Photovoltaic power station cleaning method and device

Abstract

The invention relates to a photovoltaic power station cleaning method and device. The method comprises the steps that infrared steam image information, the spraying height and the steam amount are obtained below an unmanned aerial vehicle; determining the hovering buoyancy of the steam fire balloon from a preset buoyancy model according to the steam quantity, and determining the hovering power of the unmanned aerial vehicle according to the hovering buoyancy; identifying and determining an environment wind direction and a steam offset distance according to the infrared steam image information, and determining a wind-resistant paddle according to the environment wind direction; determining the environment wind speed according to the jet height, the preset jet speed and the steam offset distance, and determining the wind-resistant power of the wind-resistant paddle according to the environment wind speed; and controlling the unmanned aerial vehicle to suspend according to the suspension power and adjusting the anti-wind paddles according to the anti-wind power so as to enable the unmanned aerial vehicle to suspend when wind exists and adjust the unmanned aerial vehicle to clean the photovoltaic panel when the wind direction changes. The unmanned aerial vehicle is controlled in the mode, so that the unmanned aerial vehicle can stably hover in the air when running under the windy condition, and the photovoltaic panel is convenient to clean.

Description

Technical Field

[0001] The present invention relates to the field of photovoltaics, and in particular to a method and equipment for cleaning a photovoltaic power station. Background Art

[0002] Photovoltaic power station is a power generation system that uses solar energy, special materials and electronic components, and is connected to the power grid and transmits electricity to the grid. Since photovoltaic power stations rely on solar energy to generate electricity, they need to be built in an outdoor environment, and there are environmental pollution problems in the outdoor environment. The photovoltaic panels of photovoltaic power stations need to be cleaned regularly.

[0003] At present, the most advanced method of cleaning photovoltaic panels is to use drone platforms, where drones carry water tanks for flight and spray water to clean photovoltaic panels during flight. When drones clean photovoltaic panels, they need to hover in the air to clean at a fixed point, and the ambient wind has a great impact on drone control, hovering, and the direction of water spraying. In a windy environment, it is difficult for drones to aim at photovoltaic panels, resulting in low cleaning efficiency for photovoltaic panels, which needs further optimization and adjustment. Summary of the invention

[0004] In order to improve the cleaning efficiency of photovoltaic panels by drones in a windy environment, the present invention provides a photovoltaic power station cleaning method and equipment.

[0005] In a first aspect, the present invention provides a photovoltaic power station cleaning method, which adopts the following technical solution: A photovoltaic power station cleaning method, comprising: Obtain infrared steam image information below the drone, the jet height between the drone and the photovoltaic panel, and the amount of steam filled into the steam hot air balloon preset on top of the drone; Determine the hovering buoyancy of the steam hot air balloon from a preset buoyancy model according to the steam volume, and determine the hovering power of the UAV according to the hovering buoyancy; Determine the image color concentration area within a preset recognition range according to the infrared steam image information; Determine the ambient wind direction based on the image color concentration area; Determine the steam offset distance according to the infrared steam image information and a preset image ratio; Determine the ambient wind speed based on the spray height, the preset spray velocity, and the steam deflection distance; The blade on the leeward side is determined according to the ambient wind direction and defined as the wind-resistant blade, and the wind-resistant power of the wind-resistant blade is determined according to the ambient wind speed; The drone is controlled to suspend according to the hovering power and the anti-wind blades are adjusted according to the anti-wind power so that the drone can hover when there is wind and adjust when the wind direction changes to clean the photovoltaic panels.

[0006] By adopting the above technical solution, when the drone cleans the photovoltaic panels, the ambient wind direction and ambient wind speed are determined by image recognition, and the drone is controlled in real time to adjust its attitude according to the ambient wind direction and ambient wind speed, so that the drone can stably hover in the air even in windy conditions, so as to accurately locate and clean the photovoltaic panels with high efficiency.

[0007] Optionally, the steam hot air balloon has a contraction rope around its circumference, and the hovering control method of the drone includes: According to the ambient wind direction, determine the direction on the steam hot air balloon that is orthogonal to the ambient wind direction and define it as the compression direction; The contraction rope is determined according to the compression direction and defined as the adjustment contraction rope; Determine the initial diameter of the steam hot air balloon according to the steam volume, and determine and adjust the contraction length of the contraction rope according to the initial diameter and the preset limit compression diameter; The contraction rope is contracted and adjusted according to the contraction length to reduce the wind resistance of the steam hot air balloon, and the adjustment power of the wind-resistant blade is determined according to the limit compression diameter and the ambient wind speed; The power of the wind-resistant blades is adjusted according to the adjusted power.

[0008] By adopting the above technical solution, the steam hot air balloon can float in the air and provide buoyancy to the drone to reduce the power consumption of the drone when hovering. When there is wind, the projected area of ​​the steam hot air balloon in the direction of the ambient wind is changed by shrinking the rope without changing the volume of the steam hot air balloon, so that the wind resistance of the ambient wind to the drone and the steam hot air balloon is smaller, further reducing the consumption of the drone to resist wind resistance, making it easier for the drone to hover in the air.

[0009] Optionally, the control method for the drone when moving includes: Determine the movement direction of the drone according to the preset cleaning path plan; The angle between the moving direction of the drone and the ambient wind direction is no greater than 90°, which is defined as downwind movement. The direction of the steam hot air balloon parallel to the ambient wind direction is determined according to the ambient wind direction and defined as the downwind direction. A contraction rope is determined according to the downwind direction and defined as a downwind contraction rope, the downwind contraction rope is contracted according to the contraction length to expand the downwind surface area of ​​the steam hot air balloon, and the downwind power of the wind-resistant blade is determined according to a preset limit compression diameter and ambient wind speed; The power is controlled according to the downwind power and the anti-wind blade; The angle between the moving direction of the UAV and the ambient wind direction is greater than 90°, which is defined as against-wind movement. The direction of the steam hot air balloon orthogonal to the ambient wind direction is determined according to the ambient wind direction and defined as the against-wind direction. The retraction rope is determined according to the upwind direction and defined as the upwind retraction rope, the upwind retraction rope is retracted according to the retraction length to reduce the downwind area of ​​the steam hot air balloon, and the upwind power of the wind-resistant blade is determined according to the limit compression diameter and the ambient wind speed; The power to the wind-resistant blades is controlled according to the headwind power.

[0010] By adopting the above technical solution, when the UAV moves in the wind, the shape of the steam hot air balloon is controlled by retracting the rope, so that when the UAV moves with the wind, the projection area of ​​the steam hot air balloon is larger to assist the movement of the UAV, and when the UAV moves against the wind, the projection area of ​​the steam hot air balloon is smaller to reduce wind resistance, so that the UAV consumes less power during operation, is easier to hover, and has a higher efficiency in cleaning the photovoltaic panels.

[0011] Optionally, also include: Obtaining surface image information of photovoltaic panels; Scan the code from the surface image information to obtain the photovoltaic panel parameters, and determine the photovoltaic panel thickness based on the photovoltaic panel parameters; Determine the steam speed adjustment value of the drone according to the thickness of the photovoltaic panel and the preset cleaning force; Correct the jet speed of the drone according to the steam speed adjustment value, and output the steam speed adjustment value; The hovering height of the UAV is determined according to the steam speed adjustment value, the ambient wind speed and the preset jet deviation range; Determine the hover correction power of the drone based on the hover buoyancy and hover altitude; The hovering power of the drone is corrected with the hovering correction power, and the hovering correction power is output to the drone to adjust the height of the drone.

[0012] By adopting the above technical solution, the drone can scan the code to identify the thickness of the photovoltaic panel, and determine the speed of the steam and the hovering height of the drone based on the thickness to protect the photovoltaic panel from being damaged.

[0013] Optionally, also include: According to the surface image information, the impurity features, impurity feature positions and impurity types on the surface of the photovoltaic panel are matched from a preset impurity feature library, and the impurity types include leaves and stones; Based on the impurity type being leaves, the drone is controlled to clean the photovoltaic panels at a hovering height and steam speed adjustment value according to the characteristic position of the impurity; Based on the impurity type being stone, the impurity volume is determined according to the surface image information and the impurity characteristics, and the characteristic weight is determined according to the impurity volume and a preset characteristic density; Determine the impurity removal rate when steam is used to remove impurities based on characteristic weight; Determine the steam injection inclination angle according to the impurity removal rate and the steam speed adjustment value; The UAV is controlled by the ambient wind direction and the steam injection angle to spray the impurity features.

[0014] By adopting the above technical solution, the drone sprays steam at an angle to the impurity features. The steam can be sprayed at a faster speed and is less likely to cause damage to the photovoltaic panels. It can also remove heavier impurity features, which is more convenient.

[0015] Optionally, the steps after controlling the drone to spray the impurity features with the ambient wind direction and the steam spray angle include: Based on the consistency between the surface image information and the preset reference photovoltaic panel image, the impurity features have been removed, and the drone continues to clean the photovoltaic panel along the preset cleaning path; Based on the fact that the surface image information is inconsistent with the preset reference photovoltaic panel image, the impurity features are not cleared, and the edge contour range of the photovoltaic panel is determined according to the surface image information; Determine the shortest path based on the characteristic position of the impurity and the edge contour range of the photovoltaic panel; Determine the contact surface between the push plate preset at the bottom of the drone and the impurity feature according to the shortest path; Determine the surface hovering power of the UAV based on the hovering buoyancy and the photovoltaic surface hovering height; The UAV is controlled according to the surface hovering power to descend to the surface of the photovoltaic panel, and the push plate of the UAV is controlled to abut against the abutment surface of the impurity feature and push the impurity feature out of the edge contour range along the shortest path.

[0016] By adopting the above technical solution, when the drone is unable to remove impurities on the surface of the photovoltaic panel by spraying steam, it is easier to push the impurity features out of the photovoltaic panel along the shortest path on the surface of the photovoltaic panel.

[0017] Optionally, an ice-breaking device is provided at the bottom of the drone, and the ice-breaking device has a rotatably arranged ice-breaking disk. The method for deicing a photovoltaic panel by a drone includes: Match ice surface features from a preset ice surface feature library based on surface image information, and identify ice surface feature range and ice surface thickness; Determine the steam temperature, ice breaking speed of the ice breaking disk and ice breaking pressure according to the thickness of the ice surface; Determine the steam driving speed for jetting the ice breaking disk according to the ice breaking speed of the ice breaking disk; Determine the downward pressure power of the UAV based on the icebreaking pressure and hovering buoyancy; The UAV is controlled according to the downward pressure power and the ice surface characteristic range to press the UAV onto the photovoltaic panel, the temperature of the steam is adjusted according to the steam temperature, and the steam is controlled according to the steam driving speed to drive the ice breaking disk of the ice breaking device.

[0018] By adopting the above technical solution, an ice-breaking disk is arranged at the bottom of the drone, and the ice-breaking disk does not need to be driven by electricity but by steam, thereby reducing the power consumption of the drone; and when the drone sprays steam on the ice-breaking disk, the steam can escape from the ice-breaking disk around to the surface of the photovoltaic panel, thereby also helping to remove ice.

[0019] Optionally, the calculation formula for the adjusted power of the wind-resistant blade is: ; in, To adjust the power of the wind-resistant blades, is the proportionality constant, is the initial rotation speed of the wind-resistant blade, is the steam density, is the steam offset distance, is the injection height, is the injection speed, is the initial diameter of the steam balloon, To adjust the retraction length of the retraction rope and is a variable.

[0020] In the second aspect, the present application provides a photovoltaic power station cleaning device, which adopts the following technical solution: A photovoltaic power station cleaning device uses a photovoltaic power station cleaning method for cleaning, comprising an unmanned aerial vehicle, a steam hot air balloon connected to the top of the unmanned aerial vehicle, a supply station arranged on the ground for supplying steam and electric energy, and a supply pipeline connecting the supply station and the unmanned aerial vehicle; the bottom of the unmanned aerial vehicle is provided with an ejector for jetting.

[0021] Optionally, the supply station includes a ground battery for powering the drone, a cleaning water tank, and a steam boiler connected to the cleaning water tank and heating the cleaning water tank to generate steam.

[0022] In summary, the present application includes at least one of the following beneficial technical effects: 1. A photovoltaic power station cleaning device that enables the drone to operate continuously without replacing batteries and replenishing water. Generally, as long as the drone motor heats up, it can fly continuously for several hours, greatly improving the operating efficiency. The water source comes from the ground and can be supplied unlimitedly. The drone uses high-temperature steam for cleaning operations, eliminating the secondary pollution and cost of detergents, and achieving the cleaning of stubborn dirt that is difficult to clean with water; 2. When the drone cleans the photovoltaic panels, it uses image recognition to determine the ambient wind direction and speed, and controls the drone to adjust its attitude in real time according to the ambient wind direction and speed, so that the drone can hover stably in the air even in windy conditions, so as to accurately locate and clean the photovoltaic panels with high efficiency; 3. By setting an ice-breaking disk at the bottom of the drone, the ice-breaking disk does not need to be driven by electricity but by steam, thereby reducing the power consumption of the drone; and when the drone sprays steam on the ice-breaking disk, the steam can escape from the ice-breaking disk to the surface of the photovoltaic panel, which can also help remove ice. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of a photovoltaic power station cleaning device according to an embodiment of the present invention; Figure 2 is a schematic structural diagram of a drone according to an embodiment of the present invention; Figure 3 is a method flow chart of a photovoltaic power station cleaning method according to an embodiment of the present invention; Figure 4 is a method flow chart of a method for controlling a hovering drone according to an embodiment of the present invention; Figure 5 is a method flow chart of a method for controlling a drone when it moves according to an embodiment of the present invention; Figure 6 The method flow of the method for removing impurities on the surface of photovoltaic panels by a drone in an embodiment of the present invention is as follows Figure 1 ; Figure 7 The method flow of the method for removing impurities on the surface of photovoltaic panels by a drone in an embodiment of the present invention is as follows Figure 2 ; The names of the parts indicated by the numerical labels in the above drawings are as follows: 1. UAV; 2. Steam hot air balloon; 3. Supply station; 31. Ground battery; 32. Cleaning water tank; 33. Steam boiler; 4. Supply pipeline; 41. Steam and electricity hose; 42. Steam hose; 5. Ejector; 6. Ice breaking device; 61. Ice breaking disk; 62. Blade. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0025] The embodiment of the present application discloses a photovoltaic power station cleaning device.

[0026] Reference Figure 1A photovoltaic power station cleaning device includes an unmanned aerial vehicle 1, a steam hot air balloon 2, a supply station 3 and a supply pipeline 4. The photovoltaic panels of the photovoltaic power station are cleaned by spraying steam from the unmanned aerial vehicle 1. The steam hot air balloon 2 is connected to the top of the unmanned aerial vehicle 1, in which steam can be stored to provide steam when the unmanned aerial vehicle 1 cleans the photovoltaic panels of the photovoltaic power station, and the steam hot air balloon 2 has an upward buoyancy to provide lift to the unmanned aerial vehicle 1. The supply station 3 is set on the ground, and is used to provide electrical energy support and steam support to the unmanned aerial vehicle 1. The supply pipeline 4 connects the unmanned aerial vehicle 1 and the supply station 3, and is used to transmit the electrical energy and steam of the supply station 3 to the unmanned aerial vehicle 1 for use when the unmanned aerial vehicle 1 cleans the photovoltaic panels.

[0027] The supply station 3 includes a ground battery 31, a cleaning water tank 32 and a steam boiler 33. The supply pipeline 4 includes a steam-electric hose 41 and a steam hose 42. The ground battery 31 is connected to the battery power supply port of the drone 1 through the built-in cable of the steam-electric hose 41 pipeline for powering the drone 1 on the ground, so the drone 1 body is not provided with a battery. The steam boiler 33 is arranged above the cleaning water tank 32 and is connected to the cleaning water tank 32. The steam boiler 33 is connected to the steam-electric hose 41 through the steam hose 42, and then connected to the drone 1 through the steam-electric hose 41. The steam boiler 33 can extract the cleaning water in the cleaning water tank 32 and heat it to form steam. The steam is transported to the drone 1 and can be stored on the steam balloon 2. In this embodiment, the steam-electric hose 41 is composed of a lightweight foam material, and its length is between 400-500 meters. The steam outlet pressure of the steam boiler 33 is not less than 2MPa, and the steam outlet temperature is not less than 150 degrees Celsius.

[0028] Reference Figure 1 and Figure 2 The bottom of the drone 1 is provided with an ejector 5 and an ice-breaking device 6. The ejector 5 is used to eject the steam in the steam balloon 2 onto the photovoltaic panel. The ice-breaking device 6 includes an ice-breaking disk 61 rotatably mounted on the bottom of the drone 1 and a blade 62 circumferentially arranged at the bottom of the ice-breaking disk 61. The ice-breaking disk 61 is driven by steam, and the drone 1 ejects steam on the top surface of the ice-breaking disk 61 to drive the ice-breaking disk 61 to rotate.

[0029] Based on the same inventive concept, an embodiment of the present invention provides a photovoltaic power station cleaning method, which controls the shape of the steam hot air balloon 2 on the top of the drone 1 to make it face the wind or go against the wind to assist the drone to hover or move; and identifies objects on the surface of the photovoltaic panels and removes them by different methods.

[0030] Reference Figure 3 , a photovoltaic power station cleaning method comprises the following steps: Step S100: Obtain infrared steam image information below the drone 1 , the jet height between the drone 1 and the photovoltaic panel, and the amount of steam filled into the steam hot air balloon 2 preset on the top of the drone 1 .

[0031] The infrared steam image information refers to an image of the distribution of steam in the air when steam is sprayed from below the drone 1 , which is obtained by taking a picture with an infrared camera disposed at the bottom of the drone 1 .

[0032] The spray height refers to the height at which the drone 1 hovers above the photovoltaic panel when the drone 1 cleans the photovoltaic panel. The spray height is measured by a rangefinder tool set at the bottom of the drone 1, taking the photovoltaic panel as a reference point.

[0033] The steam quantity refers to the volume of steam filled and stored in the steam hot air balloon 2 for use by the drone 1 to clean the photovoltaic panels and provide buoyancy for the steam drone 1. A flow meter is provided on the steam-electric hose 41, and the steam quantity can be recorded and obtained through the flow meter.

[0034] Step S101: determining the hovering buoyancy of the steam hot air balloon 2 from a preset buoyancy model according to the steam volume, and determining the hovering power of the drone 1 according to the hovering buoyancy.

[0035] The buoyancy model is a standard formula model for calculating the buoyancy of an object, which is common knowledge in the art and will not be described in detail herein. The steam volume is the volume of the steam hot air balloon 2, and the buoyancy of the steam hot air balloon 2 in the air can be calculated by the steam volume.

[0036] The hovering power is the power required for the UAV 1 to hover in the air with the assistance of the steam hot air balloon 2. The steam buoyancy provides an upward force for the UAV 1. The hovering power can be calculated by the difference between the steam buoyancy and the gravity of the UAV 1 itself.

[0037] Step S102: determining an image color concentration area within a preset recognition range according to the infrared steam image information.

[0038] The identification area is a circular image area set by the technician in the image obtained by the infrared camera. The circular image area takes the center of the image obtained by the infrared camera as the center of the circle and the range that can cover all steam as the diameter. The setting method of the identification area is not described here. When the identification area is used to process the infrared steam image information, the steam image is located in the identification area.

[0039] Since the temperature of steam is high, when the drone 1 sprays steam and photographs the steam with an infrared camera, the color of the steam in the infrared steam image information is red. The image color concentration area refers to the location where the red color is concentrated in the recognition area.

[0040] By identifying the color of the identification area, the red position is extracted, and the area where the red is concentrated is the area where the image color is concentrated.

[0041] Step S103: determining the ambient wind direction according to the image color concentration area.

[0042] In a windless environment, UAV 1 sprays steam vertically onto the photovoltaic panel, and the red image color concentration area is mainly located in the center of the recognition area.

[0043] When there is wind in the environment, the steam ejected by the drone 1 will be offset. At this time, the image color concentration area will be eccentric in the identification area. The environmental wind direction can be determined according to the offset direction of the image color concentration area in the identification area.

[0044] Step S104: determining the steam offset distance according to the infrared steam image information and a preset image ratio.

[0045] The image ratio is a fixed parameter when the infrared camera takes an image. It is the ratio of the distance in the image to the actual distance. It is a value set by the technician and will not be described here.

[0046] The steam offset distance refers to the horizontal distance between the actual landing point of the steam on the photovoltaic panel and the position where the steam is ejected from the drone 1. In a windy environment, the steam will have a steam offset distance.

[0047] By finding the red point farthest from the center of the recognition area in the image color concentration area and determining the distance between the point and the center of the recognition area, the steam offset distance can be obtained based on the calculated distance and image ratio.

[0048] Step S105: determining the ambient wind speed according to the spray height, the preset spray speed and the steam offset distance.

[0049] The injection speed is a reference value for the steam injection of the drone 1 set by the technician, which will not be described in detail here. The time when the steam is injected to the surface of the photovoltaic panel can be determined according to the injection height and the injection speed, and the ambient wind speed can be calculated according to the time and the steam offset distance. The ambient wind speed in this embodiment is horizontal wind.

[0050] Step S106: determining the blade on the leeward side according to the ambient wind direction and defining it as a wind-resistant blade, and determining the wind-resistant power of the wind-resistant blade according to the ambient wind speed.

[0051] In a windless environment, the output power of the four blades of the drone 1 is the same, but in a windy environment, in order to overcome the thrust of the wind so that the drone 1 can hover in place, one or two of the blades of the drone 1 need to increase the output to overcome the thrust of the wind. In this embodiment, the blade on the leeward side is used as the blade that needs to adjust the power, and the blade is named as the wind-resistant blade.

[0052] The wind resistance power refers to the power output by the wind resistance blades to resist the wind force so that the UAV 1 can hover in place. The wind resistance power corresponds to the ambient wind speed. The greater the ambient wind speed, the greater the wind resistance power. Therefore, the wind resistance power can be determined by the ambient wind speed.

[0053] Step S107: Control the drone 1 to suspend according to the hovering power and adjust the wind-resistant blades according to the wind-resistant power so that the drone 1 can hover when there is wind and adjust when the wind direction changes to clean the photovoltaic panel.

[0054] In a windy environment, after the wind resistance power is determined, the UAV 1 is first taken off and hovered in the air according to the hovering power, and then the wind resistance blades are adjusted specifically according to the wind resistance power so that the UAV 1 can hover in place.

[0055] Reference Figure 4 The hovering control method of the UAV 1 comprises the following steps: In this embodiment, a retractable rope is provided on the circumference of the surface of the steam hot air balloon 2, and the length of the retractable rope can be changed to control the shape of the hot air balloon. When there is wind and the drone 1 needs to hover, the retractable rope is controlled to make the surface projection area of ​​the steam hot air balloon 2 on the downwind side smaller, and the thrust on the steam hot air balloon 2 is smaller at this time.

[0056] Step S200: Determine the direction on the steam hot air balloon 2 that is orthogonal to the ambient wind direction according to the ambient wind direction, and define it as the compression direction.

[0057] The compression direction refers to the direction in which the steam balloon 2 is flattened. In order to reduce the surface projection area of ​​the steam balloon 2 on the downwind side, the side of the steam balloon 2 perpendicular to the ambient wind direction is used as the compression direction. When the steam balloon 2 is compressed in this compression direction, the projection area of ​​the side of the steam balloon 2 parallel to the ambient wind direction is smaller, and the projection area of ​​the side perpendicular to the ambient wind direction is larger.

[0058] Step S201: Determine the contraction rope according to the compression direction and define it as adjusting the contraction rope.

[0059] The adjustment shrinkage rope is used to compress the steam hot air balloon 2. By shortening the length of the adjustment shrinkage rope, the projection area of ​​the steam hot air balloon 2 on one side perpendicular to the ambient wind direction is increased.

[0060] The selection of the retraction rope is adjusted according to the ambient wind direction, and the retraction rope on the side of the steam hot air balloon 2 that is perpendicular to the ambient wind direction is selected.

[0061] Step S202: determining the initial diameter of the steam hot air balloon 2 according to the steam volume, and determining and adjusting the contraction length of the contraction rope according to the initial diameter and a preset limit compression diameter.

[0062] After being filled with steam, the steam hot air balloon 2 can be regarded as a sphere. The volume of the steam hot air balloon 2 can be known according to the amount of steam, and the initial diameter can be calculated according to the volume.

[0063] The ultimate compression diameter is the maximum amount that the steam hot air balloon 2 can be compressed, as set by the technicians, and will not be elaborated here.

[0064] The circumference of the steam hot air balloon 2 before and after compression can be obtained according to the initial diameter and the ultimate compression diameter, and the contraction length of the contraction rope can be determined and adjusted according to the change of the circumference before and after compression.

[0065] Step S203: The contraction rope is contracted and adjusted according to the contraction length to reduce the wind resistance of the steam hot air balloon 2, and the adjustment power of the wind-resistant blades is determined according to the limit compression diameter and the ambient wind speed.

[0066] When the steam hot air balloon 2 is flattened, the environmental wind force received by the UAV 1 and the steam hot air balloon 2 is also reduced. At this time, the power required to be output by the wind-resistant blades is also reduced accordingly. The power is adjusted to the power required to be output by the wind-resistant blades after the steam hot air balloon 2 is compressed.

[0067] The projected area of ​​the windward side of the steam hot air balloon 2 can be calculated based on the limit compression diameter, and the lateral force on the UAV 1 and the steam hot air balloon 2 can be obtained based on the projected area and the ambient wind speed, and finally the adjustment power can be calculated.

[0068] Step S204: adjusting the power of the wind-resistant blades according to the adjusted power.

[0069] After the steam hot air balloon 2 is compressed, the wind-resistant blades are adjusted according to the adjustment power. At this time, the UAV 1 can hover in place in a windy environment with a smaller output power.

[0070] Reference Figure 5 The control method of the UAV 1 when moving includes the following steps: There are situations of tailwind and headwind when the drone 1 moves. By controlling the shape of the steam hot air balloon 2, the drone 1 consumes less power when moving.

[0071] Step S300: Determine the moving direction of the drone 1 according to a preset cleaning path plan.

[0072] The cleaning path is a cleaning movement route for the drone 1 to clean the photovoltaic panels, which is formulated by the technicians according to the actual distribution of the photovoltaic panels in the photovoltaic power station. The cleaning movement path is stored in the system of the drone 1 and will not be described in detail here.

[0073] By retrieving the cleaning movement path from the system and determining the current position of the drone 1 from the cleaning movement path through a positioning device preset on the drone 1, the moving direction of the drone 1 after the current position can be determined.

[0074] The moving direction of the drone 1 may be headwind or tailwind. After determining the ambient wind direction from the image color concentration area, the angle between the moving direction and the ambient wind direction is judged to determine whether the drone 1 is headwind or tailwind. Finally, the shape of the steam balloon 2 is adjusted according to the headwind or tailwind situation to assist the drone 1.

[0075] Step S301: Based on the fact that the angle between the moving direction of the UAV 1 and the ambient wind direction is not greater than 90°, it is defined as downwind movement. The direction of the steam balloon 2 parallel to the ambient wind direction is determined according to the ambient wind direction and defined as the downwind direction.

[0076] When the angle between the moving direction of the UAV 1 and the ambient wind direction is not greater than 90, the ambient wind has thrust on the UAV 1 along the moving direction, and the UAV 1 is in a downwind moving state. In the downwind moving state, by increasing the projection area of ​​the steam hot air balloon 2 in the moving direction, the ambient wind can provide thrust to the UAV 1 in the moving direction through the steam hot air balloon 2, and the UAV 1 can reduce power consumption.

[0077] The downwind direction is the direction in which the steam hot air balloon 2 needs to adjust its shape. Since it moves with the wind, it needs to increase its area in the downwind direction, and the downwind direction is the direction in which the steam hot air balloon 2 is parallel to the ambient wind direction.

[0078] Step S302: Determine the contraction rope according to the downwind direction and define it as the downwind contraction rope, contract the downwind contraction rope according to the contraction length to expand the downwind area of ​​the steam hot air balloon 2, and determine the downwind power of the wind-resistant blade according to the preset limit compression diameter and ambient wind speed.

[0079] The downwind contraction rope is located in the downwind direction of the steam hot air balloon 2. By contracting the downwind contraction rope, the steam hot air balloon 2 can increase its projected area in the downwind direction. The projected area of ​​the steam hot air balloon 2 in the downwind direction can be determined according to the sacrifice compression diameter, and the downwind power of the wind-resistant blades can be determined according to the projected area and the ambient wind speed. The downwind power at this time should be less than the power of the drone 1 when it moves in a windless state.

[0080] Step S303: Control the power of the wind-resistant blades according to the downwind power.

[0081] After determining the downwind power of the wind-resistant blades and adjusting the shape of the steam hot air balloon 2, the drone 1 can fly and move with a power consumption lower than that in a windless state.

[0082] Step S304: Based on the angle between the moving direction of the UAV 1 and the ambient wind direction being greater than 90°, it is defined as moving against the wind. The direction of the steam balloon 2 orthogonal to the ambient wind direction is determined according to the ambient wind direction and defined as the against-wind direction.

[0083] When the angle between the moving direction of the drone 1 and the ambient wind direction is greater than 90, the ambient wind has resistance to the drone 1 along the moving direction, and the drone 1 is in a headwind moving state. In the headwind moving state, by reducing the projection area of ​​the steam hot air balloon 2 in the moving direction, the resistance of the ambient wind to the steam hot air balloon 2 and the drone 1 in the moving direction is reduced, so that the drone 1 can reduce power consumption.

[0084] Step S305: Determine the contraction rope according to the headwind direction and define it as the headwind contraction rope, contract the headwind contraction rope according to the contraction length to reduce the downwind area of ​​the steam hot air balloon 2, and determine the headwind power of the wind-resistant blade according to the limit compression diameter and the ambient wind speed.

[0085] The upwind retraction rope is located in the upwind direction of the steam hot air balloon 2. By retracting the upwind retraction rope, the steam hot air balloon 2 can reduce the projected area against the wind, and the upwind power of the wind-resistant blades can be determined according to the projected area and the ambient wind speed. The upwind power at this time should be less than the power of the drone 1 when it moves in a windless state.

[0086] Step S306: Control the power of the wind-resistant blades according to the headwind power.

[0087] After determining the headwind power of the wind-resistant blades and adjusting the shape of the steam hot air balloon 2, the drone 1 can fly and move with a power consumption lower than that in a windless state.

[0088] The method for removing photovoltaic panels by drone 1 includes the following steps: Step S400: Acquire surface image information of the photovoltaic panel.

[0089] The surface image information refers to the image of the surface of the photovoltaic panel obtained by a micro camera arranged at the bottom of the drone 1 when the drone 1 cleans the photovoltaic panel.

[0090] Step S401: Scan the code in the surface image information to obtain the photovoltaic panel parameters, and determine the photovoltaic panel thickness according to the photovoltaic panel parameters.

[0091] The surface of the photovoltaic panel has a barcode recording the model parameters of the photovoltaic panel. The barcode is scanned and identified from the surface image information, so that various parameters of the photovoltaic panel can be determined, including thickness and area range. Therefore, the thickness of the photovoltaic panel can be directly obtained from the photovoltaic panel parameters.

[0092] Step S402: Determine the steam speed adjustment value of the drone 1 according to the thickness of the photovoltaic panel and the preset cleaning force.

[0093] The cleaning force is the force set by the technicians when cleaning the photovoltaic panels according to the thickness of the photovoltaic panels. This force is the vertical pressure on the photovoltaic panels. The photovoltaic panels are cleaned with this cleaning force, and the photovoltaic panels are not easily damaged. The cleaning force is obtained by the technicians' test, and the test method is not described here.

[0094] The steam speed adjustment value refers to the speed at which the drone 1 sprays steam on the surface of the photovoltaic panel without causing damage to the photovoltaic panel. The force range of the steam impacting the photovoltaic panel surface can be determined according to the thickness of the photovoltaic panel and the cleaning force, and the steam speed adjustment value is determined according to the difference between the maximum value of the force range and the initial spray speed of the drone 1.

[0095] Step S403: Correct the jet speed of the drone 1 according to the steam speed adjustment value, and output the steam speed adjustment value.

[0096] After calculating the steam speed adjustment value that will not damage the photovoltaic panel, the steam injection speed of the drone 1 is corrected, and the photovoltaic panel is cleaned using the steam speed adjustment value.

[0097] Step S404: determining the hovering height of the UAV 1 according to the steam speed adjustment value, the ambient wind speed and the preset injection deviation range.

[0098] In the case of wind, when the jet speed of the drone 1 changes, the steam offset distance will also change. In order to minimize the steam offset distance and keep it within a reasonable range, the hovering height of the drone 1 can be adjusted.

[0099] The spray deviation range is the allowable offset distance of steam when the drone 1 cleans the photovoltaic panels, which is set by the technician and will not be elaborated here.

[0100] Consistent with the calculation method of step S105 , the hovering height can be reversely calculated through the steam speed adjustment value, the ambient wind speed, and the injection deviation range.

[0101] Step S405: determining the hovering correction power of the UAV 1 according to the hovering buoyancy and the hovering height.

[0102] The hovering correction power refers to the power that the propeller blades of the drone 1 need to output when flying at the hovering height. The drone 1 needs to rise or fall according to the jet height before adjustment and the hovering height after adjustment, thereby determining whether the propeller blade power of the drone 1 is reduced or increased, and then the hovering correction power is calculated according to the force conditions of the drone 1.

[0103] Step S406: Correcting the hovering power of the UAV 1 with the hovering correction power, and outputting the hovering correction power to the UAV 1 to adjust the height of the UAV 1.

[0104] The drone 1 is flown at a hovering height and the photovoltaic panel is cleaned using the steam speed adjustment value, so that the photovoltaic panel is not easily damaged and the steam offset distance is small.

[0105] Reference Figure 6 When there are impurity features on the surface of the photovoltaic panel, the method for removing the impurity features includes the following steps: Step S500: matching the impurity features, impurity feature positions and impurity types on the surface of the photovoltaic panel from a preset impurity feature library according to the surface image information, where the impurity types include leaves and stones.

[0106] The impurity feature library is an image database obtained through machine learning that includes various impurities that may fall on the photovoltaic panels and need to be processed, which will not be described in detail here.

[0107] After acquiring the surface image information of the photovoltaic panel surface through the micro camera, when there are impurities on the photovoltaic panel surface, the impurity features can be matched from the impurity database based on the surface image information.

[0108] The impurity characteristic position is the exact position of the impurity characteristic on the photovoltaic panel. The impurity characteristic position can be determined by image recognition, which is an existing technology of image recognition and will not be described in detail here.

[0109] The impurity type refers to the type of impurity characteristics. In this embodiment, the impurity types are mainly leaves and stones.

[0110] Step S501: Based on the impurity type being leaves, the drone 1 is controlled to clean the photovoltaic panel at a hovering height and a steam speed adjustment value according to the characteristic position of the impurity.

[0111] If the impurity type is leaves, since the leaves are relatively light, the drone 1 directly blows away the leaves at the characteristic position of the impurity by spraying steam.

[0112] Step S502: Based on the impurity type being stone, the impurity volume is determined according to the surface image information and the impurity characteristics, and the characteristic weight is determined according to the impurity volume and a preset characteristic density.

[0113] If the impurity is characterized by stone, since the stone has a certain weight, a larger jet force is required to blow the stone away, so the jet speed of the steam of the drone 1 needs to be changed. At this time, the characteristic weight of the stone needs to be determined first.

[0114] The surface image information can be used to identify the approximate size of the stone and estimate its volume. The characteristic weight of the stone can be determined based on its volume and density.

[0115] Step S503: Determine the impurity removal speed when steam is used to remove impurities according to the characteristic weight.

[0116] The impurity removal speed refers to the jet speed required for the drone 1 to jet steam when the stones on the photovoltaic panel can be removed. The impurity removal speed corresponds to the characteristic weight of the stone, and the impurity removal speed can be determined according to the characteristic weight of the stone.

[0117] Step S504: determining the steam injection inclination angle according to the impurity removal speed and the steam speed adjustment value.

[0118] The steam injection inclination angle refers to the angle between the steam and the surface of the photovoltaic panel when the drone 1 removes impurities through steam.

[0119] When the impurity removal speed is less than the steam speed adjustment value, the impurity removal speed will not cause damage to the photovoltaic panel. At this time, the injection speed of the drone 1 is still the steam speed adjustment value, and the steam injection inclination angle is 0.

[0120] When the impurity removal speed is not less than the steam speed adjustment value, the impurity removal speed may damage the photovoltaic panel. At this time, the drone 1 needs to tilt the steam to spray on the photovoltaic panel and the impurity feature, so that the thrust of the steam on the impurity feature remains unchanged, and because there is an angle between the steam spray direction and the photovoltaic panel, the force of the steam spraying vertically on the photovoltaic panel is reduced. The steam spraying inclination angle can be directly calculated according to the impurity removal speed and the steam speed adjustment value.

[0121] Step S505: Control the drone 1 to spray the impurity features according to the ambient wind direction and the steam spray angle.

[0122] In this embodiment, when removing stones, in addition to jetting the stones in an inclined manner, the stones are jetted in the direction of the wind by taking advantage of the ambient wind force, so that the stones are more easily removed.

[0123] Reference Figure 7 When the impurities have a large characteristic mass and cannot be removed by air jet, the treatment method includes the following steps: Step S600: Based on the surface image information being consistent with the preset reference photovoltaic panel image, the impurity features have been removed, and the drone 1 continues to clean the photovoltaic panel using the preset cleaning path.

[0124] The reference photovoltaic panel image is an image taken in advance by a micro camera and stored in the system when the photovoltaic panel surface is clean, and will not be described in detail here.

[0125] After UAV 1 removes the stones by jetting, it compares the surface image information with the reference photovoltaic panel image again. If the two images are consistent, it means that the stones on the surface of the photovoltaic panel have been removed. At this time, UAV 1 will clean the next photovoltaic panel along the set cleaning path.

[0126] Step S601: Based on the fact that the surface image information is inconsistent with the preset reference photovoltaic panel image, the impurity features are not cleared, and the edge contour range of the photovoltaic panel is determined according to the surface image information.

[0127] If the surface image information is inconsistent with the reference photovoltaic panel image, it means that the stone is still on the photovoltaic panel. It may be that the stone is too heavy and the drone 1 still cannot remove the stone by jetting. It is necessary to change the removal method.

[0128] In this embodiment, a push plate is provided at the bottom edge of the drone 1. When the weight of the impurity feature is large and cannot be removed by the jet of the drone 1, the push plate of the drone 1 can be brought into contact with the impurity feature and the impurity feature can be directly pushed out from the edge of the photovoltaic panel by the push plate.

[0129] When using the above method, it is necessary to determine the impurity feature position, which has been obtained in the above solution, and it is necessary to determine the edge contour range of the photovoltaic panel. The edge contour range of the photovoltaic panel can be directly obtained by performing image recognition on the surface image information.

[0130] Step S602: Determine the shortest path according to the characteristic position of the impurity and the edge contour range of the photovoltaic panel.

[0131] The shortest path refers to the shortest distance from the impurity feature position to the edge of the photovoltaic panel. Since the impurity feature position and the edge contour range of the photovoltaic panel have been determined, the system then performs a shortest path analysis on the impurity feature position and the edge contour range of the photovoltaic panel to determine the shortest path.

[0132] Step S603: Determine the contact surface between the push plate preset at the bottom of the drone 1 and the impurity feature according to the shortest path.

[0133] When the shortest path is determined, the contact surface between the push plate at the bottom of the drone 1 and the impurity feature can also be determined. The contact surface is the side opposite to the position of the starting point of the shortest path on the impurity feature.

[0134] Step S604: Determine the surface hovering power of the UAV 1 according to the hovering buoyancy and the photovoltaic surface hovering height.

[0135] The surface hovering power is the power required when the drone 1 hovers on the surface of the photovoltaic panel. The calculation method of the surface hovering power is the same as step S404, and will not be repeated here.

[0136] Step S605: Control the drone 1 according to the surface hovering power to lower the drone 1 to the surface of the photovoltaic panel, control the push plate of the drone 1 to abut against the abutment surface of the impurity feature and push the impurity feature out of the edge contour range along the shortest path.

[0137] The drone 1 is controlled to descend to the surface of the photovoltaic panel and make the push plate abut against the abutment surface of the impurity feature, and then the impurity feature is pushed out of the photovoltaic panel along the shortest path.

[0138] The method for deicing the photovoltaic panel by the drone 1 comprises the following steps: This embodiment is aimed at the situation that the surface of the photovoltaic panel is frozen when the temperature is low. In this embodiment, the drone 1 can press the ice-breaking disk 61 on the surface of the photovoltaic panel and drive the ice-breaking disk 61 through steam so that the ice-breaking disk 61 rotates on the ice surface to remove the ice.

[0139] Step S700: Match ice surface features from a preset ice surface feature library according to surface image information, and identify the ice surface feature range and ice surface thickness.

[0140] The ice surface feature library is a database including ice surface feature images obtained through machine learning, which will not be described in detail here.

[0141] The ice surface feature range refers to the area of ​​ice on the photovoltaic panel. The ice surface thickness refers to the thickness of ice on the photovoltaic panel. After the surface of the photovoltaic panel is photographed by a micro camera and the surface image information is obtained, the surface image information is matched with the ice surface feature library to determine the ice surface feature range on the photovoltaic panel. According to image recognition, the distance between the micro camera of the drone 1 and the photovoltaic panel and the distance between the micro camera and the ice surface can be determined, and the difference between the two distances is the ice surface thickness.

[0142] Step S701: Determine the steam temperature, the ice-breaking speed of the ice-breaking disk 61 and the ice-breaking pressure according to the ice surface thickness.

[0143] The steam temperature refers to the temperature of the steam ejected by the drone 1 that can quickly remove ice from the surface of the photovoltaic panel without causing damage to the photovoltaic panel. When the drone 1 cleans the photovoltaic panel, the steam has an initial temperature when it is ejected. The initial temperature is the temperature set by the technician that is not likely to cause damage to the photovoltaic panel. The steam temperature increases on the basis of the initial temperature, and the increase in temperature is proportional to the thickness of the ice surface. The thicker the ice surface, the greater the increase in temperature. Therefore, the steam temperature can be determined by the thickness of the ice surface.

[0144] The ice-breaking rotation speed is the rotation speed of the ice-breaking disk 61 when it is removing ice on the ice surface. The ice-breaking disk 61 has an initial rotation speed. When the drone 1 sprays steam onto the ice-breaking disk 61 at a jet speed, the rotation speed of the ice-breaking disk 61 is the initial rotation speed. The ice-breaking rotation speed increases on the basis of the initial rotation speed, and the increase in the rotation speed is proportional to the thickness of the ice surface.

[0145] The ice-breaking pressure is the pressure when the drone 1 presses the ice-breaking disk 61 onto the ice surface. The initial pressure is 0. The ice-breaking pressure is proportional to the thickness of the ice surface. The ice-breaking pressure can be determined by the thickness of the ice surface.

[0146] Step S702: determining the steam driving speed for jetting air to the ice breaking disk 61 according to the ice breaking rotation speed of the ice breaking disk 61; The steam driving speed is the speed at which steam is ejected when the drone 1 drives the ice-breaking disk 61 to rotate. The steam driving speed can be calculated based on the ice-breaking rotation speed, the initial rotation speed, and the steam ejection speed.

[0147] Step S703: Determine the downward pressure power of the UAV 1 according to the ice breaking pressure and the hovering buoyancy.

[0148] The downward pressure power refers to the downward pressure power of the driving force required for the UAV 1 to press on the ice surface with ice-breaking pressure.

[0149] The icebreaking pressure can be calculated through the hovering buoyancy, the gravity of the UAV 1 and the steam hot air balloon 2, and the driving force of the UAV 1. Therefore, the driving force of the UAV 1 can be calculated in reverse, and finally the downward pressure power required to provide the driving force can be determined based on the driving force.

[0150] Step S704: Control the drone 1 according to the downward pressure power and the ice surface characteristic range to press the drone 1 onto the photovoltaic panel, adjust the steam temperature according to the steam temperature, and control the steam to drive the ice breaking disk 61 of the ice breaking device 6 according to the steam driving speed.

[0151] After determining the above parameters such as downward pressure power, steam temperature and steam driving speed, the UAV 1 can control ice breaking to clear the ice surface within the characteristic range of the ice surface.

[0152] The adjusted power of the wind-resistant blade in step S204 can be calculated by a calculation formula, and the calculation formula of the adjusted power of the wind-resistant blade is as follows: ; in, To adjust the power of the wind-resistant blades, is the proportionality constant, is the initial rotation speed of the wind-resistant blade, is the steam density, is the steam offset distance, is the injection height, is the injection speed, is the initial diameter of the steam balloon, To adjust the retraction length of the retraction rope and is a variable.

[0153] When the shape of the steam balloon is changed by adjusting the length of the retraction rope, the adjustment power of the anti-wind blades of the drone will also change accordingly. , as well as is a quantity related to the projected area of ​​the steam hot air balloon in the direction of the ambient wind, , as well as To calculate the relevant quantity of ambient wind speed, and It is a related quantity of the driving force of the UAV in the direction of the ambient wind. There is a correlation between the projected area, ambient wind speed and driving force.

[0154] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A photovoltaic power station cleaning method, characterized in that: include: Obtaining infrared steam image information below the drone (1), the jet height between the drone (1) and the photovoltaic panel, and the amount of steam filled into a steam hot air balloon (2) preset on the top of the drone (1); Determining the hovering buoyancy of the steam hot air balloon (2) from a preset buoyancy model according to the steam volume, and determining the hovering power of the drone (1) according to the hovering buoyancy; Determine the image color concentration area within a preset recognition range according to the infrared steam image information; Determine the ambient wind direction based on the image color concentration area; Determine the steam offset distance according to the infrared steam image information and a preset image ratio; Determine the ambient wind speed based on the spray height, the preset spray velocity, and the steam deflection distance; The blade on the leeward side is determined according to the ambient wind direction and defined as the wind-resistant blade, and the wind-resistant power of the wind-resistant blade is determined according to the ambient wind speed; The drone (1) is controlled to levitate according to the hovering power and the anti-wind blades are adjusted according to the anti-wind power so that the drone (1) can hover when there is wind and can be adjusted when the wind direction changes so as to clean the photovoltaic panel.

2. A photovoltaic power station cleaning method according to claim 1, characterized in that: The steam hot air balloon (2) has a retractable rope in the circumferential direction. The hovering control method of the drone (1) comprises: According to the ambient wind direction, a direction on the steam hot air balloon (2) that is orthogonal to the ambient wind direction is determined and defined as a compression direction; The contraction rope is determined according to the compression direction and defined as the adjustment contraction rope; Determining the initial diameter of the steam hot air balloon (2) according to the amount of steam, and determining and adjusting the contraction length of the contraction rope according to the initial diameter and a preset limit compression diameter; The contraction rope is contracted and adjusted according to the contraction length to reduce the wind resistance of the steam hot air balloon (2), and the adjustment power of the wind-resistant blade is determined according to the limit compression diameter and the ambient wind speed; The power of the wind-resistant blades is adjusted according to the adjusted power.

3. A photovoltaic power station cleaning method according to claim 2, characterized in that: The control method of the drone (1) when moving includes: Determining the moving direction of the drone (1) according to a preset cleaning path plan; Based on the fact that the angle between the moving direction of the UAV (1) and the ambient wind direction is not greater than 90°, it is defined as moving downwind, and the direction of the steam hot air balloon (2) parallel to the ambient wind direction is determined according to the ambient wind direction and defined as the downwind direction; Determine a contraction rope according to the downwind direction and define it as a downwind contraction rope, contract the downwind contraction rope according to the contraction length to expand the downwind surface area of ​​the steam hot air balloon (2), and determine the downwind power of the wind-resistant blade according to a preset limit compression diameter and ambient wind speed; The power is controlled according to the downwind power and the anti-wind blade; Based on the fact that the angle between the moving direction of the UAV (1) and the ambient wind direction is greater than 90°, it is defined as moving against the wind, and the direction of the steam hot air balloon (2) orthogonal to the ambient wind direction is determined according to the ambient wind direction and defined as the against the wind direction; Determine a contraction rope according to the upwind direction and define it as an upwind contraction rope, contract the upwind contraction rope according to the contraction length to reduce the downwind surface area of ​​the steam hot air balloon (2), and determine the upwind power of the wind-resistant blade according to the limit compression diameter and the ambient wind speed; The power to the wind-resistant blades is controlled according to the headwind power.

4. A photovoltaic power station cleaning method according to claim 1, characterized in that: Also includes: Obtaining surface image information of photovoltaic panels; Scan the code from the surface image information to obtain the photovoltaic panel parameters, and determine the photovoltaic panel thickness based on the photovoltaic panel parameters; Determining a steam speed adjustment value of the drone (1) according to the thickness of the photovoltaic panel and a preset cleaning force; Correcting the jet speed of the drone (1) according to the steam speed adjustment value and outputting the steam speed adjustment value; Determining the hovering height of the UAV (1) according to the steam speed adjustment value, the ambient wind speed, and a preset injection deviation range; Determine the hovering correction power of the UAV (1) according to the hovering buoyancy and the hovering height; The hovering power of the drone (1) is corrected using the hovering correction power, and the hovering correction power is output to the drone (1) to adjust the altitude of the drone (1).

5. A photovoltaic power station cleaning method according to claim 4, characterized in that: Also includes: According to the surface image information, the impurity features, impurity feature positions and impurity types on the surface of the photovoltaic panel are matched from a preset impurity feature library, and the impurity types include leaves and stones; Based on the impurity type being leaves, the drone is controlled to clean the photovoltaic panels at a hovering height and steam speed adjustment value according to the characteristic position of the impurity; Based on the impurity type being stone, the impurity volume is determined according to the surface image information and the impurity characteristics, and the characteristic weight is determined according to the impurity volume and a preset characteristic density; Determine the impurity removal rate when steam is used to remove impurities based on characteristic weight; Determine the steam injection inclination angle according to the impurity removal rate and the steam speed adjustment value; The UAV (1) is controlled by the ambient wind direction and the steam jet inclination to jet the impurity characteristics.

6. A photovoltaic power station cleaning method according to claim 5, characterized in that: The steps after controlling the drone (1) to spray the impurity characteristics with the ambient wind direction and the steam spray angle include: Based on the surface image information being consistent with the preset reference photovoltaic panel image, the impurity features have been removed, and the drone (1) continues to clean the photovoltaic panel along the preset cleaning path; Based on the fact that the surface image information is inconsistent with the preset reference photovoltaic panel image, the impurity features are not cleared, and the edge contour range of the photovoltaic panel is determined according to the surface image information; Determine the shortest path based on the characteristic position of the impurity and the edge contour range of the photovoltaic panel; Determining the contact surface between the push plate preset at the bottom of the drone (1) and the impurity feature according to the shortest path; determining the surface hovering power of the UAV (1) based on the hovering buoyancy and the photovoltaic surface hovering height; The drone (1) is controlled according to the surface hovering power to lower the drone (1) to the surface of the photovoltaic panel, and the push plate of the drone (1) is controlled to abut against the abutment surface of the impurity feature and push the impurity feature out of the edge contour range along the shortest path.

7. A photovoltaic power station cleaning method according to claim 4, characterized in that: The bottom of the drone (1) is provided with an ice-breaking device (6), wherein the ice-breaking device (6) has a rotatably arranged ice-breaking disk (61). The method for the drone (1) to de-ice a photovoltaic panel comprises: Match ice surface features from a preset ice surface feature library based on surface image information, and identify ice surface feature range and ice surface thickness; Determine the steam temperature, the ice breaking speed of the ice breaking disk (61) and the ice breaking pressure according to the ice surface thickness; Determining a steam driving speed for jetting air to the ice breaking disk (61) according to an ice breaking rotation speed of the ice breaking disk (61); Determine the downward pressure power of the UAV (1) according to the ice breaking pressure and the hovering buoyancy; The drone (1) is controlled according to the downward pressure power and the ice surface characteristic range to press the drone (1) onto the photovoltaic panel, the temperature of the steam is adjusted according to the steam temperature, and the steam is controlled according to the steam driving speed to drive the ice breaking disk (61) of the ice breaking device (6).

8. A photovoltaic power station cleaning method according to claim 2, characterized in that: The calculation formula for the adjusted power of the wind-resistant blade is: ； in, To adjust the power of the wind-resistant blades, is the proportionality constant, is the initial rotation speed of the wind-resistant blade, is the steam density, is the steam offset distance, is the injection height, is the injection speed, is the initial diameter of the steam balloon, To adjust the retraction length of the retraction rope and is a variable.

9. A photovoltaic power station cleaning device, which is cleaned by using a photovoltaic power station cleaning method according to claim 1, characterized in that: The invention comprises an unmanned aerial vehicle (1), a steam hot air balloon (2) connected to the top of the unmanned aerial vehicle (1), a supply station (3) arranged on the ground for supplying steam and electric energy, and a supply pipeline (4) connecting the supply station (3) and the unmanned aerial vehicle (1); the bottom of the unmanned aerial vehicle (1) is provided with an ejector (5) for ejecting air.

10. A photovoltaic power station cleaning device according to claim 9, characterized in that: The supply station (3) comprises a ground battery (31) for supplying power to the drone (1), a cleaning water tank (32), and a steam boiler (33) connected to the cleaning water tank (32) and heating the cleaning water tank (32) to generate steam.

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