CN114527762A - Automatic planning method for cleaning of photovoltaic cell panel - Google Patents

Automatic planning method for cleaning of photovoltaic cell panel Download PDF

Info

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
Application number
CN202210187227.6A
Other languages
Chinese (zh)
Inventor
罗继东
刘玉
侯宝华
王宪磊
邹梦丽
张哲�
胡瀛月
刘金辉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tarim University
Original Assignee
Tarim University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Tarim University filed Critical Tarim University
Priority to CN202210187227.6A priority Critical patent/CN114527762A/en
Publication of CN114527762A publication Critical patent/CN114527762A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246Control 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
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02SGENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
    • H02S40/00Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
    • H02S40/10Cleaning arrangements
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02EREDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00Energy generation through renewable energy sources
    • Y02E10/50Photovoltaic [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

Automatic planning method for cleaning of photovoltaic cell panel
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.
CN202210187227.6A 2022-02-28 2022-02-28 Automatic planning method for cleaning of photovoltaic cell panel Pending CN114527762A (en)

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)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
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

Patent Citations (7)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
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