Offshore photovoltaic cleaning device and cleaning method

Abstract

The invention provides an offshore photovoltaic cleaning device and a cleaning method. The offshore photovoltaic cleaning device comprises a flight assembly, a cleaning assembly arranged below the flight assembly and fixedly connected with the flight assembly, and a control terminal connected with the flight assembly and the cleaning assembly through wireless signals. The flight assembly comprises a four-axis unmanned aerial vehicle, and the four-axis unmanned aerial vehicle comprises a base. The flight assembly further comprises a camera posture control holder arranged above the base and fixedly connected with the base, a 3D remote camera arranged on one side of the short edge of the camera posture control holder and a GPS locator arranged on the base and away from the 3D remote camera. The cleaning assembly comprises a supporting platform fixedly connected with the base, a liquid storage tank fixedly connected with the supporting platform and a spraying water gun fixed to the liquid storage tank, wherein the spraying water gun and the 3D remote camera are located on the same side. The cleaning intensity and method can be adjusted according to the actual pollution level, resource waste and energy consumption can be prevented, and more sustainable cleaning can be achieved.

Description

Technical Field

[0001] The present invention relates to the field of offshore photovoltaic power station cleaning technology, and in particular to an offshore photovoltaic cleaning device and a cleaning method. Background Art

[0002] With the active promotion of national policies, the offshore photovoltaic industry has ushered in huge development opportunities. Offshore photovoltaics can be divided into two types: pile-based offshore photovoltaics and floating offshore photovoltaics. Pile-based offshore photovoltaics are usually installed in offshore areas, while floating offshore photovoltaics are usually installed on the sea surface far from the coast. Due to the lack of obstructions in floating offshore photovoltaics and factors such as seawater reflecting light, its power generation efficiency is higher than that of traditional photovoltaics. However, floating offshore photovoltaics also face many challenges, such as offshore wind and wave cycle loads, ocean current impacts, wave ups and downs, and cleaning difficulties. Among them, the cleanliness of photovoltaic panels directly affects the power generation efficiency, so inadequate cleaning will directly affect the service life of photovoltaic panels, thereby greatly reducing project benefits.

[0003] Floating offshore photovoltaic arrays on the sea surface are easily affected by the marine environment. When marine microorganisms, algae, dust or seabird feces adhere to photovoltaic panels, their power conversion rate may decrease. At the same time, these pollutants will also cause local heating of photovoltaic modules. If they are not cleaned for a long time, they may cause hot spots to appear on photovoltaic modules, which will affect the service life of photovoltaic modules and significantly reduce project benefits. In addition, when cold currents hit, offshore photovoltaic panels may also freeze and frost, affecting power generation efficiency. However, the cleaning of floating offshore photovoltaics is difficult, the cost of manual cleaning is extremely high, and the cleaning equipment for offshore photovoltaics is not yet mature. Therefore, problems such as the difficulty of cleaning offshore floating photovoltaics need to be solved urgently.

[0004] Chinese invention patent: Publication number is "CN115967344A", named "An offshore photovoltaic cleaning device", which discloses an offshore photovoltaic cleaning device, which consists of an offshore photovoltaic bracket for energy dissipation and power generation and an offshore photovoltaic cleaning robot. By installing wave energy generators and ocean current generators on the offshore photovoltaic bracket, in addition to eliminating the structural fatigue caused by wave cyclic loads and the impact loads brought by ocean currents, it also converts ocean energy into electrical energy to improve the power generation efficiency of the photovoltaic power station. Connectors are installed at the lower end of the photovoltaic bracket, away from the oxygen-rich layer of seawater, to improve the structural safety performance. The offshore photovoltaic cleaning robot consists of a water storage component, a water outlet component, a cleaning component, a drive component and a signal transmission module, which solves the problem of difficulty in cleaning offshore photovoltaic components, extends the service life of offshore photovoltaic power stations and the use cycle of photovoltaic components, and can effectively increase project benefits. However, this technical solution uses a sliding rail panel cleaning method, which has low cleaning efficiency for distributed photovoltaic panels installed in a decentralized manner and is only suitable for array-type offshore photovoltaics. It has low adaptability for offshore wind power and offshore photovoltaic power stations combined with offshore ranches, and has limited applicability. In addition, the cleaning robot of this device has high energy consumption and maintenance costs, and it is unable to adjust the cleaning intensity and method according to the actual pollution situation, which will further cause waste of resources and increase energy consumption. Summary of the invention

[0005] In order to solve the problem that the cleaning robots in the above-mentioned prior art have high energy consumption and maintenance costs and cannot adjust the cleaning strength and method according to the actual pollution situation, which will further cause resource waste, the present invention proposes an offshore photovoltaic cleaning device and cleaning method, which can be adjusted according to the actual pollution situation of offshore photovoltaic panels, and at the same time, its scope of application is also wider, and it can be operated more conveniently and flexibly, thereby improving the cleaning efficiency.

[0006] The present invention is realized through the following technical scheme: comprising a flight component, a cleaning component arranged below the flight component and fixedly connected to the flight component, and a control terminal connected to the flight component and the cleaning component through wireless signals; the flight component comprises a four-axis unmanned aerial vehicle, the four-axis unmanned aerial vehicle comprises a base, the flight component further comprises a camera posture control platform arranged above the base and fixedly connected to the base, a 3D remote camera arranged on one side of the short side of the camera posture control platform, and a GPS locator arranged on the base and away from the 3D remote camera; the cleaning component comprises a supporting platform fixedly connected to the base, a liquid storage tank fixedly connected to the supporting platform, and a spray water gun fixed on the liquid storage tank and on the same side as the 3D remote camera, and the GPS locator, the camera posture control platform and the 3D remote camera are connected to the control terminal through wireless signals.

[0007] Furthermore, the liquid storage tank includes a shell, a jet cavitation pump arranged inside the shell, a liquid level monitoring device, and a flow control valve arranged on the side wall of the shell and connected to the spray water gun. The jet cavitation pump, liquid level monitoring device and flow control valve are connected to the control terminal via wireless signals.

[0008] Furthermore, the flight component also includes a laser radar arranged near the position of the 3D remote camera, and the laser radar is connected to the control terminal via a wireless signal.

[0009] Furthermore, the flight component also includes a signal exchange device disposed on the base and away from the 3D remote camera, and the signal exchange device is connected to the control terminal via a wireless signal.

[0010] The present invention also provides a cleaning method applicable to the offshore photovoltaic cleaning device of the present invention, comprising the following steps:

[0011] S1. When the power generation capacity of offshore photovoltaic power station P>0.85P 标 When the offshore photovoltaic cleaning device does not work, P is the current power generation of the offshore photovoltaic power station, P 标 is the standard power generation capacity of the offshore photovoltaic power station; when the power generation capacity of the offshore photovoltaic power station P≤0.85P 标 , start the flight component, turn on the 3D remote camera, obtain the overall distribution of offshore photovoltaic panels and the surface pollution of offshore photovoltaic panels, and automatically transmit the acquired images to the control terminal, which processes the transmitted images;

[0012] S2. The control terminal plans the flight path according to the overall distribution of the offshore photovoltaic panels obtained, and sends the planned path information to the flight component. After receiving the path information, the flight component starts to clean the target offshore photovoltaic power station;

[0013] S3. The control terminal identifies areas that require strong cleaning based on the pollution situation of the offshore photovoltaic panels and the change in power generation efficiency. Strong cleaning is required when both the pollution area and the power generation efficiency change are met. When one of the conditions is met, ordinary cleaning is required. When neither condition is met, no cleaning is required. After the identification is completed, when the aircraft flies over an area with serious pollution of offshore photovoltaic panels, the cleaning component turns on the strong cleaning mode to clean the area, and the 3D remote camera transmits the picture to the control terminal in real time to feedback the cleaning effect.

[0014] S4. When the cleaning liquid stored in the cleaning component reaches the lowest critical water level, the liquid level monitoring device sends a signal to the control terminal, which prompts that the stored liquid is insufficient and controls the flight component to return to replenish the cleaning liquid. After replenishment, it returns to the original working surface according to the data of the GPS positioning device to continue cleaning;

[0015] S5. Repeat steps S1 to S4 until the cleaning operation of the target offshore photovoltaic power station is completed.

[0016] Furthermore, the specific steps of controlling the terminal to process the image in step S1 are as follows:

[0017] S101, obtain the sequence frames in the image and read the frame number using the cvQuery-Frame function;

[0018] S102, graying the acquired sequence frames;

[0019] S103, performing a first image preprocessing on the grayscale image, and performing image denoising using Gaussian filtering: Where u(x, y) is the Gaussian function, б is the standard deviation, and (x, y) is the pixel coordinate;

[0020] S104, using the Canny operator to detect pollutants on the offshore photovoltaic panels, identifying the edges of these pollutants in the output image, and marking them as algae, seabird droppings, dust, and marine microorganisms.

[0021] Furthermore, the method for marking pollutants in step S104 is that the edge contour areas are concentrated and the large edge contour areas are algae or seabird feces. The specific judgment can be combined with the real-time image captured by the 3D remote camera. The rest of the small edge contour areas are dust or marine microorganisms.

[0022] Furthermore, the condition for the large pollution area in step S3 is

[0023]

[0024] Where S is the area of ​​offshore photovoltaic panels, and S1, S2, S3 and S4 are the areas of marine microorganisms, algae, dust and seabird droppings, respectively.

[0025] Furthermore, the condition for a large change in power generation efficiency in step S3 is

[0026] η1-η2≥0.05η1

[0027] Where η1 is the power generation efficiency of the previous offshore photovoltaic panel after cleaning, and η2 is the current power generation efficiency of the offshore photovoltaic panel.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] 1. The offshore photovoltaic cleaning device provided by the present invention can reduce the manual operation of the staff and reduce the labor intensity of the staff.

[0030] 2. The offshore photovoltaic cleaning device provided by the present invention can reduce the cleaning and maintenance costs of various offshore photovoltaic power stations, and can adjust the cleaning operation according to the actual pollution level of the offshore photovoltaic panels, thereby expanding its applicability and improving the cleaning efficiency.

[0031] 3. The offshore photovoltaic cleaning device provided by the present invention has a wider scope of application due to the flexibility of the drone. It can be applied to both decentralized offshore photovoltaic power stations and centralized offshore photovoltaic power stations, especially for offshore photovoltaic power stations built on marine ranches or offshore wind power stations, its cleaning effect is more obvious.

[0032] 4. The offshore photovoltaic cleaning device provided by the present invention, combined with the integration of components such as a GPS locator, a signal exchange device and a control terminal, can achieve efficient signal transmission, thereby realizing precise and automated cleaning operations. At the same time, it can identify areas that require strong cleaning and automatically start a strong cleaning mode in severely polluted areas. It can adjust the cleaning intensity and method according to the actual pollution level, which helps to prevent waste of resources and energy consumption, help to achieve more sustainable cleaning, improve cleaning work efficiency and safety, and ensure cleaning results.

[0033] 5. The offshore photovoltaic cleaning device provided by the present invention is equipped with a laser radar, so that the flying component can adaptively adjust the distance between the flying component and the photovoltaic panel, ensuring that the distance between the flying component and the photovoltaic panel remains constant when the flying component cleans the photovoltaic panel. The flying component will not be too close or too far from the photovoltaic panel surface due to problems such as wave fluctuations and waves, causing collisions or poor cleaning. This improves the offshore photovoltaic cleaning efficiency, extends the service life of various offshore photovoltaic power stations, and increases project revenue. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0035] Figure 2 It is an enlarged schematic diagram of the local structure of the liquid storage tank in the present invention.

[0036] Figure 3 This is a flow chart of the cleaning method of the offshore photovoltaic cleaning device of the present invention.

[0037] Figure 4 It is a schematic diagram of the image processing flow in the cleaning method of the offshore photovoltaic cleaning device in the present invention.

[0038] Indicated in the figure:

[0039] 1. Flight component; 2. Cleaning component; 3. Control terminal; 11. Quadcopter; 111. Base; 12. GPS locator; 13. Camera posture control gimbal; 14. Signal exchange device; 15. 3D remote camera; 16. LiDAR; 21. Support platform; 22. Spray water gun; 23. Liquid storage tank; 231. Jet cavitation pump; 232. Liquid level monitoring device; 233. Flow control valve. DETAILED DESCRIPTION

[0040] Advantages and features of the present invention will be illustrated and explained by the following non-limiting description of preferred embodiments thereof, which are given by way of example only with reference to the accompanying drawings.

[0041] like Figure 1 and Figure 2As shown, the present invention provides an offshore photovoltaic cleaning device, including a flight component 1, a cleaning component 2 and a control terminal 3, wherein the cleaning component 2 is arranged below the flight component 1, the control terminal 3 is arranged on the shore or on an offshore platform, and the cleaning component 2 and the flight component 1 are connected to the control terminal 3 through wireless signals. The flight component 1 includes a four-axis drone 11, a GPS locator 12, a camera posture control platform 13, a signal exchange device 14, a 3D remote camera 15 and a laser radar 16; the cleaning component 2 is mounted on the flight component 1, and the cleaning component 2 includes: a support platform 21, a spray water gun 22, and a liquid storage tank 23. The support platform 21 is fixed below the four-axis drone 11. The four-axis drone 11 includes a base 111, and the support platform 21 is fixedly connected to the base 111. The camera posture control platform 13 is arranged above the base 111 and is fixedly connected to the base 111. The 3D remote camera 15 is arranged on one side of the short side of the camera posture control platform 13, and the laser radar 16 is arranged near the 3D remote camera 15. The GPS locator 12 and the signal exchange device 14 are respectively arranged on the base 111 and away from the 3D remote camera 15. The liquid storage tank 23 is fixedly connected to the support platform 21, and the spray water gun 22 is fixed on the liquid storage tank 23 and on the same side as the 3D remote camera 15. The liquid storage tank 23 includes a shell, a jet cavitation pump 231, a liquid level monitoring device 232 and a flow control valve 233. The jet cavitation pump 231 and the liquid level monitoring device 232 are arranged inside the shell of the liquid storage tank 23, and the flow control valve 233 is arranged on the side wall of the shell and connected to the spray water gun 22. The jet cavitation pump 231, the liquid level monitoring device 232 and the flow control valve 233 are connected to the control terminal 3 through wireless signals, and can perform signal transmission. The liquid level monitoring device 232 is used to monitor the liquid level of the cleaning liquid in the liquid storage tank 23, control the liquid volume in the tank in real time, and send a signal to the control terminal 3 when the liquid level reaches the lowest critical water level. The jet cavitation pump 231 and the flow control valve 233 are controlled by the control terminal 3. If strong cleaning is required, the control terminal 3 sends a control signal, and the flow control valve 233 increases the flow rate, so that the cleaning liquid sprayed out by the spray water gun 22 has a faster flow rate, a greater pressure, and a stronger cleaning effect; if only ordinary cleaning is required, the control terminal 3 sends a control signal, and the flow control valve 233 reduces the flow rate, so that the flow rate of the cleaning liquid sprayed out by the spray water gun 22 is slowed down.

[0042] The GPS locator 12 and the signal exchange device 14 are connected to the control terminal 3 via wireless signals and can transmit signals. The GPS locator 12 provides the location information of the offshore photovoltaic power station to the quadcopter 11 and provides data support for path planning. The signal exchange device 14 serves to stabilize the signal connection between the flight component 1, the cleaning component 2 and the control terminal 3, so as to avoid poor signal transmission effect due to the increase of the flight distance, thereby affecting the cleaning effect.

[0043] The camera posture control pan-tilt 13 and the 3D remote camera 15 are connected to the control terminal 3 via wireless signals and can transmit signals. The camera posture control pan-tilt 13 is used to adjust the posture angle of the 3D remote camera 15 to facilitate better image transmission and provide clearer and higher-quality images. The 3D remote camera 15 is used to capture images of the offshore photovoltaic power station and send them to the control terminal 3 for image processing and recognition. After the control terminal 3 recognizes the image, it makes a judgment and sends the judgment result to the cleaning component 2 for corresponding cleaning operations.

[0044] The laser radar 16 in the flying component 1 is connected to the control terminal 3 via wireless signals and can transmit signals. By carrying the laser radar 16, the flying component 1 can adaptively adjust the distance between the flying component 1 and the photovoltaic panel to ensure that the distance between the cleaning component 2 and the photovoltaic panel remains constant when the cleaning component 2 cleans the photovoltaic panel. The cleaning component 2 will not be too close or too far from the surface of the photovoltaic panel due to problems such as wave fluctuations and waves, causing collisions or poor cleaning.

[0045] like Figure 3 As shown, the present invention also provides a cleaning method applicable to the offshore photovoltaic cleaning device provided by the present invention, comprising the following steps:

[0046] Step S1: When the power generation power P of the offshore photovoltaic power station is greater than 0.85P 标 When the offshore photovoltaic cleaning device does not work, P is the current power generation of the offshore photovoltaic power station, P 标 is the standard power generation capacity of the offshore photovoltaic power station; when the power generation capacity of the offshore photovoltaic power station P≤0.85P 标 , that is, when the power generation of the offshore photovoltaic power station drops to 85% of the standard power generation, the flight component 1 is started to fly to the offshore photovoltaic power station, and the 3D remote camera 15 is turned on to obtain the overall distribution of the offshore photovoltaic panels and the surface pollution of the offshore photovoltaic panels, and the obtained images are automatically transmitted to the control terminal 3, and the control terminal 3 processes the transmitted images;

[0047] like Figure 4 The specific steps of controlling the terminal 3 to process the image are as follows:

[0048] Step S101, obtain the sequence frames in the image and read the frame number using the cvQuery-Frame function;

[0049] Step S102, graying the acquired sequence frames, that is, converting the image into a grayscale image;

[0050] Step S103: perform a first image preprocessing on the grayscale image, and use Gaussian filtering to perform image denoising: Where u(x, y) is the Gaussian function, б is the standard deviation, and (x, y) is the pixel coordinate;

[0051] Step S104, using the Canny operator to detect pollutants on offshore photovoltaic panels, and marking the edges of these pollutants in the output image. After the first image preprocessing, the edge contour areas that are concentrated and larger than the edge contour areas of other pollutants are defined as algae or seabird feces. The specific judgment can be combined with the real-time image captured by the 3D remote camera 15. The remaining edge contour areas with smaller areas are defined as dust or marine microorganisms.

[0052] Step S2, the control terminal 3 plans the flight path according to the overall distribution of the offshore photovoltaic panels, and sends the planned path information to the flight component 1. After receiving the path information, the flight component 1 starts to clean the target offshore photovoltaic power station, and at the same time automatically adjusts through the laser radar 16 to make the flight component 1 reach a suitable position from the offshore photovoltaic panels for cleaning.

[0053] Step S3, the control terminal 3 identifies areas that require strong cleaning according to the surface pollution of the offshore photovoltaic panels, the pollution area and the change in power generation efficiency; strong cleaning is required when both the pollution area and the power generation efficiency change are met; when one of the conditions is met, only ordinary cleaning is required; when neither condition is met, no cleaning is required; after the identification is completed, when flying over an area with serious pollution of offshore photovoltaic panels, the cleaning component 2 turns on the strong cleaning mode to clean the area, and the 3D remote camera 15 transmits the picture to the control terminal 3 in real time to feedback the cleaning effect.

[0054] The control terminal 3 calculates the pollution area according to the pollution situation of the offshore photovoltaic panels using the pollution area calculation formula And the power generation efficiency change formula η1-η2≥0.05η1 identifies the area that needs strong cleaning, where S1, S2, S3 and S4 are the areas of marine microorganisms, algae, dust and seabird feces respectively, S is the area of ​​offshore photovoltaic panels, η1 is the power generation efficiency after the previous offshore photovoltaic panel cleaning, η2 is the current offshore photovoltaic panel power generation efficiency, when the above conditions are met at the same time, strong cleaning is required, and when one of them is met, only ordinary cleaning is required. After the identification is completed, when flying over an area with serious pollution of offshore photovoltaic panels, the cleaning component 2 turns on the strong cleaning mode to clean the area, and at the same time, the 3D remote camera 15 transmits the picture to the control terminal 3 in real time to feedback the cleaning effect. On the basis of automatic identification, the operator is allowed to manually confirm and adjust to ensure the accuracy and effectiveness of the cleaning.

[0055] Step S4, during the cleaning operation, when the cleaning liquid stored in the cleaning component 2 reaches the minimum critical water level, the liquid level monitoring device 232 sends a signal to the control terminal 3, and the control terminal 3 prompts that the stored liquid is insufficient, and at the same time controls the flight component 1 to return to replenish the cleaning liquid. After the replenishment is completed, it returns to the original working surface according to the data of the GPS locator 12 to continue cleaning. Repeat this process until the cleaning operation of the target offshore photovoltaic power station is completed.

[0056] Step S5, repeat steps S1 to S4 until the cleaning operation of the target offshore photovoltaic power station is completed.

[0057] In addition to the above embodiments, the present invention may also have other implementation modes. Any technical solutions formed by equivalent replacement or equivalent transformation shall fall within the protection scope required by the present invention.

Claims

1. An offshore photovoltaic cleaning device, characterized in that: The invention comprises a flying component (1), a cleaning component (2) arranged below the flying component (1) and fixedly connected to the flying component (1), and a control terminal (3) connected to the flying component (1) and the cleaning component (2) via wireless signals; the flying component (1) comprises a four-axis drone (11), the four-axis drone (11) comprises a base (111), the flying component (1) further comprises a camera posture control platform (13) arranged above the base (111) and fixedly connected to the base (111), a 3D telescope arranged on one side of the short side of the camera posture control platform (13), and a camera posture control platform (13) arranged above the base (111). The invention relates to a 3D remote camera (15) and a GPS locator (12) arranged on a base (111) and away from the 3D remote camera (15); the cleaning component (2) comprises a support platform (21) fixedly connected to the base (111), a liquid storage tank (23) fixedly connected to the support platform (21), and a spray water gun (22) fixed on the liquid storage tank (23) and on the same side as the 3D remote camera (15); the GPS locator (12), the camera posture control pan-tilt platform (13) and the 3D remote camera (15) are connected to the control terminal (3) via wireless signals.

2. The offshore photovoltaic cleaning device according to claim 1, characterized in that: The liquid storage tank (23) comprises a shell, a jet cavitation pump (231) arranged inside the shell, a liquid level monitoring device (232), and a flow control valve (233) arranged on a side wall of the shell and connected to the spray water gun (22); the jet cavitation pump (231), the liquid level monitoring device (232), and the flow control valve (233) are connected to the control terminal (3) via wireless signals.

3. The offshore photovoltaic cleaning device according to claim 2, characterized in that: The flight component (1) further comprises a laser radar (16) arranged near the 3D remote camera (15), and the laser radar (16) is connected to the control terminal (3) via a wireless signal.

4. The offshore photovoltaic cleaning device according to claim 2, characterized in that: The flight component (1) further comprises a signal exchange device (14) arranged on the base (111) and away from the 3D remote camera (15); the signal exchange device (14) is connected to the control terminal (3) via a wireless signal.

5. A cleaning method applicable to the offshore photovoltaic cleaning device according to any one of claims 2 to 4, comprising the following steps: S1. When the power generation capacity of offshore photovoltaic power station P>0.85P 标 When the offshore photovoltaic cleaning device does not work, P is the current power generation of the offshore photovoltaic power station, P 标 is the standard power generation capacity of the offshore photovoltaic power station; when the power generation capacity of the offshore photovoltaic power station P≤0.85P 标 , start the flight component (1), turn on the 3D remote camera (15), obtain the overall distribution of the offshore photovoltaic panels and the surface pollution of the offshore photovoltaic panels, and automatically transmit the obtained images to the control terminal (3), and the control terminal (3) processes the transmitted images; S2, the control terminal (3) performs flight path planning according to the overall distribution of the offshore photovoltaic panels obtained, and sends the planned path information to the flight component (1). After receiving the path information, the flight component (1) starts to clean the target offshore photovoltaic power station; S3, the control terminal (3) identifies areas that require strong cleaning according to the pollution situation of the surface of the offshore photovoltaic panels, the pollution area and the change in power generation efficiency; strong cleaning is required when both the pollution area and the power generation efficiency change are met; ordinary cleaning is required when one of the conditions is met; and no cleaning is required when neither of the conditions is met; after the identification is completed, when flying over an area where the pollution situation of the offshore photovoltaic panels is serious, the cleaning component (2) starts the strong cleaning mode to clean the area, and at the same time, the 3D remote camera (15) transmits the picture to the control terminal (3) in real time to feedback the cleaning effect; S4. When the cleaning liquid stored in the cleaning component (2) reaches the lowest critical water level, the liquid level monitoring device (232) sends a signal to the control terminal (3). The control terminal (3) prompts that the stored liquid is insufficient and controls the flight component (1) to return to replenish the cleaning liquid. After replenishment, the flight component (1) returns to the original working surface to continue cleaning according to the data of the GPS positioning device (12); S5. Repeat steps S1 to S4 until the cleaning operation of the target offshore photovoltaic power station is completed.

6. The cleaning method of the offshore photovoltaic cleaning device according to claim 5, characterized in that: The specific steps of controlling the terminal (3) to process the image in step S1 are as follows: S101, obtain the sequence frames in the image and read the frame number using the cvQuery-Frame function; S102, graying the acquired sequence frames; S103, performing a first image preprocessing on the grayscale image, and performing image denoising using Gaussian filtering: Where u(x, y) is the Gaussian function, б is the standard deviation, and (x, y) is the pixel coordinate; S104, using the Canny operator to detect pollutants on the offshore photovoltaic panels, identifying the edges of these pollutants in the output image, and marking them as algae, seabird droppings, dust, and marine microorganisms.

7. The cleaning method of the offshore photovoltaic cleaning device according to claim 6, characterized in that: The method for marking pollutants in step S104 is that the edge contour areas are concentrated and the large edge contour areas are algae or seabird feces. The specific identification can be combined with the 3D remote camera (15) to shoot real-time images, and the remaining small edge contour areas are dust or marine microorganisms.

8. The cleaning method of the offshore photovoltaic cleaning device according to claim 7, characterized in that: The condition for a large pollution area in step S3 is: Where S is the area of ​​offshore photovoltaic panels, and S1, S2, S3 and S4 are the areas of marine microorganisms, algae, dust and seabird droppings, respectively.

9. The cleaning method of the offshore photovoltaic cleaning device according to claim 8, characterized in that: The condition for a large change in power generation efficiency in step S3 is η1-η2≥0.05η1 Where η1 is the power generation efficiency of the previous offshore photovoltaic panel after cleaning, and η2 is the current power generation efficiency of the offshore photovoltaic panel.

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