Air-ground integrated photovoltaic panel cleaning robot system and device and use method of air-ground integrated photovoltaic panel cleaning robot system and device

Abstract

The invention belongs to the photovoltaic field, and provides an air-ground integrated photovoltaic panel cleaning robot system and device and a using method thereof, and the device comprises a flying and walking module, a cleaning module, a rack module and a control module; the rack module comprises a main body platform, two supporting rods, an electric control box, a battery pack and a plurality of buffer springs; the flying and walking module comprises four propellers, a main body driving motor, a synchronous belt, two gears and four ducted propellers; the cleaning module comprises two disc brushes, four scraping plates, a disc brush driving motor and three gears; the control module comprises two cameras, a meter counting wheel and eight laser distance sensors. By designing the non-mounted photovoltaic cleaning unmanned aerial vehicle, the defect that a conventional mounted cleaning system robot is huge in cost is overcome; foreign matters such as dust and bird droppings on the surface of the photovoltaic panel can be cleaned through the disc brush and the flying and walking module; and through the flying and walking module and the control module, the requirement on the terrain is reduced.

Description

Technical Field

[0001] The present invention relates to the photovoltaic field, and in particular to a land-air integrated photovoltaic panel cleaning robot system, a device and a use method thereof. Background Art

[0002] Since the construction of photovoltaic power stations covers a large area and is widely distributed, and cannot occupy farmland and other practical requirements, most of them are built in mountainous areas, deserts, seaside areas and other areas. This makes the maintenance and power generation efficiency of photovoltaic power stations a prominent issue affecting the economic benefits of power stations. The accumulation of dust will directly cause the power generation efficiency of photovoltaic modules to drop by 2% to 10%; the presence of bird droppings and dust will cause local shadows, causing hot spot effects on the surface of photovoltaic modules when exposed to the sun, and hot spots will directly cause the photovoltaic modules to be burned, causing serious economic losses. Therefore, photovoltaic cleaning plays a vital role in photovoltaic systems. At present, the cleaning of photovoltaic panels is mainly done manually. Due to the remote location and the decline in labor resources, this cleaning method has great defects, such as difficulty in recruiting workers, high labor intensity, high cost, and difficult commuting. Therefore, many technology companies have explored and developed robots that can clean, and have achieved certain results.

[0003] These robots mainly come in four forms. The first is the robot mounted on the photovoltaic panels, one for each set of photovoltaic panels. This type of robot is very expensive. For example, a 10-megawatt photovoltaic power station has more than 1,400 sets of photovoltaic panels, which requires 1,400 sets of robots. The second is the robot that walks inside the photovoltaic panels to clean them. It requires manual remote control cleaning and manual transportation between photovoltaic components, which requires a large amount of labor and is inefficient.

[0004] The third method is drone spray cleaning. Since it is non-contact cleaning, foreign matter such as bird droppings is difficult to clean.

[0005] The fourth type is a large vehicle-mounted cleaning system, which has very high requirements on terrain and cannot be promoted on a large scale. Summary of the invention

[0006] In order to overcome the deficiencies of the prior art, the purpose of the present invention is to provide an integrated land and air photovoltaic panel cleaning robot system, device and use method thereof, so as to reduce the robot investment and terrain requirements and clean stubborn foreign matter on the photovoltaic panel surface.

[0007] To achieve the above object, the present invention provides the following solutions:

[0008] A land-air integrated photovoltaic panel cleaning robot system, comprising:

[0009] Spraying drones are used to spray detergent or water on target photovoltaic panels;

[0010] A photovoltaic cleaning drone, used to perform cleaning operations on the surface of the target cleaning photovoltaic panel;

[0011] A ground base station, used to send target tasks to the spraying drone and the photovoltaic cleaning drone;

[0012] A cloud base station, used to provide longitude and latitude coordinates to the spraying drone and the photovoltaic cleaning drone;

[0013] A safety controller is used to take over safely after an abnormality occurs in the operation of the spraying drone and the photovoltaic cleaning drone.

[0014] Preferably, a land-air integrated photovoltaic panel cleaning robot device comprises: a flight and walking module, a cleaning module, a frame module and a control module; the frame module comprises: a main body platform, a front propeller support rod, a rear propeller support rod, an electric control box, a battery pack and a plurality of buffer springs; the flight and walking module comprises: a left front propeller unit, a left rear propeller unit, a right front propeller unit, a right rear propeller unit, a main body drive motor, a synchronous belt, a front gear, a rear gear, a left front ducted propeller, a left rear ducted propeller, a right front ducted propeller and a right rear ducted propeller; the cleaning module comprises: a left A disc brush, a right disc brush, a front scraper, a rear scraper, a left scraper, a right scraper, a disc brush drive motor, a main gear, a left gear and a right gear; the control module includes: a front camera, a downward camera, a meter wheel, a front right laser distance sensor, a front left laser distance sensor, a rear right laser distance sensor, a rear left laser distance sensor, a left front laser distance sensor, a left rear laser distance sensor, a right front laser distance sensor and a right rear laser distance sensor; the left front propeller unit, the left rear propeller unit, the right front propeller unit and the right rear propeller unit all include: blades and a motor group;

[0015] The front propeller support rod and the rear propeller support rod are respectively fixed to the middle of the front end and the middle of the rear end of the flight and walking module; the electric control box is fixed at the center of the main platform; the battery pack is fixed on the lower side of the main platform; the first end of each buffer spring is fixed on the lower side of the main platform; the middle of each connecting rod of the front scraper, the rear scraper, the left scraper and the right scraper is respectively connected to the second end of a buffer spring; the left front propeller unit and the right front propeller unit are respectively fixed to the left and right ends of the front propeller support rod The left rear propeller unit and the right rear propeller unit are respectively fixed to the left end and the rear end of the rear propeller support rod; the main driving motor is fixed to the upper side of the electric control box; the front gear and the rear gear are connected to the main driving motor through the synchronous belt; the front gear and the rear gear are respectively fixed to the center position of the front propeller support rod and the rear propeller support rod; the left front ducted propeller, the left rear ducted propeller, the right front ducted propeller and the right rear ducted propeller are respectively and evenly and symmetrically fixed to the left and right ends of the main platform. The front part, the left rear part, the right front part and the right rear part; the left disc brush and the right disc brush are fixed on the lower side of the main body platform; the front scraper, the rear scraper, the left scraper and the right scraper are hingedly connected to the front edge, rear edge, left edge and right edge of the main body platform respectively; the main gear, the left gear and the right gear are fixedly connected to the disc brush drive motor, the left disc brush and the right disc brush respectively; the main gear is connected to the left gear and the right gear respectively; the front camera is fixed in the middle of the front edge of the main body platform The downward-looking camera and the meter wheel are both fixed on the lower side of the main platform; the front right laser distance sensor, the front left laser distance sensor, the rear right laser distance sensor, the rear left laser distance sensor, the left front laser distance sensor, the left rear laser distance sensor, the right front laser distance sensor and the right rear laser distance sensor are respectively fixed to the front right protruding part, the front left protruding part, the rear right protruding part, the rear left protruding part, the left front protruding part, the left rear protruding part, the right front protruding part and the right rear protruding part of the main platform;

[0016] The main driving motor is used to change the working states of the left front propeller unit, the left rear propeller unit, the right front propeller unit and the right rear propeller unit; the working states include: horizontal state and vertical state; the motor group is used to drive the blades to rotate; the left front ducted propeller, the left rear ducted propeller, the right front ducted propeller and the right rear ducted propeller are all used to provide translation and steering driving force for the main platform; the front scraper, the rear scraper, the left scraper and the right scraper are all used to provide landing support and clean the target photovoltaic panel.

[0017] Preferably, a method for using a land-air integrated photovoltaic panel cleaning robot comprises:

[0018] Starting the left front propeller unit, the left rear propeller unit, the right front propeller unit, and the right rear propeller unit;

[0019] According to the three-dimensional coordinates provided by the preset cloud base station, the left front propeller unit, the left rear propeller unit, the right front propeller unit, and the right rear propeller unit are used to control the flight of the main platform and move the main platform to the target photovoltaic panel position;

[0020] Using the downward-looking camera to identify the outline of the target photovoltaic panel;

[0021] Controlling the main platform to land on the surface of the target photovoltaic panel according to the contour of the target photovoltaic panel;

[0022] Using the main body drive motor to switch the working states of the left front propeller unit, the left rear propeller unit, the right front propeller unit, and the right rear propeller unit from the horizontal state to the vertical state;

[0023] The main body platform is controlled not to slide down along the surface of the target photovoltaic panel by using the upward pulling force provided by the left front propeller unit, the left rear propeller unit, the right front propeller unit and the right rear propeller unit;

[0024] Controlling the main body platform to move toward the upper part and left edge of the main body platform by using the left front propeller unit, the left rear propeller unit, the right front propeller unit, the right rear propeller unit, the left front ducted propeller, the left rear ducted propeller, the right front ducted propeller, and the right rear ducted propeller;

[0025] Identify the edge of the target photovoltaic panel using the front right laser distance sensor, the front left laser distance sensor, the rear right laser distance sensor, the rear left laser distance sensor, the left front laser distance sensor, the left rear laser distance sensor, the right front laser distance sensor, and the right rear laser distance sensor;

[0026] Control the main platform to move to the upper left corner of the target photovoltaic panel according to the edge of the target photovoltaic panel;

[0027] The rotation speed of the blade is reduced, the main platform is controlled to slide downward, the left disc brush and the right disc brush are started to perform cleaning work, and the dirty water on the target photovoltaic panel is dropped under the target photovoltaic panel by using the front scraper, the rear scraper, the left scraper and the right scraper;

[0028] Using the rear right laser distance sensor and the rear left laser distance sensor to control the main platform to clean to the bottom of the target photovoltaic panel, and starting the left front ducted propeller and the left rear ducted propeller to control the translation of the main platform;

[0029] The meter wheel is used to control the main platform to move a preset distance; the preset distance is the distance between the left scraper and the right scraper;

[0030] Through the left front propeller unit, the left rear propeller unit, the right front propeller unit and the right rear propeller unit, the front right laser distance sensor and the front left laser distance sensor are used to control the main platform to clean to the top of the target photovoltaic panel;

[0031] The main platform is controlled to traverse the surface of the target photovoltaic panel until the cleaning work is completed, and then the main platform is controlled to transfer to the photovoltaic panel to be cleaned to perform the cleaning work.

[0032] The present invention discloses the following technical effects:

[0033] The present invention provides a land-air integrated photovoltaic panel cleaning robot system, device and use method thereof. By designing a non-mounted photovoltaic cleaning drone, the defect of the huge cost of conventional mounted cleaning system robots is solved, and the photovoltaic panel cleaning by a single drone is realized; by using a disc brush and a flight and walking module, the defect that conventional cleaning robots cannot remove stubborn foreign matter on the surface of photovoltaic panels is solved, and the cleaning of foreign matter such as dust and bird droppings on the surface of photovoltaic panels is realized; by using a flight and walking module and a control module, the defect that large-scale vehicle-mounted cleaning systems have high requirements on terrain is solved, and the movement of drones between different photovoltaic panels and the movement and cleaning on the surface of photovoltaic panels are realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] 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 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 labor.

[0035] Figure 1 A schematic diagram of an integrated photovoltaic panel cleaning robot system provided by an embodiment of the present invention;

[0036] Figure 2 A top view of a photovoltaic cleaning drone provided by an embodiment of the present invention;

[0037] Figure 3A bottom view of a photovoltaic cleaning drone provided by an embodiment of the present invention;

[0038] Figure 4 A partial schematic diagram of a disc brush provided in an embodiment of the present invention;

[0039] Figure 5 A schematic diagram of the operation of a photovoltaic cleaning drone provided by an embodiment of the present invention;

[0040] Figure 6 A working diagram of a photovoltaic cleaning drone provided by an embodiment of the present invention;

[0041] Figure 7 This is a YOLOV10 algorithm control flow chart provided by an embodiment of the present invention.

[0042] Description of reference numerals:

[0043] 1- Photovoltaic cleaning drone, 100- Main platform, 101- Right front propeller unit, 102- Left front propeller unit, 103- Left rear propeller unit, 104- Right rear propeller unit, 105- Front propeller support rod, 106- Rear propeller support rod, 107- Front gear, 108- Rear gear, 109- Main drive motor, 110- Timing belt, 111- Left front ducted propeller, 112- Left rear ducted propeller, 113- Right rear ducted propeller, 114- Right front ducted propeller, 115- Front scraper, 116- Right scraper, 117- Left scraper, 118- Left disc brush, 119- Front camera, 120- Left front laser rangefinder Distance sensor, 121-front left laser distance sensor, 122-front right laser distance sensor, 123-right front laser distance sensor, 124-right rear laser distance sensor, 125-rear right laser distance sensor, 126-rear left laser distance sensor, 127-left rear laser distance sensor, 128-electric control box, 129-battery pack, 130-right disc brush, 131-downward camera, 132-rear scraper, 133-buffer spring, 134-meter wheel, 135-disc brush drive motor, 136-main gear, 137-right gear, 138-left gear, 2-spraying drone, 3-ground base station, 4-cloud base station, 5-safety controller. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] The purpose of the present invention is to provide a land-air integrated photovoltaic panel cleaning robot system, device and use method thereof, so as to reduce the robot investment and terrain requirements and clean stubborn foreign matter on the surface of photovoltaic panels.

[0046] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0047] Figure 1 A schematic diagram of an integrated photovoltaic panel cleaning robot system provided by an embodiment of the present invention, such as Figure 1 As shown, the present invention provides a land-air integrated photovoltaic panel cleaning robot system, comprising:

[0048] Spraying drone 2, used to spray detergent or water on the target photovoltaic panels;

[0049] Photovoltaic cleaning drone 1, used for cleaning operations on the surface of a target photovoltaic panel;

[0050] The ground base station 3 is used to send target tasks to the spraying drone 2 and the photovoltaic cleaning drone 1;

[0051] The cloud base station 4 is used to provide longitude and latitude coordinates to the spraying drone 2 and the photovoltaic cleaning drone 1;

[0052] The safety controller 5 is used to take over safely when the spraying drone 2 and the photovoltaic cleaning drone 1 are working abnormally.

[0053] refer to Figures 2 to 4, a land-air integrated photovoltaic panel cleaning robot device, comprising: a flight and walking module, a cleaning module, a frame module and a control module; the frame module comprises: a main platform 100, a front propeller support rod 105, a rear propeller support rod 106, an electric control box 128, a battery pack 129 and a plurality of buffer springs 133; the flight and walking module comprises: a left front propeller unit 102, a left rear propeller unit 103, a right front propeller unit 101, a right rear propeller unit 104, a main driving motor 109, a synchronous belt 110, a front gear 107, a rear gear 108, a left front ducted propeller 111, a left rear ducted propeller 112, a right front ducted propeller 114, and a right rear ducted propeller 113; the cleaning module comprises: a left disc brush 118, a right disc brush 119, a right disc brush 120, a left disc brush 121, a left disc brush 122, a right disc brush 123, a left disc brush 124, a left disc brush 125, a left disc brush 126, a left disc brush 127, a left disc brush 128, a left disc brush 129, a left disc brush 129, a left disc brush 129, a left disc brush 128, a left disc brush 129, a left disc brush 129, a right disc brush 129, a left disc brush 129, a left disc brush 129, a left disc brush 121, a left disc brush 122, a right disc brush 123, a left disc brush 124, a left disc brush 125, a left disc brush 126, a front 30, front scraper 115, rear scraper 132, left scraper 117, right scraper 116, disc brush drive motor 135, main gear 136, left gear 138 and right gear 137; control module includes: front camera 119, downward camera 131, meter wheel 134, front right laser distance sensor 122, front left laser distance sensor 121, rear right laser distance sensor 125, rear left laser distance sensor 126, left front laser distance sensor 120, left rear laser distance sensor 127, right front laser distance sensor 123 and right rear laser distance sensor 124; left front propeller unit 102, left rear propeller unit 103, right front propeller unit 101 and right rear propeller unit 104 all include: blades and motor groups;

[0054] The front propeller support rod 105 and the rear propeller support rod 106 are respectively fixed to the middle of the front end and the middle of the rear end of the flight and walking modules; the electric control box 128 is fixed to the center of the main platform 100; the battery pack 129 is fixed to the lower side of the main platform 100; the first end of each buffer spring 133 is fixed to the lower side of the main platform 100; the middle of each connecting rod of the front scraper 115, the rear scraper 132, the left scraper 117 and the right scraper 116 is respectively connected to the second end of a buffer spring 133; the left front propeller unit 102 and the right front propeller unit 101 are respectively fixed to the left end of the front propeller support rod 105 and rear end; the left rear propeller unit 103 and the right rear propeller unit 104 are respectively fixed to the left end and rear end of the rear propeller support rod 106; the main driving motor 109 is fixed to the upper side of the electric control box 128; the front gear 107 and the rear gear 108 are connected to the main driving motor 109 through the synchronous belt 110; the front gear 107 and the rear gear 108 are respectively fixed to the center position of the front propeller support rod 105 and the rear propeller support rod 106; the left front ducted propeller 111, the left rear ducted propeller 112, the right front ducted propeller 114 and the right rear ducted propeller 113 are respectively and evenly and symmetrically fixed to the main platform 100 The left front part, the left rear part, the right front part and the right rear part; the left disc brush 118 and the right disc brush 130 are fixed on the lower side of the main platform 100; the front scraper 115, the rear scraper 132, the left scraper 117 and the right scraper 116 are respectively hinged to the front edge, the rear edge, the left edge and the right edge of the main platform 100; the main gear 136, the left gear 138 and the right gear 137 are respectively fixedly connected to the disc brush driving motor 135, the left disc brush 118 and the right disc brush 130; the main gear 136 is respectively connected to the left gear 138 and the right gear 137; the front camera 119 is fixed to the front end of the main platform 100 The middle of the edge; the downward-looking camera 131 and the meter wheel 134 are both fixed on the lower side of the main platform 100; the front right laser distance sensor 122, the front left laser distance sensor 121, the rear right laser distance sensor 125, the rear left laser distance sensor 126, the left front laser distance sensor 120, the left rear laser distance sensor 127, the right front laser distance sensor 123 and the right rear laser distance sensor 124 are respectively fixed on the front right protruding part, the front left protruding part, the rear right protruding part, the rear left protruding part, the left front protruding part, the left rear protruding part, the right front protruding part and the right rear protruding part of the main platform 100;

[0055] The main driving motor 109 is used to change the working state of the left front propeller unit 102, the left rear propeller unit 103, the right front propeller unit 101 and the right rear propeller unit 104; the working states include: horizontal state and vertical state; the motor group is used to drive the blades to rotate; the left front ducted propeller 111, the left rear ducted propeller 112, the right front ducted propeller 114 and the right rear ducted propeller 113 are all used to provide translation and steering driving force for the main platform 100; the front scraper 115, the rear scraper 132, the left scraper 117 and the right scraper 116 are all used to provide landing support and clean the target photovoltaic panel.

[0056] refer to Figure 5 and Figure 6 , a method for using a land-air integrated photovoltaic panel cleaning robot, comprising:

[0057] Start the left front propeller unit 102, the left rear propeller unit 103, the right front propeller unit 101 and the right rear propeller unit 104;

[0058] According to the three-dimensional coordinates provided by the preset cloud base station, the left front propeller unit 102, the left rear propeller unit 103, the right front propeller unit 101, and the right rear propeller unit 104 are used to control the flight of the main platform 100 and move the main platform 100 to the target photovoltaic panel position;

[0059] Using the downward-looking camera 131 to identify the outline of the target photovoltaic panel;

[0060] Control the main platform 100 to land on the surface of the target photovoltaic panel according to the contour of the target photovoltaic panel;

[0061] The main body driving motor 109 is used to switch the working states of the left front propeller unit 102, the left rear propeller unit 103, the right front propeller unit 101 and the right rear propeller unit 104 from the horizontal state to the vertical state;

[0062] The main platform 100 is controlled not to slide down along the target photovoltaic panel surface by using the upward pulling force provided by the left front propeller unit 102, the left rear propeller unit 103, the right front propeller unit 101 and the right rear propeller unit 104;

[0063] The main body platform 100 is controlled to move toward the upper part and left edge of the main body platform 100 by using the left front propeller unit 102, the left rear propeller unit 103, the right front propeller unit 101, the right rear propeller unit 104, the left front ducted propeller 111, the left rear ducted propeller 112, the right front ducted propeller 114 and the right rear ducted propeller 113;

[0064] Identify the edge of the target photovoltaic panel using the front right laser distance sensor 122, the front left laser distance sensor 121, the rear right laser distance sensor 125, the rear left laser distance sensor 126, the left front laser distance sensor 120, the left rear laser distance sensor 127, the right front laser distance sensor 123, and the right rear laser distance sensor 124;

[0065] Control the main platform 100 to move to the upper left corner of the target photovoltaic panel according to the edge of the target photovoltaic panel;

[0066] The rotation speed of the blades is reduced, the main platform 100 is controlled to slide downward, the left disc brush 118 and the right disc brush 130 are started to clean, and the dirty water on the target photovoltaic panel is dropped to the bottom of the target photovoltaic panel by using the front scraper 115, the rear scraper 132, the left scraper 117 and the right scraper 116;

[0067] The rear right laser distance sensor 125 and the rear left laser distance sensor 126 are used to control the main platform 100 to clean the bottom of the target photovoltaic panel, and the left front ducted propeller 111 and the left rear ducted propeller 112 are started to control the translation of the main platform 100;

[0068] The meter wheel 134 is used to control the main platform 100 to move a preset distance; the preset distance is the distance between the left scraper 117 and the right scraper 116;

[0069] Through the left front propeller unit 102, the left rear propeller unit 103, the right front propeller unit 101 and the right rear propeller unit 104, the front right laser distance sensor 122 and the front left laser distance sensor 121 are used to control the main platform 100 to clean the top of the target photovoltaic panel;

[0070] The main control platform 100 traverses the surface of the target photovoltaic panel until the cleaning work is completed, and then the main control platform 100 is transferred to the photovoltaic panel to be cleaned for cleaning.

[0071] Specifically, the spraying drone 2 is responsible for spraying detergent or clean water to wash away some of the dust on the photovoltaic panels, and soften and peel off difficult-to-clean objects such as bird droppings and oil stains. Then the cleaning drone flies to the sprayed photovoltaic panels to perform cleaning operations. The ground base station 3 is responsible for issuing tasks to the drone, and the cloud base station 4 is responsible for providing the drone with flight data latitude and longitude coordinate support, etc.

[0072] Furthermore, the four propellers provide lift and flight power for the drone. The propellers of the drone are driven by a synchronous belt 110 driving motor to drive the synchronous belt 110 to rotate, and the synchronous belt 110 twists the propellers through the front gear 107 and the rear gear 108, so that the propellers can achieve vertical and horizontal rotation. The propellers fly in a horizontal state, and the propellers can drive the drone to move horizontally in a vertical state.

[0073] Preferably, the photovoltaic panel area is narrow, and if the steering is carried out by relying on the rotation speed difference of the propeller in the conventional way, the turning radius is very large. This embodiment uses four ducted propellers to achieve in-situ steering through different rotation speeds of the weld propellers, thereby adjusting the position of the cleaning robot.

[0074] Specifically, the electrical control box 128 is used to process data collected by the front camera 119, the downward-looking camera 131, the meter wheel 134, the front right laser distance sensor 122, the front left laser distance sensor 121, the rear right laser distance sensor 125, the rear left laser distance sensor 126, the left front laser distance sensor 120, the left rear laser distance sensor 127, the right front laser distance sensor 123 and the right rear laser distance sensor 124, and to perform flight control on the left front propeller unit 102, the left rear propeller unit 103, the right front propeller unit 101, the right rear propeller unit 104, the main drive motor 109, the left front ducted propeller 111, the left rear ducted propeller 112, the right front ducted propeller 114 and the right rear ducted propeller 113.

[0075] Furthermore, the downward-looking camera 131 identifies the outline of the photovoltaic panel and accurately lands on the photovoltaic panel with the help of GNSS (Global Navigation Satellite System) differential positioning. The front-facing camera 119 identifies the edge of the photovoltaic panel and determines the walking direction of the cleaning robot. When the laser distance sensor reaches the edge of the photovoltaic panel, the measured distance increases, stops moving toward the edge, and starts cleaning. Because the photovoltaic panel is covered with a water film, the cleaning robot can glide smoothly. When the cleaning robot walks horizontally, the meter wheel 134 uploads the moving distance to accurately control the cleaning area.

[0076] Specifically, the disc brush is made of plastic bristles and driven by a disc brush driving motor 135. The motor drives the main gear 136 to move, driving the two auxiliary gears to move in the same direction, and driving the two disc brushes to rotate in opposite directions relatively synchronously. The resultant force is zero, avoiding the impact on the displacement of the cleaning robot. The four scrapers are made of rubber or plastic material to drop the dirty water from the photovoltaic panel.

[0077] Preferably, the four scrapers also serve as landing gear, and there are four buffer springs 133 to achieve buffering during landing to protect the photovoltaic panels.

[0078] refer to Figure 7 The algorithm of this embodiment adopts the YOLOV10 algorithm to recognize the outline and edge of the photovoltaic panel, so that the cleaning drone can land accurately on the photovoltaic panel. The specific process is as follows:

[0079] S1: Collect photovoltaic panel images: Take or obtain a large number of photovoltaic panel images for YOLOV10 algorithm model training and recognition.

[0080] S2: Image loading and preprocessing: Load image data from disk and perform preprocessing operations such as scaling, cropping, and normalization to meet model input requirements.

[0081] S3: YOLOV10 algorithm model selection and initialization: Select a suitable YOLOv10 model structure and initialize the model weight parameters.

[0082] S4: YOLOV10 extracts the contour and edge features of photovoltaic panels: The features of photovoltaic panels are extracted through the YOLOV10 algorithm, the image is input into the model, and high-level semantic features, namely the contour and edge features of photovoltaic panels, are obtained.

[0083] S5: Output prediction results: Use feature maps and anchor frames to perform edge detection and classification of photovoltaic panels, and predict the photovoltaic panel category and bounding box information contained in each anchor frame. Output the final photovoltaic panel detection results, including whether the photovoltaic panel is included, the location of the photovoltaic panel bounding box, and the confidence level.

[0084] S6: The photovoltaic panel features are identified and the cleaning drone lands on the photovoltaic panel.

[0085] S7: Identify the edge of the photovoltaic panel, and the cleaning drone changes its direction and moves to the designated edge.

[0086] The beneficial effects of the present invention are as follows:

[0087] The present invention solves the problem of huge cost of conventional mounted cleaning system robots by designing a non-mounted photovoltaic cleaning drone; cleaning of foreign objects such as dust and bird droppings on the surface of photovoltaic panels is achieved through a disc brush and a flying and walking module; and the requirements for terrain are reduced through a flying and walking module and a control module.

[0088] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0089] The principles and implementation methods of the present invention are described in this article using specific examples. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A land-air integrated photovoltaic panel cleaning robot system, characterized in that: include: Spraying drones are used to spray detergent or water on target photovoltaic panels; A photovoltaic cleaning drone, used to perform cleaning operations on the surface of the target cleaning photovoltaic panel; A ground base station, used to send target tasks to the spraying drone and the photovoltaic cleaning drone; A cloud base station, used to provide longitude and latitude coordinates to the spraying drone and the photovoltaic cleaning drone; A safety controller is used to take over safely after an abnormality occurs in the operation of the spraying drone and the photovoltaic cleaning drone.

2. A land-air integrated photovoltaic panel cleaning robot device, characterized in that: include: Flight and walking modules, cleaning modules, rack modules and control modules; The frame module includes: a main body platform, a front propeller support rod, a rear propeller support rod, an electric control box, a battery pack and a plurality of buffer springs; the flight and walking module includes: a left front propeller unit, a left rear propeller unit, a right front propeller unit, a right rear propeller unit, a main body drive motor, a synchronous belt, a front gear, a rear gear, a left front ducted propeller, a left rear ducted propeller, a right front ducted propeller, and a right rear ducted propeller; the cleaning module includes: a left disc brush, a right disc brush, a front scraper, a rear scraper, a left scraper, a right scraper, a disc The brush drive motor, the main gear, the left gear and the right gear; the control module includes: a front camera, a downward camera, a meter wheel, a front right laser distance sensor, a front left laser distance sensor, a rear right laser distance sensor, a rear left laser distance sensor, a left front laser distance sensor, a left rear laser distance sensor, a right front laser distance sensor and a right rear laser distance sensor; the left front propeller unit, the left rear propeller unit, the right front propeller unit and the right rear propeller unit all include: blades and a motor group; The front propeller support rod and the rear propeller support rod are respectively fixed to the middle of the front end and the middle of the rear end of the flight and walking module; the electric control box is fixed at the center of the main platform; the battery pack is fixed on the lower side of the main platform; the first end of each buffer spring is fixed on the lower side of the main platform; the middle of each connecting rod of the front scraper, the rear scraper, the left scraper and the right scraper is respectively connected to the second end of a buffer spring; the left front propeller unit and the right front propeller unit are respectively fixed to the left and right ends of the front propeller support rod The left rear propeller unit and the right rear propeller unit are respectively fixed to the left end and the rear end of the rear propeller support rod; the main driving motor is fixed to the upper side of the electric control box; the front gear and the rear gear are connected to the main driving motor through the synchronous belt; the front gear and the rear gear are respectively fixed to the center position of the front propeller support rod and the rear propeller support rod; the left front ducted propeller, the left rear ducted propeller, the right front ducted propeller and the right rear ducted propeller are respectively and evenly and symmetrically fixed to the left and right ends of the main platform. The front part, the left rear part, the right front part and the right rear part; the left disc brush and the right disc brush are fixed on the lower side of the main body platform; the front scraper, the rear scraper, the left scraper and the right scraper are hingedly connected to the front edge, rear edge, left edge and right edge of the main body platform respectively; the main gear, the left gear and the right gear are fixedly connected to the disc brush drive motor, the left disc brush and the right disc brush respectively; the main gear is connected to the left gear and the right gear respectively; the front camera is fixed in the middle of the front edge of the main body platform The downward-looking camera and the meter wheel are both fixed on the lower side of the main platform; the front right laser distance sensor, the front left laser distance sensor, the rear right laser distance sensor, the rear left laser distance sensor, the left front laser distance sensor, the left rear laser distance sensor, the right front laser distance sensor and the right rear laser distance sensor are respectively fixed to the front right protruding part, the front left protruding part, the rear right protruding part, the rear left protruding part, the left front protruding part, the left rear protruding part, the right front protruding part and the right rear protruding part of the main platform; The main driving motor is used to change the working state of the left front propeller unit, the left rear propeller unit, the right front propeller unit and the right rear propeller unit; the working state includes: horizontal state and vertical state; the motor group is used to drive the blades to rotate; the left front ducted propeller, the left rear ducted propeller, the right front ducted propeller and the right rear ducted propeller are all used to provide translation and steering driving force for the main platform; the front scraper, the rear scraper, the left scraper and the right scraper are all used to provide landing support and clean the target photovoltaic panel; the electrical control box is used for.

3. A method for using a land-air integrated photovoltaic panel cleaning robot, characterized in that: The method applied to the land-air integrated photovoltaic panel cleaning robot device according to claim 2 comprises: Starting the left front propeller unit, the left rear propeller unit, the right front propeller unit, and the right rear propeller unit; According to the three-dimensional coordinates provided by the preset cloud base station, the left front propeller unit, the left rear propeller unit, the right front propeller unit, and the right rear propeller unit are used to control the flight of the main platform and move the main platform to the target photovoltaic panel position; Using the downward-looking camera to identify the outline of the target photovoltaic panel; Controlling the main platform to land on the surface of the target photovoltaic panel according to the contour of the target photovoltaic panel; Using the main body drive motor to switch the working states of the left front propeller unit, the left rear propeller unit, the right front propeller unit, and the right rear propeller unit from the horizontal state to the vertical state; The main body platform is controlled not to slide down along the surface of the target photovoltaic panel by using the upward pulling force provided by the left front propeller unit, the left rear propeller unit, the right front propeller unit and the right rear propeller unit; Controlling the main body platform to move toward the upper part and left edge of the main body platform by using the left front propeller unit, the left rear propeller unit, the right front propeller unit, the right rear propeller unit, the left front ducted propeller, the left rear ducted propeller, the right front ducted propeller, and the right rear ducted propeller; Identify the edge of the target photovoltaic panel using the front right laser distance sensor, the front left laser distance sensor, the rear right laser distance sensor, the rear left laser distance sensor, the left front laser distance sensor, the left rear laser distance sensor, the right front laser distance sensor, and the right rear laser distance sensor; Control the main platform to move to the upper left corner of the target photovoltaic panel according to the edge of the target photovoltaic panel; The rotation speed of the blade is reduced, the main platform is controlled to slide downward, the left disc brush and the right disc brush are started to perform cleaning work, and the dirty water on the target photovoltaic panel is dropped under the target photovoltaic panel by using the front scraper, the rear scraper, the left scraper and the right scraper; Using the rear right laser distance sensor and the rear left laser distance sensor to control the main platform to clean to the bottom of the target photovoltaic panel, and starting the left front ducted propeller and the left rear ducted propeller to control the translation of the main platform; The meter wheel is used to control the main platform to move a preset distance; the preset distance is the distance between the left scraper and the right scraper; Through the left front propeller unit, the left rear propeller unit, the right front propeller unit and the right rear propeller unit, the front right laser distance sensor and the front left laser distance sensor are used to control the main platform to clean to the top of the target photovoltaic panel; The main platform is controlled to traverse the surface of the target photovoltaic panel until the cleaning work is completed, and then the main platform is controlled to transfer to the photovoltaic panel to be cleaned to perform the cleaning work.

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