Solar panel automatic cleaning scheme based on AI identification

Abstract

The invention relates to the field of solar panel cleaning, in particular to a solar panel automatic cleaning scheme based on AI recognition, which comprises the following steps: S1, performing cleaning path planning on a solar panel by AI in combination with the geographic position of the solar panel and the road condition; s2, identifying the solar panel, and then moving a cleaning device to the front surface of the solar panel; s3-S4, the AI identifies the center and four corner positions of the solar panel through a camera, and calculates the spatial position and state of the solar panel; s5, adjusting the cleaning device to be close to and right opposite to the solar panel; and S6-S8, the coordination positioning system and the driving device clean the whole solar panel through the cleaning device, and work is repeated according to the planned path. AI recognition and an existing automatic driving technology are utilized, the cleaning equipment is automatically controlled to clean the solar panel, the collision pressure of cleaning is stable and controllable, and waste water can be recycled in the cleaning process and cannot be splashed on pedestrians.

Description

Technical Field

[0001] The present invention relates to the field of solar panel cleaning, and more specifically to an automatic solar panel cleaning solution based on AI recognition. Background Art

[0002] Solar panels will accumulate stains and bird droppings after long-term use. Insufficient natural precipitation, long intervals or insufficient rainfall will result in limited cleaning effect of natural precipitation. Manual cleaning is often required to ensure power generation efficiency.

[0003] At present, solar panels are cleaned manually using equipment. The principle is basically to use a wiping device in conjunction with a water spraying device for cleaning. This cleaning method can achieve a good cleaning effect, but there are also the following two problems: First, many solar panels are used on both sides of the road, and water spraying cleaning can easily cause sewage to splash onto pedestrians; second, the solar panels are facing upward, and it is difficult for cleaning personnel to accurately and forcefully align the wiping device with the solar panels. Summary of the invention

[0004] In response to the existing technical problems, the present invention provides an automatic cleaning solution for solar panels based on AI recognition. It uses AI recognition and existing autonomous driving technology to automatically control cleaning equipment to clean the solar panels. The spatial position and state of the solar panels are determined before cleaning. Therefore, the resistance pressure of the cleaning device is stable and controllable, and will not cause damage to the solar equipment. During the cleaning process, waste water will be recycled and will not splash onto pedestrians.

[0005] The technical solution adopted by the present invention to solve the technical problem is: an automatic cleaning solution for solar panels based on AI recognition, comprising the following steps:

[0006] S1. AI plans the cleaning path for the solar panels to be cleaned based on the geographical location of the solar panels and road conditions, and then uses the existing autonomous driving technology to drive the solar panel cleaning equipment to the bottom of the first solar panel in the planned path.

[0007] S2: AI uses a camera to identify the solar panel in S1, and then uses a positioning system to move the cleaning device upward to above the solar panel and face the front of the solar panel.

[0008] S3. Use a camera to capture images of the solar panel in S2 and let AI identify the center position and four corner positions of the solar panel. Then, the driving device pushes the cleaning device to align with the center position of the solar panel until the pressure data collected by the pressure sensor on the cleaning device reaches a specified threshold. AI calculates the spatial position of the end of the cleaning device based on the spatial state, size data and position data of each connector in the positioning system and the driving device. At this time, the spatial position of the end of the cleaning device is the spatial position of the center of the solar panel. In this step, AI calculates the spatial position of the end of the cleaning device by utilizing the related technology of spatial positioning of the robotic arm in the prior art, so the specific calculation method does not need to be repeated.

[0009] S4, reset the driving device and then repeat step S3, but when the driving device pushes the cleaning device forward, it is aimed at the positions of two adjacent corners of the solar panel. Finally, after step S3 is repeated twice, the spatial positions of the ends of the cleaning device are the spatial positions of the two adjacent corners on the solar panel. Combined with the spatial position of the center of the solar panel and the rectangular shape of the solar panel itself, AI can calculate the spatial position and spatial state of the solar panel.

[0010] S5. AI adjusts the spatial state of the cleaning device through the positioning system according to the spatial position and spatial state of the solar panel, so that the cleaning device is perpendicular to the solar panel surface or the angle between the cleaning device and the normal of the solar panel surface does not exceed 45 degrees.

[0011] S6. AI coordinates the positioning system and the driving device to use the cleaning device to clean the entire solar panel surface. This process can be achieved using existing robotic arm control technology.

[0012] S7, the positioning system and the drive device are reset, and then AI drives the solar panel cleaning equipment according to the cleaning path planning in S1 to the next solar panel under the planned path to carry out cleaning work.

[0013] S8. Repeat steps S2-S7 until all solar panels in the cleaning path planning have completed the cleaning work, and finally AI uses the existing autonomous driving technology to return the solar panel cleaning equipment.

[0014] The solar panel cleaning equipment mentioned in the above steps includes a water tanker, a positioning system, a driving device, a cleaning device and a camera. The positioning system is arranged on the top of the water tanker, the driving device is arranged on the top of the positioning system, the cleaning device is connected to the driving device, a pressure sensor is arranged on the cleaning device, and the camera is arranged on the driving device.

[0015] Preferably, the positioning system includes a base, a drive motor, a main push rod, an auxiliary push rod and a terminal rod; the base is arranged on the carriage of the water tanker and is rotatably connected to the top surface of the carriage, the base is disc-shaped and has teeth on the edge; the drive motor is fixed to the top surface of the carriage, and the drive motor is connected to the teeth on the edge of the base through a transmission and gears; the bottom of the main push rod is hinged at the center of the base, and a steering device is provided at the top of the main push rod; one end of the auxiliary push rod is hinged to the base, and the other end is hinged to the main push rod; the terminal rod is rotatably connected to the steering device, a steering motor is connected between the terminal rod and the steering device, and the steering motor controls the rotation of the terminal rod.

[0016] Preferably, the driving device comprises a fixed shell, an electric push rod and a motor; the fixed shell is cylindrical, and the rear end of the fixed shell is fixed to the terminal rod; one end of the electric push rod is arranged in the fixed shell and connected to the fixed shell through a bearing, and the other end of the electric push rod extends out of the fixed shell, and the outer wall of the electric push rod is provided with teeth; the motor is installed on the outer wall of the fixed shell, and the output end of the motor is connected with the teeth on the outer wall of the electric push rod through a gear. The driving device drives the electric push rod to rotate as a whole through the rotation of the motor.

[0017] Preferably, the cleaning device comprises a pressure monitoring device, an inner shell, an elastic ball and a sponge layer; the pressure monitoring device comprises a limit shell, a pressure sensor and a pressure rod; the limit shell is hollow and has an opening at the front end, the outer wall of the limit shell is circular in cross section and the inner cavity is polygonal in cross section, and the rear end of the limit shell is fixed to the other end of the electric push rod; the pressure sensor is fixedly arranged in the inner cavity of the limit shell; the pressure rod is arranged in the inner cavity of the limit shell and cooperates with its inner wall, the rear end of the pressure rod is fixedly connected to the pressure sensor, and the front end of the pressure rod extends from the inner cavity of the limit shell; the rear end of the inner shell is fixed to the front end of the pressure rod; the elastic ball is fixedly installed at the front end of the inner shell, and the elastic ball is a solid rubber ball or a hollow rubber ball inflated inside. The elastic ball has many functions: in step S3, it provides elastic buffering to avoid damaging the solar panel and the sponge layer, and at the same time, it provides support force when the sponge layer rotates at high speed to achieve the expected wiping effect, and during the cleaning process, the sponge layer can deform to make the front end flat when it is against the solar panel, so that the contact area between the sponge layer and the solar panel is larger. The sponge layer is sleeved outside the elastic ball. The rotation of the electric push rod drives the elastic ball and the sponge layer to rotate through the inner shell, thereby rotating and wiping the solar panel.

[0018] Preferably, a clean water tank is provided in the compartment of the water tanker, and a water pump is provided on the water tanker, wherein the water pump comprises a clean water pump, and the clean water pump is connected with the clean water tank through a water pipe; a channel is provided inside the elastic ball; the interior of the inner shell is a cavity with an opening at the front end, a through hole No. 1 is provided on the side wall of the inner shell for connecting the inner cavity with the outside, and the front end of the inner shell is fixed in the middle of the internal channel of the elastic ball. The cleaning device also includes an outer shell and a water sealing ring. The outer shell is cylindrical, the rear end of the outer shell is sleeved outside the limit shell and is rotatably connected thereto, the front end of the outer shell is sleeved outside the rear half of the inner shell, and a No. 2 through hole is provided on the outer shell, and the No. 2 through hole is connected to the clean water pump through a water pipe; the outer shell is also provided with a slide bar, the rear end of which is fixed on the fixed shell, and the outer shell is slidably connected to the slide bar through a sliding sleeve; the water sealing ring is fixed in the outer shell and is in a circular ring shape, the inside of the water sealing ring is a cavity structure, and an annular opening is provided inside the ring body of the water sealing ring, the water sealing ring is sleeved outside the inner shell, and the annular opening is aligned with the No. 1 through hole, and a No. 3 through hole aligned with the No. 2 through hole is also provided outside the ring body of the water sealing ring. The clean water pump draws clean water from the clean water tank, and the clean water is injected into the inner shell through the water pipe, the No. 3 through hole, the water sealing ring, and the No. 2 through hole in turn, and then flows to the sponge layer through the inner shell and the elastic ball.

[0019] Preferably, a sewage tank is also provided in the compartment of the water transport vehicle, and the water pump also includes a sewage pump, which is connected to the sewage tank through a water pipe; a No. 4 through hole is also provided on the outer shell, and the No. 4 through hole is located in front of the No. 2 through hole and is connected to the sewage pump through a water pipe. The cleaning device also includes a water collecting ring and a water collecting cover, the water collecting ring is fixedly sleeved outside the inner shell and is in a circular ring shape, the outer side of the ring body of the water collecting ring is provided with a ring opening aligned with the No. 4 through hole, and the front side of the ring body of the water collecting ring is provided with a plurality of water inlets arranged in a ring shape; the front end of the water collecting cover is covered outside the sponge layer, and the rear end of the water collecting cover is connected to the front side wall of the ring body of the water collecting ring, and a plurality of circularly arranged paddles are provided on the inner wall of the water collecting cover, and the paddles are spirally shaped on the water collecting cover, and the cross section of the paddles is at an acute angle to the water collecting cover. After the clean water flows from the elastic ball to the middle of the front end of the sponge layer, it participates in the cleaning of the solar panel surface and becomes sewage. Then, due to the centrifugal effect, it flows to the surrounding parts in the sponge layer, and then is thrown into the water collecting cover. The paddle in the water collecting cover will drive the sewage in the angle into the water collecting ring when the water collecting cover rotates at high speed, and then it is sucked into the sewage tank by the sewage pump. During the cleaning process, the clean water pump and the sewage pump keep running, so that the part where the front end of the sponge layer contacts the solar panel is always clean with clean water flowing.

[0020] Preferably, the front end of the water collecting cover is located beyond the center of the sponge layer and does not exceed the front end of the elastic ball, so that the range of sewage collection is larger and the effect is better.

[0021] Preferably, the front end of the water collecting cover and the front end of the paddle are made of rubber material to avoid contact with the solar panel surface during high-speed rotation, thereby preventing the solar panel from being damaged.

[0022] Preferably, a ring-shaped flexible water-isolating membrane is provided on the front end surface of the sponge layer. When the sponge layer and the solar panel rotate at high speed, the sewage will be isolated by the water-isolating membrane to avoid being thrown out, and will not be thrown out until it enters the range of the water collecting cover.

[0023] The beneficial effects of the present invention are:

[0024] (1) The present invention utilizes AI recognition and existing autonomous driving technology to automatically control cleaning equipment to clean solar panels. The spatial position and state of the solar panels are determined before cleaning. Therefore, the resistance pressure of the cleaning device is stable and controllable. Workers below will not have difficulty in grasping the direction, force, and distance due to not being able to see the front of the solar panels, which will not cause damage to the solar equipment and free up manpower.

[0025] (2) The internal water supply method of the present invention is less likely to cause sewage splashing than the traditional water spraying method. The internal water supply method has a high water utilization rate and a strong endurance. In addition, a ring-shaped flexible water-isolating membrane is arranged on the front end surface of the sponge layer. When the sponge layer rotates at a high speed, the water inside will be thrown to the surroundings due to the centrifugal force, but the sewage will be isolated by the water-isolating membrane to avoid being thrown out immediately. It will not be thrown out by the centrifugal force until it enters the range of the water collection cover and is collected in the sewage tank. There will be no sewage splashing in the whole process, which is very environmentally friendly. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0027] Figure 2 yes Figure 1 The local square image at A in the middle;

[0028] Figure 3 It is a cross-sectional schematic diagram of the water collecting hood. DETAILED DESCRIPTION

[0029] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0030] The automatic cleaning solution of solar panels based on AI recognition in this embodiment includes the following steps:

[0031] S1. AI plans the cleaning path for the solar panels to be cleaned based on the geographical location of the solar panels and road conditions, and then uses the existing autonomous driving technology to drive the solar panel cleaning equipment to the bottom of the first solar panel in the planned path.

[0032] S2, AI uses the camera 6 to identify the solar panel in S1, and then moves the cleaning device 5 upward to above the solar panel and facing the front of the solar panel through the positioning system 2.

[0033] S3. Use the camera 6 to collect images of the solar panel in S2 and let AI identify the center position and four corner positions of the solar panel. Then, the driving device 4 pushes the cleaning device 5 to align with the center position of the solar panel until the pressure data collected by the pressure sensor 512 on the cleaning device 5 reaches the specified threshold. AI calculates the spatial position of the end of the cleaning device 5 according to the spatial state, size data and position data of each connector in the positioning system 2 and the driving device 4 at this time. At this time, the spatial position of the end of the cleaning device 5 is the spatial position of the center of the solar panel. In this step, AI calculates the spatial position of the end of the cleaning device by utilizing the related technology of mechanical arm spatial positioning in the prior art, so the specific calculation method does not need to be repeated.

[0034] S4, reset the driving device 4 and then repeat step S3, but when the driving device 4 pushes the cleaning device 5 forward, it is aimed at the positions of two adjacent corners of the solar panel. Finally, after step S3 is repeated twice, the spatial positions of the ends of the cleaning device 5 are the spatial positions of the two adjacent corners on the solar panel. Combined with the spatial position of the center of the solar panel and the rectangular shape of the solar panel itself, AI can calculate the spatial position and spatial state of the solar panel.

[0035] S5. AI adjusts the spatial state of the cleaning device 5 through the positioning system 2 according to the spatial position and spatial state of the solar panel, so that the cleaning device 5 is perpendicular to the solar panel surface or the angle between the cleaning device 5 and the normal of the solar panel surface does not exceed 45 degrees.

[0036] S6. The AI ​​coordinates the positioning system 2 and the driving device 4 to use the cleaning device 5 to clean the entire solar panel surface. This process can be achieved using existing robotic arm control technology.

[0037] S7, the positioning system 2 and the driving device 4 are reset, and then the AI ​​drives the solar panel cleaning device according to the cleaning path planning in S1 to the next solar panel under the planned path to carry out cleaning work.

[0038] S8. Repeat steps S2-S7 until all solar panels in the cleaning path planning have completed the cleaning work, and finally AI uses the existing autonomous driving technology to return the solar panel cleaning equipment.

[0039] like Figure 1 , Figure 2The solar panel cleaning equipment mentioned in the above steps includes a water tanker 1, a positioning system 2, a driving device 4, a cleaning device 5 and a camera 6. The positioning system 2 is arranged on the top of the water tanker 1, the driving device 4 is arranged on the top of the positioning system 2, the cleaning device 5 is connected to the driving device 4, a pressure sensor 512 is arranged on the cleaning device 5, and the camera 6 is arranged on the driving device 4.

[0040] like Figure 1 The positioning system 2 includes a base 21, a drive motor 22, a main push rod 23, an auxiliary push rod 24 and a terminal rod 25; the base 21 is arranged on the carriage of the water tanker 1 and is rotatably connected to the top surface of the carriage, the base 21 is disc-shaped and has teeth on its edge; the drive motor 22 is fixed to the top surface of the carriage, and the drive motor 22 is connected to the teeth on the edge of the base 21 through a transmission and a gear; the bottom of the main push rod 23 is hinged at the center of the base 21, and a steering device 231 is provided at the top of the main push rod 23; one end of the auxiliary push rod 24 is hinged on the base 21, and the other end thereof is hinged on the main push rod 23; the terminal rod 25 is rotatably connected to the steering device 231, and a steering motor is connected between the terminal rod 25 and the steering device 231, and the steering motor controls the rotation of the terminal rod 25.

[0041] like Figure 2 The driving device 4 includes a fixed shell 41, an electric push rod 42 and a motor 43; the fixed shell 41 is cylindrical, and the rear end of the fixed shell 42 is fixed on the terminal rod 25; one end of the electric push rod 42 is arranged in the fixed shell 41 and connected to the fixed shell 41 through a bearing, and the other end of the electric push rod 42 extends out of the fixed shell 41, and the outer wall of the electric push rod 42 is provided with teeth; the motor 43 is installed on the outer wall of the fixed shell 41, and the output end of the motor 43 is connected with the teeth on the outer wall of the electric push rod 42 through a gear. The driving device 4 drives the electric push rod 42 to rotate as a whole through the rotation of the motor 43.

[0042] like Figure 2The cleaning device 5 includes a pressure monitoring device 51, an inner shell 53, an elastic ball 57 and a sponge layer 58; the pressure monitoring device 51 includes a limit shell 511, a pressure sensor 512 and a pressure rod 513; the limit shell 511 is hollow inside and has an opening at the front end, the outer wall cross section of the limit shell 511 is circular and the inner cavity cross section is polygonal, and the rear end of the limit shell 511 is fixed to the other end of the electric push rod 42; the pressure sensor 512 is fixedly arranged in the inner cavity of the limit shell 511; the pressure rod 513 is arranged in the inner cavity of the limit shell 511 and cooperates with its inner wall, and the rear end of the pressure rod 513 is in contact with the pressure sensor The sensor 512 is fixedly connected, and the front end of the pressure rod 513 extends out from the inner cavity of the limit shell 511; the rear end of the inner shell 53 is fixed on the front end of the pressure rod 513; the elastic ball 57 is fixedly installed at the front end of the inner shell 53, and the elastic ball 57 is a hollow rubber ball with internal inflation. The elastic ball 57 has many functions: in step S3, it provides elastic buffering to avoid damaging the solar panel and the sponge layer 58, and at the same time provides support force when the sponge layer 58 rotates at high speed to achieve the expected wiping effect, and during the cleaning process, the sponge layer 58 can be deformed when it is against the solar panel to make the front end flat, so that the contact area between the sponge layer and the solar panel is larger. The sponge layer 58 is sleeved on the outside of the elastic ball 57. The rotation of the electric push rod 42 will drive the elastic ball 57 and the sponge layer 58 to rotate through the inner shell 53, so as to rotate and wipe the solar panel.

[0043] like Figure 1 , Figure 2A clean water tank is arranged in the compartment of the water truck 1, and a water pump 3 is arranged on the water truck 1. The water pump 3 includes a clean water pump 31, and the clean water pump 31 is connected with the clean water tank through a water pipe; a channel is arranged inside the elastic ball 57; the inner shell 53 has a cavity inside and an opening at the front end, and a through hole No. 1 is arranged on the side wall of the inner shell 53 to connect its inner cavity with the outside, and the front end of the inner shell 53 is fixed to the middle of the internal channel of the elastic ball 57. The cleaning device 5 also includes an outer shell 52 and a water sealing ring 55. The outer shell 52 is cylindrical, and the rear end of the outer shell 52 is sleeved on the outside of the limiting shell 511 and is rotatably connected thereto, and the front end of the outer shell 52 is sleeved on the outside of the rear half of the inner shell 53. A No. 2 through hole is provided on the outer shell 52, and the No. 2 through hole is connected to the clean water pump 31 through a water pipe; a sliding rod 521 is also provided on the outer shell 52, and the rear end of the sliding rod 521 is fixed on the fixed shell 41, and the outer shell 52 is slidably connected to the sliding rod 521 through a sliding sleeve; the water sealing ring 55 is fixed in the outer shell 52 and has a circular ring shape, the interior of the water sealing ring 55 is a cavity structure, and an annular opening is provided on the inner side of the ring body of the water sealing ring 55, the water sealing ring 55 is sleeved on the outside of the inner shell 53 and the annular opening is aligned with the No. 1 through hole, and a No. 3 through hole aligned with the No. 2 through hole is also provided on the outer side of the ring body of the water sealing ring 55. The clean water pump 31 draws clean water from the clean water tank, and the clean water is injected into the inner shell 53 through the water pipe, the third through hole, the water sealing ring 55, and the second through hole in sequence, and then flows to the sponge layer 58 through the inner shell 53 and the elastic ball 57.

[0044] like Figure 1 , Figure 2 , Figure 3The water tanker 1 is also provided with a sewage tank in the compartment, and the water pump 3 also includes a sewage pump 32, which is connected to the sewage tank through a water pipe; the outer shell 52 is also provided with a fourth through hole, which is located in front of the second through hole and is connected to the sewage pump 32 through a water pipe. The cleaning device 5 also includes a water collecting ring 54 and a water collecting cover 56. The water collecting ring 54 is fixedly sleeved on the outside of the inner shell body 53 and is in a circular ring shape. The outer side of the ring body of the water collecting ring 54 is provided with a circular opening aligned with the No. 4 through hole, and the front side of the ring body of the water collecting ring 54 is provided with a plurality of water inlets arranged in a ring shape; the front end of the water collecting cover 56 is covered outside the sponge layer 58, and the rear end of the water collecting cover 56 is connected to the front side wall of the ring body of the water collecting ring 54. A plurality of circularly arranged paddles 561 are provided on the inner wall of the water collecting cover 56. The paddles 561 are spirally shaped on the water collecting cover 56, and the cross section of the paddles 561 is at an acute angle to the water collecting cover 56. After the clean water flows from the elastic ball 57 to the middle of the front end of the sponge layer 58, it participates in the cleaning of the solar panel surface and becomes sewage. Then, due to the centrifugal effect, it flows to the surrounding parts in the sponge layer 58, and then is thrown into the water collecting cover 56. The paddle 561 in the water collecting cover 56 will drive the sewage in its angle into the water collecting ring 54 when the water collecting cover 56 rotates at high speed, and is sucked into the sewage tank by the sewage pump 32. During the cleaning process, the clean water pump 31 and the sewage pump 32 keep running, so that the part where the front end of the sponge layer 58 contacts the solar panel is always clean with clean water flowing.

[0045] like Figure 2 , Figure 3 The front end of the water collecting cover 56 is located beyond the center of the sponge layer 58 and does not exceed the front end of the elastic ball 57, so the range of collecting sewage is larger and the effect is better.

[0046] The front end of the water collecting cover 56 and the front end of the paddle 561 are made of rubber material to avoid contact with the solar panel surface during high-speed rotation, thereby preventing the solar panel from being damaged.

[0047] like Figure 2 A ring-shaped flexible water-proof membrane 581 is arranged on the front end surface of the sponge layer 58. When the sponge layer 58 and the solar panel rotate at high speed, the sewage will be isolated by the water-proof membrane 581 to prevent it from being thrown out until it enters the range of the water collecting cover 56.

[0048] It should be understood that the above are only preferred embodiments of the present invention, and the patent scope of the present invention cannot be limited thereto. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. The automatic cleaning solution for solar panels based on AI recognition is characterized by The following steps are involved: S1. AI plans the cleaning path for the solar panels to be cleaned based on the geographical location of the solar panels and the road conditions, and then uses the existing autonomous driving technology to drive the solar panel cleaning equipment to the bottom of the first solar panel in the planned path; S2, AI uses a camera (6) to identify the solar panel in S1, and then uses a positioning system (2) to move the cleaning device (5) upward to above the solar panel and facing the front of the solar panel; S3, using a camera (6) to collect images of the solar panel in S2 and letting AI identify the center position and four corner positions of the solar panel, then the driving device (4) pushes the cleaning device (5) to align with the center position of the solar panel and move forward until the pressure data collected by the pressure sensor (512) on the cleaning device (5) reaches a specified threshold, and AI calculates the spatial position of the end of the cleaning device (5) based on the spatial state, size data and position data of each connector in the positioning system (2) and the driving device (4) at this time. At this time, the spatial position of the end of the cleaning device (5) is the spatial position of the center of the solar panel; S4, reset the driving device (4) and then repeat step S3, but when the driving device (4) pushes the cleaning device (5) forward, it is aligned with the positions of two adjacent corners on the solar panel. Finally, after step S3 is repeated twice, the spatial positions of the ends of the cleaning device (5) are the spatial positions of the two adjacent corners on the solar panel. Combined with the spatial position of the center of the solar panel and the rectangular shape of the solar panel itself, AI can calculate the spatial position and spatial state of the solar panel. S5, the AI ​​adjusts the spatial state of the cleaning device (5) through the positioning system (2) according to the spatial position and spatial state of the solar panel, so that the cleaning device (5) is perpendicular to the solar panel surface or the angle between the cleaning device (5) and the normal line of the solar panel surface does not exceed 45 degrees; S6, the AI ​​coordinates the positioning system (2) and the driving device (4) to use the cleaning device (5) to clean the entire solar panel surface; S7, the positioning system (2) and the driving device (4) are reset, and then the AI ​​drives the solar panel cleaning device according to the cleaning path planning in S1 to the next solar panel under the planned path to carry out cleaning work; S8, repeating steps S2-S7 until all solar panels in the cleaning path planning have completed the cleaning work, and finally the AI ​​uses the existing autonomous driving technology to return the solar panel cleaning equipment; The solar panel cleaning device mentioned in the above steps comprises a water tanker (1), a positioning system (2), a driving device (4), a cleaning device (5) and a camera (6), wherein the positioning system (2) is arranged on the top of the water tanker (1), the driving device (4) is arranged on the top of the positioning system (2), the cleaning device (5) is connected to the driving device (4), a pressure sensor (512) is arranged on the cleaning device (5), and the camera (6) is arranged on the driving device (4).

2. The AI-based automatic cleaning solution for solar panels according to claim 1 is characterized in that: The positioning system (2) comprises a base (21), a drive motor (22), a main push rod (23), an auxiliary push rod (24) and a terminal rod (25); the base (21) is arranged on the carriage of the water tanker (1) and is rotatably connected to the top surface of the carriage, the base (21) is disc-shaped and has teeth on its edge; the drive motor (22) is fixed on the top surface of the carriage, and the drive motor (22) is connected to the teeth on the edge of the base (21) through a transmission and a gear; the bottom of the main push rod (23) is hinged at the center of the base (21), and the top of the main push rod (23) is provided with a steering device (231); one end of the auxiliary push rod (24) is hinged on the base (21), and the other end is hinged on the main push rod (23); the terminal rod (25) is rotatably connected to the steering device (231), and a steering motor is connected between the terminal rod (25) and the steering device (231).

3. The AI-based automatic cleaning solution for solar panels according to claim 2 is characterized in that: The driving device (4) comprises a fixed shell (41), an electric push rod (42) and a motor (43); the fixed shell (41) is cylindrical, and the rear end of the fixed shell (42) is fixed on the terminal rod (25); one end of the electric push rod (42) is arranged in the fixed shell (41) and connected to the fixed shell (41) through a bearing, and the other end of the electric push rod (42) extends out of the fixed shell (41), and teeth are arranged on the outer wall of the electric push rod (42); the motor (43) is installed on the outer wall of the fixed shell (41), and the output end of the motor (43) is connected to the teeth on the outer wall of the electric push rod (42) through a gear.

4. The AI-based automatic cleaning solution for solar panels according to claim 3 is characterized in that: The cleaning device (5) comprises a pressure monitoring device (51), an inner shell (53), an elastic ball (57) and a sponge layer (58); the pressure monitoring device (51) comprises a limit shell (511), a pressure sensor (512) and a pressure rod (513); the limit shell (511) is hollow inside and has an opening at the front end; the outer wall cross section of the limit shell (511) is circular and the inner cavity cross section is polygonal; the rear end of the limit shell (511) is fixed to the other end of the electric push rod (42); the pressure sensor (512) The pressure rod (513) is fixedly arranged in the inner cavity of the limiting shell (511); the pressure rod (513) is arranged in the inner cavity of the limiting shell (511) and cooperates with the inner wall thereof, the rear end of the pressure rod (513) is fixedly connected to the pressure sensor (512), and the front end of the pressure rod (513) extends out of the inner cavity of the limiting shell (511); the rear end of the inner shell (53) is fixed on the front end of the pressure rod (513); the elastic ball (57) is fixedly installed on the front end of the inner shell (53); and the sponge layer (58) is sleeved on the outside of the elastic ball (57).

5. The AI-based automatic cleaning solution for solar panels according to claim 4 is characterized in that: The water truck (1) is provided with a clean water tank in the compartment, and the water truck (1) is provided with a water pump (3), wherein the water pump (3) comprises a clean water pump (31), and the clean water pump (31) is connected with the clean water tank through a water pipe; the elastic ball (57) is provided with a channel inside, and the elastic ball (57) is a solid rubber ball or a hollow rubber ball inflated inside; the inner shell (53) is hollow inside and has an opening at the front end, and a through hole No. 1 is provided on the side wall of the inner shell (53) for connecting the inner cavity with the outside, and the front end of the inner shell (53) is fixed to the middle of the internal channel of the elastic ball (57); The cleaning device (5) further comprises an outer shell (52) and a water sealing ring (55), wherein the outer shell (52) is cylindrical, the rear end of the outer shell (52) is sleeved outside the limiting shell (511) and is rotatably connected thereto, the front end of the outer shell (52) is sleeved outside the rear half of the inner shell (53), and a No. 2 through hole is provided on the outer shell (52), and the No. 2 through hole is connected to the clean water pump (31) through a water pipe; the outer shell (52) is also provided with a sliding rod (521), and the sliding rod (521 ) is fixed on the fixed shell (41) at the rear end, and the outer shell (52) is slidably connected to the slide rod (521) through a sliding sleeve; the water sealing ring (55) is fixed in the outer shell (52) and is in a circular ring shape, the interior of the water sealing ring (55) is a cavity structure and the inner side of the ring body of the water sealing ring (55) is provided with an annular opening, the water sealing ring (55) is sleeved outside the inner shell (53) and the annular opening is aligned with the No. 1 through hole, and the outer side of the ring body of the water sealing ring (55) is also provided with a No. 3 through hole aligned with the No. 2 through hole.

6. The AI-based automatic cleaning solution for solar panels according to claim 5 is characterized in that: The water tanker (1) is also provided with a sewage tank in the compartment, and the water pump (3) further comprises a sewage pump (32), and the sewage pump (32) is connected to the sewage tank through a water pipe; a fourth through hole is also provided on the outer shell (52), and the fourth through hole is located in front of the second through hole and is connected to the sewage pump (32) through a water pipe; The cleaning device (5) further comprises a water collecting ring (54) and a water collecting cover (56); the water collecting ring (54) is fixedly sleeved outside the inner shell (53) and is in a circular ring shape; the outer side of the ring body of the water collecting ring (54) is provided with a circular opening aligned with the fourth through hole; the front side of the ring body of the water collecting ring (54) is provided with a plurality of water inlets arranged in a circular manner; the front end of the water collecting cover (56) is covered outside the sponge layer (58); the rear end of the water collecting cover (56) is connected to the front side wall of the ring body of the water collecting ring (54); the inner wall of the water collecting cover (56) is provided with a plurality of paddles (561) arranged in a circular manner; the paddles (561) are spirally shaped on the water collecting cover (56); and the cross section of the paddles (561) forms an acute angle with the water collecting cover (56).

7. The AI-based automatic cleaning solution for solar panels according to claim 6 is characterized in that: The front end of the water collecting cover (56) is located beyond the center of the sponge layer (58) and does not exceed the front end of the elastic ball (57).

8. The AI-based automatic cleaning solution for solar panels according to claim 7 is characterized in that: The front end of the water collecting cover (56) and the front end of the shifting plate (561) are made of rubber material.

9. The automatic cleaning solution for solar panels based on AI recognition according to claim 6 is characterized in that: A layer of annular water-isolating membrane (581) is arranged on the front end surface of the sponge layer (58).

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