A photovoltaic module cleaning device and its control method that do not require disassembly

Abstract

This application relates to the field of photovoltaic panel cleaning technology, and in particular to a non-disassembly photovoltaic module cleaning device and its control method. It includes: establishing a photovoltaic panel monitoring map based on all photovoltaic panel equipment parameters, and acquiring the operating parameters of each photovoltaic panel according to preset cleaning time nodes; setting the photovoltaic panels to be cleaned based on the operating parameters, and generating a walking path for the cleaning device based on the location data of all photovoltaic panels to be cleaned; when the cleaning device reaches the photovoltaic panel to be cleaned according to the walking path, acquiring infrared image data of the photovoltaic panel to be cleaned, and setting cleaning parameters based on the infrared image data. By acquiring the real-time operating efficiency and uncleaned time of the photovoltaic panels according to the preset cleaning time nodes, determining the corresponding photovoltaic panels to be cleaned, and performing optimal path planning based on the location data of all photovoltaic panels to be cleaned, the system facilitates automatic cleaning of all photovoltaic panels, reduces manual cleaning costs, and improves cleaning efficiency.

Description

Technical Field

[0001] This application relates to the field of photovoltaic panel cleaning technology, and in particular to a photovoltaic module cleaning device and control method that does not require disassembly. Background Technology

[0002] Currently, the cleaning process for photovoltaic panels faces the following main technical challenges. First, due to the large surface area of ​​photovoltaic panels, cleaning requires a significant amount of manpower and time, resulting in low manual efficiency, long cleaning times, and a large workforce and equipment investment. Second, manual cleaning, which is often performed at heights, poses certain safety risks. Finally, the automation rate of the photovoltaic panel cleaning process is low, making it difficult to achieve intelligent control and monitoring of the process, and hindering the timely detection and resolution of problems. Summary of the Invention

[0003] The purpose of this application is to provide a photovoltaic module cleaning device and its control method that do not require disassembly in order to solve the above-mentioned technical problems, thereby achieving efficient cleaning of photovoltaic modules.

[0004] In some embodiments of this application, the real-time operating efficiency of the photovoltaic panel and the uncleaned time of the photovoltaic panel are obtained according to the preset cleaning time node, the corresponding photovoltaic panel to be cleaned is determined, and the optimal path is planned according to the location data of all photovoltaic panels to be cleaned. By adding radar, the map is identified and the path is selected, which facilitates the automatic cleaning of the entire photovoltaic panel, reduces the cost of manual cleaning, and improves the cleaning efficiency.

[0005] In some embodiments of this application, by establishing multiple monitoring sub-regions and setting a certain number of cleaning devices, the cleaning efficiency of photovoltaic panels is improved. Simultaneously, by collecting infrared image data of the photovoltaic panels to generate real-time cleaning evaluation values, the operating parameters of the cleaning devices are dynamically adjusted, thereby improving the cleaning quality of the photovoltaic panels and avoiding damage to the photovoltaic panels that could affect power generation.

[0006] In some embodiments of this application, a method for controlling a photovoltaic module cleaning device that does not require disassembly is provided, including:

[0007] Based on all photovoltaic panel equipment parameters, a photovoltaic panel monitoring map is established, and the operating parameters of each photovoltaic panel are obtained according to the preset cleaning time nodes;

[0008] The photovoltaic panels to be cleaned are set according to their operating parameters, and the walking path of the cleaning device is generated based on the location data of all photovoltaic panels to be cleaned.

[0009] When the cleaning device reaches the photovoltaic panel to be cleaned according to the walking path, it acquires infrared image data of the photovoltaic panel to be cleaned and sets cleaning parameters based on the infrared image data.

[0010] In some embodiments of this application, the process of establishing a photovoltaic panel monitoring map includes:

[0011] Multiple monitoring sub-areas are set up based on the location parameters of all photovoltaic panel equipment and the parameters of photovoltaic module cleaning devices;

[0012] The number of photovoltaic module cleaning devices is determined based on the number of monitored sub-areas;

[0013] Establish a sequence A of monitoring sub-regions, A = (a1, a2, ..., an), where n is the number of monitoring sub-regions and ai is the i-th monitoring sub-region;

[0014] Establish a sequence B, B=(b1,b2…bn) for photovoltaic module cleaning devices, where bi is the photovoltaic module cleaning device corresponding to the i-th monitoring sub-region.

[0015] In some embodiments of this application, when setting the photovoltaic panel to be cleaned based on its operating parameters, the process includes:

[0016] Obtain the real-time operating efficiency and uncleaned time of the photovoltaic panels at the current cleaning time point;

[0017] Preset standard operating efficiency for photovoltaic panels;

[0018] The difference in operating efficiency c between the real-time operating efficiency of the photovoltaic panel and the preset standard operating efficiency of the photovoltaic panel is generated.

[0019] A first operating efficiency difference threshold C1 and a second operating efficiency difference threshold C2 are preset, and C1 <C2;

[0020] If the operating efficiency difference c is between the preset first operating efficiency difference threshold C1 and the second operating efficiency difference threshold C2, the photovoltaic panel is set as a first-level photovoltaic panel to be cleaned.

[0021] If the difference in operating efficiency c is greater than the preset second difference in operating efficiency C2, the photovoltaic panel is set as a secondary photovoltaic panel to be cleaned.

[0022] In some embodiments of this application, when setting the photovoltaic panel to be cleaned based on its operating parameters, the method further includes:

[0023] Preset uncleaning time threshold T1;

[0024] Establish a sequence of uncleaned time for the first-level photovoltaic panels to be cleaned, T, T = (t1, t2, ..., tm), where m is the number of first-level photovoltaic panels to be cleaned, and ti is the uncleaned time of the i-th first-level photovoltaic panel to be cleaned;

[0025] If ti≥T1, the i-th primary photovoltaic panel to be cleaned is designated as the secondary photovoltaic panel to be cleaned.

[0026] If \(t_i < T_1\), set the \(i\)-th first-level photovoltaic panel to be cleaned as a first-level photovoltaic panel to be cleaned.

[0027] In some embodiments of the present application, when generating the walking path of the cleaning device according to the position data of all photovoltaic panels to be cleaned, it includes:

[0028] Obtain the position data of all first-level and second-level photovoltaic panels to be cleaned within the \(i\)-th monitoring sub-region;

[0029] Generate multiple initial planned routes, generate the driving distances of each initial planned route, screen according to the driving distance of the \(i\)-th photovoltaic module cleaning device, and generate multiple first-level planned paths according to the screening results;

[0030] Establish a cost evaluation model and an expected revenue model;

[0031] Obtain the cleaning cost and expected revenue of each first-level planned path, and generate the operating cost of each first-level planned path;

[0032] Generate the second-level planned path of the \(i\)-th photovoltaic module cleaning device according to the operating cost.

[0033] In some embodiments of the present application, when setting the cleaning parameters according to the infrared image data, it includes:

[0034] Generate the cleaning area of the photovoltaic panel to be cleaned according to the infrared image data;

[0035] Generate an initial cleaning evaluation value \(d_1\) according to the cleaning area;

[0036] Obtain the operating efficiency difference \(c\) of the photovoltaic panel to be cleaned, and generate a correction coefficient \(e\) according to the operating efficiency difference \(c\);

[0037] Generate a cleaning evaluation value \(d\) according to the initial cleaning evaluation value \(d_1\) and the correction coefficient \(e\), \(d = e\times d_1\);

[0038] Set the water spray amount \(f\) and the cleaning duration according to the cleaning evaluation value \(d\).

[0039] In some embodiments of the present application, when generating the correction coefficient \(e\) according to the operating efficiency difference \(c\), it includes:

[0040] Preset the first operating efficiency difference interval \((C_1,C_2)\), the second operating efficiency difference interval \((C_2,C_3)\) and the third operating efficiency difference interval \((C_3,C_4)\);

[0041] If the difference in operating efficiency falls within the first preset operating efficiency range, the correction coefficient e is set to the preset first correction coefficient e1, i.e., e = e1; if the difference in operating efficiency falls within the second preset operating efficiency range, the correction coefficient e is set to the preset second correction coefficient e2, i.e., e = e2; if the difference in operating efficiency falls within the third preset operating efficiency range, the correction coefficient e is set to the preset third correction coefficient e3, i.e., e = e3; and 1 <e1<e2<e3。

[0042] In some embodiments of this application, when setting the water spray volume f based on the cleaning evaluation value d, the following are included:

[0043] The first cleaning evaluation value range (D1, D2), the second cleaning evaluation value range (D2, D3), and the third cleaning evaluation value (D3, D4) are preset.

[0044] If the cleaning evaluation value d is in the first cleaning evaluation value range, the water spray volume f is set to the preset first water spray volume f1, i.e., f=f1; if the cleaning evaluation value d is in the second cleaning evaluation value range, the water spray volume f is set to the preset second water spray volume f2, i.e., f=f2; if the cleaning evaluation value d is in the third cleaning evaluation value range, the water spray volume f is set to the preset third water spray volume f3, i.e., f=f3.

[0045] In some embodiments of this application, a photovoltaic module cleaning device that does not require disassembly is provided, comprising:

[0046] The central control unit is used to set the operating parameters of the device.

[0047] The moving part includes a support plate, a power component, and wheels. There are multiple wheels, which are disposed below the support plate. The power component is used to control the forward direction of the wheels.

[0048] The telescopic rod is connected at one end to the support plate and at the other end to the sliding rail;

[0049] A connecting rod, one end of which is connected to the sliding rail, and the other end of which is hinged to the cleaning part. The connecting rod is used to control the tilt angle of the cleaning part, and the other end of which is connected to the sliding rail.

[0050] The telescopic rod is used to control the height of the cleaning section;

[0051] The cleaning unit includes a cleaning brush, a water spraying unit, and an image acquisition unit, wherein the image acquisition unit is used to acquire infrared image data of the photovoltaic panel to be cleaned.

[0052] In some embodiments of this application, the central control unit includes:

[0053] The first processing module is used to set the planned path and set the operating parameters of the power component according to the planned path.

[0054] The second processing module is used to generate the cleaning area and cleaning evaluation value of the photovoltaic panel to be cleaned based on the infrared image data.

[0055] The second processing module is also used to set the water spray volume and cleaning duration based on the cleaning evaluation value.

[0056] Compared with the prior art, the advantages of the photovoltaic module cleaning device and its control method that do not require disassembly in this application are as follows:

[0057] The system obtains the real-time operating efficiency and uncleaned time of the photovoltaic panels based on preset cleaning time nodes, identifies the corresponding photovoltaic panels to be cleaned, and performs optimal path planning based on the location data of all photovoltaic panels to be cleaned. By adding radar, the system can identify the map and select the path, facilitating automatic cleaning of all photovoltaic panels, reducing manual cleaning costs, and improving cleaning efficiency.

[0058] By establishing multiple monitoring sub-zones and setting a specific number of cleaning devices, the cleaning efficiency for photovoltaic panels is improved. Simultaneously, by collecting infrared image data from the photovoltaic panels to generate real-time cleaning evaluation values, the operating parameters of the cleaning devices are dynamically adjusted, thereby improving the cleaning quality of the photovoltaic panels and preventing damage to them that could affect power generation. Attached Figure Description

[0059] Figure 1 This is a flowchart illustrating a control method for a photovoltaic module cleaning device that does not require disassembly, according to a preferred embodiment of this application.

[0060] Figure 2 This is a schematic diagram of a photovoltaic module cleaning device that does not require disassembly, according to a preferred embodiment of this application.

[0061] In the diagram, 100 – moving part; 101 – support plate; 102 – wheel; 200 – telescopic rod; 300 – connecting rod; 400 – sliding track; 500 – cleaning part; 600 – photovoltaic panel to be cleaned. Detailed Implementation

[0062] The specific embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this application, but are not intended to limit the scope of this application.

[0063] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0064] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0065] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0066] like Figure 1 As shown in the preferred embodiment of this application, a control method for a photovoltaic module cleaning device that does not require disassembly includes:

[0067] S101: Based on all photovoltaic panel equipment parameters, establish a photovoltaic panel monitoring map and obtain the operating parameters of each photovoltaic panel according to the preset cleaning time nodes;

[0068] S102: Set the photovoltaic panels to be cleaned according to the operating parameters of the photovoltaic panels, and generate the walking path of the cleaning device based on the location data of all photovoltaic panels to be cleaned;

[0069] S103: When the cleaning device reaches the photovoltaic panel to be cleaned according to the walking path, it acquires the infrared image data of the photovoltaic panel to be cleaned and sets the cleaning parameters according to the infrared image data.

[0070] Specifically, establishing a photovoltaic panel monitoring map includes:

[0071] Multiple monitoring sub-areas are set up based on the location parameters of all photovoltaic panel equipment and the parameters of photovoltaic module cleaning devices;

[0072] The number of photovoltaic module cleaning devices is determined based on the number of monitored sub-areas;

[0073] Establish a sequence A of monitoring sub-regions, A = (a1, a2, ..., an), where n is the number of monitoring sub-regions and ai is the i-th monitoring sub-region;

[0074] Establish a sequence B, B=(b1,b2…bn) for photovoltaic module cleaning devices, where bi is the photovoltaic module cleaning device corresponding to the i-th monitoring sub-region.

[0075] Specifically, the number of monitoring sub-areas and the number of photovoltaic module cleaning devices are determined based on the safe operating range of the photovoltaic module cleaning devices and the total number of photovoltaic modules, thereby ensuring the cleaning efficiency of the photovoltaic modules. The safe operating range refers to the distance that the photovoltaic module cleaning device can operate on a single full-range charge.

[0076] In a preferred embodiment of this application, when setting the photovoltaic panel to be cleaned based on its operating parameters, the process includes:

[0077] Obtain the real-time operating efficiency and uncleaned time of the photovoltaic panels at the current cleaning time point;

[0078] Preset standard operating efficiency for photovoltaic panels;

[0079] The difference in operating efficiency c between the real-time operating efficiency of the photovoltaic panel and the preset standard operating efficiency of the photovoltaic panel is generated.

[0080] A first operating efficiency difference threshold C1 and a second operating efficiency difference threshold C2 are preset, and C1 <C2;

[0081] If the operating efficiency difference c is between the preset first operating efficiency difference threshold C1 and the second operating efficiency difference threshold C2, the photovoltaic panel is set as a first-level photovoltaic panel to be cleaned.

[0082] If the difference in operating efficiency c is greater than the preset second difference in operating efficiency C2, the photovoltaic panel is set as a secondary photovoltaic panel to be cleaned.

[0083] Specifically, the standard operating efficiency of a photovoltaic panel refers to the optimal power generation efficiency of the photovoltaic panel when there is no dust obstructing its surface.

[0084] Specifically, a first operating efficiency difference threshold and a second operating efficiency difference threshold are set based on historical operating data.

[0085] Specifically, when setting the photovoltaic panels to be cleaned based on their operating parameters, the process also includes:

[0086] Preset uncleaning time threshold T1;

[0087] Establish an uncleaned time series T of the first-level photovoltaic panels to be cleaned, T = (t1, t2…tm), where m is the number of the first-level photovoltaic panels to be cleaned, and ti is the uncleaned duration of the i-th first-level photovoltaic panel to be cleaned;

[0088] If ti≥T1, set the i-th first-level photovoltaic panel to be cleaned as the second-level photovoltaic panel to be cleaned;

[0089] If ti<T1, set the i-th first-level photovoltaic panel to be cleaned as the first-level photovoltaic panel to be cleaned.

[0090] Specifically, the uncleaned time refers to the time interval from the last cleaning of the photovoltaic panel to the present. Its uncleaned time threshold can be set according to historical data. By monitoring the real-time operation efficiency and uncleaned time of each photovoltaic panel, locate the photovoltaic panels to be cleaned, and clean the photovoltaic panels in time to ensure the operation efficiency of the photovoltaic panels.

[0091] Specifically, the first-level photovoltaic panels to be cleaned refer to the photovoltaic panels that need to be cleaned within a certain period of time, and the second-level photovoltaic panels to be cleaned refer to the photovoltaic panels that need to be cleaned immediately at the current cleaning time node.

[0092] In the preferred embodiment of the present application, when generating the walking path of the cleaning device according to the position data of all the photovoltaic panels to be cleaned, it includes:

[0093] Obtain the position data of all the first-level and second-level photovoltaic panels to be cleaned in the i-th monitoring sub-region;

[0094] Generate multiple initial planning routes, generate the driving distances of each initial planning route, screen according to the driving distance of the i-th photovoltaic module cleaning device, and generate multiple first-level planning paths according to the screening results;

[0095] Establish a cost evaluation model and an expected revenue model;

[0096] Obtain the cleaning cost and expected revenue of each first-level planning path, and generate the operating cost of each first-level planning path;

[0097] Generate the second-level planning path of the i-th photovoltaic module cleaning device according to the operating cost.

[0098] Specifically, generate the initial planning path by selecting all the second-level photovoltaic panels to be cleaned and some or all of the first-level photovoltaic panels to be cleaned, and generate all the initial planning paths by using the exhaustive method. When the driving distance of the initial planning path exceeds the safe driving distance of the photovoltaic module cleaning device, eliminate the initial planning path.

[0099] Specifically, a cost evaluation model and an expected benefit model can be established based on historical operating parameters. The cleaning cost of each primary planning path can be generated based on the cost evaluation model. The cleaning cost mainly includes the driving cost corresponding to the total length of the planned path and the consumption cost corresponding to the number of photovoltaic panels that need to be cleaned.

[0100] Specifically, the expected return is calculated based on the expected return model, which represents the combined value of the potential increase in power generation from the completion of cleaning of the first-stage photovoltaic panels to the next cleaning time point and the potential decrease in power generation if cleaning is not completed.

[0101] Specifically, the operating cost is generated based on the difference between the expected revenue and the cleaning cost, and the primary planning path with the lowest operating cost is selected as the secondary planning path.

[0102] In a preferred embodiment of this application, setting cleaning parameters based on infrared image data includes:

[0103] The cleaning area of ​​the photovoltaic panel to be cleaned is generated based on infrared image data;

[0104] An initial cleaning evaluation value d1 is generated based on the cleaned area;

[0105] Obtain the efficiency difference *c* of the photovoltaic panels to be cleaned, and generate a correction coefficient *e* based on the efficiency difference *c*.

[0106] A cleaning evaluation value d is generated based on the initial cleaning evaluation value d1 and the correction coefficient e, where d = e * d1;

[0107] The water spray volume f and cleaning duration are set based on the cleaning evaluation value d.

[0108] Specifically, a mapping table of area to be cleaned and initial cleaning evaluation value is established based on historical operating parameters. The larger the area to be cleaned, the larger the corresponding initial cleaning evaluation value.

[0109] Specifically, when generating the correction coefficient e based on the difference in operating efficiency c, the following is included:

[0110] The first operating efficiency difference range (C1, C2), the second operating efficiency difference range (C2, C3), and the third operating efficiency difference range (C3, C4) are preset.

[0111] If the difference in operating efficiency falls within the first preset operating efficiency range, the correction coefficient e is set to the preset first correction coefficient e1, i.e., e = e1; if the difference in operating efficiency falls within the second preset operating efficiency range, the correction coefficient e is set to the preset second correction coefficient e2, i.e., e = e2; if the difference in operating efficiency falls within the third preset operating efficiency range, the correction coefficient e is set to the preset third correction coefficient e3, i.e., e = e3; and 1 <e1<e2<e3。

[0112] Specifically, a correction coefficient is set based on the difference in operating efficiency, and the cleaning evaluation value is dynamically adjusted to make the cleaning evaluation value more accurate.

[0113] Specifically, when setting the water spray volume f based on the cleaning evaluation value d, it includes:

[0114] The first cleaning evaluation value range (D1, D2), the second cleaning evaluation value range (D2, D3), and the third cleaning evaluation value (D3, D4) are preset.

[0115] If the cleaning evaluation value d is in the first cleaning evaluation value range, the water spray volume f is set to the preset first water spray volume f1, i.e., f=f1; if the cleaning evaluation value d is in the second cleaning evaluation value range, the water spray volume f is set to the preset second water spray volume f2, i.e., f=f2; if the cleaning evaluation value d is in the third cleaning evaluation value range, the water spray volume f is set to the preset third water spray volume f3, i.e., f=f3.

[0116] Specifically, by collecting infrared image data of photovoltaic panels to generate real-time cleaning evaluation values, the operating parameters of the cleaning device are dynamically adjusted, thereby improving the cleaning quality of photovoltaic panels, reducing cleaning costs, avoiding damage to photovoltaic panels, and preventing impact on power generation.

[0117] like Figure 2 As shown, in another preferred embodiment of the control method for a non-disassembly photovoltaic module cleaning device based on any of the above preferred embodiments, this preferred embodiment provides a non-disassembly photovoltaic module cleaning device, comprising:

[0118] The central control unit is used to set the operating parameters of the device.

[0119] The moving part 100 includes a support plate 101, a power component and wheels 102. There are multiple wheels 102, which are disposed below the support plate 101. The power component is used to control the forward direction of the wheels 102.

[0120] The telescopic rod 200 is connected at one end to the support plate 101 and at the other end to the sliding rail 400;

[0121] A connecting rod 300 is provided, with one end connected to a sliding rail 400 and the other end hinged to a cleaning part 500. The connecting rod 300 is used to control the tilt angle of the cleaning part 500, and the other end of the connecting rod 300 is connected to the sliding rail 400.

[0122] Telescopic rod 200 is used to control the height of cleaning section 500;

[0123] The cleaning unit 500 includes a cleaning brush, a water spraying unit, and an image acquisition unit, which is used to acquire infrared image data of the photovoltaic panel to be cleaned.

[0124] Specifically, the central control unit includes:

[0125] The first processing module is used to set the planned path and set the working parameters of the power component according to the planned path.

[0126] The second processing module is used to generate the cleaning area and cleaning evaluation value of the photovoltaic panel to be cleaned based on the infrared image data.

[0127] The second processing module is also used to set the water spray volume and cleaning duration based on the cleaning evaluation value.

[0128] Specifically, by adding a central control unit 100 for path planning and radar path recognition, the photovoltaic module cleaning device can advance along a preset path via the moving unit 100. The telescopic rod 200 can adjust the cleaning mechanism according to the terrain and the height of different types of photovoltaic panels. Simultaneously, the connecting rod 300 can move freely on a sliding track, and the connecting rod 300 and the cleaning unit use an adjustable-angle connection, allowing for adaptive adjustment based on the tilt angle of the photovoltaic panel. When it reaches the photovoltaic panel 600 to be cleaned, infrared scanning is used to automatically identify and adjust the cleaning range of the cleaning brush. After completing one row of cleaning, it moves forward and cleans again.

[0129] According to the first concept of this application, the real-time operating efficiency of the photovoltaic panels and the uncleaned time of the photovoltaic panels are obtained according to the preset cleaning time nodes, the corresponding photovoltaic panels to be cleaned are determined, and the optimal path is planned according to the location data of all photovoltaic panels to be cleaned. By adding radar, the map is identified and the path is selected, which facilitates the automatic cleaning of all photovoltaic panels, reduces the cost of manual cleaning, and improves the cleaning efficiency.

[0130] According to the second concept of this application, by establishing multiple monitoring sub-areas and setting a certain number of cleaning devices, the cleaning efficiency of photovoltaic panels is improved. Simultaneously, by collecting infrared image data of the photovoltaic panels, real-time cleaning evaluation values ​​are generated, and the operating parameters of the cleaning devices are dynamically adjusted, thereby improving the cleaning quality of the photovoltaic panels and avoiding damage to the photovoltaic panels that could affect power generation.

[0131] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of this application, and these improvements and substitutions should also be considered within the scope of protection of this application.

Claims

1. A control method for a photovoltaic module cleaning device that does not require disassembly, characterized in that, Including: Based on all the parameters of the photovoltaic panels, establish a monitoring map of the photovoltaic panels, and obtain the operating parameters of each photovoltaic panel according to the preset cleaning time nodes; Set the photovoltaic panels to be cleaned according to the operating parameters of the photovoltaic panels, and generate the walking path of the cleaning device based on the position data of all the photovoltaic panels to be cleaned; When the cleaning device arrives at the photovoltaic panel to be cleaned according to the walking path, obtain the infrared image data of the photovoltaic panel to be cleaned, and set the cleaning parameters according to the infrared image data; When setting the photovoltaic panels to be cleaned according to the operating parameters of the photovoltaic panels, it includes: Obtain the real-time operating efficiency and uncleaned time of the photovoltaic panels at the current cleaning time node; Preset the standard operating efficiency of the photovoltaic panels; Generate the operating efficiency difference c based on the real-time operating efficiency of the photovoltaic panels and the preset standard operating efficiency of the photovoltaic panels; Preset the first operating efficiency difference threshold C1 and the second operating efficiency difference threshold C2, and C1 < C2; If the operating efficiency difference c is between the preset first operating efficiency difference threshold C1 and the second operating efficiency difference threshold C2, set the photovoltaic panel as a first-level photovoltaic panel to be cleaned; If the operating efficiency difference c is greater than the preset second operating efficiency difference C2, set the photovoltaic panel as a second-level photovoltaic panel to be cleaned; Preset the uncleaned time threshold T1; Establish an uncleaned time sequence T of the first-level photovoltaic panels to be cleaned, T = (t1, t2…tm), where m is the number of first-level photovoltaic panels to be cleaned, and ti is the uncleaned duration of the i-th first-level photovoltaic panel to be cleaned; If ti ≥ T1, set the i-th first-level photovoltaic panel to be cleaned as a second-level photovoltaic panel to be cleaned; If ti < T1, set the i-th first-level photovoltaic panel to be cleaned as a first-level photovoltaic panel to be cleaned; When setting the cleaning parameters according to the infrared image data, it includes: Generate the cleaning area of the photovoltaic panel to be cleaned based on the infrared image data; Generate the initial cleaning evaluation value d1 based on the cleaning area; Obtain the operating efficiency difference c of the photovoltaic panel to be cleaned, and generate the correction coefficient e based on the operating efficiency difference c; Generate the cleaning evaluation value d based on the initial cleaning evaluation value d1 and the correction coefficient e, d = e * d1; Set the water spray amount f and the cleaning duration according to the cleaning evaluation value d; 2. The control method for the non-disassembly-required photovoltaic module cleaning device as described in claim 1, characterized in that, When establishing the monitoring map of the photovoltaic panels, it includes: Set multiple monitoring sub-regions according to the position parameters of all the photovoltaic panel devices and the parameters of the photovoltaic module cleaning device; Set the number of photovoltaic module cleaning devices according to the number of monitoring sub-regions; Establish a monitoring sub-region sequence A, A = (a1, a2…an), where n is the number of monitoring sub-regions, and ai is the i-th monitoring sub-region; Establish a photovoltaic module cleaning device sequence B, B = (b1, b2…bn), where bi is the photovoltaic module cleaning device corresponding to the i-th monitoring sub-region; 3. The control method for the non-disassembly-required photovoltaic module cleaning device as described in claim 2, characterized in that, When generating the walking path of the cleaning device based on the position data of all the photovoltaic panels to be cleaned, it includes: Obtain the position data of all the first-level and second-level photovoltaic panels to be cleaned within the i-th monitoring sub-region; Generate multiple initial planned routes, generate the driving distances of each initial planned route, screen according to the driving distance of the i-th photovoltaic module cleaning device, and generate multiple first-level planned paths according to the screening results; Establish a cost evaluation model and an expected revenue model; Obtain the cleaning cost and expected benefits of each primary planning path, and generate the operating cost of each primary planning path; The secondary planning path for the i-th photovoltaic module cleaning device is generated based on the operating cost.

4. The control method for the non-disassembly-required photovoltaic module cleaning device as described in claim 3, characterized in that, When generating the correction coefficient e based on the difference in operating efficiency c, the following are included: The first operating efficiency difference range (C1, C2), the second operating efficiency difference range (C2, C3), and the third operating efficiency difference range (C3, C4) are preset. If the difference in operating efficiency falls within the first preset operating efficiency range, the correction coefficient e is set to the preset first correction coefficient e1, i.e., e = e1; if the difference in operating efficiency falls within the second preset operating efficiency range, the correction coefficient e is set to the preset second correction coefficient e2, i.e., e = e2; if the difference in operating efficiency falls within the third preset operating efficiency range, the correction coefficient e is set to the preset third correction coefficient e3, i.e., e = e3; and 1 <e1<e2<e3。 5. The control method for the non-disassembly-required photovoltaic module cleaning device as described in claim 4, characterized in that, When setting the water spray volume f based on the cleaning evaluation value d, the following should be included: The first cleaning evaluation value range (D1, D2), the second cleaning evaluation value range (D2, D3), and the third cleaning evaluation value (D3, D4) are preset. If the cleaning evaluation value d is in the first cleaning evaluation value range, the water spray volume f is set to the preset first water spray volume f1, i.e., f=f1; if the cleaning evaluation value d is in the second cleaning evaluation value range, the water spray volume f is set to the preset second water spray volume f2, i.e., f=f2; if the cleaning evaluation value d is in the third cleaning evaluation value range, the water spray volume f is set to the preset third water spray volume f3, i.e., f=f3.

6. A photovoltaic module cleaning device that does not require disassembly, employing the photovoltaic module cleaning method without disassembly as described in any one of claims 1-5, characterized in that, include: The central control unit is used to set the operating parameters of the device. The moving part includes a support plate, a power component, and wheels. There are multiple wheels, which are disposed below the support plate. The power component is used to control the forward direction of the wheels. The telescopic rod is connected at one end to the support plate and at the other end to the sliding rail; A connecting rod, one end of which is connected to the sliding rail, and the other end of which is hinged to the cleaning part. The connecting rod is used to control the tilt angle of the cleaning part, and the other end of which is connected to the sliding rail. The telescopic rod is used to control the height of the cleaning section; The cleaning unit includes a cleaning brush, a water spraying unit, and an image acquisition unit, wherein the image acquisition unit is used to acquire infrared image data of the photovoltaic panel to be cleaned.

7. The photovoltaic module cleaning device without disassembly as described in claim 6, characterized in that, The central control unit includes: The first processing module is used to set the planned path and set the operating parameters of the power component according to the planned path. The second processing module is used to generate the cleaning area and cleaning evaluation value of the photovoltaic panel to be cleaned based on the infrared image data. The second processing module is also used to set the water spray volume and cleaning duration based on the cleaning evaluation value.

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