Flight control process and flight control system based on photovoltaic panel cleaning

Abstract

The invention discloses a flight control process and flight control system based on photovoltaic panel cleaning, and relates to the technical field of unmanned aerial vehicle equipment, and the flight control process comprises the following steps: S1, work condition confirmation; s2, confirming a to-be-cleaned area; s3, making a flight strategy; s4, executing flight operation; and S5, checking a cleaning result. The system comprises a command center which is used for commanding and dispatching the sweeping machine and the unmanned aerial vehicle, maintaining daily maintenance of the sweeping machine and the unmanned aerial vehicle, processing various data collected in the sweeping process, identifying the stain distribution condition and formulating a sweeping strategy. According to the flight control process and the flight control system based on photovoltaic panel cleaning, the automatic photovoltaic panel cleaning process based on the flight control system is adopted, so that the cleaning efficiency and the safety can be remarkably improved. According to the system, accurate area positioning and stain identification can be realized, and cleaning operation is performed through the automatic unmanned aerial vehicle, so that the manpower demand is reduced, and the operation cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle equipment, and in particular to a flight control process and a flight control system based on photovoltaic panel cleaning. Background Art

[0002] In the current photovoltaic power generation field, it is crucial to keep photovoltaic panels clean. Dust and stains on the surface of photovoltaic panels will significantly reduce their power generation efficiency, so regular cleaning becomes a necessary measure to improve the overall power generation efficiency. However, traditional photovoltaic panel cleaning methods mostly rely on manual operations, which is not only costly but also inefficient, especially in large-scale photovoltaic power plants. In addition, manual cleaning poses safety risks, and the operation effect and safety cannot be guaranteed under severe weather conditions.

[0003] The disadvantages of the prior art are as follows: Efficiency issue: Manual cleaning is inefficient, especially in large-scale photovoltaic power plants, where cleaning work is arduous and time-consuming.

[0004] Cost issues: Manual cleaning is costly, especially in environments where frequent cleaning is required.

[0005] Safety risks: There are great safety risks in cleaning photovoltaic panels at high altitudes or in severe weather conditions.

[0006] Cleaning quality: Manual cleaning may result in incomplete cleaning or damage to the photovoltaic panels due to improper operation. Summary of the invention

[0007] In view of the deficiencies in the prior art, the present invention provides a flight control process and a flight control system based on photovoltaic panel cleaning to solve the problems raised in the above background technology.

[0008] To achieve the above object, the present invention provides the following technical solution: a flight control process based on photovoltaic panel cleaning, comprising the following steps: S1. Confirmation of work status; Confirm the effective radiation range of the control signal from the command center, working climate conditions, temperature conditions, the range of the flight area, obstacles in the area and the flight path; S2. Confirmation of the area to be cleaned; Confirm the scope of the area to be cleaned, count, code and locate the number of photovoltaic panels within the scope, evaluate the dirtiness of each photovoltaic panel, and count the number of photovoltaic panels that need to be cleaned; S3. Formulate flight strategies; According to the number and location of photovoltaic panels to be cleaned, as well as the number and cleaning strength of the cleaning machines, flight strategy planning is carried out, including flight path, number and path of battery replacement and cleaning agent replenishment; S4. Perform flight operations; Cleaning of photovoltaic panels using a cleaning machine; S5. Check the cleaning results; Inspect the cleaned photovoltaic panels, evaluate the cleaning results to modify the flight strategy, and store the flight data of the photovoltaic power station, including the flight path and flight climate conditions.

[0009] To further optimize the technical solution, in step S1, the working climate conditions are obtained through the climate data associated with the command center, the temperature data is obtained through the temperature detection sensor built into the command machine, and the temperature data is also obtained by integrating the temperature detection sensor in the command center.

[0010] To further optimize the technical solution, in step S1, when determining the range of the flyable area, the following process is included: After the command aircraft takes off, it first confirms the flight area. The command center has stored the location information of the photovoltaic power station, the basic area and the basic information of the flight permission area in advance; The flyable area confirmed by the command aircraft is the data pre-stored in the command center and determined in combination with the actual working environment, including the signal radiation range of the command center and the distribution of flight obstacles within the range; The command aircraft flies to a preset height, collects an overall image of the entire photovoltaic power station from a bird's-eye view, and transmits the collected image back to the command center; The command center determines the features of the collected images to be photovoltaic panels, photovoltaic equipment, obstacles, including power lines, signal towers, and energy storage equipment; and marks the obstacles as no-fly areas. In subsequent flight operations, the aircraft is controlled to avoid no-fly areas.

[0011] To further optimize the technical solution, the image information collected by the command aircraft in the bird's-eye view state only includes the plane information of the photovoltaic plant. After the bird's-eye view is collected, the height information of each signal needs to be specifically collected; The command aircraft changes the shooting points to collect image information of the photovoltaic power station from different angles, and determines its height information based on the stereo image pair method, shadow method, and parallax calculation method, thereby generating a three-dimensional flyable area model.

[0012] To further optimize this technical solution, after the command aircraft takes off, the working sequence of the flight operation is as follows: Hover at a certain height above the area to be cleaned of the photovoltaic power station and take a bird's-eye view; Based on the signal radiation range of the command center and the collected bird's-eye view, the high-altitude positioning origin is determined as the hovering point; Taking the hovering point as the position reference, capture the image information of the photovoltaic power station at the same height, around the same axis, and in four directions toward the axis; Fly back to the positioning origin, maintain hovering status, and continue to monitor the cleaning operation.

[0013] To further optimize the technical solution, after the hovering point is determined, the aircraft always stays at the hovering point and the hovering point is used as a reference position. When changing the position range of the command center, ensure that the command machine at the hovering point is always within the coverage of the control signal, then move the command center. After the move, recalibrate the position relationship and then change the hovering point. The position of the entire system will not be lost. That is, when only one of the command center and the hovering point is changed at the same time, the positioning and reference of the entire system are still valid.

[0014] To further optimize the technical solution, in step S2, after determining the scope of the area to be cleaned, the command center dispatches an inspection aircraft to conduct a flight inspection of the flyable area to verify the contamination of the photovoltaic panels and plan a flyable path; subsequent transport aircraft only fly on the flight path that has been confirmed correct by the inspection aircraft during a test flight.

[0015] The inspection machine will encode and locate the photovoltaic panels within the area to be cleaned one by one, count the number of photovoltaic panels in the flight area, the location information and orientation of each photovoltaic panel, and evaluate the dirtiness of each photovoltaic panel.

[0016] To further optimize the technical solution, in step S2, when evaluating the contamination condition of each photovoltaic panel, the contamination condition of the photovoltaic panel itself is determined by lens acquisition, infrared thermal imaging acquisition or photoexcitation acquisition; Carry out on-site operations according to the equipment mounted on the drone, weather conditions and lighting conditions; When visibility is high, the lens is used to collect and judge the dirtiness of the photovoltaic panel surface, and infrared thermal imaging and photoexcitation are used as auxiliary inspection methods to verify whether the image collection and detection is accurate, so as to judge the dirtiness of the photovoltaic panel.

[0017] To further optimize the technical solution, in step S4, performing the flight operation specifically includes: Transport the cleaning machine to each photovoltaic panel and start cleaning operation; Transporting the cleaning machine after cleaning to the next photovoltaic panel to continue cleaning; Sweepers with severely dirty brushes, overheated machines, running out of power, or running out of detergent are transported back to the command center for maintenance.

[0018] A photovoltaic panel cleaning-based flight control system is designed based on the above photovoltaic panel cleaning-based flight control process, including a command center for commanding and dispatching a cleaning machine and an unmanned aerial vehicle, while maintaining daily maintenance of the cleaning machine and the aircraft, processing various data collected during the cleaning process, and identifying the distribution of stains and formulating cleaning strategies; The cleaning machine is used to clean the photovoltaic panels; The aircraft include command aircraft, transport aircraft, rescue aircraft and inspection aircraft; In the aircraft: The command machine is used for image acquisition, signal relay and data monitoring, and generates three-dimensional images based on the image acquisition data; A transporter, used to carry the sweeper and transport the sweeper to the photovoltaic panel; Rescue machines, used to transport faulty machines back to the command center, and to recharge and rescue machines with depleted battery energy through external discharge; Inspection aircraft, used to explore the flight path and verify the feasibility of the path, and simultaneously detect the location distribution, size specifications, and dirtiness of each photovoltaic panel; The inspection machine is mounted with an infrared imaging module and a photoluminescent light source via a quick disassembly module, and the inspection machine is built with a collection lens, an inertial navigation module, a communication module and a laser radar; In the inspection machine: The acquisition lens is used to collect image data. The lens integrates a pan / tilt and a photosensitive module to collect image data at a higher resolution and transmit it back to the command center. The inertial navigation module is used to record the inertial navigation data of the inspection aircraft, including angle, azimuth and moving distance. The inertial navigation data is used to calibrate the flight path. After the inspection aircraft completes the inspection of the area to be cleaned, it generates a complete inertial navigation data based on the area to be cleaned. The subsequent transportation path of the transport aircraft uses this inertial navigation data as the main flight basis; A communication module, used for communicating with the command center, including control signals, infrared thermal imaging data, photoluminescence data and image data; LiDAR is used for obstacle avoidance detection during inspections.

[0019] Compared with the prior art, the present invention provides a flight control process and a flight control system based on photovoltaic panel cleaning, which has the following beneficial effects: The flight control process and flight control system based on photovoltaic panel cleaning can significantly improve cleaning efficiency and safety by adopting an automated photovoltaic panel cleaning process based on the flight control system. The system can achieve accurate regional positioning and stain identification, and perform cleaning operations through automated drones, thereby reducing manpower requirements and reducing operating costs. In addition, the automated system can operate stably under various climatic conditions to ensure cleaning effects while reducing physical damage to photovoltaic panels. Overall, it not only improves the operating efficiency of photovoltaic panels, but also improves the economic benefits of photovoltaic power stations and the long-term stability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of a flight control process based on photovoltaic panel cleaning proposed by the present invention; Figure 2 A schematic diagram of the change of the command aircraft positioning point and reference relationship of a flight control process based on photovoltaic panel cleaning proposed by the present invention; Figure 3 A schematic diagram of the structure of a patrol machine of a flight control system based on photovoltaic panel cleaning proposed by the present invention; Figure 4 It is a functional schematic diagram of a flight cleaning multifunctional all-in-one machine proposed in an embodiment. DETAILED DESCRIPTION

[0021] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Embodiment 1:

[0022] See also Figure 1 , a flight control process and a flight control system based on photovoltaic panel cleaning, comprising the following steps: S1. Confirmation of work status Confirm the effective radiation range of the command center's control signal, working climate conditions, temperature conditions, flightable area range, obstacles within the area and flightable paths.

[0023] Working condition confirmation is to confirm whether the current environment meets the system working conditions. Specifically, it includes the current climate conditions, temperature conditions, Fetion area and the distribution of obstacles in the area, etc. This is a necessary step to ensure flight safety and efficiency during the operation.

[0024] Among them, in conditions of strong wind, heavy fog, and rain, the aircraft cannot perform flight operations due to poor visual and flying conditions. In these climates, it is determined that the cleaning system cannot operate normally.

[0025] In sunny weather and good lighting conditions, temperature issues also need to be considered. For example, when the temperature is too high or the sun is shining directly, the machine is prone to overheating. On the other hand, this is when the photovoltaic plant has the highest power generation efficiency. Cleaning at this time will delay the normal power generation of the photovoltaic panels and is not suitable for photovoltaic panel cleaning.

[0026] The best time to perform cleaning operations is in the early morning, evening, or on cloudy days. At this time, the temperature conditions are suitable and the machine will not overheat due to long-term work. On the other hand, the lighting conditions are suitable and the machine does not need to use additional lighting tools to ensure accurate image acquisition and can focus on performing cleaning operations.

[0027] The worst cleaning condition is at night, when the temperature is suitable and the photovoltaic panels cannot generate electricity due to the lighting conditions. At this time, cleaning the photovoltaic panels will not delay the normal operation of the photovoltaic panels. However, due to insufficient lighting conditions, the system needs to use additional lighting tools or non-visible light sensing components to sense the external environment.

[0028] In this embodiment, the working climate conditions are obtained through the climate data associated with the command center, and the temperature data is obtained through the temperature detection sensor built into the command machine. The temperature data is also obtained by integrating the temperature detection sensor in the command center.

[0029] In this embodiment, the following process is included when determining the range of the flyable area: After the command aircraft takes off, it first confirms the flight area. The command center has stored the location information of the photovoltaic power station, the basic area and the basic information of the flight permission area in advance; The flyable area confirmed by the command aircraft is the data pre-stored in the command center and determined in combination with the actual working environment, including the signal radiation range of the command center and the distribution of flight obstacles within the range; The command aircraft flies to a preset height, collects an overall image of the entire photovoltaic power station from a bird's-eye view, and transmits the collected image back to the command center; The command center determines the features of the collected images to be photovoltaic panels, photovoltaic equipment, obstacles, including power lines, signal towers, and energy storage equipment; and marks the obstacles as no-fly areas. In subsequent flight operations, the aircraft is controlled to avoid no-fly areas.

[0030] In this embodiment, the image information collected by the command aircraft in the bird's-eye view state only includes the plane information of the photovoltaic plant. After the bird's-eye view is collected, the height information of each signal needs to be collected specifically; The command aircraft changes the shooting points to collect image information of the photovoltaic power station from different angles, and determines its height information based on the stereo image pair method, shadow method, and parallax calculation method, thereby generating a three-dimensional flyable area model.

[0031] Furthermore, the stereo pair method is to obtain two images of the same object to form a stereo pair, and according to the two reverse projection rays of the same-name image points of the upright object in the two images, the height of the object point can be determined based on the principle of forward intersection.

[0032] The shadow method is a direct indicator of the height of an object by the length of its shadow. Under ideal conditions, if the sun's rays are shining vertically, then the height of an object is proportional to the length of its shadow. However, in reality, the sun's rays are usually shining obliquely, which means that the relationship between the height of an object and the length of its shadow becomes complicated. Nevertheless, by measuring the length of an object's shadow, it is still possible to estimate the approximate height of the object.

[0033] The observation calculation method uses the parallax of corresponding points in two images to solve the height of an object. Parallax refers to the change in the position of an object when observing the same object from two different viewpoints.

[0034] These methods can all determine the height of an object, but they require the command aircraft to collect image information of the area to be cleaned at different angles.

[0035] In actual application, after the command aircraft takes off, the actual flight operation sequence is as follows: Hover at a certain height above the area to be cleaned of the photovoltaic power station and take a bird's-eye view; Based on the signal radiation range of the command center and the collected bird's-eye view, the high-altitude positioning origin is determined as the hovering point; Taking the hovering point as the position reference, capture the image information of the photovoltaic power station at the same height, around the same axis, and in four directions toward the axis; Fly back to the positioning origin, maintain hovering status, and continue to monitor the cleaning operation.

[0036] like Figure 2 As shown, after the hovering point is determined, the aircraft always stays at the hovering point and the hovering point is used as a reference position; When changing the position range of the command center, ensure that the command machine at the hovering point is always within the coverage of the control signal, then move the command center. After the move, recalibrate the position relationship and then change the hovering point. The position of the entire system will not be lost. That is, when only one of the command center and the hovering point is changed at the same time, the positioning and reference of the entire system are still valid.

[0037] Generally speaking, when the photovoltaic power station is large in scale, with a large span and densely arranged, it is inconvenient for the command center to drive into the area to be cleaned and can only park around the area to be cleaned. Figure 2 The situation shown is that the signal radiation range of the command center is not enough to cover the entire area to be cleaned, and it is necessary to change the position during the cleaning process to cover the uncovered area within the signal radiation range. At this time, the command center needs to change its position from point A to point B.

[0038] During the change process, the command center moves along the path. It will not cross the area to be cleaned because the photovoltaic panels in the area to be cleaned are too densely arranged. Instead, it moves around the area to be cleaned. During the movement, it is necessary to ensure that the hovering point is always within the signal radiation range of the command center to ensure that it does not lose contact. When the command center moves from point A to point B, it will locate with the command aircraft's hovering point and calibrate the position parameters. Then, the command aircraft's hovering point will be re-determined. At the same time, it is always guaranteed that there is a device at the positioning reference point to prevent the loss of positioning information.

[0039] In fact, this positioning reference relationship can also be achieved through a built-in GPS positioning module. The cleaning system described in the present invention is not designed to rely entirely on GPS system positioning in order to facilitate the needs of internal system integration, positioning accuracy and data protection.

[0040] The reason why at least one positioning and reference is always valid in the entire system is to ensure that the relative position relationship between each aircraft, sweeper and between them and the command center is always clear, so as to determine the location distribution of each equipment in the cleaning area.

[0041] The precise positioning of each device can ensure that the aircraft always operates accurately within the flyable area. It only needs to monitor the relative position reference in real time to determine its own position, without the need for image equipment to verify its own position with GPS information. Image recognition and GPS positioning will bring additional load to the system.

[0042] In actual applications, the setting of hovering points and positioning points is a design to help the cleaning system to maintain normal operation when the GPS signal is weak or the system does not fully rely on the GPS signal.

[0043] Specifically, the hovering point refers to the hovering position of the command aircraft, and the positioning point refers to the stopping position of the command center.

[0044] The command center is mounted on a car. When the car reaches the photovoltaic power station, it stops. When it starts cleaning, the car will no longer change its position easily.

[0045] The command center antenna will radiate positioning signals in a specific band, and each device will determine its own location by collecting the positioning signals.

[0046] The reference point of positioning is based on the parking position of the command vehicle, that is, the parking position offset of the command vehicle is 0. The positioning signal can be converted into a three-dimensional coordinate system of X, Y, and Z axes, and the parking position coordinate of the command vehicle is the coordinate origin of (0.0.0).

[0047] After the command aircraft takes off, it will hover at a certain height to collect image information of the area to be cleaned. At this time, the hovering point of the command aircraft is the second reference point of the system.

[0048] Generally speaking, the second reference point is the position offset point relative to the first reference point. For example, if it is hovering 50 meters above the command center, its position offset coordinate is (0.0.50).

[0049] Generally speaking, the command center is used as the positioning origin, and when the command center does not move during the entire cleaning operation, the second reference point does not play a role. Each device moves only with the command center as a position reference.

[0050] When the command center needs to move, in order to ensure that the positioning reference of the entire system is not lost, the position of the command aircraft hovering above does not move, that is, the second reference point remains unchanged.

[0051] When the command center has completed its movement, the specific movement parameter values ​​during this movement are determined based on the position of the command aircraft hovering above, and the positioning point is re-corrected and generated.

[0052] For example, if the command vehicle moves forward 100 meters, based on the original reference point, the position coordinates of the command vehicle are (0.100.0).

[0053] However, the original position reference is lost. To accurately determine whether it has moved one hundred meters, a continuous position reference relationship is required during the movement as positioning, which is the so-called second reference point. It is used to judge the degree of movement of the command center and give a corrected parameter to the given location for repositioning.

[0054] Since the position of the command aircraft remains unchanged during the movement of the command center, according to the original positioning relationship, its position coordinates are (0.0.50).

[0055] After the command vehicle moves 100 meters, when it looks at the command aircraft again, it has a 100-meter offset in the y-axis direction, so its exact position can be determined to be (0.100.0).

[0056] S2. Confirmation of the area to be cleaned Confirm the scope of the area to be cleaned, count, code and locate the number of photovoltaic panels within the scope, evaluate the dirtiness of each photovoltaic panel, and count the number of photovoltaic panels that need to be cleaned.

[0057] In this embodiment, after determining the scope of the area to be cleaned, the command center dispatches an inspection aircraft to conduct a flight inspection of the flyable area to verify the contamination of the photovoltaic panels and plan a flyable path; subsequent transport aircraft only fly on the flight path that has been confirmed correct by the inspection aircraft during a test flight.

[0058] The inspection machine will encode and locate the photovoltaic panels within the area to be cleaned one by one, count the number of photovoltaic panels in the flight area, the location information and orientation of each photovoltaic panel, and evaluate the dirtiness of each photovoltaic panel.

[0059] In the process of flying along the predetermined path, the inspection machine will encounter some flight obstacles, such as different density, arrangement and orientation of photovoltaic panels in different areas, and avoidance of obstacles in the area to be cleaned, so during the first inspection, the inspection machine's flight speed is relatively slow.

[0060] Furthermore, through image acquisition and detection, combined with infrared thermal imaging and electroluminescence detection, the contamination condition of photovoltaic panels can be measured and evaluated, thereby determining which photovoltaic panels need to be cleaned.

[0061] Specifically, during the inspection process, the inspection machine needs to determine the dirtiness of each photovoltaic panel. Judging only by image recognition will cause great interference.

[0062] When evaluating the contamination of each photovoltaic panel, the contamination of the photovoltaic panel itself is determined through lens acquisition, infrared thermal imaging acquisition or photoinduced excitation acquisition; Carry out on-site operations according to the equipment mounted on the drone, weather conditions and lighting conditions; When visibility is high, the lens is used to collect and judge the dirtiness of the photovoltaic panel surface, and infrared thermal imaging and photoexcitation are used as auxiliary inspection methods to verify whether the image collection and detection is accurate, so as to judge the dirtiness of the photovoltaic panel.

[0063] Specifically, the lens imaging technology can directly obtain images of photovoltaic panels using a visible light camera, which can intuitively display the dirtiness of the photovoltaic panel surface. This method is simple and easy to implement, with low cost, but it may be affected by lighting conditions and it is difficult to quantitatively analyze the degree of dirtiness.

[0064] Infrared imaging technology uses the difference in infrared radiation from photovoltaic panels at different temperatures to detect dirt. Under solar radiation, the part blocked by dirt will cause the temperature to rise, forming hot spots. The infrared imager can detect these temperature differences and then identify the dirty area.

[0065] Photoluminescence detection technology (PL) uses lasers of a specific wavelength to optically excite photovoltaic panels. The excited photovoltaic panels can generate a certain amount of excitation light, which is easily sensed and imaged by highly sensitive cameras. Since the light is excited by the photovoltaic panel itself, it cannot be normally excited in places with cracks, defects or dirt, so it will appear as shadows or even black spots in the image, thereby judging the working condition of the photovoltaic panel, including the degree of dirtiness.

[0066] In this embodiment, if Figure 4 As shown, a multifunctional all-in-one flying cleaning machine is designed which can independently work in the whole process and complete the determination, planning and cleaning of the cleaning area through its own operation.

[0067] For the flying cleaning multifunctional all-in-one machine, you only need to place it in the area to be cleaned, and it can independently complete the entire process from detection, planning to cleaning.

[0068] In this embodiment, the flight cleaning multifunctional all-in-one machine: It can clean photovoltaic panels.

[0069] It can fly autonomously and shuttle between photovoltaic panels and between photovoltaic panels and the command center.

[0070] It is capable of multi-machine communication and communication and positioning with the command center and command aircraft.

[0071] Capable of image acquisition to determine the location, orientation, quantity, and contamination of photovoltaic panels.

[0072] Power management: the vehicle will automatically return to recharge or replace the battery when power is low.

[0073] While working: Since the multifunctional all-in-one machine can clean and fly autonomously, the command center only needs to assign the area to be cleaned to the all-in-one machine, and the all-in-one machine can clean autonomously. It does not require the coordination between the aircraft and the cleaning machine like the split type, and the cleaning process can be completed only through autonomous operation.

[0074] Specifically, when the all-in-one machine flies to the area to be cleaned, it will first detect the condition of the photovoltaic panels in the area to be cleaned, including the number, direction, degree of dirtiness, etc.

[0075] Furthermore, a flyable path for the area to be cleaned is determined, and obstacles in the area need to be avoided.

[0076] Furthermore, the integrated machine lands on the photovoltaic panel and performs cleaning operations. After the current photovoltaic panel is cleaned, it automatically flies to the next photovoltaic panel for cleaning until all photovoltaic panels in the entire area are cleaned.

[0077] Furthermore, after the cleaning is completed, the integrated machine re-detects the condition of the photovoltaic panels in the area to be cleaned to determine whether it meets the cleaning results.

[0078] During the cleaning process, if the power supply is low, the all-in-one machine can automatically return to the command center to replace the power supply or charge.

[0079] For the command center, it only needs to plan the area to be cleaned to the all-in-one machine, and the all-in-one machine can complete the entire cleaning process of the area by itself.

[0080] In order to prevent the integrated machine from running out of power and being unable to return or crashing, it can also be used in conjunction with a rescue aircraft, which can transport the integrated machine back to the command center in a timely manner when it crashes. Or it can help the integrated machine recover power by driving with an external discharge device.

[0081] Inspection machines can also be used in this solution, that is, the inspection machines help complete the inspection of photovoltaic panels, and then the all-in-one machine performs the cleaning work.

[0082] S3. Formulate flight strategy Flight strategy planning is carried out based on the number and location of photovoltaic panels to be cleaned, the number of sweepers, and the cleaning intensity of the sweepers, including the flight path, the number and path of battery replacement and cleaning agent replenishment.

[0083] S4. Perform flight operations Photovoltaic panels are cleaned using a sweeper.

[0084] Perform flight operations, including: Transport the cleaning machine to each photovoltaic panel and start cleaning operation; Transporting the cleaning machine after cleaning to the next photovoltaic panel to continue cleaning; Sweepers with severely dirty brushes, overheated machines, running out of power, or running out of detergent are transported back to the command center for maintenance.

[0085] S5. Check cleaning results Inspect the cleaned photovoltaic panels, evaluate the cleaning results to modify the flight strategy, and store the flight data of the photovoltaic power station, including the flight path and flight climate conditions. Embodiment 2:

[0086] Based on the flight control process based on photovoltaic panel cleaning described in Example 1, a flight control system based on photovoltaic panel cleaning is designed, including a command center for commanding and dispatching cleaning machines and drones, while maintaining daily maintenance of cleaning machines and aircraft, processing various data collected during the cleaning process, identifying stain distribution and formulating cleaning strategies.

[0087] The cleaning machine is used to clean the photovoltaic panels; The aircraft include command aircraft, transport aircraft, rescue aircraft and inspection aircraft.

[0088] In the aircraft: The command machine is used for image acquisition, signal relay and data monitoring, and generates three-dimensional images based on the image acquisition data; A transporter, used to carry the sweeper and transport the sweeper to the photovoltaic panel; Rescue machines, used to transport faulty machines back to the command center, and to recharge and rescue machines with depleted battery energy through external discharge; The inspection machine is used to explore the flight path and verify the feasibility of the path, and simultaneously detect the location distribution, size specifications, and dirtiness of each photovoltaic panel.

[0089] Among them, rescue aircraft are used in the rescue work of transport aircraft, inspection aircraft, command aircraft and sweepers. Its characteristics are that the equipment can directly mount drones and sweepers, and its take-off weight is relatively larger.

[0090] The equipment can support external discharge and provide emergency energy replenishment for power-deficient equipment.

[0091] The equipment can collect and identify rescue signals, and achieve precise positioning and mounting.

[0092] Each device uses a contact charging device, and the device can be charged by touching the electrodes. In order to ensure close contact, a magnetic suction device is added near the charging port to enable close adsorption.

[0093] The rescue equipment can automatically identify the electrodes of the machine to be rescued and automatically dock to complete emergency charging rescue.

[0094] The rescue aircraft also includes: It can be remotely controlled through the command center, and the image information is clear and smooth; It can accurately locate and connect with the drone cleaning robot; It can realize the simple and fast hook function with the integrated UAV cleaning robot, and the external hook weight is 20% of the integrated UAV cleaning robot weight; It can realize the one-key rescue return function, and can automatically, slowly and steadily park the rescued equipment at the designated location, and can land and park and charge itself; Capable of night operation.

[0095] like Figure 3 As shown, in this embodiment, the inspection machine is mounted with an infrared imaging module and a photoluminescent light source through a quick disassembly module, and the inspection machine is built with a collection lens, an inertial navigation module, a communication module and a laser radar; Among them, the acquisition lens, inertial navigation module, communication module, and lidar are integrated into the aircraft, and the infrared photoluminescent light source and infrared imaging module are mounted on the aircraft through a quick disassembly and assembly module.

[0096] In this embodiment, depending on the function, only the infrared imaging device or the photoluminescent light source may be mounted.

[0097] The acquisition lens is used to collect image data. It is a device that can be integrated into the aircraft itself. The lens integrates a gimbal and a photosensitive module, which can collect image data at a higher resolution and transmit it back to the command center.

[0098] The inertial navigation module is used to record the inertial navigation data of the aircraft, including angle, azimuth and moving distance. The inertial navigation data is used to calibrate the flight path of the UAV. After the inspection aircraft completes the inspection of the area to be cleaned, it can generate a complete inertial navigation data based on the area to be cleaned. The subsequent transportation path of the transport aircraft will use this inertial navigation data as the main flight basis.

[0099] The communication module is used to communicate with the command center, including control signals, infrared thermal imaging data, photoluminescence data and image data.

[0100] Lidar is used for obstacle avoidance during the inspection process. Inspection aircraft need to fly in lower airspace and are easily disturbed by trees, power lines, and other equipment in photovoltaic power plants. Lidar can effectively detect surrounding obstacles and avoid them in time. It also avoids the risk of collision with drones when people accidentally enter the cleaning operation area.

[0101] Furthermore, the inspection machine can also be equipped with a relay module as a signal relay machine to further expand the control signal radiation range of the command center.

[0102] The main task of the inspection aircraft is to inspect the flight path and the contamination of the photovoltaic panels on the path. The images taken by the inspection aircraft are more accurate and closer than those taken by the command aircraft. The images taken by the command aircraft can reflect the contamination of the photovoltaic panels to a certain extent, but they are relatively rough and are completely based on the data collected by image recognition. Through further verification by the inspection aircraft, the contamination of each photovoltaic panel can be evaluated more accurately.

[0103] Specifically, during the flight, the inspection aircraft can perform image acquisition, infrared detection, and PL detection (capture images after photoluminescence) on photovoltaic panels one by one. To avoid mutual interference between the various detection methods, the detection order is to first perform image acquisition detection, and then perform infrared thermal imaging detection when it is judged that the degree of dirtiness is serious, and then further perform PL detection. The degree of dirtiness of photovoltaic panels is quantitatively evaluated under the triple detection, and the cleaning strategy and weight are planned according to the evaluation results.

[0104] The beneficial effects of the present invention are: The flight control process and flight control system based on photovoltaic panel cleaning can significantly improve cleaning efficiency and safety by adopting an automated photovoltaic panel cleaning process based on the flight control system. The system can achieve accurate regional positioning and stain identification, and perform cleaning operations through automated drones, thereby reducing manpower requirements and reducing operating costs. In addition, the automated system can operate stably under various climatic conditions to ensure cleaning effects while reducing physical damage to photovoltaic panels. Overall, it not only improves the operating efficiency of photovoltaic panels, but also improves the economic benefits of photovoltaic power stations and the long-term stability of the system.

[0105] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0106] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A flight control process based on photovoltaic panel cleaning, It is characterized in that The following steps are involved: S1. Confirmation of work status; Confirm the effective radiation range of the control signal from the command center, working climate conditions, temperature conditions, the range of the flight area, obstacles in the area and the flight path; S2. Confirmation of the area to be cleaned; Confirm the scope of the area to be cleaned, count, code and locate the number of photovoltaic panels within the scope, evaluate the dirtiness of each photovoltaic panel, and count the number of photovoltaic panels that need to be cleaned; S3. Formulate flight strategies; According to the number and location of photovoltaic panels to be cleaned, as well as the number and cleaning strength of the cleaning machines, flight strategy planning is carried out, including flight path, number and path of battery replacement and cleaning agent replenishment; S4. Perform flight operations; Cleaning of photovoltaic panels using a cleaning machine; S5. Check the cleaning results; Inspect the cleaned photovoltaic panels, evaluate the cleaning results to modify the flight strategy, and store the flight data of the photovoltaic power station, including the flight path and flight climate conditions.

2. A flight control process based on photovoltaic panel cleaning according to claim 1, It is characterized in that In step S1, the working climate conditions are obtained through the climate data associated with the command center, and the temperature data is obtained through the temperature detection sensor built into the command machine. The temperature data is also obtained by integrating the temperature detection sensor in the command center.

3. A flight control process based on photovoltaic panel cleaning according to claim 1, It is characterized in that In step S1, when determining the range of the flyable area, the following process is included: After the command aircraft takes off, it first confirms the flight area. The command center has stored the location information of the photovoltaic power station, the basic area and the basic information of the flight permission area in advance; The flyable area confirmed by the command aircraft is the data pre-stored in the command center and determined in combination with the actual working environment, including the signal radiation range of the command center and the distribution of flight obstacles within the range; The command aircraft flies to a preset height, collects an overall image of the entire photovoltaic power station from a bird's-eye view, and transmits the collected image back to the command center; The command center determines the features of the collected images to be photovoltaic panels, photovoltaic equipment, obstacles, including power lines, signal towers, and energy storage equipment; and marks the obstacles as no-fly areas. In subsequent flight operations, the aircraft is controlled to avoid no-fly areas.

4. A flight control process based on photovoltaic panel cleaning according to claim 3, It is characterized in that The image information collected by the command machine in the bird's-eye view state only includes the plane information of the photovoltaic plant. After the bird's-eye view is collected, the height information of each signal needs to be collected specifically; The command aircraft changes the shooting points to collect image information of the photovoltaic power station from different angles, and determines its height information based on the stereo image pair method, shadow method, and parallax calculation method, thereby generating a three-dimensional flyable area model.

5. A flight control process based on photovoltaic panel cleaning according to claim 3, It is characterized in that After the command aircraft takes off, the working sequence of the flight operation is as follows: Hover at a certain height above the area to be cleaned of the photovoltaic power station and take a bird's-eye view; Based on the signal radiation range of the command center and the collected bird's-eye view, the high-altitude positioning origin is determined as the hovering point; Taking the hovering point as the position reference, capture the image information of the photovoltaic power station at the same height, around the same axis, and in four directions toward the axis; Fly back to the positioning origin, maintain hovering status, and continue to monitor the cleaning operation.

6. A flight control process based on photovoltaic panel cleaning according to claim 5, It is characterized in that After the hovering point is determined, the aircraft always stays at the hovering point and the hovering point is used as a reference position. When changing the position range of the command center, ensure that the command machine at the hovering point is always within the coverage of the control signal, then move the command center. After the move, recalibrate the position relationship and then change the hovering point. The position of the entire system will not be lost. That is, when only one of the command center and the hovering point is changed at the same time, the positioning and reference of the entire system are still valid.

7. A flight control process based on photovoltaic panel cleaning according to claim 1, It is characterized in that In step S2, after determining the scope of the area to be cleaned, the command center dispatches an inspection aircraft to conduct a flight inspection of the flyable area to verify the pollution of the photovoltaic panels and plan a flyable path; the subsequent transport aircraft only flies on the flight path that has been verified by the inspection aircraft during the test flight; The inspection machine will encode and locate the photovoltaic panels within the area to be cleaned one by one, count the number of photovoltaic panels in the flight area, the location information and orientation of each photovoltaic panel, and evaluate the dirtiness of each photovoltaic panel.

8. A flight control process based on photovoltaic panel cleaning according to claim 1, It is characterized in that In step S2, when evaluating the contamination status of each photovoltaic panel, the contamination status of the photovoltaic panel itself is determined by lens acquisition, infrared thermal imaging acquisition or photoinduced excitation acquisition; Carry out on-site operations according to the equipment mounted on the drone, weather conditions and lighting conditions; When visibility is high, the lens is used to collect and judge the dirtiness of the photovoltaic panel surface, and infrared thermal imaging and photoexcitation are used as auxiliary inspection methods to verify whether the image collection and detection is accurate, so as to judge the dirtiness of the photovoltaic panel.

9. A flight control process based on photovoltaic panel cleaning according to claim 1, It is characterized in that In step S4, performing flight operations specifically includes: Transport the cleaning machine to each photovoltaic panel and start cleaning operation; Transporting the cleaning machine after cleaning to the next photovoltaic panel to continue cleaning; Sweepers with severely dirty brushes, overheated machines, running out of power, or running out of detergent are transported back to the command center for maintenance.

10. A flight control system based on photovoltaic panel cleaning, designed based on the flight control process based on photovoltaic panel cleaning according to any one of claims 1 to 9, It is characterized in that It includes a command center for commanding and dispatching sweepers and drones, maintaining daily maintenance of sweepers and drones, processing various data collected during the cleaning process, identifying the distribution of stains and formulating cleaning strategies; The cleaning machine is used to clean the photovoltaic panels; The aircraft include command aircraft, transport aircraft, rescue aircraft and inspection aircraft; In the aircraft: The command machine is used for image acquisition, signal relay and data monitoring, and generates three-dimensional images based on the image acquisition data; A transporter, used to carry the sweeper and transport the sweeper to the photovoltaic panel; Rescue machines, used to transport faulty machines back to the command center, and to recharge and rescue machines with depleted battery energy through external discharge; Inspection aircraft, used to explore the flight path and verify the feasibility of the path, and simultaneously detect the location distribution, size specifications, and dirtiness of each photovoltaic panel; The inspection machine is mounted with an infrared imaging module and a photoluminescent light source via a quick disassembly module, and the inspection machine is built with a collection lens, an inertial navigation module, a communication module and a laser radar; In the inspection machine: The acquisition lens is used to collect image data. The lens integrates a pan / tilt and a photosensitive module to collect image data at a higher resolution and transmit it back to the command center. The inertial navigation module is used to record the inertial navigation data of the inspection aircraft, including angle, azimuth and moving distance. The inertial navigation data is used to calibrate the flight path. After the inspection aircraft completes the inspection of the area to be cleaned, it generates a complete inertial navigation data based on the area to be cleaned. The subsequent transportation path of the transport aircraft uses this inertial navigation data as the main flight basis; A communication module, used for communicating with the command center, including control signals, infrared thermal imaging data, photoluminescence data and image data; LiDAR is used for obstacle avoidance detection during inspections.

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