1, characterized in that: the instruction that central server sent is for patrolling and examining the instruction, flying device basis patrol and examine the instruction and carry out the spot scanning according to presetting height and route flight and pass through image acquisition device (3) carry out the spot in to the photovoltaic board in the photovoltaic power plant, work as when image acquisition device (3) found and confirmed the position of spot, control system (2) send first washing instruction, control system (2) control flying device falls on the photovoltaic board that has the spot, image acquisition device (3) continuously discern the spot and cooperate control system (2) control running gear removes and cooperates to spot department the spot on the photovoltaic board is washd to cleaning assembly.
3. Flying device for photovoltaic panel cleaning, according to claim 2, characterized in that: the image acquisition device (3) acquires the cleaned stain image of the cleaned spot position of the photovoltaic panel again and judges whether the cleaning reaches the standard, if the cleaning does not reach the standard, the control system (2) sends a second cleaning instruction, the image acquisition device (3) continuously identifies the stain, and the control system (2) is matched to control the walking device to move to the stain and the cleaning assembly to clean the stain on the photovoltaic panel again; and if the inspection command meets the standard, the control system (2) controls the flying device to take off and continue to execute the unfinished inspection command.
4. Flying device for photovoltaic panel cleaning, according to claim 1, characterized in that:
the cleaning mechanism further comprises a water supply assembly, when the image acquisition device (3) identifies stains on the photovoltaic panel, the control system (2) controls the water supply assembly to spray cleaning liquid towards the stains before the cleaning assembly cleans, a liquid level detection module is installed in the water supply assembly, the liquid level detection module is electrically connected with the control system (2), the control system (2) sends a first return command after receiving lower threshold data detected by the liquid level detection module, and the flight device returns,
the flight device is provided with a lithium battery, the flight mechanism and the cleaning mechanism are both powered by the lithium battery, the control system (2) is provided with an electric quantity detection module, the control system (2) sends a second return instruction after receiving lower threshold data detected by the electric quantity detection module, and the flight device returns,
the flying device sails back to the stop station to carry out liquid adding and charging, after the liquid adding and charging are completed, the control system (2) controls the flying device to take off and continue to execute the incomplete inspection instructions until the inspection instructions are completely completed, and the flying device returns to the stop station to be repaired.
5. Flying device for photovoltaic panel cleaning, according to claim 1, characterized in that: control system (2) have a locating module (5), a communication module (6) and a self-checking module, locating module (5) are used for gathering flight device's positional information, communication module (6) are used for realizing control system (2) with central server's wireless communication and data transmission, the self-checking module is used for monitoring when the operation whether flight device produces the trouble.
6. Flying device for photovoltaic panel cleaning, according to claim 1, characterized in that: the cleaning assembly comprises a cleaning brush (7) and a first driving device, wherein the cleaning brush (7) is rotatably installed on one side of the cleaning machine body (4), and the first driving device is connected with the cleaning brush (7) and used for driving the cleaning brush (7) to rotate.
7. Flying device for photovoltaic panel cleaning, according to claim 1, characterized in that: the water supply assembly comprises a plurality of spray heads (8), a water storage box (9) and a water pump, the spray heads (8) are arranged on the cleaning machine body (4) at intervals and close to one side of the cleaning assembly, and spray holes of the spray heads (8) are obliquely and downwards arranged towards the outer side; the water pump is connected between the spray head (8) and the water storage box (9) and is used for pumping the cleaning liquid in the water storage box (9) into the spray head (8) to be sprayed out.
8. Flying device for photovoltaic panel cleaning, according to claim 1, characterized in that: the rotor subassembly is including rotating the installation four rotors (10) that are central symmetry in flying organism (1) four corners and with four second drive arrangement that rotor (10) one-to-one is connected.
9. Flying device for photovoltaic panel cleaning, according to claim 1, characterized in that: the walking device is arranged at the bottom of the cleaning machine body (4), and the walking device is a crawler walking mechanism (11).
10. The cleaning method for cleaning the photovoltaic panel based on the flying device of claim 1 is characterized by comprising the following steps 1-6:
step 1: the central server sends out a polling instruction to control the flying device to scan stains on a photovoltaic panel in the photovoltaic power station;
step 2: in the inspection process, when the image acquisition device (3) finds and determines the position of the stain, the control system (2) sends a first cleaning instruction to control the flight device to land on the photovoltaic panel to clean the photovoltaic panel;
and step 3: after cleaning is finished, the image acquisition device (3) scans and judges whether cleaning reaches the standard, and if not, the control system (2) sends a second cleaning instruction to clean the photovoltaic panel again; if the inspection command meets the standard, the control system (2) controls the flying device to take off and continue to execute the unfinished inspection command;
and 4, step 4: in the process that the flight device completes the inspection instruction, when the flight device is in fault or lack of supply, the control system (2) receives a return flight instruction, and the flight device returns;
and 5: if the failure cause is returned, actively calling manual solution after returning, solving the problem that the incomplete inspection instruction is continuously executed, if the failure cause is not supplied, automatically supplying the flight device after returning to the stop station, and continuously executing the incomplete inspection instruction after the supply is finished;
step 6: and returning the flying device to the stop station for finishing until the inspection instructions are completely finished.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111077670.XA CN113953242A (en) | 2021-09-15 | 2021-09-15 | Flight device for cleaning photovoltaic panel and cleaning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111077670.XA CN113953242A (en) | 2021-09-15 | 2021-09-15 | Flight device for cleaning photovoltaic panel and cleaning method |
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| Publication Number | Publication Date |
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| CN113953242A true CN113953242A (en) | 2022-01-21 |
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| CN202111077670.XA Pending CN113953242A (en) | 2021-09-15 | 2021-09-15 | Flight device for cleaning photovoltaic panel and cleaning method |
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