Automatic cleaning method and device for photovoltaic panel and photovoltaic power station

Abstract

The application discloses an automatic cleaning method and device of a photovoltaic panel and a photovoltaic power station, and relates to the field of automatic cleaning. When the dust thickness on the surface of the photovoltaic panel is greater than a preset dust thickness, the cleaning robot beside each photovoltaic panel is controlled to start, and all the photovoltaic panels are cleaned. When working normally, the camera arranged on each cleaning robot is continuously used to collect the images of each photovoltaic panel, and whether there is an occlusion on each photovoltaic panel is judged based on the images. If the occlusion is found, the cleaning robot corresponding to the photovoltaic panel with the occlusion is controlled to start, and the photovoltaic panel with the occlusion is cleaned. Through the mode of continuously detecting the dust thickness, each photovoltaic panel can be cleaned in time before the dust thickness is too large, the cleaning interval length of the photovoltaic panel is reasonably set, and the water resource is effectively saved. Through the mode of arranging the cleaning robot with the camera, manual detection and manual cleaning are not needed, and the cleaning efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of automatic cleaning, and in particular to an automatic cleaning method, apparatus and photovoltaic power station for photovoltaic panels. Background Technology

[0002] Photovoltaic (PV) panels convert sunlight into electricity directly through the photovoltaic effect. However, in practice, airborne dust accumulates on the panels over time, causing them to become dirty and reducing the amount of sunlight reaching them, thus decreasing their power generation capacity. Furthermore, obstructions such as leaves, paper, and bird droppings can also affect the panels' power output and may cause hot spots, posing safety risks. Current technology typically involves manual inspection of each panel to monitor its cleanliness and periodic cleaning. This method relies heavily on manual inspection and cleaning, requiring a significant workload. Frequent cleaning can waste water, while infrequent cleaning intervals can lead to excessive dirt accumulation. Workers must rely on experience to determine cleaning intervals, which can be difficult for less experienced staff to determine. Summary of the Invention

[0003] The purpose of this invention is to provide an automatic cleaning method, device, and photovoltaic power station for photovoltaic panels. The cleaning interval of the photovoltaic panels can be reasonably set, effectively saving water resources while cleaning each photovoltaic panel in a timely manner before the dust thickness becomes too large. It also eliminates the need for manual inspection and cleaning, thus improving cleaning efficiency.

[0004] To solve the above-mentioned technical problems, the present invention provides an automatic cleaning method for photovoltaic panels, comprising:

[0005] Obtain the surface dust thickness of a specified photovoltaic panel among all photovoltaic panels in a photovoltaic power plant;

[0006] Determine whether the surface dust thickness is greater than a preset dust thickness;

[0007] If the dust thickness exceeds the preset thickness, the cleaning robots corresponding to each photovoltaic panel will be activated to clean all the photovoltaic panels.

[0008] If the dust thickness is not greater than the preset dust thickness, images of each photovoltaic panel are captured using cameras mounted on each of the cleaning robots.

[0009] Based on each of the images, determine whether there are any obstructions on each of the photovoltaic panels;

[0010] The cleaning robot corresponding to the photovoltaic panel with the obstruction is activated to clean each photovoltaic panel with the obstruction.

[0011] On the one hand, the surface dust thickness of a specified photovoltaic panel in all photovoltaic panels of the photovoltaic power station is obtained, including:

[0012] Obtain the dust collection thickness collected by a dust sensor that is set on the same plane and at the same tilt angle as the specified photovoltaic panel;

[0013] The surface dust thickness is determined based on the dust collection thickness.

[0014] On the one hand, acquiring the dust collection thickness from a dust sensor positioned on the same plane and at the same tilt angle as the specified photovoltaic panel includes:

[0015] The first light intensity collected at the probe of the dust sensor is obtained;

[0016] Determine the second light intensity of the environment surrounding the photovoltaic power station;

[0017] The dust collection thickness is determined based on the difference between the first light intensity and the second light intensity.

[0018] On the one hand, the surface dust thickness of a specified photovoltaic panel in all photovoltaic panels of the photovoltaic power station is obtained, including:

[0019] Obtain the surface dust thickness of N specified photovoltaic panels out of all the photovoltaic panels, where N is a positive integer not greater than the total number of photovoltaic panels in the photovoltaic power station;

[0020] Determining whether the surface dust thickness is greater than a preset dust thickness includes:

[0021] Determine whether any of the N surface dust thicknesses has a surface dust thickness greater than the preset dust thickness;

[0022] If present, it is determined to be greater than the preset dust thickness;

[0023] If none of these conditions are met, the dust thickness is determined to be no greater than the preset dust thickness.

[0024] On the one hand, determining whether there are obstructions on each of the photovoltaic panels based on each of the images includes:

[0025] For any of the photovoltaic panels, determine whether the difference between the image acquired at the current moment and the image acquired at the last moment is greater than a preset difference.

[0026] If so, it is determined that there is an obstruction on the photovoltaic panel.

[0027] On the one hand, after determining that the dust thickness is greater than the preset thickness, the process also includes:

[0028] A first prompt signal is generated and sent to the prompt module so that the prompt module can issue a prompt;

[0029] After determining that the photovoltaic panel has an obstruction, the process also includes:

[0030] A second alert signal containing information about the presence of an obstruction on the photovoltaic panel is generated and sent to the alert module so that the alert module can issue an alert.

[0031] This application also provides an automatic cleaning device for photovoltaic panels, comprising:

[0032] Memory, used to store computer programs;

[0033] A processor is used to execute the computer program to implement the steps of the automatic cleaning method for photovoltaic panels as described above.

[0034] This application also provides a photovoltaic power station, including multiple photovoltaic panels and cleaning robots corresponding to each photovoltaic panel, and also includes an automatic cleaning device for the photovoltaic panels as described above;

[0035] Each of the cleaning robots is connected to each of the photovoltaic panels in a one-to-one correspondence;

[0036] The automatic cleaning device for the photovoltaic panels is connected to each of the cleaning robots and each of the photovoltaic panels.

[0037] On the one hand, it also includes:

[0038] The cleaning robot is mounted on a track next to the corresponding photovoltaic panel;

[0039] The plane on which the track is located is parallel to the photovoltaic panel, one end of the track is connected to the side of the photovoltaic panel, and the other end of the track is connected to the base station of the cleaning robot.

[0040] On the one hand, it also includes M dust sensors, where M is a positive integer;

[0041] Each of the M dust sensors is connected to the automatic cleaning device of the photovoltaic panel.

[0042] The beneficial effects of this application are as follows: By acquiring the surface dust thickness of a specific photovoltaic panel among all photovoltaic panels in a photovoltaic power station; when the surface dust thickness exceeds a preset dust thickness, the cleaning robots corresponding to each photovoltaic panel are activated to clean all photovoltaic panels; when the dust thickness is not greater than the preset dust thickness, the cameras mounted on each cleaning robot continuously collect images of each photovoltaic panel and determine whether there are obstructions on each photovoltaic panel based on the images. If an obstruction is found, the corresponding cleaning robot for that photovoltaic panel is activated to clean it. By continuously detecting the dust thickness, each photovoltaic panel can be cleaned in time before the dust thickness becomes too large, and the cleaning interval of the photovoltaic panels can be reasonably set, effectively saving water resources. By setting up cleaning robots with cameras, manual detection and cleaning are eliminated, improving cleaning efficiency. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the prior art and embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 A flowchart illustrating an automatic cleaning method for photovoltaic panels provided in this application;

[0045] Figure 2 A schematic diagram of the structure of an automatic cleaning device for photovoltaic panels provided in this application;

[0046] Figure 3 This is a structural schematic diagram of a photovoltaic power station provided in this application. Detailed Implementation

[0047] The core of this invention is to provide an automatic cleaning method, device, and photovoltaic power station for photovoltaic panels. The cleaning interval of the photovoltaic panels can be reasonably set, effectively saving water resources while cleaning each photovoltaic panel in a timely manner before the dust thickness becomes too large. It also eliminates the need for manual inspection and cleaning, thus improving cleaning efficiency.

[0048] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0049] A dirty photovoltaic (PV) panel surface affects light transmittance, thus impacting the amount of solar radiation received. In practical applications, two types of impurities typically cause PV panels to become dirty: dust, sand, and other fine particles that accumulate on the surface over time, and physical contaminants such as leaves and bird droppings. Both types of impurities affect the transmittance of the PV panel. The latter can also create shadows, causing localized hot spots that damage the panel, affecting power generation and shortening its lifespan. Therefore, timely cleaning of impurities from PV panels is crucial for ensuring their power generation capacity and extending their lifespan.

[0050] In existing technologies, because impurities falling onto photovoltaic panels are relatively easy to observe, it is common practice to have staff inspect each panel, promptly removing any physical contaminants found on the surface, and regularly cleaning the panels. While this method can ensure the cleanliness of the photovoltaic panels, it requires manual labor, and the frequency of cleaning needs to be determined based on the experience of the staff. If the staff has limited experience, it is difficult to set a reasonable cleaning interval.

[0051] To solve the above technical problems, please refer to Figure 1 , Figure 1 A flowchart of an automatic cleaning method for photovoltaic panels provided in this application includes:

[0052] S1: Obtain the surface dust thickness of a specified photovoltaic panel among all photovoltaic panels in a photovoltaic power plant;

[0053] Because dust and sand particles continuously settle on the surface of photovoltaic panels, the amount of solar radiation received by the panel decreases as the dust buildup thickens. Therefore, based on the minimum required power generation of the photovoltaic panel, the minimum intensity of solar radiation the panel surface must receive can be determined and used as a threshold. In practical applications, the current solar radiation of the photovoltaic panel will inevitably decrease over time until it falls below this threshold. When the detected solar radiation is below this threshold, and the local irradiance can certainly be increased to a level greater than this threshold (since cloudy days and nights are difficult to provide sunlight, local climate conditions must be considered for judgment), then it can be determined that the dust on the photovoltaic panel is too thick.

[0054] S2: Determine whether the surface dust thickness is greater than the preset dust thickness;

[0055] S3: If the dust thickness exceeds the preset limit, control the cleaning robots set at each photovoltaic panel to start and clean all photovoltaic panels.

[0056] To improve the efficiency of cleaning photovoltaic (PV) panel surfaces, this application considers that PV panels in a photovoltaic power station are typically concentrated in one area, and atmospheric dust has a generally similar impact on these panels. Therefore, once excessive dust is detected on one PV panel, all PV panels can be cleaned. Furthermore, a cleaning robot is pre-installed next to each PV panel, positioned on the same surface. Each robot has a pre-planned cleaning path for its corresponding PV panel. During cleaning, a command triggers all cleaning robots to start, each moving along its pre-defined path from beside the PV panel to begin cleaning. The cleaning robots must traverse every part of the PV panel surface to ensure complete cleaning. After cleaning, they return to their initial positions along their pre-defined paths. The cleaning method of the robots can be similar to that of robotic vacuum cleaners, floor scrubbers, etc. If necessary, a water source can be connected to the cleaning robots via pipes to wash the PV panel surfaces with water. This application does not limit the specific cleaning method of the cleaning robots.

[0057] S4: If the dust thickness is not greater than the preset thickness, use the cameras installed on each cleaning robot to collect images of each photovoltaic panel;

[0058] S5: Determine whether there are obstructions on each photovoltaic panel based on each image;

[0059] S6: Control the start of the cleaning robot corresponding to the photovoltaic panel with obstruction, and clean each photovoltaic panel with obstruction.

[0060] To address physical pollutants such as leaves and bird droppings, which differ from atmospheric dust (which typically settles accidentally on one or a few solar panels in a photovoltaic power station and doesn't have the same impact on all panels as atmospheric dust), controlling all cleaning robots to clean all panels would waste water and electricity. Therefore, each cleaning robot can be equipped with a camera. In practice, when a robot is parked next to a solar panel, the camera continuously captures images of the entire panel to determine the presence of physical pollutants. For example, the current image can be compared with images from previous moments to determine if they are nearly identical. If they are dissimilar, physical pollutants are present. Only the cleaning robots next to the panels with physical pollutants are activated, cleaning only those panels, ensuring cleanliness without wasting water and electricity.

[0061] In summary, by acquiring the surface dust thickness of a specific photovoltaic panel among all photovoltaic panels in a photovoltaic power station, the system activates cleaning robots corresponding to each panel when the dust thickness exceeds a preset threshold. When the dust thickness is below the preset threshold, the system continuously captures images of each panel using cameras mounted on the cleaning robots. Based on these images, it determines if any obstructions are present on the panels. If obstructions are detected, the corresponding cleaning robot is activated to clean those panels. This continuous dust thickness monitoring allows for timely cleaning of photovoltaic panels before their impact becomes excessive, enabling the efficient setting of cleaning intervals and effectively conserving water resources. Furthermore, the use of camera-equipped cleaning robots eliminates the need for manual inspection and cleaning, significantly improving cleaning efficiency.

[0062] Based on the above embodiments:

[0063] In some embodiments, obtaining the surface dust thickness of a specified photovoltaic panel among all photovoltaic panels in a photovoltaic power plant includes:

[0064] Obtain the dust collection thickness from a dust sensor positioned on the same plane and at the same tilt angle as the specified photovoltaic panel;

[0065] The surface dust thickness is determined based on the dust collection thickness.

[0066] To easily determine the dust thickness on the photovoltaic panel surface, this application proposes placing a dust sensor near the photovoltaic panel. The position and angle of the dust sensor are set to match the angle of the photovoltaic panel, ensuring the dust sensor operates in the same dust-collecting environment as the photovoltaic panel. During detection, the dust thickness of the dust sensor itself is determined. Because the dust-collecting environment of the dust sensor and the photovoltaic panel is identical, the dust thickness of the sensor can be considered approximately equivalent to the dust thickness on the photovoltaic panel. Based on this, the dust thickness on the photovoltaic panel surface can be easily determined.

[0067] In some other embodiments, a dust sensor can be positioned parallel to the photovoltaic panel, and a detection laser can be emitted from the dust sensor to the photovoltaic panel. The dust thickness on the photovoltaic panel can then be determined based on the intensity difference between the emitted and received lasers.

[0068] In some embodiments, obtaining the dust collection thickness collected by a dust sensor positioned on the same plane and at the same tilt angle as the specified photovoltaic panel includes:

[0069] The first light intensity collected at the probe of the dust sensor is obtained;

[0070] Determine the second solar irradiance of the environment surrounding the photovoltaic power station;

[0071] The dust collection thickness is determined based on the difference between the first light intensity and the second light intensity.

[0072] To easily determine the dust collection thickness, this application employs a sensor with a light probe as the dust sensor. Specifically, a transparent panel can be positioned on the same plane and at the same angle as the photovoltaic panel. A light probe is then placed below the transparent panel. Since atmospheric dust will also settle on the transparent panel, the light probe can detect the light intensity passing through it, thereby determining the shading rate and thus the dust collection thickness. Based on this, the dust collection thickness can be easily determined.

[0073] In some embodiments, obtaining the surface dust thickness of a specified photovoltaic panel among all photovoltaic panels in a photovoltaic power plant includes:

[0074] Get the surface dust thickness of N specified photovoltaic panels out of all photovoltaic panels, where N is a positive integer not greater than the total number of photovoltaic panels in the photovoltaic power station;

[0075] Determining whether the surface dust thickness is greater than the preset dust thickness includes:

[0076] Determine if any of the N surface dust thicknesses is greater than a preset dust thickness.

[0077] If present, it is determined to be greater than the preset dust thickness;

[0078] If none of them exist, then it is determined that the dust thickness is not greater than the preset dust thickness.

[0079] To save costs, based on the aforementioned dust sensor embodiments, only a few dust sensors can be installed in the photovoltaic power station, rather than one next to each photovoltaic panel. As seen in the embodiments above, since the environments of all photovoltaic panels are essentially the same, it is sufficient to ensure that at least one dust sensor is functioning properly throughout the entire photovoltaic power station. Furthermore, for redundancy, N dust sensors can be installed. In practical applications, if the dust collection thickness of even one dust sensor is too high, meaning the surface dust thickness of one photovoltaic panel is too thick, it will trigger the cleaning process for all photovoltaic panels. Additionally, after cleaning the photovoltaic panel surface, because the dust sensors and photovoltaic panels are on the same plane and at the same angle, the cleaning robot can also clean the adjacent dust sensors simultaneously.

[0080] In some embodiments, determining whether there are obstructions on each photovoltaic panel based on each image includes:

[0081] For any photovoltaic panel, determine whether the difference between the image acquired at the current moment and the image acquired at the previous moment is greater than a preset difference.

[0082] If so, it is determined that there is an obstruction on the photovoltaic panel.

[0083] To easily determine whether there are physical contaminants or other obstructions on a photovoltaic (PV) panel, this application uses images taken over a continuous period of time, since these physical contaminants are those that suddenly fall onto the PV panel. It's understood that because PV panels are typically stationary, the images captured by the camera should be largely consistent. Furthermore, when the sun's movement causes the shadow of one PV panel to fall on another, the change in shadow is slow due to the sun's slow movement, resulting in minimal difference between adjacent images. Therefore, a reasonable preset difference threshold can be set based on the shadow changes caused by the sun's movement. If the difference between two adjacent images is below this threshold, it indicates only a solar shadow; if it's above the threshold, it indicates that a physical contaminant has suddenly fallen onto the PV panel surface.

[0084] Of course, if small physical contaminants actually land on the photovoltaic panel surface, their impact is minimal and can be disregarded. Alternatively, color recognition can be used to determine whether physical contaminants have landed on the photovoltaic panel.

[0085] In summary, it is easy to determine whether there are physical pollutants or other obstructions on the photovoltaic panel.

[0086] In some embodiments, after determining that the dust thickness is greater than a preset thickness, the method further includes:

[0087] A first prompt signal is generated and sent to the prompt module so that the prompt module can issue a prompt;

[0088] After determining that the photovoltaic panels have obstructions, the following steps are also included:

[0089] A second alert signal containing information about the presence of a photovoltaic panel that is obstructing the view is generated and sent to the alert module so that the alert module can issue an alert.

[0090] To facilitate staff notification, this application generates a prompt signal and sends it through a prompt module, regardless of whether cleaning is performed on all photovoltaic panels or only on a specific panel, so that staff are notified when cleaning begins. Furthermore, the prompt module can be integrated into the photovoltaic power plant's SCADA (Supervisory Control and Data Acquisition) system. Similarly, the processor implementing this function can exist independently or be integrated into the SCADA system for staff monitoring and control. Additionally, before starting cleaning, the system can wait for staff notification; cleaning only begins when staff send a command to permit it, allowing for flexible cleaning based on staff needs.

[0091] Please refer to Figure 2 , Figure 2 A schematic diagram of an automatic cleaning device for photovoltaic panels provided in this application includes:

[0092] Memory 21 is used to store computer programs;

[0093] The processor 22 is used to execute a computer program to implement the steps of the automatic cleaning method for photovoltaic panels as described above.

[0094] For a detailed description of the automatic cleaning device for photovoltaic panels provided in this application, please refer to the embodiments of the automatic cleaning method for photovoltaic panels described above, which will not be repeated here.

[0095] Please refer to Figure 3 , Figure 3 The present application provides a structural schematic diagram of a photovoltaic power station, which includes multiple photovoltaic panels 31 and cleaning robots 32 corresponding to each photovoltaic panel 31, and also includes an automatic cleaning device 33 for the photovoltaic panels as described above.

[0096] Each cleaning robot 32 is connected to each photovoltaic panel 31 in a one-to-one correspondence;

[0097] The automatic cleaning device 33 for the photovoltaic panels is connected to each cleaning robot 32 and each photovoltaic panel 31.

[0098] For a detailed description of the photovoltaic power station provided in this application, please refer to the above-described embodiment of the automatic cleaning method for photovoltaic panels; further details will not be repeated here.

[0099] Based on the above embodiments:

[0100] In some embodiments, it also includes:

[0101] The cleaning robot 32 is mounted on a track next to the corresponding photovoltaic panel 31;

[0102] The plane on which the track is located is parallel to the photovoltaic panel 31. One end of the track is connected to the side of the photovoltaic panel 31, and the other end of the track is connected to the base station of the cleaning robot 32.

[0103] To facilitate the movement of the cleaning robot 32, a track is provided next to the photovoltaic panel 31. The angle and position of the track are the same as those of the photovoltaic panel 31, meaning the track and the photovoltaic panel 31 are on the same plane. One end of the track is directly connected to the side of the photovoltaic panel 31, allowing the cleaning robot 32 to move directly from the track onto the photovoltaic panel 31, and vice versa. The other end of the track can be directly connected to the base station of the cleaning robot 32. When not cleaning, the cleaning robot 32 can remain on the base station to capture images of the entire photovoltaic panel 31 using a camera to detect any suddenly falling solid contaminants.

[0104] In some embodiments, M dust sensors are also included, where M is a positive integer;

[0105] All M dust sensors are connected to the automatic cleaning device for the photovoltaic panels.

[0106] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0107] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0108] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for automatic cleaning of a photovoltaic panel, characterized in that, The method comprises the following steps: acquiring the surface dust thickness of a specified photovoltaic panel among all photovoltaic panels of a photovoltaic power station; judging whether the surface dust thickness is greater than a preset dust thickness; if the surface dust thickness is greater than the preset dust thickness, controlling the cleaning robots corresponding to the photovoltaic panels to start and clean all the photovoltaic panels; if the surface dust thickness is not greater than the preset dust thickness, acquiring images of the photovoltaic panels by using the cameras arranged on the cleaning robots; judging whether there is an occlusion on each photovoltaic panel based on the images; controlling the cleaning robots corresponding to the photovoltaic panels with the occlusion to start and clean the photovoltaic panels with the occlusion; wherein the step of acquiring the surface dust thickness of a specified photovoltaic panel among all photovoltaic panels of a photovoltaic power station comprises the following steps: acquiring the dust thickness collected by a dust sensor arranged at the same plane and the same inclination angle as the specified photovoltaic panel; determining the surface dust thickness according to the dust thickness; the step of acquiring the dust thickness collected by a dust sensor arranged at the same plane and the same inclination angle as the specified photovoltaic panel comprises the following steps: acquiring the first light intensity collected by the probe of the dust sensor; determining the second light intensity of the surrounding environment of the photovoltaic power station; determining the dust thickness based on the difference between the first light intensity and the second light intensity; the step of judging whether there is an occlusion on each photovoltaic panel based on the images comprises the following steps: for any photovoltaic panel, judging whether the difference between the image acquired at the current time and the image acquired at the last time is greater than a preset difference; if yes, it is determined that there is an occlusion on the photovoltaic panel.

2. The method of automatically cleaning a photovoltaic panel of claim 1, wherein, The method comprises the following steps: acquiring the surface dust thickness of a specified photovoltaic panel among all photovoltaic panels of a photovoltaic power station; judging whether the surface dust thickness is greater than a preset dust thickness; if the surface dust thickness is greater than the preset dust thickness, controlling the cleaning robots corresponding to the photovoltaic panels to start and clean all the photovoltaic panels; if the surface dust thickness is not greater than the preset dust thickness, acquiring images of the photovoltaic panels by using the cameras arranged on the cleaning robots; judging whether there is an occlusion on each photovoltaic panel based on the images; 3. A method of automatic cleaning of a photovoltaic panel as claimed in claim 1 or 2, characterized in that, controlling the cleaning robots corresponding to the photovoltaic panels with the occlusion to start and clean the photovoltaic panels with the occlusion; wherein the step of acquiring the surface dust thickness of a specified photovoltaic panel among all photovoltaic panels of a photovoltaic power station comprises the following steps: acquiring the dust thickness collected by a dust sensor arranged at the same plane and the same inclination angle as the specified photovoltaic panel; determining the surface dust thickness according to the dust thickness; 4. An automatic cleaning device for a photovoltaic panel, characterized by the step of acquiring the dust thickness collected by a dust sensor arranged at the same plane and the same inclination angle as the specified photovoltaic panel comprises the following steps: acquiring the first light intensity collected by the probe of the dust sensor; determining the second light intensity of the surrounding environment of the photovoltaic power station; 5. A photovoltaic power plant, characterized in that, determining the dust thickness based on the difference between the first light intensity and the second light intensity; the step of judging whether there is an occlusion on each photovoltaic panel based on the images comprises the following steps: for any photovoltaic panel, judging whether the difference between the image acquired at the current time and the image acquired at the last time is greater than a preset difference; if yes, it is determined that there is an occlusion on the photovoltaic panel. The method comprises the following steps: acquiring the surface dust thickness of a specified photovoltaic panel among all photovoltaic panels of a photovoltaic power station; judging whether the surface dust thickness is greater than a preset dust thickness; if the surface dust thickness is greater than the preset dust thickness, controlling the cleaning robots corresponding to the photovoltaic panels to start and clean all the photovoltaic panels; if the surface dust thickness is not greater than the preset dust thickness, acquiring images of the photovoltaic panels by using the cameras arranged on the cleaning robots; judging whether there is an occlusion on each photovoltaic panel based on the images; controlling the cleaning robots corresponding to the photovoltaic panels with the occlusion to start and clean the photovoltaic panels with the occlusion; wherein the step of acquiring the surface dust thickness of a specified photovoltaic panel among all photovoltaic panels of a photovoltaic power station comprises the following steps: acquiring the dust thickness collected by a dust sensor arranged at the same plane and the same inclination angle as the specified photovoltaic panel; determining the surface dust thickness according to the dust thickness; the step of acquiring the dust thickness collected by a dust sensor arranged at the same plane and the same inclination angle as the specified photovoltaic panel comprises the following steps: acquiring the first light intensity collected by the probe of the dust sensor; determining the second light intensity of the surrounding environment of the photovoltaic power station; determining the dust thickness based on the difference between the first light intensity and the second light intensity; the step of judging whether there is an occlusion on each photovoltaic panel based on the images comprises the following steps: for any photovoltaic panel, judging whether the difference between the image acquired at the current time and the image acquired at the last time is greater than a preset difference; if yes, it is determined that there is an occlusion on the photovoltaic panel. The method comprises the following steps: acquiring the surface dust thickness of a specified photovoltaic panel among all photovoltaic panels of a photovoltaic power station; judging whether the surface dust thickness is greater than a preset dust thickness; if the surface dust thickness is greater than the preset dust thickness, controlling the cleaning robots corresponding to the photovoltaic panels to start and clean all the photovoltaic panels; if the surface dust thickness is not greater than the preset dust thickness, acquiring images of the photovoltaic panels by using the cameras arranged on the cleaning robots; judging whether there is an occlusion on each photovoltaic panel based on the images; controlling the cleaning robots corresponding to the photovoltaic panels with the occlusion to start and clean the photovoltaic panels with the occlusion; wherein the step of acquiring the surface dust thickness of a specified photovoltaic panel among all photovoltaic panels of a photovoltaic power station comprises the following steps: acquiring the dust thickness collected by a dust sensor arranged at the same plane and the same inclination angle as the specified photovoltaic panel; determining the surface dust thickness according to the dust thickness; the step of acquiring the dust thickness collected by a dust sensor arranged at the same plane and the same inclination angle as the specified photovoltaic panel comprises the following steps: acquiring the first light intensity collected by the probe of the dust sensor; determining the second light intensity of the surrounding environment of the photovoltaic power station; determining the dust thickness based on the difference between the first light intensity and the second light intensity; the step of judging whether there is an occlusion on each photovoltaic panel based on the images comprises the following steps: for any photovoltaic panel, judging whether the difference between the image acquired at the current time and the image acquired at the last time is greater than a preset difference; if yes, it is determined that there is an occlusion on the photovoltaic panel.

6. The photovoltaic power plant of claim 5, wherein, Also include: The cleaning robot is arranged on the track beside the corresponding photovoltaic panel; Wherein, the plane where the track is located is parallel to the photovoltaic panel, one end of the track is connected with the side surface of the photovoltaic panel, and the other end of the track is connected with the base station of the cleaning robot.

7. The photovoltaic power plant of claim 5, wherein, Also include M dust sensors, M is a positive integer; M The dust sensor is connected with the automatic cleaning device of the photovoltaic panel.

Images