CN116611602B - Photovoltaic panel cleaning path planning method and system - Google Patents
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Abstract
The invention provides a photovoltaic panel cleaning path planning method and a system, wherein the method comprises the following steps: collecting a photovoltaic panel image, measuring and calculating the pose of the photovoltaic panel through image processing, and calculating the real size of the photovoltaic panel based on the pose of the photovoltaic panel; dividing the photovoltaic panel into a plurality of unit grids according to the single cleaning range of the cleaning device; calculating the cleaning cost of each grid from a preset initial cleaning position based on the dirt type in each grid identified by the image, and setting the cleaning priority; and comprehensively calculating the cleaning priority based on the cleaning priority, and planning an optimal cleaning path according to the cleaning priority and the cleaning cost. Through this scheme can reduce the water consumption and the cleaning time that the photovoltaic board cleaned, clean efficiency has effectively been improved based on the path planning.
Description
Technical Field
The invention belongs to the field of cleaning of photovoltaic products, and particularly relates to a photovoltaic panel cleaning path planning method and system.
Background
Solar power generation has been a widely used form of clean energy in the past few decades. Solar panels are core components of solar power generation systems that generate electricity by converting sunlight into electrical energy. Cleaning of photovoltaic panels is one of the key factors to ensure efficient operation of solar energy, and dust, dirt and loose blades on photovoltaic panels can block entry of sunlight and reduce power generation, thus requiring frequent cleaning of photovoltaic panels.
Because the photovoltaic panel is usually installed at a high place or a place which is difficult to reach, an intelligently controlled cleaning robot is currently adopted to participate in cleaning work, however, the cleaning mode is often to automatically control the robot to clean when stains are identified on the image of the photovoltaic panel collected by a camera, and the cleaning is usually only carried out according to a preset certain sequence on a plurality of stains on a large panel. Such cleaning methods lacking rational path planning can suffer from inefficient cleaning.
Disclosure of Invention
In view of the above, the embodiment of the invention provides a method and a system for planning a cleaning path of a photovoltaic panel, which are used for solving the problem of low cleaning efficiency of the existing photovoltaic panel.
In a first aspect of an embodiment of the present invention, there is provided a method for planning a cleaning path of a photovoltaic panel, including:
collecting a photovoltaic panel image, measuring and calculating the pose of the photovoltaic panel through image processing, and calculating the real size of the photovoltaic panel based on the pose of the photovoltaic panel;
dividing the photovoltaic panel into a plurality of unit grids according to the single cleaning range of the cleaning device;
calculating the cleaning cost of each grid from a preset initial cleaning position based on the dirt type in each grid identified by the image, and setting the cleaning priority;
and comprehensively calculating the cleaning priority based on the cleaning priority, and planning an optimal cleaning path according to the cleaning priority and the cleaning cost.
In a second aspect of the embodiments of the present invention, there is provided a photovoltaic panel cleaning path planning system, comprising:
the image acquisition module is used for acquiring the image of the photovoltaic panel;
the image processing module is used for measuring and calculating the pose of the photovoltaic panel through image processing, calculating the real size of the photovoltaic panel based on the pose of the photovoltaic panel, and obtaining the dirt type in each grid based on image recognition;
the path planning module is used for dividing the photovoltaic panel into a plurality of unit grids according to the single cleaning range of the cleaning device, calculating the cleaning cost of each grid from a preset initial cleaning position based on the dirt type in each grid, setting the cleaning priority, comprehensively calculating the cleaning priority based on the cleaning priority, and planning the optimal cleaning path according to the cleaning priority and the cleaning cost.
In a third aspect of the embodiments of the present invention, there is provided an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method according to the first aspect of the embodiments of the present invention when the computer program is executed by the processor.
In a fourth aspect of the embodiments of the present invention, there is provided a computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of the method provided by the first aspect of the embodiments of the present invention.
According to the embodiment of the invention, the pose of the photovoltaic panel and the real size of the photovoltaic panel are calculated by performing image processing on the photovoltaic panel, the photovoltaic panel is divided into a plurality of unit grids, the cleaning cost and the cleaning priority of each grid are respectively calculated based on the dirt type in the grid, the cleaning comprehensive index is calculated according to the cleaning priority, and the optimal cleaning path is planned according to the cleaning comprehensive index and the cleaning cost. Therefore, the cleaning efficiency of the photovoltaic panel can be effectively improved, and repeated cleaning and missing cleaning are avoided. Meanwhile, the cleaning cost and the dirt type influence are comprehensively considered, so that the water consumption can be reduced, and the cleaning time is shortened.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings described below are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.
Fig. 1 is a schematic flow chart of a method for planning a cleaning path of a photovoltaic panel according to an embodiment of the present invention;
FIG. 2 is a schematic view of a dirt distribution of a photovoltaic panel according to an embodiment of the present invention;
FIG. 3 is a schematic view of a photovoltaic panel cleaning path plan according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of another path planning for cleaning a photovoltaic panel according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a photovoltaic panel cleaning path planning system according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, features and advantages of the present invention more comprehensible, the technical solutions in the embodiments of the present invention are described in detail below with reference to the accompanying drawings, and it is apparent that the embodiments described below are only some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be understood that the term "comprising" and other similar meaning in the description of the invention or the claims and the above-mentioned figures is intended to cover a non-exclusive inclusion, such as a process, method or system, apparatus comprising a series of steps or elements, without limitation to the listed steps or elements. Furthermore, "first" and "second" are used to distinguish between different objects and are not used to describe a particular order.
Referring to fig. 1, a flow chart of a method for planning a cleaning path of a photovoltaic panel according to an embodiment of the present invention includes:
s101, collecting a photovoltaic panel image, measuring and calculating the pose of the photovoltaic panel through image processing, and calculating the real size of the photovoltaic panel based on the pose of the photovoltaic panel;
the camera is used for collecting the photovoltaic panel image, the camera can be a high-definition camera carried by a cleaning robot, the collected photovoltaic panel image is processed by an upper computer and comprises image color space conversion, denoising, binarization, feature extraction and the like, the outline, appearance defect, the ground included angle and other information of the photovoltaic panel can be extracted, and accordingly the position and the appearance of the photovoltaic panel can be identified, the position and the appearance of the photovoltaic panel comprise an inclination angle-pitch angle relative to a horizontal plane and an inclination angle-yaw angle relative to a vertical plane, the inclination angle of the photovoltaic panel can be determined according to the position and the appearance of the photovoltaic panel, and the real size of the photovoltaic panel can be calculated.
Wherein the image processing includes: converting the photovoltaic panel image into a gray level image, and performing self-adaptive median filtering on the gray level image to eliminate noise influence; and binarizing the image after noise reduction, and extracting the outline of the photovoltaic panel through a canny operator.
If the included angle between the photovoltaic panel and the horizontal plane measured by the camera is theta, calculating the real size of the photovoltaic panel according to the formula:；
wherein b represents the projected length of the photovoltaic panel on the horizontal plane, which can be measured by a camera calibration technique (similar triangle principle) according to the camera parameters (the distance from the imaging plane to the convex lens) and the real distance between the camera and the photovoltaic panel;representing the true dimensions of the photovoltaic panel.
It can be understood that the distance between the camera and the photovoltaic panel is fixed, and the actual physical size of the photovoltaic panel can be calculated by combining the focal length of the camera, the width of the pixels in the image and the distance between the camera and the photovoltaic panel based on the principle of similar triangle according to the principle of imaging of the camera.
S102, dividing the photovoltaic panel into a plurality of unit grids according to the single cleaning range of the cleaning device;
the photovoltaic panel is divided into a plurality of cells by the size of the cleaning device, and each cell is just the single cleaning range of the cleaning device.
S103, calculating the cleaning cost of each grid from a preset initial cleaning position based on the dirt type in each grid identified by the image, and setting the cleaning priority;
the dirt type at least comprises dust, leaves, bird droppings, scale and moss, and the dirt type and area in each unit network are analyzed based on the identification result of the photovoltaic panel image.
Illustratively, as shown in FIG. 2, the light Fu Banwang is shown as being binned to the types of dirt that may be present within each bin.
The preset starting cleaning position can be a grid in the upper left corner or the upper right corner of the photovoltaic panel. The cleaning cost can be characterized by water consumption, and a cost matrix can be constructed based on the cleaning cost calculated by each grid.
Wherein the cleaning cost for each grid is calculated according to equation (1):
；（1）
wherein C represents water consumption, k represents water consumption proportion parameter, and A represents dirt area in relation to dirt type and cleaning force of cleaning tool.
Optionally, the setting the cleaning priority includes: the method comprises the steps of setting the higher priority of cleaning the upper part of a photovoltaic plate than the lower part, setting the higher priority of cleaning the lower part of the photovoltaic plate than the lower part of the photovoltaic plate, setting the lower priority of cleaning the photovoltaic plate than the lower priority of cleaning the photovoltaic plate, and setting the higher priority of cleaning the photovoltaic plate than the lower priority of cleaning the photovoltaic plate.
The cleaning device requires a predetermined principle of preferential cleaning during the cleaning process. Because the photovoltaic panel has an inclined angle, moisture is easy to deposit below when the upper area is cleaned, and therefore, the priority above the photovoltaic panel is higher; when cleaning the dirt at the next position, the dirt close to the current position should be treated preferentially, so that the cleaning device is prevented from moving frequently for a long distance; the dirt cleaning difficulty is low, and the water consumption is low, so that the dirt can be treated preferentially; the easy-to-move or diffuse dirt cleaning can be used for enlarging the dirt area, and the dirt area needs to be preferentially treated, so that the cleaned place needs to be cleaned again due to dirt diffusion.
And S104, comprehensively calculating the cleaning priority based on the cleaning priority, and planning an optimal cleaning path according to the cleaning priority and the cleaning cost.
The cleaning priority is used for indicating a priority index of dirt cleaning, comprehensively considers the set priority during dirt cleaning, and quantifies the cleaning process priority. And combining the cleaning cost of the unit grids to obtain the cleaning path cost, thereby determining the optimal cleaning path.
Wherein the cleaning priority is calculated according to formula (2):
；（2）
in the method, in the process of the invention,，/>，/>all represent priority coefficients, ">Related to the type of dirt->In relation to the size of the photovoltaic panel>In relation to the inclination angle of the photovoltaic panel, i and j represent the current coordinates of the cleaning position, d represents the distance between the target point and the current position, k represents the number of unit grids divided transversely or longitudinally of the photovoltaic panel, and P represents the cleaning priority.
Optionally, when the predetermined dirt of the easy diffusion type does not exist on the photovoltaic panel, calculating a sorting index according to the cleaning priority and the cleaning cost of each grid, and obtaining an optimal cleaning path based on the sorting index;
when scheduled dirt easy to diffuse exists on the photovoltaic panel, calculating path cost from the current position to the target dirt position according to the cleaning priority and the cleaning cost of each grid, taking a path with the minimum path cost as an optimal cleaning path, and sequentially searching the optimal cleaning paths of all dirt until the photovoltaic panel is cleaned completely;
wherein, the path cost is calculated according to formula (3):
；（3）
in the method, in the process of the invention,weighting parameters for cost->Weighting parameters for priority->Indicating the cleaning cost->Indicating the cleaning priority.
For example, as shown in fig. 3, for a photovoltaic panel with simpler dirt, if no easily-diffused dirt exists on the surface of the photovoltaic panel, the cleaning priority can be easily calculated, and the ranking index can be obtained according to the cleaning priority and the cleaning cost of each gridThe optimal cleaning path is generally to adopt a zigzag route from top to bottom for cleaning;
。
as shown in fig. 4, for a photovoltaic panel with complex fouling conditions, it is assumed that the ratio between (x 1 ,y 1 ) There is dirt to be cleaned preferentially, and cleaning is performed according to the cleaning priority. The specific process is as follows:
firstly, calculating cleaning priority at a starting point position, and determining a planned first cleaning path according to the pollution level, the cleaning priority and the cleaning cost. Let the starting point be (x 0 ,y 0 ) The fouling point is (x 1 ,y 1 ) And searching a path from the starting point to the dirt point, calculating the path cost of the path, and selecting the path with the minimum path cost r from all paths as an optimal path.
；
After the first path planning, a cleaning matrix is establishedThe area where the cleaning has been completed is recorded. At this time the starting point becomes (x) 1 ,y 1 ) Then, the cleaning priority is recalculated from this point, and the point (x) with the highest priority is selected 2 ,y 2 ) As an end point of the second path planning, a second path is defined from (x 1 ,y 1 ) Search for (x) 2 ,y 2 ) And calculates the cost r, and selects the path with the minimum cost r as the optimal path. The above process is repeated until the cleaning matrix is full, i.e. the photovoltaic panel is fully cleaned.
Preferably, the aluminum alloy frame and the inclination angle of the photovoltaic panel cause the most serious pollution below the photovoltaic panel, water is easy to accumulate, scale and moss are generated, the scale can reduce the power generation performance and the service life of the photovoltaic panel, and meanwhile, the scale can be missed due to the shielding of the aluminum alloy plate, so that the lowest layer of the photovoltaic panel is cleaned from the left direction and the right direction in order to ensure the full cleaning of the photovoltaic panel.
Preferably, the target detection algorithm is used for detecting regional dirt of the photovoltaic panel, the cleaning quality of the path planning is evaluated based on the dirt detection result, and the relevant parameters of the path planning are optimized according to the detected dirt position.
In this embodiment, based on the planning of photovoltaic board cleaning path, can improve photovoltaic board cleaning efficiency greatly, avoid appearing leaking and sweep and the problem of repeatedly cleaning. Meanwhile, the water consumption is considered in the cleaning cost, and the influence of dirt diffusion on cleaning is considered in the cleaning priority, so that the water consumption can be reduced, and the cleaning time can be shortened.
It should be understood that the sequence number of each step in the above embodiment does not mean the sequence of execution, and the execution sequence of each process should be determined by its function and internal logic, and should not be construed as limiting the implementation process of the embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a photovoltaic panel cleaning path planning system according to an embodiment of the present invention, where the system includes:
the image acquisition module 510 is used for acquiring a photovoltaic panel image;
the image processing module 520 is configured to measure and calculate a pose of the photovoltaic panel through image processing, calculate a real size of the photovoltaic panel based on the pose of the photovoltaic panel, and obtain a dirt type in each grid based on image recognition;
the path planning module 530 is configured to divide the photovoltaic panel into a plurality of unit grids according to a single cleaning range of the cleaning device, calculate a cleaning cost of each grid from a starting cleaning position based on a dirt type in each grid, set a cleaning priority, comprehensively calculate the cleaning priority based on the cleaning priority, and plan an optimal cleaning path according to the cleaning priority and the cleaning cost.
Wherein the cleaning cost for each grid is calculated according to equation (1):
；（1）
wherein C represents water consumption, k represents water consumption proportion parameter, and A represents dirt area in relation to dirt type and cleaning force of cleaning tool.
Wherein the setting of the cleaning priority includes:
the method comprises the steps of setting the higher priority of cleaning the upper part of a photovoltaic plate than the lower part, setting the higher priority of cleaning the lower part of the photovoltaic plate than the lower part of the photovoltaic plate, setting the lower priority of cleaning the photovoltaic plate than the lower priority of cleaning the photovoltaic plate, and setting the higher priority of cleaning the photovoltaic plate than the lower priority of cleaning the photovoltaic plate.
Specifically, the comprehensive calculation of the cleaning priority P based on the cleaning priority includes:
calculating a cleaning priority according to formula (2):
；（2）
in the method, in the process of the invention,，/>，/>all represent priority coefficients, ">Related to the type of dirt->In relation to the size of the photovoltaic panel>In relation to the inclination angle of the photovoltaic panel, i and j represent the current coordinates of the cleaning position, d represents the distance between the target point and the current position, k represents the number of unit grids divided transversely or longitudinally of the photovoltaic panel, and P represents the cleaning comprehensive index.
Preferably, when the predetermined dirt with easy diffusion type does not exist on the photovoltaic panel, calculating a sorting index according to the cleaning priority and the cleaning cost of each grid, and obtaining an optimal cleaning path based on the sorting index;
when scheduled dirt easy to diffuse exists on the photovoltaic panel, calculating path cost from the current position to the target dirt position according to the cleaning priority and the cleaning cost of each grid, taking a path with the minimum path cost as an optimal cleaning path, and sequentially searching the optimal cleaning paths of all dirt until the photovoltaic panel is cleaned completely;
wherein, the path cost is calculated according to formula (3):
；（3）
in the method, in the process of the invention,weighting parameters for cost->Weighting parameters for priority->Indicating the cleaning cost->Indicating the cleaning priority.
Preferably, the path planning module 530 further includes:
and the parameter optimization module is used for detecting regional dirt of the photovoltaic panel through a target detection algorithm, evaluating the cleaning quality of the path planning based on a dirt detection result, and optimizing related parameters of the path planning according to the detected dirt position.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described system and module may refer to corresponding procedures in the foregoing method embodiments, which are not described herein again.
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. The electronic device is used for planning a cleaning path of the photovoltaic panel. As shown in fig. 6, the electronic device 6 of this embodiment includes: a memory 610, a processor 620, and a system bus 630, the memory 610 including an executable program 6101 stored thereon, it will be understood by those skilled in the art that the electronic device structure shown in fig. 6 is not limiting of the electronic device and may include more or fewer components than illustrated, or may combine some components, or a different arrangement of components.
The following describes the respective constituent elements of the electronic device in detail with reference to fig. 6:
the memory 610 may be used to store software programs and modules, and the processor 620 performs various functional applications and data processing of the electronic device by executing the software programs and modules stored in the memory 610. The memory 610 may mainly include a storage program area that may store an operating system, application programs required for at least one function (such as a sound playing function, an image playing function, etc.), and a storage data area; the storage data area may store data created according to the use of the electronic device (such as cache data), and the like. In addition, memory 610 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.
An executable program 6101 containing a network request method on a memory 610, the executable program 6101 may be divided into one or more modules/units stored in the memory 610 and executed by a processor 620 for assisted positioning based on a camera or the like, the one or more modules/units may be a series of computer program instruction segments capable of performing specific functions describing the execution of the executable program 6101 in the electronic device 6. For example, the executable program 6101 may be divided into functional modules such as an image acquisition module, an image processing module, and a path planning module.
The processor 620 is a control center of the electronic device, connects various parts of the entire electronic device using various interfaces and lines, and performs various functions of the electronic device and processes data by running or executing software programs and/or modules stored in the memory 610, and calling data stored in the memory 610, thereby performing overall state monitoring of the electronic device. Optionally, the processor 620 may include one or more processing units; preferably, the processor 620 may integrate an application processor that primarily handles operating systems, applications, etc., with a modem processor that primarily handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 620.
The system bus 630 is used to connect various functional components inside the computer, and CAN transfer data information, address information, and control information, and the types of which may be PCI bus, ISA bus, and CAN bus, for example. Instructions from the processor 620 are transferred to the memory 610 via the bus, the memory 610 feeds back data to the processor 620, and the system bus 630 is responsible for data and instruction interactions between the processor 620 and the memory 610. Of course, the system bus 630 may also access other devices such as a network interface, a display device, etc.
In an embodiment of the present invention, the executable program executed by the processor 620 included in the electronic device includes:
collecting a photovoltaic panel image, measuring and calculating the pose of the photovoltaic panel through image processing, and calculating the real size of the photovoltaic panel based on the pose of the photovoltaic panel;
dividing the photovoltaic panel into a plurality of unit grids according to the single cleaning range of the cleaning device;
calculating the cleaning cost of each grid from a preset initial cleaning position based on the dirt type in each grid identified by the image, and setting the cleaning priority;
and comprehensively calculating the cleaning priority based on the cleaning priority, and planning an optimal cleaning path according to the cleaning priority and the cleaning cost.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described system, apparatus and module may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A method for planning a cleaning path of a photovoltaic panel, comprising:
collecting a photovoltaic panel image, measuring and calculating the pose of the photovoltaic panel through image processing, and calculating the real size of the photovoltaic panel based on the pose of the photovoltaic panel;
dividing the photovoltaic panel into a plurality of unit grids according to the single cleaning range of the cleaning device;
calculating the cleaning cost of each grid from a preset initial cleaning position based on the dirt type in each grid identified by the image, and setting the cleaning priority;
comprehensively calculating the cleaning priority based on the cleaning priority, and planning an optimal cleaning path according to the cleaning priority and the cleaning cost;
wherein the cleaning priority is calculated according to formula (2):
;（2）
in the method, in the process of the invention,all represent priority coefficients, ">Related to the type of dirt->In relation to the size of the photovoltaic panel>In relation to the inclination angle of the photovoltaic panel, i and j represent the current coordinates of the cleaning position, d represents the distance between the target point and the current position, k represents the number of unit grids divided transversely or longitudinally of the photovoltaic panel, and P represents the cleaning priority;
when the predetermined dirt easy to diffuse exists on the photovoltaic panel, calculating a sorting index according to the cleaning priority and the cleaning cost of each grid, and obtaining an optimal cleaning path based on the sorting index;
when scheduled dirt easy to diffuse exists on the photovoltaic panel, calculating path cost from the current position to the target dirt position according to the cleaning priority and the cleaning cost of each grid, taking a path with the minimum path cost as an optimal cleaning path, and sequentially searching the optimal cleaning paths of all dirt until the photovoltaic panel is cleaned completely;
wherein, the path cost is calculated according to formula (3):
；（3）
in the method, in the process of the invention,weighting parameters for cost->Weighting parameters for priority->Indicating the cleaning cost->Indicating the cleaning priority.
2. The method of claim 1, wherein calculating the cleaning cost for each grid from the preset starting cleaning position comprises:
the cleaning cost for each grid is calculated according to equation (1):
；（1）
in the method, in the process of the invention,Cthe water consumption is represented by the water consumption,kindicating the water consumption proportion parameter, relating to the dirt type and the cleaning force of the cleaning tool,Aindicating the area of fouling.
3. The method of claim 1, wherein the setting the cleaning priority comprises:
the method comprises the steps of setting the higher priority of cleaning the upper part of a photovoltaic plate than the lower part, setting the higher priority of cleaning the lower part of the photovoltaic plate than the lower part of the photovoltaic plate, setting the lower priority of cleaning the photovoltaic plate than the lower priority of cleaning the photovoltaic plate, and setting the higher priority of cleaning the photovoltaic plate than the lower priority of cleaning the photovoltaic plate.
4. The method of claim 1, wherein the comprehensively calculating the cleaning priority based on the cleaning priority and planning an optimal cleaning path based on the cleaning priority and the cleaning cost further comprises:
and detecting regional dirt on the photovoltaic panel through a target detection algorithm, evaluating the cleaning quality of the path planning based on a dirt detection result, and optimizing relevant parameters of the path planning according to the detected dirt position.
5. A photovoltaic panel cleaning path planning system, comprising at least:
the image acquisition module is used for acquiring the image of the photovoltaic panel;
the image processing module is used for measuring and calculating the pose of the photovoltaic panel through image processing, calculating the real size of the photovoltaic panel based on the pose of the photovoltaic panel, and obtaining the dirt type in each grid based on image recognition;
the path planning module is used for dividing the photovoltaic panel into a plurality of unit grids according to the single cleaning range of the cleaning device, calculating the cleaning cost of each grid from a preset initial cleaning position based on the dirt type in each grid, setting the cleaning priority, comprehensively calculating the cleaning priority based on the cleaning priority, and planning an optimal cleaning path according to the cleaning priority and the cleaning cost;
wherein the cleaning priority is calculated according to formula (2):
；（2）
in the method, in the process of the invention,all represent priority coefficients, ">Type of dirtRelated to (I)>In relation to the size of the photovoltaic panel>In relation to the inclination angle of the photovoltaic panel, i and j represent the current coordinates of the cleaning position, d represents the distance between the target point and the current position, k represents the number of unit grids divided transversely or longitudinally of the photovoltaic panel, and P represents the cleaning priority;
when the predetermined dirt easy to diffuse exists on the photovoltaic panel, calculating a sorting index according to the cleaning priority and the cleaning cost of each grid, and obtaining an optimal cleaning path based on the sorting index;
when scheduled dirt easy to diffuse exists on the photovoltaic panel, calculating path cost from the current position to the target dirt position according to the cleaning priority and the cleaning cost of each grid, taking a path with the minimum path cost as an optimal cleaning path, and sequentially searching the optimal cleaning paths of all dirt until the photovoltaic panel is cleaned completely;
wherein, the path cost is calculated according to formula (3):
；（3）
in the method, in the process of the invention,weighting parameters for cost->Weighting parameters for priority->Indicating the cleaning cost->Indicating the cleaning priority.
6. The system of claim 5, wherein the path planning module further comprises:
and the parameter optimization module is used for detecting regional dirt of the photovoltaic panel through a target detection algorithm, evaluating the cleaning quality of the path planning based on a dirt detection result, and optimizing related parameters of the path planning according to the detected dirt position.
7. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of a method for planning a cleaning path for a photovoltaic panel according to any one of claims 1 to 4 when the computer program is executed by the processor.
8. A computer readable storage medium storing a computer program, characterized in that the computer program when executed implements the steps of a method for planning a cleaning path for a photovoltaic panel according to any one of claims 1 to 4.
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