Photovoltaic panel cleaning method and device, cleaning equipment and storage medium

Abstract

The invention relates to the technical field of photovoltaic power generation, and discloses a photovoltaic panel cleaning method and device, cleaning equipment and a storage medium. The method comprises the steps that the movement speed of cleaning equipment, the inclination angle of a photovoltaic panel, the roughness index, the air pressure of cleaning liquid, the altitude of a cleaning site and the length of a pipeline between the storage position of the cleaning liquid and a spraying device of the cleaning equipment are obtained; determining a cleaning factor based on the movement speed, the inclination angle and the roughness index; determining the nozzle diameter of the spraying device based on the cleaning factor, the air pressure, the pipeline length and the altitude; and spraying parameters are generated based on the roughness index, the inclination angle, the movement speed and the nozzle diameter, so that the cleaning equipment is controlled to spray cleaning liquid to the photovoltaic panel for cleaning based on the spraying parameters, and the cleaning efficiency and cleanliness of the photovoltaic panel are improved.

Description

Technical Field

[0001] The present invention relates to the field of photovoltaic power generation technology, and in particular to a photovoltaic panel cleaning method, device, cleaning equipment and storage medium. Background Art

[0002] Photovoltaic panels are the main components of solar power generation systems. After being laid on photovoltaic brackets, they are used to capture sunlight and convert light into electricity. In the daily operation of photovoltaic power plants, natural dust, industrial smoke, etc. in the environment will be deposited on the surface of photovoltaic panels.

[0003] In order to reduce the shielding of sunlight from the panels by deposits on the surface of photovoltaic panels and thus ensure the capture-photovoltaic conversion efficiency, large-scale photovoltaic fields generally perform manual or mechanical cleaning of the optical panels by means of brush scraping, air blowing, etc. during operation and maintenance. However, some deposits on the photovoltaic panels, such as organic pollutants, cannot be effectively cleaned, and the cleanliness and cleaning efficiency are low. Summary of the invention

[0004] The present application proposes a photovoltaic panel cleaning method, device, cleaning equipment and storage medium to improve the cleaning degree and cleaning efficiency of the photovoltaic panel.

[0005] In a first aspect, a photovoltaic panel cleaning method is provided, comprising:

[0006] Obtaining the movement speed of the cleaning equipment, the tilt angle of the photovoltaic panel, the roughness index, the air pressure of the cleaning liquid, the altitude of the cleaning location, and the length of the pipeline between the storage location of the cleaning liquid and the spray device of the cleaning equipment;

[0007] determining a cleaning factor based on the movement speed, the tilt angle, and the roughness index;

[0008] determining a nozzle diameter of the spray device based on the cleaning factor, the air pressure, the pipeline length, and the altitude;

[0009] A spray parameter is generated based on the roughness index, the tilt angle, the movement speed and the nozzle diameter to control the cleaning device to spray the cleaning liquid onto the photovoltaic panel for cleaning based on the spray parameter.

[0010] In a second aspect, a photovoltaic panel cleaning device is provided, comprising:

[0011] An acquisition module, used to acquire the movement speed of the cleaning device, the tilt angle of the photovoltaic panel, the roughness index, the air pressure of the cleaning liquid, the altitude of the cleaning location, and the length of the pipeline between the storage location of the cleaning liquid and the spray device of the cleaning device;

[0012] A first determination module, configured to determine a cleaning factor based on the movement speed, the tilt angle and the roughness index;

[0013] A second determination module is used to determine the nozzle diameter of the spray device based on the cleaning factor, the air pressure, the pipeline length and the altitude;

[0014] A control module is used to generate spray parameters based on the roughness index, the tilt angle, the movement speed and the nozzle diameter, so as to control the cleaning device to spray the cleaning liquid onto the photovoltaic panel for cleaning based on the spray parameters.

[0015] Optionally, in some embodiments of the present application, the acquisition module includes:

[0016] A first acquisition submodule, used for acquiring an environmental image including the photovoltaic panel;

[0017] An identification submodule, used for identifying edge lines of photovoltaic panels in the environmental image;

[0018] The determination submodule is used to determine the tilt angle based on the edge line and a preset horizontal reference line.

[0019] Optionally, in some embodiments of the present application, the determining submodule includes:

[0020] A first determining unit, configured to determine an intersection point between the edge line and the horizontal reference line;

[0021] a second determining unit, configured to determine a slope of the edge line based on the intersection point;

[0022] A third determining unit is configured to determine the tilt angle based on the slope.

[0023] Optionally, in some embodiments of the present application, the cleaning device is connected to a mixing device, and the mixing device is used to prepare the cleaning liquid; the photovoltaic panel cleaning device also includes a mixing module, and the mixing module is specifically used to:

[0024] The standard water body and the standard gas are pressurized and mixed in the mixing device to obtain a cleaning liquid, and the cleaning liquid is transported to the cleaning equipment.

[0025] Optionally, in some embodiments of the present application, the acquisition module includes:

[0026] A second acquisition submodule, used for acquiring a panel image of the photovoltaic panel;

[0027] An extraction submodule, used for extracting surface roughness features of the panel image based on a local binary pattern;

[0028] The prediction submodule is used to process the surface roughness characteristics based on a pre-trained machine learning model to predict the roughness index.

[0029] Optionally, in some embodiments of the present application, a first calculation submodule is further included, and the first calculation submodule is specifically used to:

[0030] The cleaning factor is calculated according to a first preset formula, wherein the first preset formula is:

[0031] λ=log(v / Ra)+log(α / 12.27)

[0032] Where λ is the cleaning factor, v is the movement speed, Ra is the roughness index, and α is the tilt angle.

[0033] Optionally, in some embodiments of the present application, a second calculation submodule is further included, and the second calculation submodule is specifically used to:

[0034] The nozzle diameter is calculated according to a second preset formula, wherein the second preset formula is:

[0035] R=(0.109×λ) / (P-24.78L / h)

[0036] Where R is the nozzle diameter, λ is the cleaning factor, P is the air pressure, L is the pipe length, and h is the altitude.

[0037] In a third aspect, a cleaning device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above-mentioned photovoltaic panel cleaning method when executing the computer program.

[0038] In a fourth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned photovoltaic panel cleaning method are implemented.

[0039] The present application provides a photovoltaic panel cleaning method, device, cleaning equipment and storage medium, by obtaining the movement speed of the cleaning equipment, the tilt angle of the photovoltaic panel, the roughness index, the air pressure of the cleaning liquid, the altitude of the cleaning location and the length of the pipeline between the storage position of the cleaning liquid and the spray device of the cleaning equipment; determining the cleaning factor based on the movement speed, the tilt angle and the roughness index; determining the nozzle diameter of the spray device based on the cleaning factor, the air pressure, the pipeline length and the altitude; generating a spray parameter based on the roughness index, the tilt angle, the movement speed and the nozzle diameter, so as to control the cleaning equipment to spray the cleaning liquid to the photovoltaic panel for cleaning based on the spray parameter. In the photovoltaic panel cleaning scheme provided in the present application, the spray parameter of the cleaning equipment is determined by the movement speed of the cleaning equipment, the tilt angle of the photovoltaic panel, the roughness index, the air pressure of the cleaning liquid, the altitude of the cleaning location and the length of the pipeline between the storage position of the cleaning liquid and the spray device of the cleaning equipment, so as to control the cleaning equipment to spray the cleaning liquid to the photovoltaic panel for cleaning based on the spray parameter. It can be seen that by using cleaning fluid to clean the organic pollutants deposited on the photovoltaic panels and by determining the spray parameters of the cleaning equipment, it can be ensured that the cleaning fluid is sprayed onto the photovoltaic panels with optimal pressure and flow, and the distribution and impact force of the cleaning fluid can be more accurately controlled, thereby reducing the risk of physical damage to the photovoltaic panels and improving the cleaning efficiency and cleanliness of the photovoltaic panels. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 A flow chart of a photovoltaic panel cleaning method provided in an embodiment of the present application;

[0042] Figure 2 A schematic diagram of an application environment of a photovoltaic panel cleaning method provided in an embodiment of the present application;

[0043] Figure 3 A structural block diagram of a photovoltaic panel cleaning device provided in an embodiment of the present application;

[0044] Figure 4 This is a structural block diagram of the cleaning equipment provided in an embodiment of the present application. DETAILED DESCRIPTION

[0045] 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 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.

[0046] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, known methods, devices, realizations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0047] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0048] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0049] The photovoltaic panel cleaning method provided in an embodiment of the present invention can be applied to a photovoltaic panel cleaning device, wherein the cleaning device is used to clean the photovoltaic panel by spraying the cleaning liquid on the photovoltaic panel, wherein the cleaning device can obtain the movement speed of the cleaning device, the inclination angle of the photovoltaic panel, the roughness index, the air pressure of the cleaning liquid, the altitude of the cleaning location, and the length of the pipeline between the storage position of the cleaning liquid and the spray device of the cleaning device; determine the cleaning factor based on the movement speed, the inclination angle and the roughness index; determine the nozzle diameter of the spray device based on the cleaning factor, the air pressure, the pipeline length and the altitude; generate the spray parameters based on the roughness index, the inclination angle, the movement speed and the nozzle diameter to control the cleaning device to spray the cleaning liquid onto the photovoltaic panel for cleaning based on the spray parameters. In the present invention, the spraying parameters of the cleaning equipment are determined by the movement speed of the cleaning equipment, the tilt angle of the photovoltaic panel, the roughness index, the air pressure of the cleaning liquid, the altitude of the cleaning location, and the length of the pipeline between the storage position of the cleaning liquid and the spraying device of the cleaning equipment, so as to control the cleaning equipment to spray the cleaning liquid onto the photovoltaic panel for cleaning based on the spraying parameters. It can be seen that by using the cleaning liquid to clean the organic pollutants deposited on the photovoltaic panel, and by determining the spraying parameters of the cleaning equipment, it can be ensured that the cleaning liquid is sprayed onto the photovoltaic panel with the optimal pressure and flow rate, and the distribution and impact force of the cleaning liquid can be controlled more accurately, reducing the risk of physical damage to the photovoltaic panel, and improving the cleaning efficiency and cleanliness of the photovoltaic panel.

[0050] See also Figure 1 As shown, Figure 1 A schematic flow chart of a photovoltaic panel cleaning method provided by an embodiment of the present invention. The method can be applied to a processor in a cleaning device. This embodiment is illustrated by applying the method to a processor. The photovoltaic panel cleaning method includes the following steps:

[0051] 101: Obtain the movement speed of the cleaning device, the tilt angle of the photovoltaic panel, the roughness index, the air pressure of the cleaning liquid, the altitude of the cleaning location, and the length of the pipeline between the storage location of the cleaning liquid and the spray device of the cleaning device.

[0052] The movement speed of the cleaning equipment may be the speed at which the cleaning equipment moves when cleaning the photovoltaic panel, which affects the distribution of the cleaning liquid and the cleaning efficiency; the inclination angle of the photovoltaic panel may be the angle of the photovoltaic panel relative to the horizontal plane, which affects the efficiency of receiving sunlight and the flow pattern of the cleaning liquid on the photovoltaic panel; the roughness index refers to the roughness of the surface of the photovoltaic panel, which affects the adhesion of deposits and the difficulty of cleaning; the air pressure of the cleaning liquid refers to the air pressure conditions under which the cleaning liquid is stored, such as 0.8MPa~1.0MPa, which affects the spray intensity and coverage of the cleaning liquid; the altitude of the cleaning location refers to the altitude of the geographical location of the photovoltaic power plant, that is, the altitude of the geographical location of the photovoltaic panel, which affects the air pressure of the cleaning liquid; the pipe length between the storage position of the cleaning liquid and the spray device of the cleaning equipment refers to the pipe length from the storage container to the spray device of the cleaning liquid, and the pipe length will affect the night loss of the cleaning liquid and the pressure when it reaches the nozzle.

[0053] The movement speed of the cleaning equipment, the inclination angle of the photovoltaic panel, the roughness index, the air pressure of the cleaning liquid, the altitude of the cleaning site, and the length of the pipeline between the storage position of the cleaning liquid and the spray device of the cleaning equipment determine the spraying effect of the cleaning liquid during the cleaning process of the photovoltaic panel, including the coverage range, impact force and uniformity during spraying, thereby affecting the efficiency and quality of cleaning.

[0054] The cleaning device may be provided with a touch-sensitive display panel, which may be used to configure and display the movement speed of the cleaning device, the inclination angle of the photovoltaic panel, the roughness index, the air pressure of the cleaning liquid, the altitude of the cleaning location, and the length of the pipeline between the storage location of the cleaning liquid and the spray device of the cleaning device; specifically, in response to the parameter setting operation on the display panel, the movement speed of the cleaning device, the inclination angle of the photovoltaic panel, the roughness index, the air pressure of the cleaning liquid, the altitude of the cleaning location, and the length of the pipeline between the storage location of the cleaning liquid and the spray device of the cleaning device are obtained. The parameter setting operation on the display panel may be that the relevant personnel input the movement speed of the cleaning device, the inclination angle of the photovoltaic panel, the roughness index, the air pressure of the cleaning liquid, the altitude of the cleaning location, and the length of the pipeline between the storage location of the cleaning liquid and the spray device of the cleaning device on the display panel, thereby obtaining the movement speed of the cleaning device, the inclination angle of the photovoltaic panel, the roughness index, the air pressure of the cleaning liquid, the altitude of the cleaning location, and the length of the pipeline between the storage location of the cleaning liquid and the spray device of the cleaning device.

[0055] In one embodiment, obtaining the tilt angle of the photovoltaic panel includes:

[0056] Acquiring an environmental image including the photovoltaic panel;

[0057] Identifying an edge line of a photovoltaic panel in the environment image;

[0058] The tilt angle is determined based on the edge line and a preset horizontal reference line.

[0059] The preset horizontal reference line is the horizon in the environment image or the edge of a known horizontal object in the environment image. The edge line refers to the edge of the photovoltaic panel in the environment image that is vertical and intersects with the horizontal reference line.

[0060] Optionally, a high-resolution camera may be used to capture an environmental image containing a photovoltaic panel, an edge detection algorithm may be applied to identify the edge line and horizon of the photovoltaic panel in the environmental image, edge features corresponding to the edge line may be extracted and an edge feature vector may be generated, line features corresponding to the horizon may be extracted and a line feature vector may be generated, the edge feature vector and the line feature vector may be standardized to obtain corresponding edge unit vectors and line unit vectors, and then the inclination angle between the edge unit vector and the line unit vector may be calculated by the dot product formula of the edge unit vector and the line unit vector:

[0061]

[0062] In the formula, is the edge unit vector, is the line unit vector and θ is the tilt angle.

[0063] In this embodiment, the inclination angle of the photovoltaic panel relative to the horizon can be accurately calculated, providing precise geometric information for parameter setting of cleaning equipment and other automated systems.

[0064] In one embodiment, determining the tilt angle based on the edge line and a preset horizontal reference line includes:

[0065] determining an intersection point between the edge line and the horizontal reference line;

[0066] determining a slope of the edge line based on the intersection point;

[0067] The tilt angle is determined based on the slope.

[0068] Identify the intersection point between the edge line and the horizontal reference line, calculate the coordinates of any point on the edge line and the coordinates of the intersection point, get the slope of the edge line, and then calculate the inclination angle based on the inverse tangent function:

[0069] θ=arctan(m)

[0070] Where θ is the inclination angle and m is the slope of the edge line.

[0071] In this embodiment, the inclination angle of the photovoltaic panel and the horizontal reference line can be accurately determined, which is beneficial to the subsequent cleaning and maintenance of the photovoltaic panel.

[0072] In one embodiment, obtaining the roughness index of the photovoltaic panel includes:

[0073] Acquiring a panel image of the photovoltaic panel;

[0074] Extracting surface roughness features of the panel image based on local binary patterns;

[0075] The surface roughness characteristics are processed based on a pre-trained machine learning model to predict the roughness index.

[0076] A high-resolution camera is used to capture the panel image of the photovoltaic panel to ensure that the panel image can clearly display the surface roughness characteristics of the photovoltaic panel. The local binary pattern is used to extract the surface roughness characteristics of the photovoltaic panel in the image, and the surface roughness characteristics are converted into corresponding numerical vectors. The numerical vectors are processed and analyzed by the machine learning model, and the machine learning model outputs the predicted value of the surface roughness index of the photovoltaic panel, which can be expressed by the arithmetic mean deviation.

[0077] In this embodiment, the surface roughness index of the photovoltaic panel can be automatically evaluated to improve the intelligence level.

[0078] 102: Determine a cleaning factor based on the movement speed, the tilt angle and the roughness index.

[0079] The cleaning factor is a comprehensive parameter obtained by integrating the three parameters of motion speed, roughness index and tilt angle based on an empirical formula or a theoretical model. The cleaning factor is used to adjust the nozzle diameter of the cleaning equipment.

[0080] Optionally, the cleaning factor is calculated according to a first preset formula, and the first preset formula is:

[0081] λ=log(v / Ra)+log(α / 12.27)

[0082] Where λ is the cleaning factor, v is the movement speed, Ra is the roughness index, and α is the tilt angle.

[0083] In this embodiment, the cleaning factor is determined based on the movement speed, the tilt angle and the roughness index, which provides a scientific basis for the cleaning of the photovoltaic panel and improves the cleaning efficiency and effect.

[0084] 103: Determine a nozzle diameter of the spray device based on the cleaning factor, the air pressure, the pipeline length and the altitude.

[0085] The nozzle diameter of the spray device is adjusted based on the cleaning factor, the air pressure, the pipeline length and the altitude to avoid inaccurate nozzle diameter caused by pressure loss caused by pipeline length and altitude, thereby reducing cleaning efficiency and cleanliness.

[0086] Optionally, the nozzle diameter is calculated according to a second preset formula, and the second preset formula is:

[0087] R=(0.109×λ) / (P-24.78L / h)

[0088] Where R is the nozzle diameter, λ is the cleaning factor, P is the air pressure, L is the pipe length, and h is the altitude.

[0089] In this embodiment, the nozzle diameter of the spray device is determined based on the cleaning factor, air pressure, pipeline length and altitude, which provides a scientific basis for the cleaning of the photovoltaic panel and improves the cleaning efficiency and effect.

[0090] 104: Generate spray parameters based on the roughness index, the tilt angle, the movement speed and the nozzle diameter to control the cleaning device to spray the cleaning liquid onto the photovoltaic panel for cleaning based on the spray parameters.

[0091] Using the principles of fluid mechanics, combined with the nozzle diameter and roughness index, the spray pressure corresponding to the nozzle diameter and the roughness index and the spray flow corresponding to the spray pressure are obtained; the corresponding spray angle is obtained according to the inclination angle of the photovoltaic panel, so that the spray pressure, spray flow, spray angle and movement speed are used as spray parameters, and the cleaning equipment is controlled to adjust the nozzle of the spray device based on the spray parameters to spray the cleaning liquid onto the photovoltaic panel for cleaning.

[0092] The existing cleaning agent technology continues the technical route of industrial oil pollution cleaning. Generally, chemical components such as foaming agents, surfactants, emulsifiers, and thickeners are designed according to the functional requirements of "foaming, decomposition, and viscosity adjustment". They contain organic substances such as lauryl polyoxyethylene ether sulfate and methylisothiazolinone, as well as difficult-to-degrade compounds such as sodium hydroxide. At present, in order to control the pollution of environmental factors such as water bodies and soil, cleaning agents are developing in the direction of "no phosphorus, low acid, low molecular weight + biodegradation", but the application mode has not changed: degradable components ensure the cleaning effect, and degradation under the support of time / environment controls the degree of pollution. The above-mentioned refined and degradable formula design improves the application effect of cleaning agents, but the requirements for the quality of water used in conjunction are getting higher and higher. In the early days, softened water was generally used for blending, diluting and spraying cleaning agents; in recent years, some cleaning agents marked by "biodegradation and near-zero residue" require the use of distilled water. In view of the actual situation of field operation such as photovoltaic power plants, the difficulty of guaranteeing "water" to "clean water" has risen sharply, resulting in restrictions on large-scale and low-cost use.

[0093] Based on this, in one embodiment, if Figure 2 As shown, the cleaning device 20 sprays cleaning liquid onto the photovoltaic panel 10, and the cleaning device 20 is connected to a mixing device 30, and the mixing device 30 is used to prepare the cleaning liquid; before obtaining the movement speed of the cleaning device, the inclination angle of the photovoltaic panel, the roughness index, the air pressure of the cleaning liquid, the altitude of the cleaning location, and the length of the pipeline between the storage position of the cleaning liquid and the spraying device of the cleaning device, it also includes:

[0094] In the mixing device, the standard water body and the standard gas are pressurized and mixed to obtain a cleaning liquid, and the cleaning liquid is transported to the cleaning equipment.

[0095] The standard water body is the water body obtained by filtering the water source (such as surface water, tap water, etc.) with 100 mesh or more to remove solid impurities such as floating objects and gravel according to Class IV of GB3838 "Surface Water Environmental Quality Standard" "mainly applicable to general industrial water use areas and recreational water use areas that are not directly in contact with the human body". The standard gas is the carbon dioxide gas that is gasified to 1.0MPa~1.2MPa according to GB / T6052 "Industrial Liquid Carbon Dioxide".

[0096] The vaporized carbon dioxide (i.e., standard gas) is injected into the mixing device at a flow rate of 0.1L / min, and the filtered water (i.e., standard water) is sprayed into the mixing device at a flow rate of 100L / min, a driving pressure of 1.0MPa±0.2MPa, and a nozzle diameter of 0.5mm; the standard water and the standard gas are pressurized and mixed in the mixing device, and the mixed cleaning liquid is stored under an upper air pressure of 0.8MPa to 1.0MPa (Note: the upper air pressure in beer bottles in my country is about 1.2MPa), and when needed (such as when the cleaning equipment needs to replenish cleaning liquid), the cleaning liquid is transported to the cleaning liquid storage position of the cleaning equipment through a pipeline.

[0097] The above is the photovoltaic panel cleaning process of this application.

[0098] As mentioned above, the present application provides a photovoltaic panel cleaning method, device, cleaning equipment and storage medium, by obtaining the movement speed of the cleaning equipment, the tilt angle of the photovoltaic panel, the roughness index, the air pressure of the cleaning liquid, the altitude of the cleaning location, and the length of the pipeline between the storage position of the cleaning liquid and the spray device of the cleaning equipment; determining the cleaning factor based on the movement speed, the tilt angle and the roughness index; determining the nozzle diameter of the spray device based on the cleaning factor, the air pressure, the pipeline length and the altitude; generating a spray parameter based on the roughness index, the tilt angle, the movement speed and the nozzle diameter to control the cleaning equipment to spray the cleaning liquid to the photovoltaic panel for cleaning based on the spray parameter. In the photovoltaic panel cleaning scheme provided in the present application, the spray parameter of the cleaning equipment is determined by the movement speed of the cleaning equipment, the tilt angle of the photovoltaic panel, the roughness index, the air pressure of the cleaning liquid, the altitude of the cleaning location, and the length of the pipeline between the storage position of the cleaning liquid and the spray device of the cleaning equipment, so as to control the cleaning equipment to spray the cleaning liquid to the photovoltaic panel for cleaning based on the spray parameter. It can be seen that by using cleaning fluid to clean the organic pollutants deposited on the photovoltaic panels and by determining the spray parameters of the cleaning equipment, it can be ensured that the cleaning fluid is sprayed onto the photovoltaic panels with optimal pressure and flow, and the distribution and impact force of the cleaning fluid can be more accurately controlled, thereby reducing the risk of physical damage to the photovoltaic panels and improving the cleaning efficiency and cleanliness of the photovoltaic panels.

[0099] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0100] In one embodiment, a photovoltaic panel cleaning device is provided, and the photovoltaic panel cleaning device corresponds to the photovoltaic panel cleaning method in the above embodiment. Figure 3As shown, the photovoltaic panel cleaning device includes an acquisition module 201, a first determination module 202, a second determination module 203 and a control module 204. The functional modules are described in detail as follows:

[0101] The acquisition module 201 is used to acquire the movement speed of the cleaning device, the tilt angle of the photovoltaic panel, the roughness index, the air pressure of the cleaning liquid, the altitude of the cleaning location, and the length of the pipeline between the storage location of the cleaning liquid and the spray device of the cleaning device;

[0102] A first determination module 202, configured to determine a cleaning factor based on the movement speed, the tilt angle and the roughness index;

[0103] A second determination module 203 is used to determine the nozzle diameter of the spray device based on the cleaning factor, the air pressure, the pipeline length and the altitude;

[0104] The control module 204 is used to generate spray parameters based on the roughness index, the tilt angle, the movement speed and the nozzle diameter, so as to control the cleaning device to spray the cleaning liquid onto the photovoltaic panel for cleaning based on the spray parameters.

[0105] In this embodiment, by obtaining the movement speed of the cleaning equipment, the tilt angle of the photovoltaic panel, the roughness index, the air pressure of the cleaning liquid, the altitude of the cleaning location, and the length of the pipeline between the storage position of the cleaning liquid and the spray device of the cleaning equipment; determining the cleaning factor based on the movement speed, the tilt angle, and the roughness index; determining the nozzle diameter of the spray device based on the cleaning factor, the air pressure, the pipeline length, and the altitude; generating the spray parameter based on the roughness index, the tilt angle, the movement speed, and the nozzle diameter, so as to control the cleaning equipment to spray the cleaning liquid onto the photovoltaic panel for cleaning based on the spray parameter. In the photovoltaic panel cleaning scheme provided in the present application, the spray parameter of the cleaning equipment is determined by the movement speed of the cleaning equipment, the tilt angle of the photovoltaic panel, the roughness index, the air pressure of the cleaning liquid, the altitude of the cleaning location, and the length of the pipeline between the storage position of the cleaning liquid and the spray device of the cleaning equipment, so as to control the cleaning equipment to spray the cleaning liquid onto the photovoltaic panel for cleaning based on the spray parameter. It can be seen that by using cleaning fluid to clean the organic pollutants deposited on the photovoltaic panels and by determining the spray parameters of the cleaning equipment, it can be ensured that the cleaning fluid is sprayed onto the photovoltaic panels with optimal pressure and flow, and the distribution and impact force of the cleaning fluid can be more accurately controlled, thereby reducing the risk of physical damage to the photovoltaic panels and improving the cleaning efficiency and cleanliness of the photovoltaic panels.

[0106] Optionally, in some embodiments of the present application, the acquisition module includes:

[0107] A first acquisition submodule, used for acquiring an environmental image including the photovoltaic panel;

[0108] An identification submodule, used for identifying edge lines of photovoltaic panels in the environmental image;

[0109] The determination submodule is used to determine the tilt angle based on the edge line and a preset horizontal reference line.

[0110] Optionally, in some embodiments of the present application, the determining submodule includes:

[0111] A first determining unit, configured to determine an intersection point between the edge line and the horizontal reference line;

[0112] a second determining unit, configured to determine a slope of the edge line based on the intersection point;

[0113] A third determining unit is configured to determine the tilt angle based on the slope.

[0114] Optionally, in some embodiments of the present application, the cleaning device is connected to a mixing device, and the mixing device is used to prepare the cleaning liquid; the photovoltaic panel cleaning device also includes a mixing module, and the mixing module is specifically used to:

[0115] The standard water body and the standard gas are pressurized and mixed in the mixing device to obtain a cleaning liquid, and the cleaning liquid is transported to the cleaning equipment.

[0116] Optionally, in some embodiments of the present application, the acquisition module includes:

[0117] A second acquisition submodule, used for acquiring a panel image of the photovoltaic panel;

[0118] An extraction submodule, used for extracting surface roughness features of the panel image based on a local binary pattern;

[0119] The prediction submodule is used to process the surface roughness characteristics based on a pre-trained machine learning model to predict the roughness index.

[0120] Optionally, in some embodiments of the present application, a first calculation submodule is further included, and the first calculation submodule is specifically used to:

[0121] The cleaning factor is calculated according to a first preset formula, wherein the first preset formula is:

[0122] λ=log(v / Ra)+log(α / 12.27)

[0123] Where λ is the cleaning factor, v is the movement speed, Ra is the roughness index, and α is the tilt angle.

[0124] Optionally, in some embodiments of the present application, a second calculation submodule is further included, and the second calculation submodule is specifically used to:

[0125] The nozzle diameter is calculated according to a second preset formula, wherein the second preset formula is:

[0126] R=(0.109×λ) / (P-24.78L / h)

[0127] Where R is the nozzle diameter, λ is the cleaning factor, P is the air pressure, L is the pipe length, and h is the altitude.

[0128] In one embodiment, a cleaning device is provided, the internal structure of which can be shown as follows: Figure 4 As shown. The cleaning device includes a processor, a memory, a network interface, a display screen and an input device connected through a system bus. Among them, the processor of the cleaning device is used to provide computing and control capabilities. The memory of the cleaning device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the cleaning device is used to communicate with an external server through a network connection. When the computer program is executed by the processor, the functions or steps of a photovoltaic panel cleaning method are implemented.

[0129] In one embodiment, a cleaning device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the following steps are implemented:

[0130] Obtain the movement speed of the cleaning equipment, the tilt angle of the photovoltaic panel, the roughness index, the air pressure of the cleaning liquid, the altitude of the cleaning location, and the length of the pipeline between the storage location of the cleaning liquid and the spray device of the cleaning equipment; determine the cleaning factor based on the movement speed, tilt angle and roughness index; determine the nozzle diameter of the spray device based on the cleaning factor, air pressure, pipeline length and altitude; generate spray parameters based on the roughness index, tilt angle, movement speed and nozzle diameter to control the cleaning equipment to spray the cleaning liquid onto the photovoltaic panel for cleaning based on the spray parameters.

[0131] In this embodiment, the spraying parameters of the cleaning equipment are determined by the movement speed of the cleaning equipment, the tilt angle of the photovoltaic panel, the roughness index, the air pressure of the cleaning liquid, the altitude of the cleaning location, and the length of the pipeline between the storage position of the cleaning liquid and the spraying device of the cleaning equipment, so as to control the cleaning equipment to spray the cleaning liquid to the photovoltaic panel for cleaning based on the spraying parameters. It can be seen that by using the cleaning liquid to clean the organic pollutants deposited on the photovoltaic panel, and by determining the spraying parameters of the cleaning equipment, it can be ensured that the cleaning liquid is sprayed onto the photovoltaic panel with the best pressure and flow rate, and the distribution and impact force of the cleaning liquid can be controlled more accurately, reducing the risk of physical damage to the photovoltaic panel, and improving the cleaning efficiency and cleanliness of the photovoltaic panel.

[0132] In one embodiment, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0133] Obtain the movement speed of the cleaning equipment, the tilt angle of the photovoltaic panel, the roughness index, the air pressure of the cleaning liquid, the altitude of the cleaning location, and the length of the pipeline between the storage location of the cleaning liquid and the spray device of the cleaning equipment; determine the cleaning factor based on the movement speed, tilt angle and roughness index; determine the nozzle diameter of the spray device based on the cleaning factor, air pressure, pipeline length and altitude; generate spray parameters based on the roughness index, tilt angle, movement speed and nozzle diameter to control the cleaning equipment to spray the cleaning liquid onto the photovoltaic panel for cleaning based on the spray parameters.

[0134] In this embodiment, the spraying parameters of the cleaning equipment are determined by the movement speed of the cleaning equipment, the tilt angle of the photovoltaic panel, the roughness index, the air pressure of the cleaning liquid, the altitude of the cleaning location, and the length of the pipeline between the storage position of the cleaning liquid and the spraying device of the cleaning equipment, so as to control the cleaning equipment to spray the cleaning liquid to the photovoltaic panel for cleaning based on the spraying parameters. It can be seen that by using the cleaning liquid to clean the organic pollutants deposited on the photovoltaic panel, and by determining the spraying parameters of the cleaning equipment, it can be ensured that the cleaning liquid is sprayed onto the photovoltaic panel with the best pressure and flow rate, and the distribution and impact force of the cleaning liquid can be controlled more accurately, reducing the risk of physical damage to the photovoltaic panel, and improving the cleaning efficiency and cleanliness of the photovoltaic panel.

[0135] It should be noted that the functions or steps that can be implemented by the above-mentioned computer-readable storage medium or cleaning device can be correspondingly referred to the relevant descriptions on the server side and the client side in the aforementioned method embodiment. In order to avoid repetition, they will not be described one by one here.

[0136] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in the present application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0137] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0138] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention.

Claims

1. A photovoltaic panel cleaning method, characterized in that: include: Obtaining the movement speed of the cleaning equipment, the tilt angle of the photovoltaic panel, the roughness index, the air pressure of the cleaning liquid, the altitude of the cleaning location, and the length of the pipeline between the storage location of the cleaning liquid and the spray device of the cleaning equipment; determining a cleaning factor based on the movement speed, the tilt angle, and the roughness index; determining a nozzle diameter of the spray device based on the cleaning factor, the air pressure, the pipeline length, and the altitude; A spray parameter is generated based on the roughness index, the tilt angle, the movement speed and the nozzle diameter to control the cleaning device to spray the cleaning liquid onto the photovoltaic panel for cleaning based on the spray parameter.

2. The photovoltaic panel cleaning method according to claim 1, characterized in that: The step of obtaining the tilt angle of the photovoltaic panel comprises: Acquiring an environmental image including the photovoltaic panel; Identifying an edge line of a photovoltaic panel in the environment image; The tilt angle is determined based on the edge line and a preset horizontal reference line.

3. The photovoltaic panel cleaning method according to claim 2, characterized in that: The determining the tilt angle based on the edge line and a preset horizontal reference line includes: determining an intersection point between the edge line and the horizontal reference line; determining a slope of the edge line based on the intersection point; The tilt angle is determined based on the slope.

4. The photovoltaic panel cleaning method according to claim 1, characterized in that: The cleaning device is connected to a mixing device, and the mixing device is used to prepare the cleaning liquid; before obtaining the movement speed of the cleaning device, the inclination angle of the photovoltaic panel, the roughness index, the air pressure of the cleaning liquid, the altitude of the cleaning location, and the length of the pipeline between the storage position of the cleaning liquid and the spray device of the cleaning device, it also includes: The standard water body and the standard gas are pressurized and mixed in the mixing device to obtain a cleaning liquid, and the cleaning liquid is transported to the cleaning equipment.

5. The photovoltaic panel cleaning method according to claim 1, characterized in that: The obtaining of the roughness index of the photovoltaic panel comprises: Acquiring a panel image of the photovoltaic panel; Extracting surface roughness features of the panel image based on local binary patterns; The surface roughness characteristics are processed based on a pre-trained machine learning model to predict the roughness index.

6. The photovoltaic panel cleaning method according to claim 1, characterized in that: The cleaning factor is calculated according to a first preset formula, wherein the first preset formula is: λ=log(v / Ra)+log(α / 12.27) Where λ is the cleaning factor, v is the movement speed, Ra is the roughness index, and α is the tilt angle.

7. The photovoltaic panel cleaning method according to claim 1, characterized in that: The nozzle diameter is calculated according to a second preset formula, wherein the second preset formula is: R=(0.109×λ) / (P-24.78L / h) Where R is the nozzle diameter, λ is the cleaning factor, P is the air pressure, L is the pipe length, and h is the altitude.

8. A photovoltaic panel cleaning device, characterized in that: include: An acquisition module, used to acquire the movement speed of the cleaning device, the tilt angle of the photovoltaic panel, the roughness index, the air pressure of the cleaning liquid, the altitude of the cleaning location, and the length of the pipeline between the storage location of the cleaning liquid and the spray device of the cleaning device; A first determination module, configured to determine a cleaning factor based on the movement speed, the tilt angle and the roughness index; A second determination module is used to determine the nozzle diameter of the spray device based on the cleaning factor, the air pressure, the pipeline length and the altitude; A control module is used to generate spray parameters based on the roughness index, the tilt angle, the movement speed and the nozzle diameter, so as to control the cleaning device to spray the cleaning liquid onto the photovoltaic panel for cleaning based on the spray parameters.

9. A cleaning device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the photovoltaic panel cleaning method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the photovoltaic panel cleaning method according to any one of claims 1 to 7 are implemented.

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