High-support photovoltaic panel robot installation method

Abstract

The invention discloses a high-support photovoltaic panel robot installation method, which utilizes a deashing robot installed on a photovoltaic panel support frame to realize related operations, and comprises the following specific steps: preparation before installation, photovoltaic panel installation and deashing maintenance. The dust removal robot is used for installing the photovoltaic panel, the camera is used for collecting images to guide butt joint, an image recognition algorithm is adopted for calculating the adjustment amount, accurate installation can be achieved, the installation efficiency is improved, and manual operation errors are reduced; a cleaning disc of the dust cleaning robot is of a multi-layer bristle structure, bristles are customized according to dust characteristics, and different types of dust can be effectively cleaned; and the dust collector has an automatic dust cleaning function, so that continuous and effective dust cleaning operation is guaranteed, and the light transmission and power generation efficiency of the photovoltaic panel are improved.

Description

Technical Field

[0001] The invention relates to the field of photovoltaic panel robot installation, and in particular to a high-bracket photovoltaic panel robot installation method. Background Art

[0002] As the global demand for clean energy continues to grow, solar photovoltaic power generation has been widely used as a sustainable and pollution-free way of energy utilization. In photovoltaic power stations, the installation and maintenance of high-support photovoltaic panels are important links. The traditional method of installing photovoltaic panels mainly relies on manual work. During the installation process, the photovoltaic panels need to be manually transported to the support position and accurately docked and fixed, which is labor-intensive and inefficient. Moreover, in a high-support environment, manual operation has certain safety risks. At the same time, photovoltaic panels are prone to dust accumulation during operation, which will reduce the transmittance of photovoltaic panels and affect power generation efficiency. Traditional cleaning methods are mostly regular manual cleaning, which not only consumes manpower and material resources, but also the cleaning cycle is difficult to accurately determine, and cannot adapt to the cleaning needs of photovoltaic panels in different environments in a timely manner. Summary of the invention

[0003] The object of the present invention is to provide a high-support photovoltaic panel robot installation method to solve the problems raised in the above-mentioned background technology.

[0004] To achieve the above purpose, the present invention provides the following technical solutions: a method for installing a high-support photovoltaic panel robot, using a dust cleaning robot installed on the frame of the photovoltaic panel support to implement related operations, and the specific steps are as follows: Pre-installation preparation Robot preparation: Install the cleaning robot on the frame of the photovoltaic panel support, check the connection between the controller and the cleaning robot through the cable to ensure stability; debug the various components of the cleaning robot to ensure that the walking mechanism can move smoothly, the camera image acquisition is clear and the transmission is stable, the cleaning disc and roller brush can effectively clean the dust, and the dust collector can collect dust normally; Site and photovoltaic panel preparation: clean the installation site, remove obstacles and level the site; classify and stack the photovoltaic panels in the designated area nearby, and check and calibrate the installation parameters of the photovoltaic panel bracket frame; Photovoltaic panel installation Initial positioning: The controller controls the walking mechanism of the cleaning robot to move to the first installation starting position, and uses the camera to collect images to determine the position accuracy. If there is a deviation, the position of the cleaning robot is adjusted, and then the photovoltaic panel is transported to the nearby area for docking; Docking operation: According to the guidance of the camera image, adjust the position, angle and other parameters of the photovoltaic panel. The dust cleaning robot fine-tunes the frame as needed to accurately dock the photovoltaic panel with the bracket frame, and then use the fixed connector to firmly fix the photovoltaic panel on the bracket frame. Then follow this process to complete the installation of all photovoltaic panels in sequence; Cleaning and maintenance First cleaning: After all photovoltaic panels are installed, the controller sends a command to start the cleaning disc, roller brush, and dust collector. The walking mechanism drives the cleaning robot to move along the frame of the bracket according to the preset route. The cleaning disc cleans first, the roller brush combs, and the dust collector collects dust and debris to complete the first cleaning. Regular cleaning: Develop a regular cleaning plan based on the photovoltaic panel environment, usage time, etc., and follow the first cleaning process to ensure good light transmittance and power generation efficiency of the photovoltaic panels and maintain stable operation of the system.

[0005] Furthermore, in the pre-installation preparation steps of the cleaning robot, the debugging of the cleaning robot also includes anti-skid treatment detection of the walking mechanism; specifically, the surface conditions under different weather conditions are simulated on the frame of the photovoltaic panel bracket to test the anti-skid ability of the walking mechanism, and by using special texture design and adding anti-skid coating on the surface of the track or walking wheel of the walking mechanism, it is ensured that it can still walk stably in a variety of complex environments, avoiding slipping and affecting the accuracy and timeliness of photovoltaic panel installation and cleaning operations.

[0006] Furthermore, in the installation and docking operation of the photovoltaic panel installation step, when the camera is used to capture images to guide the docking of the photovoltaic panel and the bracket frame, an image recognition algorithm is used to perform real-time analysis and processing on the captured images. The algorithm can accurately identify the contours and position information of the photovoltaic panel mounting holes and the mounting interfaces on the bracket frame, and can automatically calculate the required translation and rotation adjustments of the photovoltaic panel, and feed back the adjustment information to the operator or the automated installation system.

[0007] Furthermore, the cleaning disc of the dust cleaning robot is structurally optimized; the cleaning disc adopts a multi-layer bristle structure, and the length, material and density of each layer of bristles are customized according to the common distribution pattern and adhesion characteristics of dust particles on the surface of the photovoltaic panel; the bristles near the center of the disc are shorter and harder, which is convenient for the initial loosening of large particles of dust that are more firmly attached; the outer layer of bristles is longer and softer, which can better cover a large area during rotation, and clean up the loosened dust and fine dust particles. A cleaning disc designed in this way can significantly improve the cleaning effect of different types of dust, ensure the cleanliness of the photovoltaic panel surface, and thus improve the power generation efficiency.

[0008] Furthermore, when formulating the regular cleaning plan for the cleaning maintenance step, the cleaning cycle is dynamically adjusted in combination with the local meteorological data and environmental monitoring data. By connecting with professional meteorological departments or environmental monitoring agencies for data, information such as the frequency of wind and sand activities, precipitation, air humidity, and pollutant concentration in the area where the installation site is located is obtained. Based on these data, a data analysis model is used to accurately determine the most appropriate cleaning time interval.

[0009] Furthermore, the dust collector of the cleaning robot is equipped with an automatic cleaning function; a vibration device and a reversible airflow guiding structure are arranged inside the dust collector. When the dust collected by the dust collector reaches a certain threshold, the vibration device is started, and the dust attached to the inner wall of the dust collector and the filter is removed by the vibration generated. At the same time, the reversible airflow guiding structure changes the direction of the internal airflow, and blows the removed dust into a special dust collection bag for temporary storage, so that the collection bag can be easily cleaned and replaced later.

[0010] Furthermore, in the photovoltaic panel installation step, special bolts and nuts with anti-corrosion coating are used for the fixed connectors used to fix the photovoltaic panel to the bracket frame; the anti-corrosion coating is made of a new type of polymer composite material, and has excellent weather resistance, corrosion resistance and good adhesion, and can effectively resist factors such as rain, acid and alkali substances in the photovoltaic panel installation environment that may cause rust and corrosion of metal connectors; and, the head of the bolt and the surface of the nut are also engraved with scale markings for easy identification of the tightening torque. The operator can intuitively control the tightening force according to the scale to ensure that each connector can meet the specified tightening requirements, improve the structural stability of the photovoltaic panel after installation, and extend its service life.

[0011] Furthermore, the camera of the cleaning robot is equipped with an intelligent fill light system; the intelligent fill light system can automatically adjust the fill light intensity and angle according to the strength of the ambient light. In dim light conditions such as early morning, evening or cloudy days, the system emits light of specific wavelength and intensity to provide fill light for the surface of the photovoltaic panel and the surrounding environment, ensuring that the camera can still collect clear, high-quality image information, thereby not affecting the installation and docking operations of the photovoltaic panels and environmental monitoring during the cleaning process, further improving the applicability and reliability of the entire method under different lighting conditions.

[0012] Furthermore, when the cleaning robot moves along the frame of the photovoltaic panel support to perform cleaning and maintenance operations, a path planning algorithm is used to optimize its walking route; the algorithm comprehensively considers multiple factors such as the arrangement and layout of the photovoltaic panels, the shape of the support frame, the energy consumption of the cleaning robot, and the cleaning coverage range, and generates the optimal cleaning path through calculation. This allows the cleaning robot to minimize unnecessary repetitive walking and turning operations while ensuring that all photovoltaic panel surfaces are cleaned comprehensively and without omissions, thereby reducing energy consumption while improving cleaning efficiency, shortening the overall duration of cleaning maintenance, and ensuring that the photovoltaic panel system can return to the optimal power generation state more quickly.

[0013] Furthermore, a remote monitoring and fault warning system was established during the entire installation and cleaning maintenance process. By installing various sensors on the cleaning robot, such as position sensors, power sensors, component operation status sensors, etc., the working status data of the cleaning robot and the relevant operation parameters of the photovoltaic panel system are collected in real time, and these data are transmitted to the remote monitoring platform. Once the data fluctuates abnormally, the walking trajectory of the cleaning robot deviates, the power is too low, or the cleaning disc speed is abnormal, the system can promptly send fault warning information to the terminal device of the relevant operator, so that the operator can take corresponding countermeasures at the first time.

[0014] Compared with the prior art, the present invention has the following beneficial effects: Photovoltaic panels are installed using a dust-cleaning robot. The camera captures images to guide docking, and an image recognition algorithm is used to calculate the adjustment amount. This can achieve precise installation, improve installation efficiency, and reduce manual operation errors.

[0015] The cleaning disc of the cleaning robot adopts a multi-layer brush structure, and the bristles are customized according to the characteristics of the dust, which can effectively clean different types of dust; the dust collector is equipped with an automatic cleaning function to ensure that the cleaning operation is continuous and effective, thereby improving the light transmittance and power generation efficiency of the photovoltaic panels.

[0016] The walking mechanism of the dust cleaning robot is tested for anti-slip treatment so that it can walk stably in complex environments; the camera is equipped with an intelligent fill light system to ensure the capture of clear images under different lighting conditions, which improves the applicability and reliability of the entire method in different environments.

[0017] A path planning algorithm is used to optimize the walking route of the cleaning robot, reduce energy consumption and cleaning time, and enable the photovoltaic panel system to return to the optimal power generation state more quickly.

[0018] The fixed connectors between the photovoltaic panel and the bracket frame use special bolts and nuts with anti-corrosion coating, which improves the structural stability and extends the service life.

[0019] Establish a remote monitoring and fault warning system to collect data in real time and promptly warn of abnormal situations, so that operators can take timely response measures and ensure the stable operation of the entire photovoltaic panel system.

[0020] Dynamically adjust the cleaning cycle based on local meteorological and environmental monitoring data to make the cleaning operation more scientific and reasonable, and avoid excessive cleaning or untimely cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is the installation schematic diagram of the present invention; Figure 2 A side view schematic diagram of the dust cleaning robot of the present invention; Figure 3This is a schematic bottom view of the dust cleaning robot of the present invention.

[0022] In the figure: 1. Photovoltaic panel support frame; 2. Dust cleaning robot; 21. Walking mechanism; 22. Camera; 23. Cleaning disc; 24. Dust collector; 25. Roller brush; 3. Cable; 4. Controller. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in 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.

[0024] See also Figure 1 —3. The present invention provides a technical solution: a method for installing photovoltaic panels with a high-support robot. 1. Preparation before installation Robot preparation Install the cleaning robot 2 at a specific position of the photovoltaic panel support frame 1 to ensure that it is firmly installed and in a suitable position for subsequent operations. During installation, it must be fixed strictly in accordance with the design requirements, such as using suitable bolts and other connectors, and checking the tightness of the connection.

[0025] Check the connection between the controller 4 and the cleaning robot 2 through the cable 3. Check whether the cable interface is plugged in tightly, loose or in poor contact. At the same time, perform an appearance inspection on the cable to ensure that it is not damaged or aged, and to ensure that the connection is stable and the signal transmission is normal.

[0026] Walking mechanism 21 debugging First, a conventional walking test is performed to control the walking mechanism 21 to walk in a straight line, turn, and perform other operations on the photovoltaic panel support frame 1 to observe whether it runs smoothly and whether there are any abnormal conditions such as jamming and abnormal noise.

[0027] Anti-skid treatment test of the walking mechanism 21. Simulate surface conditions under different weather conditions on the photovoltaic panel support frame 1, such as dry, wet, dusty, etc. By using special texture design and adding anti-skid coating on the surface of the track or walking wheel of the walking mechanism 21, measure the friction of the walking mechanism under different conditions in the simulation test to ensure that it can still walk stably in a variety of complex environments to avoid slipping and affecting the accuracy and timeliness of photovoltaic panel installation and dust cleaning operations. For example, under wet surface conditions, the anti-skid coefficient of the walking mechanism should not be lower than the specified value to ensure the normal operation of the robot.

[0028] Camera 22 debugging Check whether the installation angle and position of the camera 22 are appropriate to ensure that it can cover the area required for photovoltaic panel installation and dust cleaning operations.

[0029] Perform image acquisition test to observe whether the acquired image is clear and whether there is blur, distortion, etc. At the same time, test the stability of image transmission and check whether there is packet loss, delay, etc. during the transmission of image data to ensure that the image can be transmitted to the controller 4 in a timely and accurate manner.

[0030] Debugging of cleaning disc 23 and roller brush 25 Start the cleaning disc 23 and the roller brush 25, and check whether they rotate flexibly and whether there is any stagnation. Observe whether the bristles of the cleaning disc 23 and the roller brush 25 are firmly installed and whether there is any falling off.

[0031] The cleaning effect of the cleaning disc 23 and the roller brush 25 is preliminarily tested, for example, cleaning operations are performed on the surface of a simulated dusty photovoltaic panel to check whether they can effectively remove dust, how they can clean dust of different types and thicknesses, and whether there are any blind spots in cleaning.

[0032] Dust collector 24 debugging Check the tightness of the dust collector 24 to ensure that there is no dust leakage during the dust collection process. You can apply a certain pressure to the inside of the dust collector to observe whether there is any leakage outside.

[0033] Start the fan and other components of the dust collector 24 to check whether its suction force meets the requirements and whether the dust swept by the cleaning disc 23 and the roller brush 25 can be effectively collected.

[0034] 2. Site and Photovoltaic Panel Preparation Cleaning the installation site Organize personnel and equipment to conduct a comprehensive cleanup of the installation site. Use bulldozers, loaders and other mechanical equipment to remove large obstacles in the site, such as stones, trees, etc. For smaller debris, such as garbage, broken bricks, etc., use manual cleaning to collect and handle them.

[0035] Level the site and use a grader or other equipment to level the site surface to ensure that the site's flatness meets the requirements for photovoltaic panel bracket installation. During the leveling process, pay attention to controlling the site's slope, which should generally be within the slope range specified in the photovoltaic power station design specifications to ensure that the photovoltaic panels can obtain the best lighting angle.

[0036] Photovoltaic panels are classified and stacked The photovoltaic panels are stacked in designated areas nearby according to their models and specifications. During the stacking process, protective measures should be taken to prevent the photovoltaic panels from being damaged by collisions, scratches, etc. For example, buffer materials such as foam boards can be placed between the photovoltaic panels.

[0037] Label each stack of photovoltaic panels with its model, quantity and other information to facilitate retrieval during subsequent installation.

[0038] Check and calibrate the installation parameters of the photovoltaic panel support frame 1 Use measuring instruments, such as a total station, a level, etc., to measure the installation position, height, angle and other parameters of the photovoltaic panel support frame 1. Compare the measurement results with the design drawings to check whether they meet the design requirements.

[0039] For parameters that do not meet the requirements, timely adjustments and calibrations should be made. For example, if the height deviation of the bracket frame is large, it can be corrected by adjusting the height of the bracket foundation. During the adjustment process, the parameters should be re-measured and checked to ensure their accuracy.

[0040] 2. Photovoltaic panel installation The controller 4 issues a command to control the walking mechanism 21 of the dust cleaning robot 2 to move to the first installation starting position. During the movement, the controller receives the position feedback information of the walking mechanism 21 in real time to ensure that the robot reaches the specified position accurately. For example, a position sensor is installed on the walking mechanism 21, and its position information is transmitted to the controller 4, and the controller compares and adjusts according to the preset starting position coordinates.

[0041] When the dust cleaning robot 2 reaches the initial position, the camera 22 is used to collect images of the surrounding environment. The collected images are transmitted to the controller 4, which uses an image recognition algorithm to analyze and process the images to determine whether the position of the dust cleaning robot 2 is accurate. The image recognition algorithm can determine the position of the robot by identifying specific marks or features on the frame 1 of the photovoltaic panel support.

[0042] If the image analysis determines that the position of the dust cleaning robot 2 is deviated, the controller 4 calculates the adjustment direction and distance according to the deviation, and then controls the walking mechanism 21 to make fine adjustments. For example, if the robot deviates by 5 cm in the horizontal direction, the controller controls the walking mechanism 21 to move 5 cm in the corresponding direction so that the robot is accurately located at the installation starting position. After the adjustment is completed, image acquisition and position judgment are performed again to ensure that the position is accurate.

[0043] After the cleaning robot 2 is accurately positioned, the photovoltaic panel is transported to the nearby location for docking. Forklifts, cranes and other equipment can be used to transport the photovoltaic panel to the designated location. During the transportation process, attention should be paid to smooth operation to prevent the photovoltaic panel from shaking and colliding.

[0044] Docking Operation Image-guided adjustment of photovoltaic panel position The camera 22 of the cleaning robot 2 continuously collects images of the photovoltaic panel and the bracket frame 1, and transmits the images to the controller 4. The controller uses an image recognition algorithm to perform real-time analysis and processing on the collected images. The algorithm can accurately identify the contour and position information of the photovoltaic panel mounting hole and the mounting interface on the bracket frame 1.

[0045] Based on the recognition results, the translation and rotation adjustment required for the photovoltaic panel are calculated, and the adjustment information is fed back to the operator or the automated installation system. The operator manually adjusts the position and angle of the photovoltaic panel based on the feedback information; or in the automated installation system, the control system automatically controls the adjustment equipment such as a robotic arm to adjust the photovoltaic panel so that the photovoltaic panel is initially aligned with the installation interface of the bracket frame 1.

[0046] Cleaning robot coordination and fine-tuning After the photovoltaic panels are initially aligned, the cleaning robot 2 makes fine adjustments on the frame 1 as needed. For example, if the photovoltaic panels are slightly offset during the docking process, the cleaning robot 2 can assist the photovoltaic panels to better dock with the bracket frame 1 by moving or adjusting its posture. The movement and posture adjustment of the cleaning robot 2 are precisely controlled by the controller 4 based on the images collected by the camera 22 and the information fed back by other sensors such as distance sensors.

[0047] Fixed photovoltaic panels After the photovoltaic panel is accurately docked with the bracket frame 1, the photovoltaic panel is firmly fixed on the bracket frame 1 using fixed connectors. The fixed connectors use special bolts and nuts with anti-corrosion coatings, which are made of new polymer composite materials. When installing bolts and nuts, operators use torque wrenches to tighten according to the specified tightening torque based on the scale marks engraved on the bolt head and nut surface for easy identification of tightening torque, ensuring that each connector can meet the specified tightening requirements, improving the structural stability of the photovoltaic panel after installation, and extending its service life.

[0048] Subsequent photovoltaic panel installation After completing the installation of one photovoltaic panel, follow the above process to install the subsequent photovoltaic panels. During the installation process, the initial positioning, docking operation and other steps should be repeated to ensure that each photovoltaic panel can be accurately installed on the bracket frame 1 and the installation quality meets the requirements.

[0049] 3. Cleaning and maintenance Start dust cleaning equipment After all photovoltaic panels are installed, the controller 4 sends a command to start the cleaning disc 23, the roller brush 25, and the dust collector 24. The motors of the cleaning disc 23 and the roller brush 25 are started and start rotating; the fan of the dust collector 24 is started to generate suction and prepare to collect dust and debris.

[0050] Robot mobile dust cleaning The walking mechanism 21 drives the cleaning robot 2 to move along the bracket frame 1 according to a preset route. The preset route can be planned according to the arrangement layout of the photovoltaic panels and the shape of the bracket frame 1 to ensure that the cleaning robot 2 can cover the surface of all photovoltaic panels. During the movement, the position and posture of the cleaning robot 2 are controlled in real time by the controller 4 to ensure its stable operation.

[0051] Cleaning disc cleaning The cleaning disc 23 adopts a multi-layer bristle structure. During the rotation process, the bristles near the center of the disc are shorter and harder, which can initially loosen the large particles of dust that are firmly attached. Due to its shorter length and harder texture, it can generate a greater impact force to make the large particles of dust fall off the surface of the photovoltaic panel.

[0052] Roller brush combing After being cleaned by the cleaning disc 23, the surface of the photovoltaic panel is combed by the roller brush 25. The bristles of the roller brush 25 can further clean up the loosened dust and fine dust particles and move them toward the dust collector 24. The rotation speed of the roller brush 25 and the contact pressure with the surface of the photovoltaic panel can be adjusted according to the actual cleaning effect to achieve the best cleaning effect.

[0053] Dust collector collects dust The dust collector 24 collects the dust and debris swept by the cleaning disc 23 and the roller brush 25 under the action of the fan suction. The airflow inside the dust collector 24 is specially designed to form a stable airflow channel inside the dust collector 24 and smoothly enter the dust collection cavity of the dust collector 24. At the same time, the filter screen of the dust collector 24 can effectively prevent dust from escaping and ensure that the dust is completely collected.

[0054] Determination of cleaning cycle Dynamically adjust the cleaning cycle by combining local meteorological data and environmental monitoring data. By connecting with professional meteorological departments or environmental monitoring agencies, obtain information such as the frequency of wind and sand activities, precipitation, air humidity, and pollutant concentration in the area where the installation site is located. For example, if local wind and sand activities are frequent and the dust content in the air is high, the cleaning cycle should be shortened appropriately; if the precipitation is large and rainwater has a certain self-cleaning effect on photovoltaic panels, the cleaning cycle can be appropriately extended. Based on these data, use data analysis models to accurately determine the most suitable cleaning time interval to ensure that photovoltaic panels always maintain good light transmittance.

[0055] Regular dust cleaning operation Perform regular cleaning operations according to the initial cleaning process. Before each cleaning, check and debug the various components of the cleaning robot 2 to ensure their normal operation. During the cleaning process, pay close attention to the working status of the cleaning robot 2, such as the operation of the walking mechanism 21, the cleaning effect of the cleaning disc 23 and the roller brush 25, and the dust collection of the dust collector 24. If any abnormal problem is found, handle it in time to ensure good light transmittance and power generation efficiency of the photovoltaic panel and maintain stable operation of the system.

[0056] 4. Other optimization measures Dust-cleaning robot dust collector automatic dust cleaning A dust sensor is installed inside the dust collector 24 to monitor the amount of dust collected in the dust collector 24 in real time. When the amount of dust collected reaches a certain threshold, the sensor transmits a signal to the controller 4.

[0057] After receiving the signal, the controller 4 starts the vibration device inside the dust collector 24. The vibration device generates high-frequency vibration to remove dust attached to the inner wall of the dust collector 24 and the filter screen. The frequency and amplitude of the vibration can be adjusted according to the structure of the dust collector 24 and the dust characteristics to achieve the best cleaning effect while avoiding damage to the dust collector 24.

[0058] While the vibration device is working, the reversible airflow guide structure is activated to change the direction of the internal airflow. The airflow that originally flows into the dust collection chamber of the dust collector 24 changes to reverse flow, blowing the detached dust into a special dust collection bag for temporary storage. The speed and direction of the airflow can be precisely controlled to ensure that the dust can smoothly enter the collection bag without flying again into the dust collector 24 or the surface of the photovoltaic panel.

[0059] Cleaning robot camera intelligent fill light The camera 22 is equipped with a light sensor to detect the intensity of ambient light in real time. The light sensor transmits the detected light intensity information to the controller 4.

[0060] The controller 4 determines whether it is necessary to start the intelligent fill light system and determines the fill light intensity and angle based on the light intensity information. In the early morning, evening or cloudy days when the light is dim, the controller 4 controls the intelligent fill light system to start. The fill light system provides fill light to the surface of the photovoltaic panel and the surrounding environment by emitting light of a specific wavelength and intensity. The fill light intensity can be automatically adjusted according to the specific conditions of the ambient light. For example, in an extremely dark environment, the fill light intensity is increased; in a slightly dim light, the fill light intensity is appropriately reduced to avoid excessive fill light affecting the image quality. The fill light angle can also be adjusted according to the shooting direction of the camera 22 and the position of the photovoltaic panel to ensure that the camera 22 can collect clear, high-quality image information, so as not to affect the installation and docking operations of the photovoltaic panel and the environmental monitoring during the cleaning process.

[0061] Path planning for dust cleaning robots Before the cleaning robot 2 performs the cleaning operation, data is collected on the arrangement and layout of the photovoltaic panels, the shape of the bracket frame 1, etc. Laser scanning and other technologies can be used to obtain accurate three-dimensional model data, and at the same time, information such as the energy consumption parameters of the cleaning robot 2 and the cleaning coverage range can be obtained.

[0062] The collected data is input into the path planning algorithm, and the algorithm comprehensively considers these factors and calculates and generates the optimal cleaning path. The path planning algorithm can adopt a variety of algorithms, such as A algorithm, genetic algorithm, etc. Through optimization calculation, the cleaning robot 2 can reduce unnecessary repeated walking and turning operations as much as possible while ensuring that all photovoltaic panel surfaces can be cleaned comprehensively and without omission. For example, for a large-area photovoltaic panel array, the algorithm can plan a path that cleans along the long side first and then along the short side, avoiding frequent turns, reducing energy consumption and improving cleaning efficiency.

[0063] The cleaning robot 2 performs cleaning operations according to the planned path. During the operation, the controller 4 monitors the position and cleaning progress of the cleaning robot 2 in real time and fine-tunes the path according to the actual situation. If an emergency occurs, such as foreign objects blocking the surface of the photovoltaic panel, the controller 4 can re-plan the local path to ensure that the cleaning operation proceeds smoothly, shorten the overall cleaning maintenance time, and ensure that the photovoltaic panel system can recover to the optimal power generation state faster.

[0064] Remote monitoring and fault warning Various sensors are installed on the cleaning robot 2, such as position sensors, power sensors, component operation status sensors, etc. These sensors collect real-time working status data of the cleaning robot 2 and relevant operating parameters of the photovoltaic panel system, such as the walking position of the cleaning robot 2, battery power, and speed of the cleaning disc 23. The collected data is transmitted to the remote monitoring platform through wireless communication modules such as 4G and 5G.

[0065] After receiving the data, the remote monitoring platform analyzes the data in real time. Reasonable thresholds and judgment rules are set. When the data fluctuates abnormally, such as the walking trajectory of the dust cleaning robot 2 deviates from the preset path by more than a certain distance, the power is too low and below the set value, or the speed of the cleaning disc 23 is abnormal and not within the normal range, the system can issue fault warning information in time.

[0066] Fault warning information is sent to the terminal devices of relevant operators via SMS, email, etc. After receiving the warning information, the operator will take corresponding countermeasures as soon as possible, such as remotely controlling the dust cleaning robot 2 to stop working, going to the site for inspection and maintenance, etc., to ensure the stable operation of the entire photovoltaic panel system and reduce downtime and losses caused by faults.

Claims

1. A high-support photovoltaic panel robot installation method, characterized in that: The relevant operations are performed using a dust cleaning robot (2) installed on the frame (1) of the photovoltaic panel support. The specific steps are as follows: Pre-installation preparation Robot preparation: Install the cleaning robot (2) on the frame (1) of the photovoltaic panel support, check the connection between the controller (4) and the cleaning robot (2) through the cable (3) to ensure stability; debug the various components of the cleaning robot (2) to ensure that the walking mechanism (21) can walk smoothly, the camera (22) can capture clear images and transmit them stably, the cleaning disc (23) and the roller brush (25) can effectively clean dust, and the dust collector (24) can collect dust normally; Site and PV panel preparation: clean the installation site, remove obstacles and level the site; stack the PV panels in a designated area nearby and check and calibrate the installation parameters of the PV panel bracket frame (1); Photovoltaic panel installation Initial positioning: controlling the walking mechanism (21) of the dust cleaning robot (2) to move to the first installation starting position through the controller (4), using the camera (22) to collect images to determine the position accuracy, and adjusting the position of the dust cleaning robot (2) if there is a deviation, and then transporting the photovoltaic panel to a nearby location for docking; Docking operation: according to the guidance of the camera (22), the position, angle and other parameters of the photovoltaic panel are adjusted, and the dust cleaning robot (2) fine-tunes the frame (1) as needed to accurately dock the photovoltaic panel with the frame (1) of the bracket, and then the photovoltaic panel is firmly fixed on the frame (1) of the bracket with a fixing connector; and then all photovoltaic panels are installed in sequence according to this process; Cleaning and maintenance First cleaning: After all photovoltaic panels are installed, the controller (4) sends a command to start the cleaning disc (23), the roller brush (25), and the dust collector (24), and the walking mechanism (21) drives the cleaning robot (2) to move along the frame (1) of the bracket according to a preset route. The cleaning disc (23) cleans first, the roller brush (25) combs, and the dust collector (24) collects dust and debris, completing the first cleaning; Regular cleaning: Develop a regular cleaning plan based on the photovoltaic panel environment, usage time, etc., and follow the first cleaning process to ensure good light transmittance and power generation efficiency of the photovoltaic panels and maintain stable operation of the system.

2. The installation and cleaning maintenance method of high-support photovoltaic panels according to claim 1 is characterized in that: In the pre-installation preparation steps of the cleaning robot (2), the debugging of the cleaning robot (2) also includes anti-skid treatment testing of the walking mechanism (21); specifically, the surface conditions under different weather conditions are simulated on the photovoltaic panel support frame (1) to test the anti-skid ability of the walking mechanism (21). By adopting a special texture design and adding an anti-skid coating on the surface of the track or walking wheel of the walking mechanism (21), it is ensured that it can still walk stably in a variety of complex environments, avoiding slipping that affects the accuracy and timeliness of photovoltaic panel installation and cleaning operations.

3. The installation and cleaning maintenance method of the high-support photovoltaic panel according to claim 2 is characterized in that: During the installation and docking operation of the photovoltaic panel installation step, when the camera (22) is used to collect images to guide the photovoltaic panel to dock with the bracket frame (1), an image recognition algorithm is used to perform real-time analysis and processing on the collected images. The algorithm can accurately identify the contour and position information of the photovoltaic panel installation hole and the installation interface on the bracket frame (1), and can automatically calculate the translation and rotation adjustment required for the photovoltaic panel, and feed back the adjustment information to the operator or the automated installation system.

4. The installation and dust cleaning maintenance method of the high-support photovoltaic panel according to claim 3 is characterized in that: The cleaning disc (23) of the dust cleaning robot (2) is structurally optimized; the cleaning disc (23) adopts a multi-layer bristle structure, and the length, material and density of each layer of bristles are customized according to the common distribution pattern and adhesion characteristics of dust particles on the surface of the photovoltaic panel; the bristles near the center of the disc are shorter and harder, which is convenient for initially loosening large particles of dust that are firmly attached; the bristles of the outer layer are longer and softer, which can better cover a large area during rotation, and clean up the loosened dust and fine dust particles. The cleaning disc (23) designed in this way can significantly improve the cleaning effect of different types of dust, ensure the cleanliness of the surface of the photovoltaic panel, and thus improve the power generation efficiency.

5. The installation and cleaning maintenance method of high-support photovoltaic panels according to claim 4 is characterized in that: When formulating the regular cleaning plan for the cleaning maintenance steps, the cleaning cycle is dynamically adjusted in combination with local meteorological data and environmental monitoring data. By connecting with professional meteorological departments or environmental monitoring agencies for data, information such as the frequency of wind and sand activities, precipitation, air humidity, and pollutant concentration in the area where the installation site is located is obtained. Based on these data, a data analysis model is used to accurately determine the most appropriate cleaning time interval.

6. The method for installing and cleaning high-support photovoltaic panels according to claim 5, characterized in that: The dust collector (24) of the dust cleaning robot (2) is equipped with an automatic dust cleaning function; a vibration device and a reversible airflow guiding structure are arranged inside the dust collector (24); when the dust collection amount of the dust collector (24) reaches a certain threshold, the vibration device is activated, and the dust attached to the inner wall of the dust collector (24) and the filter screen falls off through the vibration generated; at the same time, the reversible airflow guiding structure changes the internal airflow direction, and blows the fallen dust into a special dust collection bag for temporary storage, so that the collection bag can be easily cleaned and replaced later.

7. The installation and cleaning maintenance method of high-support photovoltaic panels according to claim 6 is characterized in that: In the photovoltaic panel installation process, special bolts and nuts with an anti-corrosion coating are used as the fixing connectors used to fix the photovoltaic panel to the bracket frame (1); the anti-corrosion coating is made of a new type of polymer composite material, has excellent weather resistance, corrosion resistance and good adhesion, and can effectively resist factors such as rain, acid and alkali substances in the photovoltaic panel installation environment that may cause rust and corrosion of the metal connectors; and the head of the bolt and the surface of the nut are engraved with scale marks for easy identification of the tightening torque. The operator can intuitively control the tightening force according to the scale to ensure that each connector can meet the specified tightening requirements, thereby improving the structural stability of the photovoltaic panel after installation and extending its service life.

8. The method for installing and cleaning high-support photovoltaic panels according to claim 7, characterized in that: The camera (22) of the dust cleaning robot (2) is equipped with an intelligent fill-light system; the intelligent fill-light system can automatically adjust the fill-light intensity and angle according to the intensity of the ambient light. In the dark early morning, evening or cloudy days, the intelligent fill-light system emits light of a specific wavelength and intensity to provide fill-light illumination for the surface of the photovoltaic panel and the surrounding environment, thereby ensuring that the camera (22) can still collect clear and high-quality image information, thereby not affecting the installation and docking operations of the photovoltaic panel and the environmental monitoring during the dust cleaning process, and further improving the applicability and reliability of the entire method under different lighting conditions.

9. The method for installing and cleaning high-support photovoltaic panels according to claim 8, characterized in that: When the cleaning robot (2) moves along the photovoltaic panel support frame (1) to perform cleaning maintenance operations, a path planning algorithm is used to optimize its walking route; the algorithm comprehensively considers the arrangement and layout of the photovoltaic panels, the shape of the support frame (1), the energy consumption of the cleaning robot (2), and the cleaning coverage area, and generates an optimal cleaning path through calculation, so that the cleaning robot (2) can reduce unnecessary repeated walking and turning operations as much as possible while ensuring that all photovoltaic panel surfaces can be cleaned comprehensively and without omissions, thereby reducing energy consumption while improving cleaning efficiency, shortening the overall duration of cleaning maintenance, and ensuring that the photovoltaic panel system can be restored to an optimal power generation state more quickly.

10. The method for installing and cleaning photovoltaic panels of a high support according to claim 1, characterized in that: During the entire installation and cleaning maintenance process, a remote monitoring and fault warning system is established; by installing various sensors on the cleaning robot (2), such as position sensors, power sensors, component operation status sensors, etc., the working status data of the cleaning robot (2) and the relevant operating parameters of the photovoltaic panel system are collected in real time, and these data are transmitted to the remote monitoring platform; once the data fluctuates abnormally, the walking trajectory of the cleaning robot (2) deviates, the power is too low, or the speed of the cleaning disc (23) is abnormal, the system can promptly send fault warning information to the terminal device of the relevant operator, so that the operator can take corresponding countermeasures at the first time.

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