CN117544096A - Photovoltaic panel cleaning method and system and electronic equipment - Google Patents
Photovoltaic panel cleaning method and system and electronic equipment Download PDFInfo
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/10—Cleaning arrangements
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- 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
- H02S40/30—Electrical components
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Abstract
The present disclosure provides a photovoltaic panel cleaning method, system and electronic device, the cleaning method comprising: collecting image information of a photovoltaic panel; determining a panel to be cleaned and a region to be cleaned on the panel to be cleaned according to the image information; controlling the cleaning module to reach the panel to be cleaned; the control cleaning module cleans an area to be cleaned on the panel to be cleaned. The cleaning method can accurately position the panel to be cleaned and the area to be cleaned on the panel, and control the cleaning module to clean the panel to be cleaned and the area to be cleaned on the panel, so that the intelligent degree is high, the manual intervention can be reduced, and the cleaning efficiency is improved.
Description
Technical Field
The disclosure relates to the field of operation and maintenance of photovoltaic stations, in particular to a photovoltaic panel cleaning method, a system and electronic equipment.
Background
A photovoltaic farm refers to a site for installing and operating a solar photovoltaic power generation system, which generally includes photovoltaic panels, racks, and the like. The geographical environment where the photovoltaic station is located causes that the photovoltaic panel is extremely easy to be influenced by pollutants such as sand dust, bird droppings and the like, if the photovoltaic panel is not cleaned in time, the power generation efficiency is influenced by light dirt accumulation, hot spots are caused by heavy dirt accumulation, and the photovoltaic panel is damaged.
Existing photovoltaic panel cleaning systems typically employ manual and automated cleaning equipment for cleaning, but both have certain limitations.
Disclosure of Invention
In view of the foregoing, an object of the present disclosure is to provide a stable and reliable method, system and electronic device for cleaning a photovoltaic panel.
In order to achieve the above object, an embodiment of the present disclosure provides a method for cleaning a photovoltaic panel, the method comprising: collecting image information of the photovoltaic panel; determining a panel to be cleaned and a region to be cleaned on the panel to be cleaned according to the image information; controlling a cleaning module to reach the panel to be cleaned; and controlling the cleaning module to clean the cleaning area on the panel to be cleaned.
As a further improvement of an embodiment of the present disclosure, after the controlling the cleaning module cleans the area to be cleaned on the panel to be cleaned, the cleaning module further includes: and acquiring the image information of the photovoltaic panel again, and determining the cleaning effect of the area to be cleaned.
As a further improvement of an embodiment of the present disclosure, the collecting the image information of the photovoltaic panel includes: making a patrol task, wherein the patrol task at least comprises a patrol route and an information acquisition target; controlling the unmanned aerial vehicle to carry out inspection along the inspection route, and controlling the acquisition equipment to acquire the image information of the photovoltaic panel so as to finish the information acquisition target; wherein the image information includes infrared light image information and visible light image information of the photovoltaic panel.
As a further improvement of an embodiment of the present disclosure, the controlling unmanned aerial vehicle performs inspection along the inspection route, including: acquiring external environment information and unmanned aerial vehicle state information; judging whether the inspection route, the external environment information and the unmanned aerial vehicle state information meet preset flight executing conditions or not; and responding to the inspection route, the external environment information and the unmanned aerial vehicle state information to meet the preset flight-executing conditions, controlling the unmanned aerial vehicle to take off and inspecting along the inspection route.
As a further improvement of an embodiment of the present disclosure, the determining a panel to be cleaned according to the image information, and a region to be cleaned on the panel to be cleaned, includes: acquiring an analysis result output by the intelligent detection analysis module according to the image information; determining the positions of the panel to be cleaned and the area to be cleaned according to the analysis result; the analysis result comprises the number of the photovoltaic panels, the positions of the photovoltaic panels and dirt information; the number of the photovoltaic panels comprises the total number of the photovoltaic panels and the number of the panels to be cleaned, wherein the area to be cleaned exists; the photovoltaic panel position comprises the position of the panel to be cleaned in a photovoltaic field station; the soil information includes a type of soil and a location of the soil on the panel to be cleaned.
As a further improvement of an embodiment of the present disclosure, the controlling the cleaning module to clean a cleaning area on the cleaning panel includes: formulating a cleaning task and sending the cleaning task to the cleaning module; controlling the cleaning module to perform self-checking, and judging whether the cleaning module meets preset working conditions or not; and controlling the cleaning module to stop for recovery in response to the cleaning module not meeting the preset working condition.
As a further improvement of an embodiment of the present disclosure, the controlling the cleaning module to clean a cleaning area on the cleaning panel includes: formulating a cleaning task and sending the cleaning task to the cleaning module; controlling the cleaning module to perform self-checking, and judging whether the cleaning module meets preset working conditions or not; responding to the cleaning module meeting the preset working condition, acquiring the range of the area to be cleaned and determining the cleaning scheme of the area to be cleaned according to the range of the area to be cleaned and the type of the dirt; and controlling the cleaning module to execute the cleaning task according to the cleaning scheme.
As a further improvement of an embodiment of the present disclosure, the determining a cleaning solution of the cleaning area according to the range of the cleaning area and the type of the dirt includes: determining a stubborn level of the dirt according to the type of the dirt; judging whether the intractable grade of the dirt is smaller than or equal to a preset grade; judging whether the range of the area to be cleaned is smaller than or equal to the size of a cleaning unit on the cleaning module or not in response to the intractable grade of the dirt is smaller than or equal to the preset grade; and controlling the cleaning module to walk along the linear path for a first preset number of times in response to the range of the area to be cleaned being smaller than or equal to the size of the cleaning unit on the cleaning module.
As a further improvement of an embodiment of the present disclosure, the determining a cleaning solution of the cleaning area according to the range of the cleaning area and the type of the dirt includes: determining a stubborn level of the dirt according to the type of the dirt; judging whether the intractable grade of the dirt is smaller than or equal to a preset grade; judging whether the range of the area to be cleaned is smaller than or equal to the size of a cleaning unit on the cleaning module or not in response to the intractable level of the dirt being larger than the preset level; and controlling the cleaning module to walk along the linear path for a second preset number of times in response to the range of the area to be cleaned being smaller than or equal to the size of the cleaning unit on the cleaning module, wherein the second preset number of times is larger than the first preset number of times.
As a further improvement of an embodiment of the present disclosure, the determining a cleaning solution of the cleaning area according to the range of the cleaning area and the type of the dirt includes: determining a stubborn level of the dirt according to the type of the dirt; judging whether the intractable grade of the dirt is smaller than or equal to a preset grade; judging whether the range of the area to be cleaned is smaller than or equal to the size of a cleaning unit on the cleaning module or not in response to the intractable grade of the dirt is smaller than or equal to the preset grade; and controlling the cleaning module to walk along the grid-shaped path for a first preset number of times in response to the range of the area to be cleaned being greater than the size of the cleaning unit on the cleaning module.
As a further improvement of an embodiment of the present disclosure, the determining a cleaning solution of the cleaning area according to the range of the cleaning area and the type of the dirt includes: determining a stubborn level of the dirt according to the type of the dirt; judging whether the intractable grade of the dirt is smaller than or equal to a preset grade; judging whether the range of the area to be cleaned is smaller than or equal to the size of a cleaning unit on the cleaning module or not in response to the intractable level of the dirt being larger than the preset level; and controlling the cleaning module to walk along the grid-shaped path for a second preset number of times in response to the range of the area to be cleaned being larger than the size of the cleaning unit on the cleaning module, wherein the second preset number of times is larger than the first preset number of times.
As a further improvement of an embodiment of the present disclosure, after the controlling the cleaning module to perform the cleaning task according to the cleaning scheme, the cleaning module further includes: and controlling the unmanned aerial vehicle or the handheld device to recycle the cleaning module after the cleaning task is completed.
As a further improvement of an embodiment of the present disclosure, the controlling the cleaning module to perform the cleaning task according to the cleaning scheme further includes: acquiring the working state of the cleaning module in real time; judging whether the cleaning module is abnormal according to the working state; and responding to the abnormality of the cleaning module, acquiring the type of the abnormality and controlling the cleaning module to wait for recovery or continue working according to the type of the abnormality.
As a further improvement of an embodiment of the present disclosure, the controlling the cleaning module to wait for recovery includes: controlling the cleaning module to move to the edge of the photovoltaic panel provided with the barrier; and controlling the cleaning module to keep an adsorption state and waiting for recovery.
As a further improvement of an embodiment of the present disclosure, the controlling the cleaning module to reach the panel to be cleaned includes: acquiring a panoramic map of the photovoltaic station and the position of the cleaning module; planning a navigation path from the cleaning module to the area to be cleaned; and controlling the unmanned aerial vehicle to convey the cleaning module along the navigation path.
As a further improvement of an embodiment of the present disclosure, the navigation path is planned with a path shortest or evading a fixed target.
To achieve the above object, the present disclosure also provides a photovoltaic panel cleaning system comprising: the inspection module is used for collecting image information of the photovoltaic panel; a cleaning module for cleaning the photovoltaic panel; the control module is used for determining a panel to be cleaned and an area to be cleaned on the panel to be cleaned according to the image information and controlling the cleaning module to clean the area to be cleaned on the panel to be cleaned.
To achieve the above object, the present disclosure further provides an electronic device including a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the method for cleaning a photovoltaic panel according to any one of the above when executing the program.
The photovoltaic panel cleaning method provided by the disclosure can accurately position the panel to be cleaned and the area to be cleaned on the panel, and control the cleaning module to clean the panel to be cleaned and the area to be cleaned on the panel, so that the intelligent degree is high, the manual intervention can be reduced, and the cleaning efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions of the present disclosure or related art, the drawings required for the description of the embodiments or related art will be briefly described below, and it is apparent that the drawings in the following description are only embodiments of the present disclosure, and other drawings may be obtained from these drawings without inventive effort to those of ordinary skill in the art.
FIG. 1 is a flow chart of a method for cleaning a photovoltaic panel according to an embodiment of the present disclosure;
fig. 2 is a flowchart of step S1 in a method for cleaning a photovoltaic panel according to another embodiment of the present disclosure;
Fig. 3 is a flowchart of step S12 in a method for cleaning a photovoltaic panel according to another embodiment of the present disclosure
Fig. 4 is a flowchart of step S2 in a method for cleaning a photovoltaic panel according to another embodiment of the present disclosure;
fig. 5 is a flowchart of step S3 in a method for cleaning a photovoltaic panel according to another embodiment of the present disclosure;
fig. 6 is a flowchart of step S4 in a method for cleaning a photovoltaic panel according to another embodiment of the present disclosure;
fig. 7 is a flowchart of step S44 in a method for cleaning a photovoltaic panel according to another embodiment of the present disclosure;
fig. 8 is a flowchart of step S45 in a method for cleaning a photovoltaic panel according to another embodiment of the present disclosure;
fig. 9 is a flowchart of step S453 in a method for cleaning a photovoltaic panel according to another embodiment of the present disclosure;
FIG. 10 is a schematic diagram of a mesh path provided by an embodiment of the present disclosure;
FIG. 11 is a schematic illustration of a method of cleaning a photovoltaic panel provided in accordance with another embodiment of the present disclosure;
FIG. 12 is a schematic view of a photovoltaic panel cleaning system provided in an embodiment of the present disclosure;
fig. 13 is a schematic block diagram of an electronic device according to an embodiment of the disclosure.
Detailed Description
The present invention will be described in detail below with reference to specific embodiments shown in the drawings. These embodiments are not intended to limit the invention and structural, methodological, or functional modifications of these embodiments that may be made by one of ordinary skill in the art are included within the scope of the invention.
Embodiments it should be noted that unless otherwise defined, technical or scientific terms used in the embodiments of the present disclosure should be taken in a general sense as understood by one of ordinary skill in the art to which the present disclosure pertains. The terms "first," "second," and the like, as used in embodiments of the present disclosure, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", etc. are used merely to indicate relative positional relationships, which may also be changed when the absolute position of the object to be described is changed.
Worldwide, renewable energy power generation typified by photovoltaic is accelerating the replacement of conventional fossil energy power generation. Since 2017, the new installation scale of photovoltaics has exceeded the total installation scale of traditional fossil energy sources (coal and oil gas), hydropower and nuclear power. By the end of 2021, the global photovoltaic cumulative installed amount is more than 942 gigawatts and reaches 308.5 gigawatts nationwide. It is expected that by 2023, the global installed amount is 280 to 330 gigawatts, while china will reach 95 to 120 gigawatts, accounting for 40% of the global installed amount. Assuming that the power of one photovoltaic module is 300 watts and the module area is 1.6m 2 The domestic photovoltaic panel area has been enlarged to 2200km 2 . According to the illumination characteristics of China, the photovoltaic field station is concentrated in northwest regions and Qinghai-Tibet regionsThe problems of sand blowing, dust raising and the like in the highland, inner Mongolia and North China generally exist in the highland, and the conversion efficiency of the solar cell module is seriously affected. If not cleaned in time, the components may even be damaged, resulting in immeasurable economic losses.
Existing photovoltaic panel cleaning systems typically employ manual and automated cleaning equipment for cleaning; wherein, manual cleaning means that staff adopts low-efficiency auxiliary tools to clean, and the cleaning mode has low efficiency, long cleaning period and uneven cleaning effect; automated cleaning equipment cleaning refers to controlling the automated cleaning equipment to perform cleaning, and the automated cleaning equipment generally comprises fixed cleaning equipment and mobile cleaning equipment; the fixed cleaning equipment is arranged on the photovoltaic panel, and can clean the photovoltaic panel, but has poor flexibility and higher early installation cost, time cost and maintenance cost; the movable cleaning equipment comprises ground walking equipment and plate surface walking equipment, wherein the ground walking equipment adopts a remote control mode, and the maintenance cost and the operation requirement are high; the board walking equipment is provided with the water pipe or the wire harness, so that the board walking equipment is large in volume and mass, not easy to carry, easy to clamp and stop in the walking process, and not suitable for a large-angle installation assembly.
As shown in fig. 1, an embodiment of the present disclosure provides a method for cleaning a photovoltaic panel, the method comprising:
s1, collecting image information of a photovoltaic panel;
s2, determining a panel to be cleaned and a region to be cleaned on the panel to be cleaned according to the image information;
s3, controlling the cleaning module to reach the panel to be cleaned;
and S4, controlling the cleaning module to clean the area to be cleaned on the panel to be cleaned.
The photovoltaic panel cleaning method provided by the disclosure can accurately position the panel to be cleaned and the area to be cleaned on the panel, and control the cleaning module to clean the panel to be cleaned and the area to be cleaned on the panel, so that the intelligent degree is high, the manual intervention can be reduced, and the cleaning efficiency is improved.
In step S1, image information of the photovoltaic panel is collected, and the type of dirt in the area to be cleaned can be obtained, and a corresponding cleaning scheme is preset in advance according to the type of dirt, so that a cleaning task can be efficiently executed.
Referring to fig. 2, in one embodiment, step S1 acquires image information of a photovoltaic panel, including:
s11, making a patrol task, wherein the patrol task at least comprises a patrol route and an information acquisition target;
Step S12, controlling the unmanned aerial vehicle to carry out inspection along an inspection route, and controlling the acquisition equipment to acquire the image information of the photovoltaic panel so as to complete an information acquisition target;
the image information comprises infrared light image information and visible light image information of the photovoltaic panel.
Preferably, the inspection task comprises a single inspection task and a periodic inspection task; the single inspection is a one-time inspection task performed in burst time or under special conditions; the periodic inspection task is an inspection task which is automatically and repeatedly executed according to a set period. Preferably, the inspection task can be formulated by a worker or automatically generated by a system. Further, the inspection task can be automatically split into a plurality of sub-inspection tasks according to the requirements and the battery power of the unmanned aerial vehicle and the acquisition equipment, so that the inspection risk is reduced, and the inspection efficiency and the inspection quality are improved.
Preferably, the routing inspection route comprises a common cruising route and an acquisition cruising route; the common cruising route is automatically generated by a route planning unit after the starting point and the ending point are determined, and the route planning unit can be a satellite navigation system, such as GPS, beidou satellite navigation and the like; the cruising route is automatically generated by a route planning unit after a starting point, a finishing point and acquisition parameters are determined; the acquisition parameters include: unmanned aerial vehicle parameters, collection equipment parameters, collection mode, flight speed, flight height, photovoltaic panel height, overlap ratio, cruising route angle, collection equipment orientation, photovoltaic panel inclination angle, cloud deck pitch angle and the like. Wherein the unmanned aerial vehicle parameters include unmanned aerial vehicle manufacturer, model, serial number, size, weight, battery capacity, longest flight time, etc.; collecting equipment parameters including the name of the equipment, the type of the equipment, the manufacturer and the like; the unmanned aerial vehicle parameters and the acquisition equipment parameters can be set to record the working conditions of the unmanned aerial vehicle and the acquisition equipment so as to better acquire panel information; the overlapping rate is the overlapping rate of the panel information, and can prevent the photovoltaic panel from being missed during acquisition; the cleaning angle of the photovoltaic panel and the pitching angle of the cradle head can ensure that the collection surface of the collection equipment is perpendicular to the angle of the photovoltaic panel so as to obtain a better collection effect.
Preferably, the acquisition device is an optical camera, and the image information of the photovoltaic panel comprises infrared light image information and visible light image information of the photovoltaic panel. The information acquisition targets comprise the number of pictures taken and/or the duration of video taking.
After a patrol task is formulated, the navigation system automatically generates a cruising route after acquiring parameters are confirmed, and patrol area, flight mileage, flight time, information acquisition targets and the like of the task are acquired, and the patrol task is stored; and then the unmanned aerial vehicle cruises along the cruising route, and the acquisition equipment acquires the image information of the photovoltaic panel in the cruising process of the unmanned aerial vehicle.
In an embodiment of the disclosure, the unmanned aerial vehicle is managed by the unmanned aerial vehicle management unit. The unmanned aerial vehicle management unit can record unmanned aerial vehicle information of all unmanned aerial vehicles in the photovoltaic station so as to match the inspection task.
Furthermore, the unmanned aerial vehicle can carry out take-off and landing control and quick charge through the hangar. The hangar can collect information such as position and weather of the photovoltaic station and third visual angle information of the unmanned aerial vehicle through the sensor, so that staff can acquire the states of the photovoltaic station and the unmanned aerial vehicle according to the information. The sensors may include satellite navigation sensors, rain/snow sensors, and the like. The hangars can be divided into fixed type and movable type; the fixed type hangar is arranged at a fixed position, and the unmanned aerial vehicle can intelligently fall into the fixed type hangar at the fixed position; the movable hangar can move in the photovoltaic field station, supports the off-site take-off and landing of the unmanned aerial vehicle, and meets the flight requirement of the random site take-off and landing. Further, the hangar is controlled by a hangar management unit.
Further, the unmanned aerial vehicle is controlled through an edge management computer. The edge management computer is internally recorded with an unmanned aerial vehicle name, a serial number, an IP address, a model, a manufacturer, an operating system and the like, and can control the flight, landing, equipment position acquisition, networking, first-view plug flow and the like of the unmanned aerial vehicle; the networking of the unmanned aerial vehicle refers to the transmission of flight data of the unmanned aerial vehicle to a remote server or staff equipment through a network; the first visual angle plug flow of the unmanned aerial vehicle means that the edge management computer controls the unmanned aerial vehicle to adjust the position and the angle of the acquisition equipment, and the panel photo or video is sent to the staff equipment at the first person visual angle, so that the staff can determine the image information of the photovoltaic panel. Further, the edge management computer is controlled by the computing module management unit.
Further, the collection device is controlled by the collection device management unit. The acquisition equipment management unit records the name, equipment type, manufacturer and the like of the acquisition equipment, and can perform preliminary processing on the acquired panel information. The preliminary processing may include packaging panel information, preliminary screening of panels to be cleaned, and the like.
Further, the image information is stored by the collected data management unit. The acquisition data management unit can directly import data from the acquisition equipment, store and record the storage time of the image information, and support basic operations such as image information viewing and deleting.
Further, the panel number, the height, etc. of the photovoltaic panels of the photovoltaic station are acquired by the station data management unit. The station data management unit is in communication connection with the unmanned aerial vehicle management unit, the hangar, the edge management computer and the acquisition equipment management unit. Preferably, the station data management unit further includes: name, type, installation quantity, generating capacity, number, position, area, station panorama, engineering drawing and the like of the photovoltaic station. Preferably, panoramic data of the photovoltaic field station can be collected through the unmanned aerial vehicle and imported into the field station data management unit.
Referring to fig. 3, in an embodiment of the present disclosure, in step S12, controlling the unmanned aerial vehicle to perform inspection along an inspection route includes:
step S121, obtaining external environment information and unmanned plane state information;
step S122, judging whether the inspection route, the external environment information and the unmanned aerial vehicle state information meet preset flight conditions;
and step 123, controlling the unmanned aerial vehicle to take off and patrol along the patrol route in response to the patrol route, the external environment information and the unmanned aerial vehicle state information meeting the preset flight executing conditions.
Through setting up to predetermine and hold the condition of flying to after inspection route, external environment information and unmanned aerial vehicle state information satisfy and hold the condition of flying, control unmanned aerial vehicle and take off, avoid unmanned aerial vehicle to appear unusual in inspection process, guarantee image information's accuracy simultaneously.
For example, the default flight execution condition is illustrated by taking the man-machine vehicle M300 as an example, and all the following conditions should be satisfied to execute the flight task;
a. no rain/snow;
b. the wind speed is less than 6 levels;
c. the planned flight mileage is not more than 10 km, and the task time is not less than the endurance time of the current unmanned aerial vehicle;
d. the departure point hangar does not execute other actions;
e. the battery power is more than 60 percent, and the battery temperature is lower than 40 ℃.
In another embodiment, in step S12, controlling the unmanned aerial vehicle to perform inspection along the inspection route includes:
step S121, obtaining external environment information and unmanned plane state information;
step S122, judging whether the inspection route, the external environment information and the unmanned aerial vehicle state information meet preset flight conditions;
and step S124, controlling the unmanned aerial vehicle to stop taking off in response to the patrol route, the external environment information and the unmanned aerial vehicle state information not meeting the preset flight execution conditions.
Through setting up to predetermine and hold the condition of flying to when routing inspection route, external environment information and unmanned aerial vehicle state information do not satisfy and hold the condition of flying, control unmanned aerial vehicle stops taking off, avoid unmanned aerial vehicle to appear unusual in the routing inspection in-process, guarantee image information's accuracy simultaneously.
Further, the judgment of the preset flight executing condition and the execution condition of the inspection task are regulated and controlled through the task scheduling unit. The task scheduling unit is in communication connection with the unmanned aerial vehicle management unit, the hangar and the edge management computer, and before the inspection task is executed, the task scheduling unit obtains the states of the unmanned aerial vehicle management unit, the hangar and the edge management computer, and the feasibility of the inspection task is determined. After determining that the inspection task is feasible, the task scheduling unit matches the unmanned aerial vehicle with the inspection task, detects the unmanned aerial vehicle state and the acquisition equipment state, judges whether the unmanned aerial vehicle meets the flight-executing condition, and issues a take-off instruction after the unmanned aerial vehicle meets the flight-executing condition.
Furthermore, the inspection task is managed and counted through the historical data management unit. The historical data management unit records the execution time of the inspection task, counts the flight mileage, the flight times, the flight time, the total inspection area, the task success probability and the like, and supports the execution condition of the review historical task.
After the inspection task is formulated, the route planning unit acquires panoramic data of the photovoltaic station from the station data management unit, and plans an inspection route and an information acquisition target of the inspection task according to the starting point, the ending point and the acquisition parameters; the method comprises the steps that a task scheduling unit obtains states of an inorganic management unit, a hangar and an edge management computer, determines feasibility of a patrol task, matches an unmanned aerial vehicle for the patrol task after the feasibility of the patrol task is determined, then determines states of the unmanned aerial vehicle and a collection device, judges whether the unmanned aerial vehicle meets a flight-performing condition, and gives a take-off instruction after the unmanned aerial vehicle meets the flight-performing condition; the edge management computer controls the unmanned aerial vehicle to fly according to the acquisition parameters and the inspection route; the acquisition equipment management unit controls the acquisition equipment to acquire the image information of the photovoltaic panel in the unmanned aerial vehicle inspection process, and uploads the image information after preliminary processing to the acquisition data management unit, and the acquired data after processing can be transmitted to a remote server or staff equipment through an edge management computer; after the inspection task is finished, the unmanned aerial vehicle can be rapidly charged in the hangar, and is closed after being charged, and waits for the next inspection task; the collected data management unit stores the collected image information and records the storage time of the image information; the history data management unit records the execution condition of the current inspection task.
In step S2, the panel to be cleaned and the area to be cleaned on the panel to be cleaned are determined according to the image information, so that the position of the area to be cleaned can be accurately positioned, and the area to be cleaned can be efficiently cleaned.
Referring to fig. 4, in one embodiment, step S2 determines a panel to be cleaned according to image information, and a region to be cleaned on the panel to be cleaned, including:
s21, acquiring an analysis result output by the intelligent detection analysis module according to the image information;
step S22, determining the positions of a panel to be cleaned and an area to be cleaned according to the analysis result;
the analysis result comprises the number of the photovoltaic panels, the positions of the photovoltaic panels and dirt information;
the number of photovoltaic panels includes the total number of photovoltaic panels and the number of panels to be cleaned where the area to be cleaned is present;
the photovoltaic panel position comprises the position of the panel to be cleaned in the photovoltaic field station;
the soil information includes the type of soil and the location of the soil on the panel to be cleaned.
The intelligent detection and analysis module is used for analyzing the panel information, so that the image information can be summarized and integrated more efficiently and accurately, the ordered and visual analysis result can be obtained, and the positions of the panel to be cleaned and the area to be cleaned can be conveniently determined.
Preferably, the intelligent detection and analysis module can perform optical calibration, data fusion processing and the like on the image information so as to output an analysis result. Further, the intelligent detection and analysis module comprises an image processing unit for processing the image information, a data classification unit for classifying the processed image, a report generation unit for generating an analysis result and a data server which can be operated by a user to control the units.
It is understood that the number of photovoltaic panels includes the total number of photovoltaic panels, the number of panels to be cleaned where there is an area to be cleaned and the number of clean panels where there is no area to be cleaned; the position of the photovoltaic panel comprises the position of the panel to be cleaned in the photovoltaic station and the position of the clean panel in the photovoltaic station; the dirt information includes the type of dirt, the position of the dirt on the panel to be cleaned, whether the dirt is clean, etc., and the type of dirt generally includes floating dust, bird droppings, mud belts, etc.
Further, the analysis result also comprises list information of dirt and detailed image information of the photovoltaic panel, and automatic generation of a detection text report is supported. Furthermore, the intelligent detection analysis module can perform off-line detection, namely panel information can be directly imported for detection, and a detection text report is generated. Further, in the inspection text report including the inspection task name, the report generation state, the time, the report number, and the like, the dirt information on each photovoltaic panel is displayed in units of photovoltaic panels.
In step S3, the cleaning module is controlled to reach the panel to be cleaned so as to clean the area to be cleaned.
Referring to fig. 5, in one embodiment, step S3 controls the cleaning module to reach the panel to be cleaned, including:
step S31, acquiring a panoramic map of the photovoltaic station and the position of the cleaning module;
step S32, planning a navigation path from the cleaning module to the area to be cleaned;
step S33, controlling the unmanned aerial vehicle to convey the cleaning module along the navigation path;
and planning the navigation path according to the shortest path or avoiding the fixed target. The fixed target can be a target object such as a tower, a photovoltaic bracket, a photovoltaic panel, an animal group, a person, a car and the like.
Through planning navigation path in advance to control unmanned aerial vehicle and carry clean module, simplified clean module's part perception and detection function, improved clean module's reliability, in order to the clean region of efficient cleanness.
Preferably, the panoramic map of the photovoltaic station can be acquired through the station data management unit, and the navigation path can be planned through the autonomous navigation module. After the analysis result is obtained, the autonomous navigation module plans the path according to the position of the area to be cleaned, generates a navigation path according to the requirement, sends the navigation path to the hangar, and then the unmanned aerial vehicle conveys the cleaning module along the navigation path. It can be understood that the autonomous navigation module includes a path planning unit for planning a navigation path, a target positioning unit for positioning the cleaning module and the area to be cleaned, a target eliminating module for deleting the positions of the cleaning module and the area to be cleaned, and a mobile navigation device operable by a worker to control the above units.
In an alternative embodiment, the cleaning module is transported by the field staff, the navigation path is sent to the field staff in the form of a short message, APP, web page, etc., the field staff obtains the navigation path through the networking equipment, finds the area to be cleaned according to the visual position prompt and places the cleaning module on the panel to be cleaned. The networking equipment comprises a tablet personal computer, a mobile phone, a notebook computer and the like; the visualized position can be displayed through 2D map, 3D map or AR technology.
In step S4, the cleaning module is controlled to clean the area to be cleaned on the panel to be cleaned, so as to meet the cleaning requirement in the photovoltaic station.
In one embodiment, the photovoltaic panel includes a plurality of ordered platelets, which may be mounted side-by-side or in a grid. For example, the platelets may be mounted in two rows in a lateral direction such that the photovoltaic panel is generally rectangular; the mounting may also be performed in a nine-grid fashion such that the photovoltaic panel is substantially square. It will be appreciated that the number of platelets in each horizontal row or each vertical row may be adjusted according to the actual situation and needs, and is not limited herein. Further, the cleaning module can acquire arrangement information of the small plates in the panel to be cleaned; when the panel to be cleaned is provided with a plurality of areas to be cleaned, the cleaning module can walk to the next area to be cleaned after the first area to be cleaned is cleaned until all the areas to be cleaned on the panel to be cleaned are cleaned. The arrangement information of the small plates comprises the installation direction, the installation number, the panel size, the inclination angle and the like of the small plates.
Through the arrangement information of the small plates of the panel to be cleaned, the cleaning module can walk on the panel to be cleaned more safely, and then all the areas to be cleaned on the photovoltaic panel can be cleaned conveniently at one time, and the cleaning efficiency of the cleaning module is improved.
Preferably, the arrangement information of the photovoltaic panels can be communicated from the intelligent detection analysis module or the station data management unit to the cleaning module. Furthermore, the cleaning module can be controlled to acquire the area of the panel to be cleaned, the cleaning range of the panel to be cleaned, the plate surface size of the small plate in the panel to be cleaned and the like. The information may be transmitted in object profile (JSON) format using the Message Queue Telemetry Transport (MQTT) protocol. Preferably, the cleaning module comprises a networking communication unit, and the cleaning robot communicates with the intelligent detection analysis module and the autonomous navigation module through the networking communication unit.
Referring to fig. 6, in one embodiment, step S4 of controlling the cleaning module to clean the cleaning area on the panel to be cleaned includes:
step S41, formulating a cleaning task and sending the cleaning task to a cleaning module;
step S42, controlling the cleaning module to perform self-checking, and judging whether the cleaning module meets preset working conditions;
And step S43, controlling the cleaning module to stop for recovery in response to the cleaning module not meeting the preset working condition.
Through control cleaning module self-checking to control cleaning module shut down and wait to retrieve when not meeting preset operating condition, can prevent that cleaning module from appearing unusual in the cleaning process, guarantee cleaning quality.
In another embodiment, step S4 controls the cleaning module to clean the area to be cleaned on the panel to be cleaned, including:
step S41, formulating a cleaning task and sending the cleaning task to a cleaning module;
step S42, controlling the cleaning module to perform self-checking, and judging whether the cleaning module meets preset working conditions;
step S44, responding to the cleaning module meeting the preset working condition, acquiring the range of the area to be cleaned and determining the cleaning scheme of the area to be cleaned according to the range of the area to be cleaned and the type of dirt;
step S45, the cleaning module is controlled to execute the cleaning task according to the cleaning scheme.
Through control cleaning module self-checking to control cleaning module carries out cleaning task after satisfying preset operating condition, can improve cleaning module's reliability, guarantee cleaning module's stability and clean effect in the cleaning process, promote cleaning quality.
Preferably, the preset working conditions include:
a. the robot has no alarm state; the alarm state comprises motor alarm, edge alarm and the like;
b. the adsorption work is normal;
c. the cleaning component is normally connected;
d. communication is normal;
e. the electric quantity can complete the current cleaning task and is judged by the cleaning area, the cleaning type, the residual electric quantity, the task time (estimated value) and the like;
f. the area to be cleaned is positioned in the same panel to be cleaned as the cleaning module. When the cleaning module can meet the preset conditions, the cleaning module is controlled to execute the cleaning task.
Further, referring to fig. 7, in one embodiment, determining a cleaning solution for the cleaning area according to the range of the cleaning area and the type of the dirt in step S44 includes:
step S441, determining the intractable grade of the dirt according to the type of the dirt;
step S442, judging whether the intractable grade of the dirt is smaller than or equal to a preset grade;
step S443, judging whether the range of the area to be cleaned is smaller than or equal to the size of the cleaning unit on the cleaning module or not in response to the intractable level of the dirt is smaller than or equal to the preset level;
step S444, in response to the range of the area to be cleaned being smaller than or equal to the size of the cleaning unit on the cleaning module, controlling the cleaning module to walk along the linear path a first preset number of times. The straight line path means that the cleaning module walks along a straight line, and the first preset times are one time. Alternatively, the first preset number of times may be adjusted according to the actual environment and needs, for example, set to two or three times.
The cleaning scheme is determined by the range of the area to be cleaned and the intractable grade of the dirt, so that the area to be cleaned can be cleaned in a targeted manner, and the cleaning efficiency of the cleaning module is improved.
Specifically, the intractable grade of the dirt can be divided into 1-3 grades, the intractable degree is gradually increased from 1 grade to 3 grades, the 1 grade is very easy to clean, the 2 grade is easy to clean, and the 3 grade is difficult to clean. The type of the dirt and the stubborn grade of the dirt can be correspondingly pre-stored in the intelligent detection analysis module; for example, when the type of dirt is floating dust, the corresponding class 1 is very clean; when the types of dirt are bird droppings and mud belts, the corresponding intractable grade is grade 3 and is difficult to clean. The preset level may be 1 level or 2 levels. Alternatively, the degree of the dirt may be further subdivided according to actual needs and situations, and will not be described here.
The cleaning unit may comprise a brush head, the dimensions of the cleaning unit referring to the length and width of the brush head. Alternatively, the cleaning unit may comprise a plurality of brush heads, and the size of the cleaning unit refers to the total length and the total width of the plurality of brush heads combined. Acquiring the range of the area to be cleaned refers to acquiring a group of coordinate values, and acquiring the maximum length L and the maximum width W of the area to be cleaned through the group of coordinate values; the range of the cleaning area being less than or equal to the size of the cleaning unit on the cleaning module means that at least one of the maximum length L and the maximum width W of the cleaning area is less than or equal to the length and the width of the cleaning unit. Specifically, the maximum length L of the area to be cleaned may be smaller than or equal to the length of the cleaning unit, and the maximum width W of the area to be cleaned may be smaller than or equal to the width of the cleaning unit; the maximum length L of the to-be-cleaned area is smaller than or equal to the length of the cleaning unit, and the maximum width W of the to-be-cleaned area is larger than the width of the to-be-cleaned unit; or the maximum length L of the to-be-cleaned area is larger than the length of the cleaning unit, and the maximum width W of the to-be-cleaned area is smaller than or equal to the width of the to-be-cleaned unit.
When the intractable grade of the dirt is smaller than or equal to the preset grade and the range of the area to be cleaned is smaller than or equal to the size of the cleaning unit on the cleaning module, the cleaning module can clean the area to be cleaned by walking along the straight path for a small number of times.
In another embodiment, determining a cleaning scheme of the cleaning area according to the range of the cleaning area and the type of the dirt in step S44 includes:
step S441, determining the intractable grade of the dirt according to the type of the dirt;
step S442, judging whether the intractable grade of the dirt is smaller than or equal to a preset grade;
step S443, judging whether the range of the area to be cleaned is smaller than or equal to the size of the cleaning unit on the cleaning module or not in response to the intractable level of the dirt is smaller than or equal to the preset level;
step S445, in response to the range of the area to be cleaned being greater than the size of the cleaning unit on the cleaning module, controlling the cleaning module to walk along the grid-shaped path a first preset number of times. The straight line path means that the cleaning module walks along a straight line, and the first preset times are one time. Alternatively, the first preset number of times may be adjusted according to the actual environment and needs, for example, set to two or three times.
Specifically, the grid-shaped path refers to that the cleaning module walks in a grid shape in the area to be cleaned, and illustratively, referring to fig. 10, the photovoltaic panel includes nine small plates arranged in a nine-grid shape. Based on the orientation shown in fig. 10, walking in a grid-like shape means that the cleaning module walks laterally from the upper left corner of the panel to the upper right corner of the panel, and then walks vertically from the upper right corner to the lower right corner of the panel, and from the lower right corner to the lower left corner of the upper left corner of the panel, and then moves from the lower left corner to another panel below, repeating the above-described walking path until the walking path covers the entire photovoltaic panel. The walking path can avoid dirt omission and improve cleaning efficiency.
The range of the to-be-cleaned area being larger than the size of the cleaning unit on the cleaning module means that the maximum length L and the maximum width W of the cleaning area are both larger than the length and the width of the cleaning unit, namely the maximum length L of the to-be-cleaned area is larger than the length of the cleaning unit, and the maximum width W of the to-be-cleaned area is larger than the width of the to-be-cleaned unit.
When the intractable grade of the dirt is smaller than or equal to the preset grade, and the range of the area to be cleaned is larger than the size of the cleaning unit on the cleaning module, the cleaning module can complete cleaning after traveling for a small number of times, the dirt can be prevented from being missed by traveling along the grid-shaped path, and the cleaning efficiency is improved.
In another embodiment, determining a cleaning scheme of the cleaning area according to the range of the cleaning area and the type of the dirt in step S44 includes:
step S441, determining the intractable grade of the dirt according to the type of the dirt;
step S442, judging whether the intractable grade of the dirt is smaller than or equal to a preset grade;
step S446, in response to the stubborn level of the dirt being greater than a preset level, judging whether the range of the area to be cleaned is smaller than or equal to the size of the cleaning unit on the cleaning module;
step S447, in response to the range of the area to be cleaned being smaller than or equal to the size of the cleaning unit on the cleaning module, controlling the cleaning module to walk along the linear path for a second preset number of times, the second preset number of times being greater than the first preset number of times. The straight path refers to that the cleaning module walks along a straight line. The second preset times are two times, three times and five times. Alternatively, the second preset number of times may be adjusted according to the actual environment and needs.
When the intractable grade of the dirt is larger than the preset grade, and the range of the area to be cleaned is smaller than or equal to the size of the cleaning unit on the cleaning module, the cleaning module can clean the area to be cleaned by walking along a straight line path, and the cleaning effect of the area to be cleaned can be ensured by repeatedly walking for many times.
In another embodiment, determining a cleaning scheme of the cleaning area according to the range of the cleaning area and the type of the dirt in step S44 includes:
step S441, determining the intractable grade of the dirt according to the type of the dirt;
step S442, judging whether the intractable grade of the dirt is smaller than or equal to a preset grade;
step S446, in response to the stubborn level of the dirt being greater than a preset level, judging whether the range of the area to be cleaned is smaller than or equal to the size of the cleaning unit on the cleaning module;
in step S448, in response to the range of the area to be cleaned being greater than the size of the cleaning unit on the cleaning module, the cleaning module is controlled to walk along the grid-shaped path for a second preset number of times, the second preset number of times being greater than the first preset number of times. Wherein the second preset times are two times, three times and five times. Alternatively, the second preset number of times may be adjusted according to the actual environment and needs.
When the intractable grade of the dirt is larger than the preset grade, and the range of the area to be cleaned is larger than the size of the cleaning unit on the cleaning module, the cleaning module can avoid missing the dirt by walking along the grid-shaped path, and the cleaning effect of the area to be cleaned can be ensured by repeatedly walking for many times.
In one embodiment, after controlling the cleaning module to perform the cleaning task according to the cleaning scheme in step S45, the method further includes:
and S46, controlling the unmanned aerial vehicle or the handheld device to recycle the cleaning module after the cleaning task is completed. The handheld device can be a handheld telescopic rod, a mechanical arm and the like.
And after the cleaning task is finished, the cleaning module is recovered, so that the cleaning module can be conveniently managed, and the cleaning module is prevented from being missed on the photovoltaic panel.
Referring to fig. 8, in one embodiment, step S45 controls the cleaning module to perform a cleaning task according to a cleaning protocol, and further includes:
step S451, acquiring the working state of the cleaning module in real time;
step S452, judging whether the cleaning module is abnormal according to the working state;
step S453, in response to the cleaning module having an abnormality, the type of the abnormality is obtained and the cleaning module is controlled to wait for recovery or to continue working according to the type of the abnormality.
Through real-time monitoring and uploading the working state of the cleaning module, corresponding measures can be taken when the cleaning module is abnormal, so that the safety of the cleaning module and the photovoltaic panel is ensured.
Exemplary anomalies and corresponding measures include:
a. the electric quantity is lower than 10%, and an alarm is sent out to inform the unmanned aerial vehicle to recover;
b. detecting hardware faults of the driving motor, keeping high-power adsorption at the current position without dropping, and restarting the motor after power failure; if the fault is eliminated, continuing to execute the cleaning task; if the fault is not eliminated, giving an alarm and waiting for maintenance or recovery;
c. the task overtime, notify unmanned aerial vehicle to retrieve;
d. the networking communication is abnormal, an alarm is sent out, and the cleaning task is continuously executed;
e. and (5) positioning abnormality, sending out an alarm and notifying the unmanned aerial vehicle to recycle.
Referring to fig. 9, in one embodiment, in step S453, the control cleaning module waits for recycling, further includes:
step S455, controlling the cleaning module to move to the edge of the photovoltaic panel provided with the barrier;
and step 456, controlling the cleaning module to keep an adsorption state and waiting for recovery.
It is understood that the blocking member can block the cleaning module, preventing the cleaning module from falling. Preferably, the barrier is a bezel disposed at an edge of the photovoltaic panel. The adsorption state means that the cleaning module is adsorbed on the photovoltaic panel and does not fall off. Further, the cleaning module is moved to an edge of the photovoltaic panel near the floor. In order to maximize the reception of solar radiant energy, the photovoltaic panel needs to be tilted at an angle, i.e., one side closer to the ground and the opposite side farther from the ground. The cleaning module moves to the edge of one side of the photovoltaic panel, which is close to the ground, so that the cleaning module can be recovered manually.
In another embodiment, step S45 controls the cleaning module to perform a cleaning task according to a cleaning protocol, further comprising:
step S451, acquiring the working state of the cleaning module in real time;
step S452, judging whether the cleaning module is abnormal according to the working state;
and step S454, in response to the cleaning module not having abnormality, controlling the cleaning module to continue working.
Preferably, the cleaning module comprises a health management unit, by means of which the cleaning robot determines anomalies and takes corresponding measures.
Preferably, the cleaning module is divided into an autonomous cleaning mode and a remote control mode according to a cleaning task receiving mode, and the two modes can be switched through physical keys; the autonomous cleaning mode refers to that the plate surface is cleaned independently after the cleaning module is started. Specifically, the cleaning module moves to the upper edge of the photovoltaic panel, walks leftwards or rightwards, and turns around to clean in the opposite direction after reaching the edge of the photovoltaic panel, so that the cleaning is repeated; the remote control mode is to wait for the rear end to issue a control instruction after the cleaning module is started, and regulate and control the walking direction of the cleaning module according to the current position of the cleaning module and the position of the area to be cleaned. Preferably, the cleaning module comprises an environment sensing unit, by which the cleaning robot determines the edge of the photovoltaic panel.
Preferably, the cleaning module can be divided into a dust removing mode and a walking mode according to the walking speed; in the walking mode, the cleaning module only walks and is not cleaned; in the cleaning mode, the cleaning module cleans while walking.
Referring to fig. 11, in an embodiment of the present disclosure, step S4 further includes, after controlling the cleaning module to clean the area to be cleaned on the panel to be cleaned:
and S5, collecting the image information of the photovoltaic panel again, and determining the cleaning effect of the area to be cleaned. The intelligent detection and analysis module is used for acquiring the image information of the photovoltaic panel again, the unmanned aerial vehicle and the acquisition equipment can acquire the image information, and the cleaning effect of the area to be cleaned can be judged through the intelligent detection and analysis module.
By rechecking the area to be cleaned, the execution condition of the cleaning task can be obtained, so that the cleaning method disclosed by the invention forms a closed loop, and the cleaning effect of the photovoltaic panel is ensured.
In summary, the cleaning method disclosed by the invention can accurately position the panel to be cleaned and the area to be cleaned on the panel, and control the cleaning module to clean the panel to be cleaned and the area to be cleaned on the panel, so that the intelligent degree is high, the manual intervention can be reduced, and the cleaning efficiency is improved; in addition, the detection, cleaning and rechecking of the area to be cleaned can be completed, and the cleaning effect of the photovoltaic panel is ensured.
It should be noted that the method of the embodiments of the present disclosure may be performed by a single device, such as a computer or a server. The method of the embodiment can also be applied to a distributed scene, and is completed by mutually matching a plurality of devices. In the case of such a distributed scenario, one of the devices may perform only one or more steps of the methods of embodiments of the present disclosure, the devices interacting with each other to accomplish the methods.
It should be noted that the foregoing describes some embodiments of the present disclosure. Other embodiments are within the scope of the following claims.
Based on the same inventive concept, the disclosure also provides a photovoltaic panel cleaning system corresponding to the method of any embodiment.
The cleaning system includes: the inspection module is used for collecting image information of the photovoltaic panel;
a cleaning module for cleaning the photovoltaic panel;
the control module is used for determining a panel to be cleaned and an area to be cleaned on the panel to be cleaned according to the image information and controlling the cleaning module to clean the area to be cleaned on the panel to be cleaned.
Referring to fig. 12, the present disclosure also provides another photovoltaic panel cleaning system comprising:
The unmanned aerial vehicle automatic inspection module is used for collecting image information of the photovoltaic panel;
the intelligent detection analysis module is used for analyzing the image information and determining a panel to be cleaned and a region to be cleaned on the panel to be cleaned;
the cleaning module is used for cleaning the area to be cleaned;
and the autonomous navigation module is used for planning a navigation route from the cleaning module to the area to be cleaned.
Preferably, the unmanned aerial vehicle automatic inspection module includes:
the unmanned aerial vehicle executes the inspection task;
the acquisition equipment is arranged on the unmanned aerial vehicle and used for acquiring image information of the photovoltaic panel;
the edge management computer is used for completing the flight of the unmanned aerial vehicle;
the hangar is used for completing the take-off and landing control and the rapid charging of the unmanned aerial vehicle;
the unmanned aerial vehicle management unit is used for managing the unmanned aerial vehicle so as to match with the inspection task;
the machine library management unit is used for managing and controlling the machine library;
a computing module management unit for managing and controlling the edge management computer;
the station data management unit is used for managing the photovoltaic station information; the specific photovoltaic station information comprises the name, type, installation quantity, power generation quantity, number, position, area, station panorama, engineering drawing and the like of the photovoltaic station;
the data collection management unit is used for storing and recording the storage time of the panel information and supporting basic operations such as panel information checking, deleting and the like;
The route planning unit is used for planning a routing inspection route of the routing inspection task;
the task scheduling unit schedules the unmanned aerial vehicle to finish the inspection task;
and the historical data management unit is used for managing and counting historical flight data.
Preferably, the intelligent analysis detection module includes:
the data server has strong processing capability and can communicate with other units;
the image processing unit is used for processing the image information of the photovoltaic panel;
the data classifying unit is used for classifying the processed image information and outputting an analysis result;
and the report generating unit is used for generating a detection text report according to the analysis result.
Preferably, the autonomous navigation module includes:
a path planning unit for planning a navigation path from the cleaning module to the cleaning area;
the target positioning unit is used for positioning the cleaning module and the position of the area to be cleaned;
the target eliminating unit is used for deleting the positions of the cleaning module and the area to be cleaned;
and the mobile navigation equipment can be operated by a worker to control the units.
Preferably, the cleaning module includes:
a cleaning robot for performing a cleaning task;
the networking communication unit is used for communicating with the unmanned aerial vehicle automatic inspection module, the intelligent detection analysis module and the autonomous navigation module
An environment sensing unit for determining edges of the photovoltaic panel, obstacles, etc.;
and the motion planning unit is used for planning a cleaning path of the cleaning robot.
Preferably, the photovoltaic panel cleaning system of the present disclosure further comprises:
the predictive maintenance module is combined with big data analysis and machine learning, and can predict pollution or damage possibly occurring in a certain area, so that cleaning or maintenance is performed in advance, and the influence of an emergency on a photovoltaic station is reduced;
the system monitoring module monitors the running states of all equipment and the environmental conditions of stations all the time;
the equipment remote upgrading module is used for ensuring that the system is always in an optimal state as the technology advances and the software of the system and the equipment may need to be updated or upgraded;
the safety early warning module automatically sends a warning to remind operators to take corresponding measures when any equipment or system in the station is abnormal or when the environmental conditions (such as wind speed, temperature and the like) reach a certain critical value;
the data backup and recovery module is used for regularly backing up all data and ensuring that the data can be quickly recovered under any condition so as to prevent the data loss caused by unexpected situations;
The energy consumption management module is used for monitoring the energy consumption of all equipment, especially unmanned aerial vehicles and cleaning robots, and optimizing the energy consumption according to the needs so as to ensure the overall benefit of the photovoltaic station;
the feedback mechanism module enables operators and managers to feed back the working effect of the system, the performance of equipment and the like, so that the system is continuously perfected;
and the module is integrated with the weather forecast system, and can integrate with the weather forecast system to provide more accurate weather information for operation and maintenance because the operation and cleaning work of the photovoltaic panel are greatly influenced by weather conditions.
For convenience of description, the above devices are described as being functionally divided into various modules, respectively. Of course, the functions of the various modules may be implemented in the same one or more pieces of software and/or hardware when implementing the present disclosure.
The device of the foregoing embodiment is used for implementing the corresponding method for cleaning a photovoltaic panel in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiment, which are not described herein.
Based on the same inventive concept, the present disclosure also provides an electronic device corresponding to the method of any embodiment, including a memory, a processor, and a computer program stored on the memory and capable of running on the processor, where the processor implements the method of cleaning a photovoltaic panel according to any embodiment when executing the program.
Fig. 13 shows a more specific hardware architecture diagram of an electronic device provided in this embodiment, where the device may include: a processor 1010, a memory 1020, an input/output interface 1030, a communication interface 1040, and a bus 1050. Wherein processor 1010, memory 1020, input/output interface 1030, and communication interface 1040 implement communication connections therebetween within the device via a bus 1050.
The processor 1010 may be implemented by a general-purpose CPU (Central Processing Unit ), microprocessor, application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits, etc. for executing relevant programs to implement the technical solutions provided in the embodiments of the present disclosure.
The Memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory ), static storage device, dynamic storage device, or the like. Memory 1020 may store an operating system and other application programs, and when the techniques presented in the embodiments of the present specification are implemented in software or firmware, the associated program code is stored in memory 1020 and executed by processor 1010.
The input/output interface 1030 is used to connect with an input/output module for inputting and outputting information. The input/output module may be configured as a component in a device (not shown) or may be external to the device to provide corresponding functionality. Wherein the input devices may include a keyboard, mouse, touch screen, microphone, various types of sensors, etc., and the output devices may include a display, speaker, vibrator, indicator lights, etc.
Communication interface 1040 is used to connect communication modules (not shown) to enable communication interactions of the present device with other devices. The communication module may implement communication through a wired manner (such as USB, network cable, etc.), or may implement communication through a wireless manner (such as mobile network, WIFI, bluetooth, etc.).
Bus 1050 includes a path for transferring information between components of the device (e.g., processor 1010, memory 1020, input/output interface 1030, and communication interface 1040).
It should be noted that although the above-described device only shows processor 1010, memory 1020, input/output interface 1030, communication interface 1040, and bus 1050, in an implementation, the device may include other components necessary to achieve proper operation. Furthermore, it will be understood by those skilled in the art that the above-described apparatus may include only the components necessary to implement the embodiments of the present description, and not all the components shown in the drawings.
The electronic device of the foregoing embodiment is configured to implement the corresponding method for cleaning a photovoltaic panel in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiment, which are not described herein.
Those of ordinary skill in the art will appreciate that: the discussion of any of the above embodiments is merely exemplary and is not intended to suggest that the scope of the disclosure, including the claims, is limited to these examples; this manner of description of the invention is for the sake of clarity only, and it should be apparent to those skilled in the art that the description as a whole, under the teachings of the present disclosure, that appropriate combinations of features in the above embodiments or in different embodiments, steps may be implemented in any order, and that there are many other variations of the different aspects of the embodiments of the present disclosure as described above, which are not provided in detail for the sake of brevity.
Additionally, well-known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown within the provided figures, in order to simplify the illustration and discussion, and so as not to obscure the embodiments of the present disclosure. Furthermore, the devices may be shown in block diagram form in order to avoid obscuring the embodiments of the present disclosure, and this also takes into account the fact that specifics with respect to the embodiments of these block diagram devices are highly dependent upon the platform on which the embodiments of the present disclosure are to be implemented (i.e., specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the disclosure, it should be apparent to one skilled in the art that embodiments of the disclosure can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative in nature and not as restrictive.
While the present disclosure has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of those embodiments will be apparent to those skilled in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.
The disclosed embodiments are intended to embrace all such alternatives, modifications and variances which fall within the broad scope of the appended claims. Accordingly, any omissions, modifications, equivalents, improvements, and the like, which do not depart from the spirit and principles of the embodiments of the disclosure, are intended to be included within the scope of the disclosure.
Claims (18)
1. A method of cleaning a photovoltaic panel, the method comprising:
collecting image information of the photovoltaic panel;
determining a panel to be cleaned and a region to be cleaned on the panel to be cleaned according to the image information;
controlling a cleaning module to reach the panel to be cleaned;
and controlling the cleaning module to clean the cleaning area on the panel to be cleaned.
2. The method of claim 1, further comprising, after the controlling the cleaning module to clean the area to be cleaned on the panel to be cleaned: and acquiring the image information of the photovoltaic panel again, and determining the cleaning effect of the area to be cleaned.
3. The method of claim 1, wherein the acquiring image information of the photovoltaic panel comprises:
making a patrol task, wherein the patrol task at least comprises a patrol route and an information acquisition target;
controlling the unmanned aerial vehicle to carry out inspection along the inspection route, and controlling the acquisition equipment to acquire the image information of the photovoltaic panel so as to finish the information acquisition target;
wherein the image information includes infrared light image information and visible light image information of the photovoltaic panel.
4. A method of cleaning a photovoltaic panel according to claim 3, wherein the controlling the drone to patrol along the patrol route comprises:
acquiring external environment information and unmanned aerial vehicle state information;
judging whether the inspection route, the external environment information and the unmanned aerial vehicle state information meet preset flight executing conditions or not;
and responding to the inspection route, the external environment information and the unmanned aerial vehicle state information to meet the preset flight-executing conditions, controlling the unmanned aerial vehicle to take off and inspecting along the inspection route.
5. The method of claim 1, wherein determining a panel to be cleaned from the image information and a region to be cleaned on the panel to be cleaned comprises:
Acquiring an analysis result output by the intelligent detection analysis module according to the image information;
determining the positions of the panel to be cleaned and the area to be cleaned according to the analysis result;
the analysis result comprises the number of the photovoltaic panels, the positions of the photovoltaic panels and dirt information;
the number of the photovoltaic panels comprises the total number of the photovoltaic panels and the number of the panels to be cleaned, wherein the area to be cleaned exists;
the photovoltaic panel position comprises the position of the panel to be cleaned in a photovoltaic field station;
the soil information includes a type of soil and a location of the soil on the panel to be cleaned.
6. The method of claim 5, wherein controlling the cleaning module to clean the area to be cleaned on the panel to be cleaned comprises:
formulating a cleaning task and sending the cleaning task to the cleaning module;
controlling the cleaning module to perform self-checking, and judging whether the cleaning module meets preset working conditions or not;
and controlling the cleaning module to stop for recovery in response to the cleaning module not meeting the preset working condition.
7. The method of claim 5, wherein controlling the cleaning module to clean the area to be cleaned on the panel to be cleaned comprises:
Formulating a cleaning task and sending the cleaning task to the cleaning module;
controlling the cleaning module to perform self-checking, and judging whether the cleaning module meets preset working conditions or not;
responding to the cleaning module meeting the preset working condition, acquiring the range of the area to be cleaned and determining the cleaning scheme of the area to be cleaned according to the range of the area to be cleaned and the type of the dirt;
and controlling the cleaning module to execute the cleaning task according to the cleaning scheme.
8. The method of claim 7, wherein the determining the cleaning solution of the cleaning area according to the range of the cleaning area and the type of the dirt comprises:
determining a stubborn level of the dirt according to the type of the dirt;
judging whether the intractable grade of the dirt is smaller than or equal to a preset grade;
judging whether the range of the area to be cleaned is smaller than or equal to the size of a cleaning unit on the cleaning module or not in response to the intractable grade of the dirt is smaller than or equal to the preset grade;
and controlling the cleaning module to walk along the linear path for a first preset number of times in response to the range of the area to be cleaned being smaller than or equal to the size of the cleaning unit on the cleaning module.
9. The method of cleaning a photovoltaic panel of claim 8, wherein the determining a cleaning solution for the area to be cleaned based on the extent of the area to be cleaned and the type of soil comprises:
determining a stubborn level of the dirt according to the type of the dirt;
judging whether the intractable grade of the dirt is smaller than or equal to a preset grade;
judging whether the range of the area to be cleaned is smaller than or equal to the size of a cleaning unit on the cleaning module or not in response to the intractable level of the dirt being larger than the preset level;
and controlling the cleaning module to walk along the linear path for a second preset number of times in response to the range of the area to be cleaned being smaller than or equal to the size of the cleaning unit on the cleaning module, wherein the second preset number of times is larger than the first preset number of times.
10. The method of claim 7, wherein the determining the cleaning solution of the cleaning area according to the range of the cleaning area and the type of the dirt comprises:
determining a stubborn level of the dirt according to the type of the dirt;
judging whether the intractable grade of the dirt is smaller than or equal to a preset grade;
Judging whether the range of the area to be cleaned is smaller than or equal to the size of a cleaning unit on the cleaning module or not in response to the intractable grade of the dirt is smaller than or equal to the preset grade;
and controlling the cleaning module to walk along the grid-shaped path for a first preset number of times in response to the range of the area to be cleaned being greater than the size of the cleaning unit on the cleaning module.
11. The method of claim 10, wherein the determining the cleaning solution for the area to be cleaned according to the range of the area to be cleaned and the type of the dirt comprises:
determining a stubborn level of the dirt according to the type of the dirt;
judging whether the intractable grade of the dirt is smaller than or equal to a preset grade;
judging whether the range of the area to be cleaned is smaller than or equal to the size of a cleaning unit on the cleaning module or not in response to the intractable level of the dirt being larger than the preset level;
and controlling the cleaning module to walk along the grid-shaped path for a second preset number of times in response to the range of the area to be cleaned being larger than the size of the cleaning unit on the cleaning module, wherein the second preset number of times is larger than the first preset number of times.
12. The method of claim 7, further comprising, after said controlling said cleaning module to perform said cleaning task according to said cleaning protocol:
and controlling the unmanned aerial vehicle or the handheld device to recycle the cleaning module after the cleaning task is completed.
13. The method of claim 7, wherein the controlling the cleaning module to perform the cleaning task according to the cleaning protocol further comprises:
acquiring the working state of the cleaning module in real time;
judging whether the cleaning module is abnormal according to the working state;
and responding to the abnormality of the cleaning module, acquiring the type of the abnormality and controlling the cleaning module to wait for recovery or continue working according to the type of the abnormality.
14. The method of claim 13, wherein the controlling the cleaning module to wait for recovery comprises:
controlling the cleaning module to move to the edge of the photovoltaic panel provided with the barrier;
and controlling the cleaning module to keep an adsorption state and waiting for recovery.
15. The method of claim 1, wherein the controlling the cleaning module to reach the panel to be cleaned comprises:
Acquiring a panoramic map of the photovoltaic station and the position of the cleaning module;
planning a navigation path from the cleaning module to the area to be cleaned;
and controlling the unmanned aerial vehicle to convey the cleaning module along the navigation path.
16. The method of claim 15, wherein the navigation path is planned with a shortest path or avoiding a fixed target.
17. A photovoltaic panel cleaning system, comprising:
the inspection module is used for collecting image information of the photovoltaic panel;
a cleaning module for cleaning the photovoltaic panel;
the control module is used for determining a panel to be cleaned and an area to be cleaned on the panel to be cleaned according to the image information and controlling the cleaning module to clean the area to be cleaned on the panel to be cleaned.
18. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the photovoltaic panel cleaning method of any of claims 1 to 16 when the program is executed.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311331010.9A CN117544096A (en) | 2023-10-13 | 2023-10-13 | Photovoltaic panel cleaning method and system and electronic equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311331010.9A CN117544096A (en) | 2023-10-13 | 2023-10-13 | Photovoltaic panel cleaning method and system and electronic equipment |
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| CN117544096A true CN117544096A (en) | 2024-02-09 |
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| CN202311331010.9A Pending CN117544096A (en) | 2023-10-13 | 2023-10-13 | Photovoltaic panel cleaning method and system and electronic equipment |
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