Photovoltaic cleaning device and control method thereof

Abstract

The application discloses a kind of photovoltaic cleaning device and its control method, it is related to photovoltaic cleaning technical field, photovoltaic cleaning device is adjusted angle by rotating mechanism, application has blowing dirt mechanism and acquisition camera, by acquisition camera, determine the position where dirt is located and dirt feature, according to the position where dirt is located drive movement mechanism to drive blowing dirt mechanism to specified position, and by the dirt feature determined drive blowing dirt mechanism to dirt is flushed, in control method, by default no dirt image feature is scanned and analyzed to first analysis area, determine dirt feature and dirt position on first analysis area, and after each time completes the flushing action of dirt, first analysis area is scanned and analyzed again, determine the first image feature of dirt after flushing, and according to first image feature, dirt flushing strategy is corrected, realize the automatic flushing of dirt, and avoid the invalid flushing of photovoltaic panel without flushing.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of photovoltaic cleaning, in particular to a photovoltaic cleaning device and a control method thereof. BACKGROUND

[0002] With the wide application of solar photovoltaic power generation technology, the cleaning and maintenance of photovoltaic panels become particularly important. Since photovoltaic panels are usually installed outdoors and exposed to the natural environment for a long time, they will be covered with dust, dirt, rainwater, leaves, etc., which will affect the absorption efficiency of solar radiation on the surface of the photovoltaic panel and reduce the power generation efficiency.

[0003] In order to avoid the above problems, the photovoltaic panel needs to be cleaned from time to time. For the cleaning of photovoltaic panels, the prior art includes using manual auxiliary equipment, and also includes setting up corresponding automatic scrubbing and flushing equipment to clean the photovoltaic panel according to the preset time. The above methods can ensure the cleanliness of the photovoltaic panel to a certain extent, but either consume labor or perform invalid cleaning work on photovoltaic panels that do not need to be cleaned, wasting corresponding cleaning resources. SUMMARY

[0004] The purpose of the present application is to provide a photovoltaic cleaning device and a control method thereof which reduces manual participation and avoids invalid cleaning work.

[0005] Therefore, the present application discloses a photovoltaic cleaning device, comprising:

[0006] a frame body;

[0007] a mounting mechanism rotatably connected to the frame body for mounting a photovoltaic panel;

[0008] a rotating mechanism provided on the frame body and connected to the mounting mechanism to drive the mounting mechanism to perform a turnover motion;

[0009] a blowing mechanism for blowing a dirt-removing gas flow to the photovoltaic panel;

[0010] a movement mechanism for driving the blowing mechanism to move to a designated position to facilitate the blowing mechanism to clean dirt on the photovoltaic panel;

[0011] a dirt collecting camera for determining the position of dirt on the photovoltaic panel to drive the movement mechanism to drive the blowing mechanism to the relative position of the dirt.

[0012] In some embodiments of the present application, the rotating mechanism comprises:

[0013] A first rotating bearing is arranged on the arm side of the frame body, and a through hole is arranged on the arm side corresponding to the position of the first rotating bearing;

[0014] A first rotating shaft is connected to the mounting mechanism at one end and is rotatably connected to the first rotating bearing at the other end;

[0015] A threaded pipe is arranged on the arm side and is arranged relative to the position of the through hole;

[0016] A threaded cap is threadedly connected to the threaded pipe;

[0017] A first locking block is arranged in the threaded pipe and is connected to the first rotating shaft through a connecting rod;

[0018] A second locking block is arranged at the bottom of the threaded cap and is in contact and separation with the first locking block according to the relative position of the threaded cap and the threaded pipe.

[0019] In some embodiments of the present application, the movement mechanism comprises:

[0020] A turnover frame is rotatably connected to the arm side of the frame body through a rotating rod, and a slide rail is further arranged on the crossbeam of the turnover frame;

[0021] A turnover motor is arranged on the side of the arm and is power-connected with the rotating rod to drive the turnover frame to turn relative to the frame body;

[0022] A traveling vehicle is slidingly connected to the slide rail, and the blowing mechanism is arranged on the traveling vehicle.

[0023] In some embodiments of the present application, the traveling vehicle comprises:

[0024] A traveling frame body is provided with a sliding hole at the top, and the two ends of the sliding hole are clamped on the transverse protrusions of the slide rail;

[0025] A plurality of guide wheels are rotatably connected to the inner side of the traveling frame body and are arranged on the upper and lower sides of the transverse protrusions of the slide rail, so that the traveling frame body can stably slide relative to the slide rail;

[0026] A power wheel is rotatably connected to the inner side of the traveling frame body and rolls on the slide rail;

[0027] A power motor is arranged on the traveling frame body and is connected with the power wheel.

[0028] In some embodiments of the present application, a control method of the photovoltaic cleaning device is also disclosed, the control method comprises:

[0029] The shooting image of the collection camera is acquired, and the region of the photovoltaic panel in the shooting image is demarcated as a first analysis region;

[0030] The first analysis region is scanned and analyzed according to the preset non-dirt image feature, and the dirt feature and the dirt position on the first analysis region are determined;

[0031] Based on the determined dirt position, the motion mechanism is driven to drive the dirt blowing mechanism to the specified position, and based on the dirt feature, the dirt blowing mechanism is driven to perform a blowing action on the dirt;

[0032] After each blowing action of the dirt blowing mechanism on the dirt, the first analysis region is scanned and analyzed again to determine the first image feature of the dirt after the blowing action, and the blowing strategy of the dirt blowing mechanism is corrected according to the first image feature.

[0033] In some embodiments of the present application, the method of demarcating the region of the photovoltaic panel in the shooting image comprises:

[0034] A probe point area is established for the position of the photovoltaic panel in the shooting image and the mapped region, the probe point area comprises a plurality of first positioning probe points, and each first positioning probe point is provided with an image coordinate and a probe point attribute.

[0035] In some embodiments of the present application, the method of presetting the non-dirt image feature comprises:

[0036] A plurality of shooting images under different illumination features are intercepted, each shooting image is subjected to grayscale processing, and the probe point area of the photovoltaic panel in the non-dirt state is scanned and analyzed to determine the grayscale value of each first positioning probe point in the probe point area, which is recorded as a standard grayscale value;

[0037] According to the illumination feature as the distinguishing standard, all the first positioning probe points in the shooting image and the standard grayscale values of the first positioning probe points are summarized to generate a plurality of first probe point grayscale sets.

[0038] In some embodiments of the present application, the method of presetting the non-dirt image feature further comprises:

[0039] The sum of all the standard grayscale values in the first probe point grayscale set is obtained to obtain a total standard grayscale value;

[0040] A total standard grayscale curve is established, the horizontal coordinate of the total standard grayscale curve is the illumination intensity, and the vertical coordinate is the total standard grayscale value;

[0041] When the non-dirt image feature is determined to be selected:

[0042] According to the current light intensity, a corresponding total standard gray value is determined on the total standard gray curve, and is recorded as a comparison total standard gray value;

[0043] If the difference between the total standard gray value of the first probe point gray set and the comparison total standard gray value is less than a preset value, the first probe point gray set is identified as a no-dirt image feature;

[0044] If the difference between the total standard gray value of the first probe point gray set and the comparison total standard gray value is not less than the preset value, the first probe point gray set with the total standard gray value closest to the comparison total standard gray value is identified as a to-be-corrected probe point gray set. According to the proportional relationship between the total standard gray value of the to-be-corrected probe point gray set and the comparison total standard gray value, each standard gray value in the to-be-corrected probe point gray set is corrected, and the corrected to-be-corrected probe point gray set is identified as a no-dirt image feature.

[0045] In some embodiments of the present application, the method for determining the dirt feature and the dirt position on the first analysis area comprises:

[0046] According to the current light feature, a first probe point gray set for comparison analysis is determined;

[0047] The current captured shooting image is subjected to a gray processing to obtain a current gray image, and a second positioning probe point is set for the current gray image based on the first positioning probe point position recorded in the first probe point gray set;

[0048] The gray value of all the second positioning probe points in the current gray image is extracted to generate a second probe point gray set;

[0049] The first probe point gray set and the second probe point gray set are compared and analyzed to screen out a plurality of to-be-analyzed second positioning probe points with a gray difference value greater than a preset value, and it is judged whether the plurality of to-be-analyzed second positioning probe points meet the aggregation judgment condition. If yes, the area corresponding to the plurality of to-be-analyzed second positioning probe points meeting the aggregation judgment condition is identified as a dirt position, and the gray difference between the plurality of to-be-analyzed second positioning probe points meeting the aggregation judgment condition and the corresponding first positioning probe points is identified as a dirt feature.

[0050] In some embodiments of the present application, the method for correcting the flushing strategy of the dirt blowing mechanism comprises:

[0051] A dirt degree quantization definition rule for the dirt feature is established, and the dirt degree of the dirt feature before flushing is defined based on the dirt degree quantization definition rule to obtain a first dirt degree;

[0052] The dirt degree of the dirt feature after flushing is defined based on the dirt degree quantization definition rule to obtain a second dirt degree;

[0053] A difference between the first dirt level and the second dirt level is calculated, and a flushing strategy of the dirt blowing mechanism is corrected based on a ratio of the difference to the first dirt level.

[0054] The application discloses a kind of photovoltaic cleaning device and its control method, it is related to photovoltaic cleaning technical field, photovoltaic cleaning device is adjusted angle by rotating mechanism, installation mechanism is applied with dirt blowing mechanism and acquisition camera, is determined by acquisition camera, dirt location and dirt characteristics, according to dirt location drives moving mechanism to drive dirt blowing mechanism to specified position, and is driven dirt blowing mechanism to dirt by determined dirt characteristics, in control method, by default no dirt image characteristics are scanned and analyzed to first analysis area, determine dirt characteristics and dirt location on first analysis area, and after completing the flushing action of dirt each time, first analysis area is scanned and analyzed again, determine the first image characteristics of dirt after flushing, and according to first image characteristics, dirt flushing strategy is corrected, realize the automatic flushing of dirt, and avoid the invalid flushing of photovoltaic panel without flushing.

[0055] The technical solutions of the application will be further described in detail below with the drawings and examples. BRIEF DESCRIPTION OF DRAWINGS

[0056] Figure 1 It is a structure schematic view of a kind of photovoltaic cleaning device in the embodiment of the application;

[0057] Figure 2 It is Figure 1 Enlarged schematic view of A in Fig. 1;

[0058] Figure 3 It is Figure 1 Enlarged schematic view of B in Fig. 1;

[0059] Figure 4 It is a structure schematic view of a kind of photovoltaic cleaning device in the embodiment of the application;

[0060] Figure 5 It is the method step diagram of the control method of a kind of photovoltaic cleaning device in the embodiment of the application.

[0061] REFERENCE NUMERALS

[0062] 1, frame; 2, photovoltaic panel; 3, dirt blowing mechanism; 4, first rotating bearing; 5, through hole; 6, first rotating shaft; 7, threaded tube; 8, threaded cap; 9, first locking block; 10, second locking block; 11, turnover frame; 12, turnover motor; 13, running frame; 14, slide rail; 15, guide wheel; 16, power wheel; 17, power motor. DETAILED DESCRIPTION

[0063] The technical solution of the present invention is further described below with reference to the accompanying drawings and embodiments.

[0064] The following will be combined with the accompanying drawings and specific embodiments to clearly and completely describe the technical solutions of the present invention. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention and cannot be understood as limiting the scope of protection of the present invention. Those skilled in the art in this field can make some non-essential improvements and adjustments based on the content of the present invention described below. In the present invention, unless otherwise clearly specified and limited, the technical terms used in this application should have the common meanings understood by those skilled in the art of the present invention.

[0065] Example:

[0066] The object of the present invention is to provide a photovoltaic cleaning device and a control method thereof that can reduce manual participation and avoid ineffective cleaning work.

[0067] Therefore, the present invention discloses a photovoltaic cleaning device, see Figure 1 , including: a frame 1, a mounting mechanism, a rotating mechanism, a dirt blowing mechanism 3, a motion mechanism and a dirt collecting camera.

[0068] The mounting mechanism is rotatably connected to the frame 1 and is used to mount the photovoltaic panel 2. The rotating mechanism is arranged on the frame 1 and is connected to the mounting mechanism to drive the mounting mechanism to perform a flipping motion. The dirt blowing mechanism 3 is used to blow a decontamination airflow toward the photovoltaic panel 2. The motion mechanism is used to drive the dirt blowing mechanism 3 to move to a designated position to facilitate the dirt blowing mechanism 3 to clean the dirt on the photovoltaic panel 2. The dirt collection camera is used to determine the position of the dirt on the photovoltaic panel 2 to drive the motion mechanism to drive the dirt blowing mechanism 3 to the relative position of the dirt.

[0069] In some embodiments of the present application, see Figure 3 The rotating mechanism includes: a first rotating shaft 6 bearing 4, a first rotating shaft 6, a threaded tube 7, a threaded cover 8, a first locking block 9 and a second locking block 10.

[0070] The first rotating bearing 4 is arranged on the side of the support arm of the frame 1, and a through hole 5 is provided on the side of the support arm corresponding to the position of the first rotating bearing 4. One end of the first rotating shaft 6 is connected to the mounting mechanism, and the other end is rotatably connected to the first rotating bearing 4. The threaded tube 7 is arranged on the side of the support arm and is arranged relative to the position of the through hole 5. The threaded cover 8 is threadedly connected to the threaded tube 7. The first locking block 9 is arranged in the threaded tube 7 and is connected to the first rotating shaft 6 through a connecting rod. The second locking block 10 is arranged at the bottom of the threaded cover 8 and contacts and separates from the first locking block 9 as the relative position of the threaded cover 8 and the threaded tube 7 changes.

[0071] In some embodiments of the present application, the moving mechanism comprises: a turnover frame 11, a turnover motor 12 and a traveling vehicle.

[0072] The turnover frame 11 is connected to the side of the arm of the frame body 1 through a rotating rod, and a slide rail 14 is arranged on the crossbeam of the turnover frame 11. The turnover motor 12 is arranged on the side of the arm and is connected to the rotating rod in power to drive the turnover frame 11 to turn relative to the frame body 1. The traveling vehicle is connected to the slide rail 14 in sliding mode, and the blowing mechanism is arranged on the traveling vehicle.

[0073] In some embodiments of the present application, referring to Figure 2 and Figure 4 , the traveling vehicle comprises: a traveling frame 13, a plurality of guide wheels 15, a power wheel 16 and a power motor 17.

[0074] The traveling frame 13 is provided with a sliding hole at the top, and the two ends of the sliding hole are clamped on the transverse protrusions of the slide rail 14. The guide wheels 15 are connected to the inner side of the traveling frame 13 in rotating mode and are arranged on the upper and lower sides of the transverse protrusions of the slide rail 14, so that the traveling frame 13 can slide stably relative to the slide rail 14. The power wheel 16 is connected to the inner side of the traveling frame 13 in rotating mode and rolls on the slide rail 14. The power motor 17 is arranged on the traveling frame 13 and is connected to the power wheel 16.

[0075] In some embodiments of the present application, a control method of the photovoltaic cleaning device is also disclosed, referring to Figure 5 , the control method comprises:

[0076] In step S100, the shooting image of the collection camera is acquired, and the region of the photovoltaic panel in the shooting image is demarcated as a first analysis region.

[0077] In step S200, the first analysis region is scanned and analyzed according to the preset non-dirt image features, the dirt features and the dirt position on the first analysis region are determined.

[0078] In step S300, based on the determined dirt position, the moving mechanism drives the blowing mechanism to the specified position, and based on the dirt features, the blowing mechanism performs the blowing action on the dirt.

[0079] In step S400, after each blowing action of the blowing mechanism on the dirt, the first analysis region is scanned and analyzed again, the first image features of the dirt after the blowing action are determined, and the blowing strategy of the blowing mechanism is corrected according to the first image features.

[0080] In some embodiments of the present application, the method for delineating the region to which the photovoltaic panel belongs in the photographed image comprises: establishing a probe point area for the position of the photovoltaic panel in the photographed image and the mapped region, the probe point area comprising a plurality of first positioning probe points, and each first positioning probe point being provided with an image coordinate and a probe point attribute.

[0081] In some embodiments of the present application, the method for presetting the dirt-free image features comprises:

[0082] Firstly, a plurality of photographed images under different illumination features are intercepted, and each photographed image is subjected to grayscale processing, and the probe point area of the photovoltaic panel in the dirt-free state is scanned and analyzed to determine the grayscale value of each first positioning probe point in the probe point area, which is denoted as a standard grayscale value.

[0083] Secondly, all the first positioning probe points in the photographed image and the standard grayscale values of the first positioning probe points are summarized according to the distinguishing standard of the illumination features to generate a plurality of first probe point grayscale sets.

[0084] It should be understood that grayscale processing of an image is a process of converting a color image into a grayscale image, which can simplify image processing and reduce the amount of calculation. A grayscale image has only one channel, and each pixel has only one grayscale value, which represents the brightness information in the image.

[0085] In common image formats, a color image is usually composed of three channels of RGB (red, green, and blue), and the value range of each channel is 0 to 255. The grayscale value of a grayscale image is also between 0 and 255, but only one channel is needed to represent it.

[0086] Here is a common method for grayscale processing of an image:

[0087] Reading the image: First, the original color image needs to be read from the image file. Image processing libraries such as OpenCV, PIL, etc. can be used to load image data.

[0088] Grayscale conversion: For each pixel, take the average of the pixel values of the three channels of RGB to get a single grayscale value. The following formula can be used for grayscale conversion:

[0089] Grayscale value = (R + G + B) / 3;

[0090] Where R, G, and B represent the pixel values of the red, green, and blue channels, respectively.

[0091] Updating the image: For each pixel in the image, replace the original RGB pixel value with the calculated grayscale value.

[0092] Saving the grayscale image: Save the grayscale image data after grayscale processing as a grayscale image file.

[0093] In actual image processing applications, other methods of graying can also be used, for example, using a weighted average method to perform weighted average on the RGB channels.

[0094] In some embodiments of the present application, the method of presetting the dirt-free image feature further comprises:

[0095] First, sum all the standard gray values in the first probe point gray set to obtain the total standard gray value.

[0096] Second, establish a total standard gray curve, with the horizontal coordinate being the illumination intensity and the vertical coordinate being the total standard gray value.

[0097] When determining the dirt-free image feature to be selected:

[0098] First, according to the current illumination intensity, determine the corresponding total standard gray value on the total standard gray curve, and record it as the comparison total standard gray value.

[0099] Second, if the difference between the total standard gray value of the first probe point gray set and the comparison total standard gray value is less than the preset value, the first probe point gray set is identified as the dirt-free image feature.

[0100] Third, if there is no first probe point gray set whose total standard gray value and the comparison total standard gray value differ by less than the preset value, the first probe point gray set whose total standard gray value is closest to the comparison total standard gray value is identified as the to-be-corrected probe point gray set. According to the proportional relationship between the total standard gray value of the to-be-corrected probe point gray set and the comparison total standard gray value, each standard gray value in the to-be-corrected probe point gray set is corrected, and the corrected to-be-corrected probe point gray set is identified as the dirt-free image feature.

[0101] In some embodiments of the present application, the method of determining the dirt feature and the dirt location on the first analysis area comprises:

[0102] First, according to the current illumination feature, determine the first probe point gray set for comparison analysis.

[0103] Second, perform gray processing on the current captured image to obtain a current gray image, and set a second positioning probe point on the current gray image based on the first positioning probe point location recorded in the first probe point gray set.

[0104] Third, extract the gray values of all second positioning probe points in the current gray image to generate a second probe point gray set.

[0105] The fourth step is to compare and analyze the grayscale set of the first probe point and the grayscale set of the second probe point, screen out several second positioning probe points to be analyzed whose grayscale difference is greater than a preset value, and judge whether the several second positioning probe points to be analyzed meet the aggregation judgment condition. If so, the area corresponding to the several second positioning probe points to be analyzed that meet the aggregation judgment condition is identified as the dirt location, and the grayscale difference between the several second positioning probe points to be analyzed that meet the aggregation judgment condition and the corresponding first positioning probe points is identified as the dirt feature.

[0106] In some embodiments of the present application, the method for modifying the flushing strategy of the dirt blowing mechanism includes:

[0107] The first step is to establish a quantitative definition rule for the dirt level of the dirt characteristics, and based on the quantitative definition rule for the dirt level, define the dirt level of the dirt characteristics before flushing to obtain a first dirt level.

[0108] In the second step, based on the dirt level quantitative definition rule, the dirt level is defined for the dirt characteristics after flushing to obtain a second dirt level.

[0109] In the third step, a difference in dirtiness between the first dirtiness level and the second dirtiness level is calculated, and the blowing strategy of the dirt blowing mechanism is modified based on a ratio of the difference in dirtiness level to the first dirtiness level.

[0110] Through the description of the above embodiments, those skilled in the art can clearly understand that the present invention can be implemented through hardware or by using software plus the necessary general hardware platform. Based on this understanding, the technical solution of the present invention can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, a USB flash drive, a mobile hard disk, etc.) and includes a number of instructions for enabling a computer device (such as a personal computer, a server, or a network device) to execute the methods described in various implementation scenarios of the present invention.

[0111] The present application discloses a photovoltaic cleaning device and a control method thereof, which relate to the field of photovoltaic cleaning technology. The photovoltaic cleaning device adjusts the angle of the mounting mechanism through a rotating mechanism, and is equipped with a blowing mechanism and a collection camera. The collection camera is used to determine the location of the dirt and the characteristics of the dirt. The motion mechanism is driven to drive the blowing mechanism to a specified position according to the location of the dirt, and the blowing mechanism is driven to flush the dirt according to the determined dirt characteristics. In the control method, a first analysis area is scanned and analyzed by a preset dirt-free image feature to determine the dirt characteristics and the location of the dirt on the first analysis area. After each completion of the flushing and blowing action on the dirt, the first analysis area is scanned and analyzed again to determine the first image characteristics of the dirt after flushing. According to the first image characteristics, the dirt flushing strategy is corrected to achieve automatic flushing of the dirt and avoid ineffective flushing of photovoltaic panels that do not need to be flushed.

[0112] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit the same. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solutions of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A photovoltaic cleaning device, characterized in that: include: frame; A mounting mechanism, the mounting mechanism being rotatably connected to the frame and used for mounting a photovoltaic panel; A rotating mechanism, the rotating mechanism being arranged on the frame and connected to the mounting mechanism to drive the mounting mechanism to perform a flipping motion; A pollution blowing mechanism, used for blowing a decontamination airflow toward the photovoltaic panel; A motion mechanism, the motion mechanism is used to drive the dirt blowing mechanism to move to a specified position, so that the dirt blowing mechanism can clean the dirt on the photovoltaic panel; A dirt collection camera is used to determine the location of dirt on the photovoltaic panel, so as to drive the motion mechanism to drive the dirt blowing mechanism to the relative position of the dirt; The motion mechanism comprises: A turning frame, the turning frame is rotatably connected to the side of the support arm of the frame body through a rotating rod, and a slide rail is further provided on the crossbeam of the turning frame; a flip motor, the flip motor being disposed on a side of the support arm and being dynamically connected to the rotating rod to drive the flip frame to flip relative to the frame body; A traveling vehicle is slidably connected to the slide rail, and the dirt blowing mechanism is arranged on the traveling vehicle; The traveling vehicle comprises: A traveling frame, wherein a sliding hole is provided on the top of the traveling frame, and both ends of the sliding hole are clamped on the transverse protrusions of the slide rail; A plurality of guide wheels, the guide wheels being rotatably connected to the inner side of the traveling frame and being arranged on the upper and lower sides of the transverse protrusion of the slide rail so as to enable the traveling frame to slide stably relative to the slide rail; a power wheel rotatably connected to the inner side of the traveling frame and rolling on the slide rail; The power motor is arranged on the traveling frame and connected to the power wheel.

2. A photovoltaic cleaning device according to claim 1, characterized in that: The rotating mechanism comprises: a first rotating bearing, the first rotating bearing being arranged on a side portion of the support arm of the frame, and a through hole being arranged on the side portion of the support arm at a position corresponding to the first rotating bearing; a first rotating shaft, one end of the first rotating shaft being connected to the mounting mechanism and the other end being rotatably connected to the first rotating bearing; A threaded tube, the threaded tube being arranged on a side of the support arm and being arranged relative to a position of the through hole; a threaded cover, the threaded cover being threadably connected to the threaded pipe; a first locking block, the first locking block being disposed in the threaded tube and connected to the first rotating shaft via a connecting rod; The second locking block is arranged at the bottom of the threaded cover and contacts and separates from the first locking block as the relative positions of the threaded cover and the threaded tube change.

3. A control method for a photovoltaic cleaning device, characterized in that: The photovoltaic cleaning device according to any one of claims 1 to 2, wherein the control method comprises: Acquire an image captured by a camera, and delineate the region in the image to which the photovoltaic panel belongs, which is recorded as a first analysis region; Scan and analyze the first analysis area according to the preset dirt-free image features to determine the dirt features and dirt location on the first analysis area; Based on the determined dirt location, the driving mechanism drives the dirt blowing mechanism to the specified location, and based on the dirt characteristics, drives The dirt blowing mechanism performs a flushing and blowing action on the dirt; After each blow-off of the dirt by the dirt blowing mechanism, the first analysis area is scanned and analyzed again to determine the first image features of the dirt after blow-off, and the blow-off strategy of the dirt blowing mechanism is modified according to the first image features.

4. The control method of a photovoltaic cleaning device according to claim 3, characterized in that: The method for demarcating the area to which the photovoltaic panel belongs in the captured image includes: A detection point area is established for the position of the photovoltaic panel in the captured image and the mapped area. The detection point area includes a plurality of first positioning detection points, and each first positioning detection point is set with image coordinates and detection point attributes.

5. The control method of a photovoltaic cleaning device according to claim 4, characterized in that: Methods for presetting dirt-free image features include: Intercept several images captured under different lighting characteristics, perform grayscale processing on each captured image, and scan and analyze the detection point area of ​​the photovoltaic panel in a dirt-free state to determine the grayscale value of each first positioning detection point in the detection point area, which is recorded as the standard grayscale value; According to the illumination feature as the distinguishing criterion, all the first positioning detection points in the captured image and the standard grayscale values ​​of the first positioning detection points are summarized to generate a plurality of first detection point grayscale sets.

6. The control method of a photovoltaic cleaning device according to claim 5, characterized in that: The method for presetting the dirt-free image feature also includes: Sum all the standard grayscale values ​​in the grayscale set of the first probe point to obtain the total standard grayscale value; Establishing a total standard grayscale curve, wherein the abscissa of the total standard grayscale curve is the light intensity and the ordinate is the total standard grayscale value; When deciding to use the dirt-free image feature: According to the current light intensity, the corresponding total standard grayscale value is determined on the total standard grayscale curve and recorded as the total standard grayscale value for comparison; If the difference between the total standard grayscale value of the first detection point grayscale set and the total standard grayscale value for comparison is less than a preset value, the first detection point grayscale set is identified as a dirt-free image feature; If there is no first probe point grayscale set whose total standard grayscale value does not differ from the total standard grayscale value for comparison by less than a preset value, the first probe point grayscale set whose total standard grayscale value is closest to the total standard grayscale value for comparison is identified as the probe point grayscale set to be corrected, and each standard grayscale value in the probe point grayscale set to be corrected is corrected according to the proportional relationship between the total standard grayscale value of the probe point grayscale set to be corrected and the total standard grayscale value for comparison, and the corrected probe point grayscale set to be corrected is identified as a dirt-free image feature.

7. The control method of a photovoltaic cleaning device according to claim 5, characterized in that: The method of determining the characteristics of the contamination and the location of the contamination on the first analysis area comprises: According to the current lighting characteristics, determine the grayscale set of the first detection point for comparison analysis; Grayscale processing is performed on the currently captured image to obtain a current grayscale image, and a second positioning probe point is set for the current grayscale image based on the position of the first positioning probe point recorded in the first probe point grayscale set; Extracting the grayscale values ​​of all second positioning detection points in the current grayscale image to generate a second detection point grayscale set; Compare and analyze the grayscale set of the first probe point and the grayscale set of the second probe point, screen out several second positioning probe points to be analyzed whose grayscale difference is greater than a preset value, and judge whether the several second positioning probe points to be analyzed meet the aggregation judgment condition. If so, the areas corresponding to the several second positioning probe points to be analyzed that meet the aggregation judgment condition are identified as the dirt location, and the grayscale difference between the several second positioning probe points to be analyzed that meet the aggregation judgment condition and the corresponding first positioning probe points is identified as the dirt feature.

8. The control method of a photovoltaic cleaning device according to claim 4, characterized in that: Methods for modifying the flushing strategy of the blower include: Establishing a dirt level quantitative definition rule for the dirt characteristics, and based on the dirt level quantitative definition rule, defining the dirt level of the dirt characteristics before flushing to obtain a first dirt level; Based on the dirt level quantitative definition rule, the dirt level is defined for the dirt characteristics after flushing to obtain a second dirt level; A difference in contamination levels between the first contamination level and the second contamination level is calculated, and a blowing strategy of the blowing mechanism is modified based on a ratio of the difference in contamination levels to the first contamination level.

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