CN114527762A - Automatic planning method for cleaning of photovoltaic cell panel - Google Patents
Automatic planning method for cleaning of photovoltaic cell panel Download PDFInfo
- Publication number
- CN114527762A CN114527762A CN202210187227.6A CN202210187227A CN114527762A CN 114527762 A CN114527762 A CN 114527762A CN 202210187227 A CN202210187227 A CN 202210187227A CN 114527762 A CN114527762 A CN 114527762A
- Authority
- CN
- China
- Prior art keywords
- cleaning
- photovoltaic cell
- cell panel
- cleaning robot
- route
- 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 85
- 238000000034 method Methods 0.000 title claims abstract description 29
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 24
- 238000007726 management method Methods 0.000 claims abstract description 9
- 239000007921 spray Substances 0.000 claims abstract description 9
- 238000005507 spraying Methods 0.000 claims abstract description 7
- 230000007246 mechanism Effects 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 5
- 230000004888 barrier function Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 238000007781 pre-processing Methods 0.000 claims description 2
- 238000004891 communication Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 5
- 238000010248 power generation Methods 0.000 description 4
- 238000005406 washing Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000013135 deep learning Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000013082 photovoltaic technology Methods 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- 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
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Photovoltaic Devices (AREA)
Abstract
The invention discloses an automatic planning method for cleaning of a photovoltaic cell panel, which comprises the following specific steps: generating a cleaning walking route map; acquiring the angle of a photovoltaic cell panel, an image of the photovoltaic cell panel and a route image in real time, and processing the image to obtain the dirt grade and ground data of the photovoltaic cell panel before and after cleaning; adjusting the angle of a spray head of the cleaning robot according to the real-time angle of the photovoltaic cell panel, adjusting the water spraying pressure according to the dirt grade condition of the photovoltaic cell panel, and determining whether to clean again according to the dirt grade after cleaning; the electric quantity and water tank water level data of the cleaning robot are acquired in real time, the remaining working time is calculated, the controller of the cleaning robot controls the navigator to automatically plan a walking route according to the ground data, charging and water replenishing are carried out in time, and the ground data are sent to the management machine. By adopting the automatic planning method for cleaning the photovoltaic cell panel, the cleaning effect is good, the route is automatically planned in time, and the cleaning efficiency is improved.
Description
Technical Field
The invention relates to the technical field of photovoltaic panel cleaning, in particular to an automatic planning method for cleaning a photovoltaic cell panel.
Background
Photovoltaic power generation technology is gradually and more applied to daily life as a renewable new energy source, and as a core of the photovoltaic technology, the power generation efficiency of a photovoltaic cell panel determines the energy conversion efficiency. The photovoltaic cell panel can accumulate a lot of dirt on the surface due to long-term exposure in outdoor environment, and along with the progress of science and technology, cleaning robot is adopted to clean the surface of the cell panel. The current cleaning robot sets up on the surface of panel when all, only cleans current line, cleans through the cleaning roller simultaneously, and cleaning effect is poor, does not detect again after the cleanness finishes whether qualified, leads to the unable thorough clarity to stubborn dirt, reduces the cleaning efficiency.
Disclosure of Invention
The invention aims to provide an automatic planning method for cleaning a photovoltaic cell panel, which has a good cleaning effect, automatically plans a route in time and improves the cleaning efficiency.
In order to achieve the purpose, the invention provides an automatic planning method for cleaning a photovoltaic cell panel, which comprises the following specific steps:
step S1: the cleaning robot acquires a cleaning walking route map preliminarily generated according to the arrangement of the existing photovoltaic cell panel;
step S2: acquiring the angle of a photovoltaic cell panel, an image of the photovoltaic cell panel and a route image in real time, and processing the image to obtain the dirt grade and ground data of the photovoltaic cell panel before and after cleaning;
step S3: adjusting the angle of a spray head of the cleaning robot according to the real-time angle of the photovoltaic cell panel, adjusting the water spraying pressure according to the dirt grade condition of the photovoltaic cell panel, and simultaneously determining whether to clean again according to the dirt grade after cleaning;
step S4: the method comprises the steps of acquiring electric quantity and water tank level data of the cleaning robot in real time, calculating the remaining working time, controlling a navigator to automatically plan a walking route according to ground data by a controller of the cleaning robot, returning to an initial position in time for charging and water replenishing, and sending the ground data to a management machine by the controller.
Furthermore, the sprayer is perpendicular to the photovoltaic cell panel, a first camera and a second camera are arranged on the upper side and the lower side of the sprayer, the first camera is used for collecting images of the cleaned photovoltaic cell panel, and the second camera is used for collecting images of the photovoltaic cell panel before cleaning.
Further, the image of the photovoltaic cell panel is preprocessed and then conveyed to a trained dirt detection network to obtain a dirt level, when the dirt level of the cleaned photovoltaic cell panel is larger than or equal to a set dirt level, the area is cleaned again until the dirt level of the cleaned photovoltaic cell panel is lower than the set dirt level, and the cleaning of the next area is continued.
Furthermore, the water spraying pressure corresponds to the dirt grade, and the water spraying pressure is 5-8 Mpa.
Furthermore, when the collected ground data has a pit, the cleaning robot sends the position data and the size data of the pit to the management machine to inform the management personnel of timely processing, and meanwhile, the cleaning robot adjusts the walking route and adjusts the position of the adjusting arm according to the walking route.
Further, when the ground data are collected to form obstacles, the cleaning robot stops walking, the ground data are collected continuously, the cleaning robot continues to walk in the original route after the obstacles disappear, the obstacles still exist after the ground data are collected continuously for a set time, the cleaning robot adjusts the walking route, and the position of the adjusting arm is adjusted according to the walking route.
Further, the cleaning robot includes controller, running gear, slewing mechanism, adjustment arm and is fixed in the shower nozzle of adjustment arm tail end, the bottom of adjustment arm is fixed in slewing mechanism is last, slewing mechanism and controller all are fixed in running gear is last, running gear's front end is fixed with the third camera that is used for gathering the route image, running gear is provided with around and keeps away the barrier radar, running gear the adjustment arm and the shower nozzle all is connected with the controller electricity, the controller with the manager communicates.
Therefore, the automatic planning method for cleaning the photovoltaic cell panel has the following beneficial effects:
(1) the photovoltaic cell panel before and after cleaning is subjected to dirt grade detection, so that stubborn dirt can be cleaned for multiple times until the requirement is met, and the cleaning effect is improved.
(2) The route planning is automatically carried out according to actual road surface data, real-time electric quantity and water tank water level, the cleaning efficiency is improved, meanwhile, managers can timely find fixed obstacles or pits in a photovoltaic power generation area to timely process, and the cleaning robot timely changes the planned route.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
FIG. 1 is a flow chart of an automatic planning method for cleaning a photovoltaic cell panel according to the present invention;
fig. 2 is a schematic structural diagram of the cleaning robot of the present invention.
Reference numerals
1. A controller; 2. a traveling mechanism; 3. a rotating mechanism; 4. an adjusting arm; 5. a spray head; 6. a second camera; 7. a first camera; 8. a third camera; and 9, managing the machine.
Detailed Description
Examples
Fig. 1 is a flow chart of an automatic planning method for cleaning a photovoltaic cell panel, fig. 2 is a schematic structural diagram of a cleaning robot, and as shown in the figure, the automatic planning method for cleaning a photovoltaic cell panel comprises the following specific steps:
step S1: the cleaning robot acquires a cleaning travel route map preliminarily generated according to the arrangement of the existing photovoltaic cell panel. And determining whether to wash again according to the dirt level after washing. Cleaning machines people includes controller 1, running gear 2, slewing mechanism 3, adjustment arm 4 and be fixed in shower nozzle 5 of 4 tail ends of adjustment arm, the bottom of adjustment arm 5 is fixed in slewing mechanism 3 on, slewing mechanism 3 and controller 1 all are fixed in on running gear 2, the front end of running gear 2 is fixed with the third camera 8 that is used for gathering the route image, running gear 2 is provided with around keeps away the barrier radar, running gear 2, slewing mechanism 3, adjustment arm 4 and shower nozzle 5 all are connected with controller 1 electricity, controller 1 communicates with supervisor 9 mutually.
Step S2: the method comprises the steps of acquiring angles of the photovoltaic cell panel, images of the photovoltaic cell panel and route images in real time, and processing the images to obtain dirt levels and ground data of the photovoltaic cell panel before and after cleaning. The upper and lower both sides of shower nozzle 5 are provided with first camera 7 and second camera 6, and first camera 7 is used for gathering the image of photovoltaic cell board after the washing, and second camera 6 is used for gathering the image of photovoltaic cell board before the washing. And preprocessing the image of the photovoltaic cell panel, and then conveying the image to a trained dirt detection network to obtain the dirt grade. The deep learning network belongs to the conventional method for processing data in the prior art, and the modeling and processing processes are not described in detail here.
Step S3: the angle of a spray head 5 of the cleaning robot is adjusted according to the real-time angle of the photovoltaic cell panel, the spray head 4 is perpendicular to the photovoltaic cell panel, the water spray pressure is adjusted according to the dirt grade condition of the photovoltaic cell panel, the water spray pressure corresponds to the dirt grade, and the water spray pressure is 5Mpa-8 Mpa. And when the dirt grade of the cleaned photovoltaic cell panel is larger than or equal to the set dirt grade, cleaning the area again until the dirt grade of the cleaned photovoltaic cell panel is lower than the set dirt grade, and continuing to clean the next area. Through carrying out dirt grade detection to photovoltaic cell board after before wasing, be convenient for wash stubborn dirt many times, until reaching the requirement, improve the cleaning performance.
Step S4: acquiring electric quantity and water level data (obtained by a liquid level sensor) of a water tank of the cleaning robot in real time, calculating the residual working time, controlling a navigator to automatically plan a walking route according to ground data by a controller of the cleaning robot, and returning to an initial position in time for charging and water supplementing; and send the surface data to the supervisor.
When the collected ground data has a pit, the cleaning robot sends the position data and the size data of the pit to the management machine to inform the management personnel of timely processing, and meanwhile, the cleaning robot adjusts the walking route and adjusts the position of the adjusting arm according to the walking route.
When the ground data are collected to form obstacles, the cleaning robot stops walking, the ground data are collected continuously, the cleaning robot continues to walk in the original route after the obstacles disappear, the obstacles still exist after the ground data are collected continuously for a set time, the cleaning robot adjusts the walking route, and the position of the adjusting arm is adjusted according to the walking route. According to the automatic route planning that carries out of road surface data, real-time electric quantity and water tank water level of reality, improve cleaning efficiency, managers can in time discover fixed obstacle or hole in the photovoltaic power generation region simultaneously and handle in time, and cleaning robot in time changes the planning route.
Therefore, the automatic planning method for cleaning the photovoltaic cell panel has the advantages that the cleaning effect is good, the route is automatically planned in time, and the cleaning efficiency is improved.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the invention without departing from the spirit and scope of the invention.
Claims (7)
1. An automatic planning method for cleaning of a photovoltaic cell panel is characterized by comprising the following specific steps:
step S1: the cleaning robot acquires a cleaning walking route map preliminarily generated according to the arrangement of the existing photovoltaic cell panel;
step S2: acquiring the angle of a photovoltaic cell panel, an image of the photovoltaic cell panel and a route image in real time, and processing the image to obtain the dirt grade and ground data of the photovoltaic cell panel before and after cleaning;
step S3: adjusting the angle of a spray head of the cleaning robot according to the real-time angle of the photovoltaic cell panel, adjusting the water spraying pressure according to the dirt grade condition of the photovoltaic cell panel, and simultaneously determining whether to clean again according to the dirt grade after cleaning;
step S4: the method comprises the steps of acquiring electric quantity and water tank level data of the cleaning robot in real time, calculating the remaining working time, controlling a navigator to automatically plan a walking route according to ground data by a controller of the cleaning robot, returning to an initial position in time for charging and water replenishing, and sending the ground data to a management machine by the controller.
2. The method according to claim 1, wherein the method comprises the steps of: the cleaning device comprises a sprayer and is characterized in that the sprayer is perpendicular to a photovoltaic cell panel, a first camera and a second camera are arranged on the upper side and the lower side of the sprayer, the first camera is used for collecting images of the cleaned photovoltaic cell panel, and the second camera is used for collecting images of the photovoltaic cell panel before cleaning.
3. The method according to claim 2, wherein the method comprises the steps of: and after preprocessing the image of the photovoltaic cell panel, conveying the image to a trained dirt detection network to obtain a dirt grade, when the dirt grade of the cleaned photovoltaic cell panel is larger than or equal to a set dirt grade, cleaning the area again until the dirt grade of the cleaned photovoltaic cell panel is lower than the set dirt grade, and continuing to clean the next area.
4. The automatic planning method for photovoltaic panel cleaning according to claim 3, characterized in that: the water spraying pressure corresponds to the dirt grade, and the water spraying pressure is 5-8 Mpa.
5. The method according to claim 4, wherein the method comprises the steps of: when the collected ground data has a pit, the cleaning robot sends the position data and the size data of the pit to the management machine to inform the management personnel of timely processing, and meanwhile, the cleaning robot adjusts the walking route and adjusts the position of the adjusting arm according to the walking route.
6. The method according to claim 4, wherein the method comprises the steps of: when the ground data are collected to form obstacles, the cleaning robot stops walking, the ground data are collected continuously, the cleaning robot continues to walk in the original route after the obstacles disappear, the obstacles still exist after the ground data are collected continuously for a set time, the cleaning robot adjusts the walking route, and the position of the adjusting arm is adjusted according to the walking route.
7. The method according to claim 4, wherein the method comprises the steps of: cleaning machines people includes controller, running gear, slewing mechanism, adjustment arm and is fixed in the shower nozzle of adjustment arm tail end, the bottom of adjustment arm is fixed in slewing mechanism is last, slewing mechanism and controller all are fixed in running gear is last, running gear's front end is fixed with the third camera that is used for gathering the route image, running gear is provided with around keeps away the barrier radar, running gear the slewing mechanism the adjustment arm and the shower nozzle all is connected with the controller electricity, the controller with the manager is the communication.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210187227.6A CN114527762A (en) | 2022-02-28 | 2022-02-28 | Automatic planning method for cleaning of photovoltaic cell panel |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210187227.6A CN114527762A (en) | 2022-02-28 | 2022-02-28 | Automatic planning method for cleaning of photovoltaic cell panel |
Publications (1)
Publication Number | Publication Date |
---|---|
CN114527762A true CN114527762A (en) | 2022-05-24 |
Family
ID=81625497
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202210187227.6A Pending CN114527762A (en) | 2022-02-28 | 2022-02-28 | Automatic planning method for cleaning of photovoltaic cell panel |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN114527762A (en) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN115242185A (en) * | 2022-08-25 | 2022-10-25 | 新疆天诚新能源设备维护有限公司 | Be used for photovoltaic to wash unmanned intelligent automatic robot |
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 |
CN117439534A (en) * | 2023-12-20 | 2024-01-23 | 厦门蓝旭科技有限公司 | Cleaning robot based on visual navigation movement and navigation system thereof |
LU504113B1 (en) * | 2023-02-23 | 2024-02-01 | Huaneng Renewables Corporation Ltd Hebei Branch | An automatic cleaning method for photovoltaic module |
CN118458413A (en) * | 2024-07-02 | 2024-08-09 | 山东海大机器人科技有限公司 | Automatic train cleaning system and method for intelligent unloading robot of train car dumper |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20120152877A1 (en) * | 2010-12-16 | 2012-06-21 | Saied Tadayon | Robot for Solar Farms |
CN103599907A (en) * | 2013-12-06 | 2014-02-26 | 邵俊松 | Self-navigation full-automatic cleaning device for photovoltaic cell panel |
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 |
EP3591838A2 (en) * | 2018-07-06 | 2020-01-08 | Hampe & Schellhorn Service GbR | Vehicle system and method for autonomous and automated maintenance or care of a photovoltaic free surface system |
CN112183403A (en) * | 2020-09-30 | 2021-01-05 | 郑州迈拓信息技术有限公司 | Photovoltaic cleaning robot cleaning speed adjusting method based on computer vision |
CN112511095A (en) * | 2020-12-15 | 2021-03-16 | 华能宁夏能源有限公司新能源分公司 | Intelligent photovoltaic cleaning spray head and working method thereof |
KR102322611B1 (en) * | 2021-03-16 | 2021-11-08 | 주식회사 이가에너지 | Exzavztor-type apparatus for Cleaning solar cell panels |
-
2022
- 2022-02-28 CN CN202210187227.6A patent/CN114527762A/en active Pending
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20120152877A1 (en) * | 2010-12-16 | 2012-06-21 | Saied Tadayon | Robot for Solar Farms |
CN103599907A (en) * | 2013-12-06 | 2014-02-26 | 邵俊松 | Self-navigation full-automatic cleaning device for photovoltaic cell panel |
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 |
EP3591838A2 (en) * | 2018-07-06 | 2020-01-08 | Hampe & Schellhorn Service GbR | Vehicle system and method for autonomous and automated maintenance or care of a photovoltaic free surface system |
CN112183403A (en) * | 2020-09-30 | 2021-01-05 | 郑州迈拓信息技术有限公司 | Photovoltaic cleaning robot cleaning speed adjusting method based on computer vision |
CN112511095A (en) * | 2020-12-15 | 2021-03-16 | 华能宁夏能源有限公司新能源分公司 | Intelligent photovoltaic cleaning spray head and working method thereof |
KR102322611B1 (en) * | 2021-03-16 | 2021-11-08 | 주식회사 이가에너지 | Exzavztor-type apparatus for Cleaning solar cell panels |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN115242185A (en) * | 2022-08-25 | 2022-10-25 | 新疆天诚新能源设备维护有限公司 | Be used for photovoltaic to wash unmanned intelligent automatic robot |
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 |
LU504113B1 (en) * | 2023-02-23 | 2024-02-01 | Huaneng Renewables Corporation Ltd Hebei Branch | An automatic cleaning method for photovoltaic module |
CN117439534A (en) * | 2023-12-20 | 2024-01-23 | 厦门蓝旭科技有限公司 | Cleaning robot based on visual navigation movement and navigation system thereof |
CN117439534B (en) * | 2023-12-20 | 2024-03-22 | 厦门蓝旭科技有限公司 | Cleaning robot based on visual navigation movement and navigation system thereof |
CN118458413A (en) * | 2024-07-02 | 2024-08-09 | 山东海大机器人科技有限公司 | Automatic train cleaning system and method for intelligent unloading robot of train car dumper |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN114527762A (en) | Automatic planning method for cleaning of photovoltaic cell panel | |
CN106552782B (en) | A kind of cleaning method of flying disc type photovoltaic battery panel washer | |
CN109261584A (en) | Integrated robot is washed away in a kind of electrification | |
CN103599907B (en) | A kind of photovoltaic battery panel Full-automatic of auto-navigation | |
CN109691935A (en) | Clean robot and its application method between a kind of Intelligent sanitary | |
US20210140682A1 (en) | Dust removal device for solar panel | |
CN112327821A (en) | Intelligent cleaning robot path planning method based on deep reinforcement learning | |
CN106930379A (en) | Toilet and its flush control method | |
CN111657779A (en) | Intelligent window cleaning robot based on machine vision and cleaning method thereof | |
CN108259000A (en) | A kind of full-automatic purging system of photovoltaic module and cleaning method | |
CN114226323A (en) | Intelligent robot suitable for operation and maintenance dust removal of photovoltaic power station and control method | |
CN117938055A (en) | Robot cluster system for cleaning photovoltaic panel and method thereof | |
CN116979882A (en) | Auxiliary cleaning structure of photovoltaic cleaning robot | |
CN103290797B (en) | A kind of road sweeper device people | |
CN210871329U (en) | Intelligent toilet cleaning robot | |
CN213162159U (en) | Automatic cleaning robot for photovoltaic panel | |
CN108856019A (en) | A kind of photovoltaic solar panel cleaning robot | |
CN109124503A (en) | A kind of full dimension gets over six function cleaning robot of layer and control method automatically | |
CN111330890A (en) | Automatic cleaning system and method for solar cell panel | |
CN113953241A (en) | Flight device for high-pressure washing of photovoltaic panel and cleaning method | |
CN209346909U (en) | A kind of full dimension gets over six function cleaning robot of layer and service sink automatically | |
CN211914908U (en) | Photovoltaic module cleaning system | |
CN113953242A (en) | Flight device for cleaning photovoltaic panel and cleaning method | |
CN211107343U (en) | Intelligent car washer with mechanical arm | |
CN209305586U (en) | A kind of track train intelligently unloads dirty system |
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 |