Robot for cleaning photovoltaic panel

Abstract

The invention provides a robot for cleaning a photovoltaic panel, and relates to the technical field of photovoltaic cleaning, the robot comprises a moving base, the upper surface of the moving base is fixedly connected with a positioning adjusting assembly, the positioning adjusting assembly is provided with two cleaning assemblies which are symmetrically arranged front and back, and the moving base is internally provided with a water purifying tank; a liquid outlet of the water purifying tank is connected with a water purifying pipe, the water purifying pipe is connected with a water purifying pump, and a liquid outlet of the water purifying pipe is communicated with the cleaning assembly. The robot can be controlled to reach the photovoltaic panels in a remote control mode to clean the photovoltaic panels, workers do not need to manually place the robot on the photovoltaic panels, in the cleaning process of the photovoltaic panels, the workers do not need to reach all the photovoltaic panels, the working intensity of the workers is reduced, and the working efficiency of the workers is improved. And the weight of the robot is borne by the ground through the moving base instead of bearing the gravity of the robot by the surface of the photovoltaic panel, so that the photovoltaic panel is prevented from being damaged due to excessive pressure.

Description

Technical Field

[0001] The invention relates to the technical field of photovoltaic cleaning, and in particular to a robot for cleaning photovoltaic panels. Background Art

[0002] Photovoltaics, or photovoltaic power generation system, is a power generation system that uses the photovoltaic effect of semiconductor materials to convert solar radiation energy into electrical energy. Photovoltaic power generation systems are divided into independent photovoltaic systems and grid-connected photovoltaic systems, and are composed of solar photovoltaic arrays, battery packs, charge controllers, power electronic converters (inverters), loads, etc.

[0003] During the use of photovoltaic panels, dust, leaves, bird droppings and other pollutants will gradually accumulate on their surface. These pollutants will affect the incidence of sunlight and the efficiency of light energy conversion, reducing the power generation of photovoltaic panels. Pollutants will also reduce the service life of photovoltaic panels and increase the maintenance cost of equipment.

[0004] Existing photovoltaic panel cleaning robots, such as a fixed / horizontal photovoltaic cleaning robot disclosed in CN221614929U, need to be manually placed on the surface of the photovoltaic panel, which is easy to damage the surface of the photovoltaic panel and increases the labor intensity of the staff. Summary of the invention

[0005] The present invention provides a robot for cleaning photovoltaic panels, so as to solve the defects in the prior art that the cleaning robot needs to be manually placed on the surface of the photovoltaic panel, which easily damages the surface of the photovoltaic panel and increases the labor intensity of the staff.

[0006] On the one hand, the present invention provides a robot for cleaning photovoltaic panels, including a moving base, a positioning adjustment component fixedly connected to the upper surface of the moving base, two groups of cleaning components symmetrically arranged front and back are installed on the positioning adjustment component, a clean water tank is arranged inside the moving base, the liquid outlet of the clean water tank is connected to a clean water pipe, the clean water pipe is connected to a clean water pump, and the liquid outlet of the clean water pipe is connected to the cleaning component.

[0007] Preferably, a sewage tank is also provided inside the moving base, and a plurality of groups of vertically arranged electric telescopic rods are fixedly connected to the upper surface of the moving base, the telescopic ends of the electric telescopic rods are fixedly connected to the lower surface of the water collecting trough, and a sewage pipe is connected to the bottom of the water collecting trough, and the water outlet of the sewage pipe is connected to the sewage tank.

[0008] Preferably, the positioning and adjustment component includes a sliding seat 1, which is fixedly connected to the upper surface of the moving base; a sliding seat 2 is slidably connected to the sliding seat 1 in the front-to-back direction, and two sliding grooves 1 are symmetrically arranged on the upper surface of the sliding seat 2; a bidirectional motor is installed inside the sliding seat 2, and a threaded rod is fixedly connected to the front and rear output ends of the bidirectional motor respectively, and the two threaded rods are respectively arranged in the two sliding grooves 1, and a sliding block 1 is threadedly connected to the two threaded rods respectively, and the two cleaning components are respectively rotatably connected to the sliding block 1.

[0009] Preferably, the cleaning component includes a rotating rod, which is rotatably connected to a sliding block one, and a sliding groove two is provided on the upper surface of the rotating rod along the length direction, a sliding block two is slidably connected in the sliding groove two, a lifting frame is fixedly connected to the sliding block two, a connecting frame which slides in the up and down directions is slidably connected to the lifting frame, a telescopic box is fixedly connected to the connecting frame, an electric telescopic rod three which is telescopic in the front and back directions is installed in the telescopic box, a rotating brush is connected to the telescopic end of the electric telescopic rod three, and the liquid outlet of the water purification pipe is connected to the rotating brush.

[0010] Preferably, a positioning groove is also provided on the rotating rod, and an electric telescopic rod 2 is installed on the end surface of the positioning groove. The telescopic direction of the electric telescopic rod 2 is the length direction of the rotating rod, and the telescopic end of the electric telescopic rod 2 is fixedly connected with a positioning plate.

[0011] Preferably, a photovoltaic panel evaluation module is also included, and the photovoltaic panel evaluation module includes:

[0012] A camera is used to obtain an actual image of the photovoltaic panel, and the camera is installed on the lower surface of the rotating brush;

[0013] An image stitching unit, used for stitching the actual images of the photovoltaic panels acquired by the camera to obtain a panel surface image;

[0014] The image analysis unit is used to analyze the panel image. When the analysis result indicates that maintenance is required, an alarm is issued and an early warning report is generated.

[0015] Preferably, the image stitching unit includes:

[0016] The strip image acquisition subunit is used to acquire a plurality of strip images based on the relative movement of the camera and the photovoltaic panel when the electric telescopic rod is at different telescopic lengths;

[0017] The splicing subunit is used to splice a plurality of strip images to obtain a panel image.

[0018] Preferably, the splicing subunit comprises:

[0019] A preliminary stitching block, used to place each strip image at a corresponding stitching position based on the three telescopic lengths of the corresponding electric telescopic rod to obtain a preliminary stitching image;

[0020] A stitching verification block is used to obtain a number of characteristic images in each stitching area in the preliminary stitching image, and determine the overlap degree of the characteristic images in the two strip images constituting the stitching area;

[0021] The image output block, when the overlap degree of the characteristic images in the two strip images in the stitching area is greater than or equal to the preset overlap threshold, the stitching position of the two strip images is locked; when the overlap degree of the characteristic images in the two strip images in the stitching area is less than the preset overlap threshold, the stitching position of the strip images whose stitching position is not locked is adjusted according to the characteristic images; after the stitching positions of all the strip images are locked, all the strip images are stitched to obtain the board image.

[0022] Preferably, the image analysis unit comprises:

[0023] The pattern extraction subunit is used to extract all characteristic patterns in the board surface image, and divide the characteristic patterns into stain patterns and scratch patterns according to the appearance characteristics of each characteristic pattern;

[0024] A calculation subunit, used for calculating evaluation parameters of photovoltaic panels;

[0025] Where P is the evaluation parameter of the photovoltaic panel; k is the calculation coefficient corresponding to the camera resolution; σ and τ are the calculation coefficients of power generation efficiency and photovoltaic panel safety, respectively; α and β are the calculation coefficients of the total area of ​​the stain pattern and the area of ​​a single stain pattern, respectively; M is the total number of stain patterns; S i is the area of ​​the i-th stain pattern; S q is the total surface area of ​​the photovoltaic panel; S w is the classification basis of the stain pattern area; N is the total number of scratch patterns; e is the natural base number; D j is the average width of the jth scratch pattern; D g S is the classification basis for the width of the scratch pattern; j is the area of ​​the circumscribed rectangle of the jth scratch pattern; S L L is the grading basis of the area of ​​the circumscribed rectangle of the scratch pattern; j is the total length of the i-th scratch pattern; S0 is the unit area; L0 is the unit length; ln is the logarithmic function with e as the base; θ g is the angle of sunlight; θ b is the angle between the photovoltaic panel and the ground;

[0026] The analysis subunit, when the photovoltaic panel evaluation parameter is higher than the preset maintenance threshold, an alarm is issued and an early warning report is generated. When the photovoltaic panel evaluation parameter is less than or equal to the preset maintenance threshold, no alarm is issued.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] The present invention can control the robot to reach the photovoltaic panels and clean the photovoltaic panels by remote control, without the need for the staff to manually place the robot on the photovoltaic panels. Therefore, during the cleaning process of the photovoltaic panels, the staff does not need to reach every photovoltaic panel, thereby reducing the work intensity of the staff. In addition, the weight of the robot is borne by the ground through the moving base, rather than the gravity of the robot being borne by the surface of the photovoltaic panel, thereby avoiding damage to the photovoltaic panel caused by excessive pressure. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0030] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0031] Figure 2 It is a main structural schematic diagram of the present invention;

[0032] Figure 3 is a schematic structural diagram of the cleaning assembly of the present invention;

[0033] Figure 4 It is a structural schematic diagram of the sliding seat 2 of the present invention.

[0034] Reference numerals:

[0035] 1. Motion base; 2. Positioning adjustment component; 3. Cleaning component; 4. Clean water tank; 5. Clean water pipe; 6. Sewage tank; 7. Electric telescopic rod one; 8. Water collecting tank; 9. Sewage pipe; 10. Sliding seat one; 11. Sliding seat two; 12. Sliding slot one; 13. Threaded rod; 14. Sliding block one; 15. Rotating rod; 16. Sliding slot two; 17. Sliding block two; 18. Lifting frame; 19. Connecting frame; 20. Telescopic box; 21. Electric telescopic rod three; 22. Rotating brush; 23. Positioning slot; 24. Electric telescopic rod two; 25. Positioning plate; 26. Double-head motor. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] In addition, in the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes, and do not specifically refer to the order or sequence, nor are they used to limit the present invention. They are only used to distinguish components or operations described with the same technical terms, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions and technical features between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0038] Example 1

[0039] The embodiment of the present invention provides a robot for cleaning photovoltaic panels, such as Figure 1-4 As shown, it includes a moving base 1, a positioning adjustment component 2 is fixedly connected to the upper surface of the moving base 1, two groups of cleaning components 3 symmetrically arranged front and back are installed on the positioning adjustment component 2, a clean water tank 4 is arranged inside the moving base 1, the liquid outlet of the clean water tank 4 is connected to a clean water pipe 5, the clean water pipe 5 is connected to a clean water pump, and the liquid outlet of the clean water pipe 5 is connected to the cleaning component 3.

[0040] Preferably, a sewage tank 6 is also provided inside the moving base 1, and a plurality of groups of vertically arranged electric telescopic rods 7 are fixedly connected to the upper surface of the moving base 1, and the telescopic ends of the electric telescopic rods 7 are fixedly connected to the lower surface of the water collecting trough 8, and a sewage pipe 9 is connected to the bottom of the water collecting trough 8, and the water outlet of the sewage pipe 9 is connected to the sewage tank 6.

[0041] Preferably, the positioning and adjustment component 2 includes a sliding seat 10, which is fixedly connected to the upper surface of the moving base 1; a sliding seat 11 is slidably connected to the sliding seat 10 along the front-to-back direction, and two sliding grooves 12 are symmetrically arranged on the upper surface of the sliding seat 11, and a bidirectional motor is installed inside the sliding seat 11, and a threaded rod 13 is fixedly connected to the front and rear output ends of the bidirectional motor respectively, and the two threaded rods 13 are respectively arranged in the two sliding grooves 12, and a sliding block 14 is respectively threadedly connected to the two threaded rods 13, and the two cleaning components 3 are respectively rotatably connected to the sliding block 14.

[0042] Preferably, the cleaning component 3 includes a rotating rod 15, which is rotatably connected to a sliding block 14, and a sliding groove 16 is provided on the upper surface of the rotating rod 15 along the length direction, a sliding block 17 is slidably connected in the sliding groove 16, a lifting frame 18 is fixedly connected to the sliding block 17, a connecting frame 19 which slides in the up and down directions is slidably connected to the lifting frame 18, a telescopic box 20 is fixedly connected to the connecting frame 19, an electric telescopic rod 3 21 which is telescopic in the front and back directions is installed in the telescopic box 20, a rotating brush 22 is connected to the telescopic end of the electric telescopic rod 3 21, and the liquid outlet of the water purification pipe 5 is connected to the rotating brush 22.

[0043] Preferably, a positioning groove 23 is further provided on the rotating rod 15, and an electric telescopic rod 24 is installed on the end surface of the positioning groove 23. The telescopic direction of the electric telescopic rod 24 is the length direction of the rotating rod 15, and the telescopic end of the electric telescopic rod 24 is fixedly connected to a positioning plate 25.

[0044] The beneficial effects of the above technical solution are:

[0045] When cleaning the photovoltaic panel, firstly, the moving base 1 is controlled to move in front of the photovoltaic panel, and then the sliding seat 11 slides on the sliding seat 10 in the front-to-back direction, so that the center of the sliding seat 11 is aligned with the center of the photovoltaic panel, and then the distance between the two sliding blocks 14 is adjusted by driving the bidirectional motor, so that the distance between the two sliding blocks 14 matches the width of the photovoltaic panel, and then the front and rear sides of the lower surface of the photovoltaic panel are respectively inserted into the two positioning grooves 23 by rotating the rotating rod 15, and then the positioning plate 25 is contacted with the frame of the photovoltaic panel by the extension and contraction of the electric telescopic rod 24, and then the connecting frame 19 is placed on the lifting frame 18. The rotating brush 22 slides up and down, thereby adjusting the distance between the rotating brush 22 and the upper surface of the photovoltaic panel to an appropriate level, then the rotating brush 22 is turned on to rotate, and the clean water pump is turned on to supply water to the rotating brush 22, and the sliding block 17 slides in the sliding groove to complete the movement of the rotating brush 22 on the photovoltaic panel. When the rotating brush 22 completes a left-right cleaning, the position of the rotating brush 22 in the front-to-back direction is adjusted by the extension and contraction of the electric telescopic rod 3 21, thereby completing the position adjustment of the rotating brush 22 in the front-to-back direction, thereby completing the cleaning of the entire photovoltaic panel, and the sewage generated during the cleaning process will flow along the photovoltaic panel to the sump 8 and be recovered into the sewage tank 6.

[0046] The present invention can control the robot to reach the photovoltaic panels to clean the photovoltaic panels by remote control, without the need for the staff to manually place the robot on the photovoltaic panels. Therefore, during the cleaning process of the photovoltaic panels, the staff does not need to reach every photovoltaic panel, thereby reducing the work intensity of the staff. In addition, the weight of the robot is borne by the ground through the motion base 1, rather than the gravity of the robot being borne by the surface of the photovoltaic panel, thereby avoiding damage to the photovoltaic panel due to excessive pressure.

[0047] By setting up the water collecting trough 8 and the sewage tank 6, the sewage generated during the cleaning process can be recycled, ensuring the cleanliness of the photovoltaic panel installation site. By setting up the electric telescopic rod 7, the height of the water collecting trough 8 is matched with the lower end of the photovoltaic panel, ensuring the recovery rate of the sewage and avoiding sewage leakage.

[0048] When cleaning the photovoltaic panel, firstly, the centering is completed by sliding the sliding seat 2 11 on the sliding seat 1 10, and then the width is adjusted by sliding the sliding block 14, so as to complete the accurate alignment of the cleaning robot and the photovoltaic panel, and finally the positioning plate 25 is in contact with the frame of the photovoltaic panel, thereby ensuring the stability of the photovoltaic panel during the cleaning process, and completing the relative positioning of the robot and the photovoltaic panel, providing a precision basis for the remote control robot to clean the photovoltaic panel, avoiding the missed cleaning or incomplete cleaning of some areas of the photovoltaic panel due to the vibration of the photovoltaic panel, and improving the cleaning effect of the photovoltaic panel.

[0049] Example 2

[0050] Based on the embodiment 1, a photovoltaic panel evaluation module is further included, and the photovoltaic panel evaluation module includes:

[0051] A camera, used to obtain an actual image of the photovoltaic panel, the camera being mounted on the lower surface of the rotating brush 22;

[0052] An image stitching unit, used for stitching the actual images of the photovoltaic panels acquired by the camera to obtain a panel surface image;

[0053] The image analysis unit is used to analyze the panel image. When the analysis result indicates that maintenance is required, an alarm is issued and an early warning report is generated.

[0054] Preferably, the image stitching unit includes:

[0055] The strip image acquisition subunit is used to acquire a plurality of strip images based on the relative movement of the camera and the photovoltaic panel when the electric telescopic rod is at different telescopic lengths;

[0056] The splicing subunit is used to splice a plurality of strip images to obtain a panel image.

[0057] Preferably, the splicing subunit comprises:

[0058] A preliminary stitching block, used to place each strip image at a corresponding stitching position based on the three telescopic lengths of the corresponding electric telescopic rod to obtain a preliminary stitching image;

[0059] A stitching verification block is used to obtain a number of characteristic images in each stitching area in the preliminary stitching image, and determine the overlap degree of the characteristic images in the two strip images constituting the stitching area;

[0060] The image output block, when the overlap degree of the characteristic images in the two strip images in the stitching area is greater than or equal to the preset overlap threshold, the stitching position of the two strip images is locked; when the overlap degree of the characteristic images in the two strip images in the stitching area is less than the preset overlap threshold, the stitching position of the strip images whose stitching position is not locked is adjusted according to the characteristic images; after the stitching positions of all the strip images are locked, all the strip images are stitched to obtain the board image.

[0061] Preferably, the image analysis unit comprises:

[0062] The pattern extraction subunit is used to extract all characteristic patterns in the board surface image, and divide the characteristic patterns into stain patterns and scratch patterns according to the appearance characteristics of each characteristic pattern;

[0063] A calculation subunit, used for calculating evaluation parameters of photovoltaic panels;

[0064] Where P is the evaluation parameter of the photovoltaic panel; k is the calculation coefficient corresponding to the camera resolution; σ and τ are the calculation coefficients of power generation efficiency and photovoltaic panel safety, respectively; α and β are the calculation coefficients of the total area of ​​the stain pattern and the area of ​​a single stain pattern, respectively; M is the total number of stain patterns; S i is the area of ​​the i-th stain pattern; S q is the total surface area of ​​the photovoltaic panel; S w is the classification basis of the stain pattern area; N is the total number of scratch patterns; e is the natural base number; D j is the average width of the jth scratch pattern; D g S is the classification basis for the width of the scratch pattern; j is the area of ​​the circumscribed rectangle of the jth scratch pattern; S L L is the grading basis of the area of ​​the circumscribed rectangle of the scratch pattern; j is the total length of the i-th scratch pattern; S0 is the unit area; L0 is the unit length; ln is the logarithmic function with e as the base; θ g is the angle of sunlight; θ b is the angle between the photovoltaic panel and the ground;

[0065] The analysis subunit, when the photovoltaic panel evaluation parameter is higher than the preset maintenance threshold, an alarm is issued and an early warning report is generated. When the photovoltaic panel evaluation parameter is less than or equal to the preset maintenance threshold, no alarm is issued.

[0066] In this embodiment, the process of acquiring a strip image is as follows: first, the electric telescopic rod is controlled to remain at a specified telescopic length, and then the camera moves from one end of the photovoltaic panel to the other end along with the rotating brush, and the images acquired by the camera in the process are spliced ​​to obtain a strip image.

[0067] In this embodiment, the stitching area refers to the overlapping area of ​​two strip images during the stitching process.

[0068] In this embodiment, the characteristic image includes a surface scratch image.

[0069] In this embodiment, the overlap degree of the characteristic images in the two strip images refers to the ratio of the overlap area of ​​the same characteristic image to the total area of ​​the characteristic image in the two strip images.

[0070] In this embodiment, the characteristic pattern is a pattern in the board image that is composed of interconnected characteristic pixel blocks greater than a specified number, and the characteristic pixel block is a pixel block whose grayscale value differs from the average grayscale value of the board image by a preset difference.

[0071] In this embodiment, the external shape feature of the characteristic pattern is the external shape of the characteristic pattern, the external shape feature of the stain pattern is a small dot or a patch, and the external shape feature of the scratch pattern is a straight line, a curve or a mesh structure.

[0072] The beneficial effects of the above technical solution are:

[0073] During the process of cleaning the photovoltaic panel, the actual image of the photovoltaic panel is obtained by the camera installed on the lower surface of the rotating brush 22, so that the status of the photovoltaic panel can be evaluated while cleaning the photovoltaic panel. In this way, the photovoltaic panel can be inspected and repaired in time when the photovoltaic panel is in poor condition or there is a safety hazard, thereby ensuring the efficient and safe operation of the photovoltaic panel.

[0074] When acquiring the board surface image, the overlap of the characteristic images in each stitching area is verified to ensure the accuracy of the stitching of the strip images. By locking the stitching position of each strip image in turn, it is ensured that the stitching position of the verified strip images will not be changed, thereby ensuring the reliability of the obtained board surface image.

[0075] When evaluating a photovoltaic panel, first determine the degree of influence of the stain pattern on the power generation efficiency of the photovoltaic panel through the area occupied by each stain pattern and the total area of ​​all stain patterns, then correct the degree of influence on the power generation efficiency of the photovoltaic panel through the width of each scratch pattern, thereby obtaining an evaluation result of the power generation efficiency of the photovoltaic panel, then consider the influence of scratches on the surface of the photovoltaic panel on the safe operation of the photovoltaic panel, and obtain a preliminary evaluation result of the photovoltaic panel by comprehensively considering the evaluation result of the power generation efficiency of the photovoltaic panel and the influence of scratches on the surface of the photovoltaic panel on the safe operation of the photovoltaic panel, then correct the preliminary evaluation result according to the lighting conditions and the resolution of the camera, and obtain the final evaluation parameters of the photovoltaic panel, thereby judging whether the photovoltaic panel needs to be repaired, so that the operating status of the photovoltaic panel can be analyzed while cleaning the photovoltaic panel, and hidden dangers can be discovered in time, thereby eliminating the hidden dangers in time, reducing the failure rate of the photovoltaic panel.

[0076] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robot for cleaning photovoltaic panels, characterized in that: The invention comprises a moving base (1), the upper surface of the moving base (1) is fixedly connected with a positioning adjustment component (2), two groups of cleaning components (3) are installed on the positioning adjustment component (2) and are symmetrically arranged in the front and rear directions, a clean water tank (4) is arranged inside the moving base (1), the liquid outlet of the clean water tank (4) is connected with a clean water pipe (5), the clean water pipe (5) is connected with a clean water pump, and the liquid outlet of the clean water pipe (5) is connected with the cleaning component (3).

2. A robot for cleaning photovoltaic panels according to claim 1, characterized in that: A sewage tank (6) is also arranged inside the moving base (1). A plurality of groups of vertically arranged electric telescopic rods (7) are fixedly connected to the upper surface of the moving base (1). The telescopic ends of the electric telescopic rods (7) are fixedly connected to the lower surface of a water collecting tank (8). A sewage pipe (9) is connected to the bottom of the water collecting tank (8). The water outlet of the sewage pipe (9) is connected to the sewage tank (6).

3. A robot for cleaning photovoltaic panels according to claim 1, characterized in that: The positioning adjustment component (2) comprises a sliding seat (10), wherein the sliding seat (10) is fixedly connected to the upper surface of the moving base (1); a sliding seat (11) is slidably connected inside the sliding seat (10) along the front-back direction; two sliding grooves (12) are symmetrically arranged on the upper surface of the sliding seat (11); a bidirectional motor is installed inside the sliding seat (11); a threaded rod (13) is fixedly connected to the front and rear output ends of the bidirectional motor respectively; the two threaded rods (13) are respectively arranged in the two sliding grooves (12); a sliding block (14) is respectively threadedly connected to the two threaded rods (13); and two cleaning components (3) are respectively rotatably connected to the sliding block (14).

4. A robot for cleaning photovoltaic panels according to claim 1, characterized in that: The cleaning assembly (3) comprises a rotating rod (15), the rotating rod (15) being rotatably connected to a sliding block (14), the upper surface of the rotating rod (15) being provided with a sliding groove (16) along the length direction, a sliding block (17) being slidably connected in the sliding groove (16), a lifting frame (18) being fixedly connected to the sliding block (17), a connecting frame (19) being slidably connected in the up-down direction on the lifting frame (18), a telescopic box (20) being fixedly connected to the connecting frame (19), an electric telescopic rod (21) being telescopic in the front-back direction being installed in the telescopic box (20), a rotating brush (22) being connected to the telescopic end of the electric telescopic rod (21), and a liquid outlet of the water purification pipe (5) being connected to the rotating brush (22).

5. The robot for cleaning photovoltaic panels according to claim 1, characterized in that: The rotating rod (15) is also provided with a positioning groove (23), and an electric telescopic rod (24) is installed on the end surface of the positioning groove (23). The telescopic direction of the electric telescopic rod (24) is the length direction of the rotating rod (15), and the telescopic end of the electric telescopic rod (24) is fixedly connected with a positioning plate (25).

6. A robot for cleaning photovoltaic panels according to claim 4, characterized in that: Also included is the Photovoltaic Panel Evaluation Module, which includes: A camera, used for acquiring an actual image of the photovoltaic panel, the camera being mounted on the lower surface of the rotating brush (22); An image stitching unit, used for stitching the actual images of the photovoltaic panels acquired by the camera to obtain a panel surface image; The image analysis unit is used to analyze the panel image. When the analysis result indicates that maintenance is required, an alarm is issued and an early warning report is generated.

7. A robot for cleaning photovoltaic panels according to claim 6, characterized in that: The image stitching unit includes: The strip image acquisition subunit is used to acquire a plurality of strip images based on the relative movement of the camera and the photovoltaic panel when the electric telescopic rod 3 (21) is at different telescopic lengths; The splicing subunit is used to splice a plurality of strip images to obtain a panel image.

8. A robot for cleaning photovoltaic panels according to claim 7, characterized in that: The splicing subunits include: A preliminary splicing block is used to place each strip image at a corresponding splicing position based on the corresponding telescopic length of the electric telescopic rod three (21) to obtain a preliminary splicing image; A stitching verification block is used to obtain a number of characteristic images in each stitching area in the preliminary stitching image, and determine the overlap degree of the characteristic images in the two strip images constituting the stitching area; The image output block, when the overlap degree of the characteristic images in the two strip images in the stitching area is greater than or equal to the preset overlap threshold, the stitching position of the two strip images is locked; when the overlap degree of the characteristic images in the two strip images in the stitching area is less than the preset overlap threshold, the stitching position of the strip images whose stitching position is not locked is adjusted according to the characteristic images; after the stitching positions of all the strip images are locked, all the strip images are stitched to obtain the board image.

9. The robot for cleaning photovoltaic panels according to claim 6, characterized in that: The image analysis unit includes: The pattern extraction subunit is used to extract all characteristic patterns in the board surface image, and divide the characteristic patterns into stain patterns and scratch patterns according to the appearance characteristics of each characteristic pattern; A calculation subunit, used for calculating evaluation parameters of photovoltaic panels; Where P is the evaluation parameter of the photovoltaic panel; k is the calculation coefficient corresponding to the camera resolution; σ and τ are the calculation coefficients of power generation efficiency and photovoltaic panel safety, respectively; α and β are the calculation coefficients of the total area of ​​the stain pattern and the area of ​​a single stain pattern, respectively; M is the total number of stain patterns; S i is the area of ​​the i-th stain pattern; S q is the total surface area of ​​the photovoltaic panel; S w is the classification basis of the stain pattern area; N is the total number of scratch patterns; e is the natural base number; D j is the average width of the jth scratch pattern; D g S is the classification basis for the width of the scratch pattern; j is the area of ​​the circumscribed rectangle of the jth scratch pattern; S L L is the grading basis of the area of ​​the circumscribed rectangle of the scratch pattern; j is the total length of the i-th scratch pattern; S0 is the unit area; L0 is the unit length; ln is the logarithmic function with e as the base; θ g is the angle of sunlight; θ b is the angle between the photovoltaic panel and the ground; The analysis subunit, when the photovoltaic panel evaluation parameter is higher than the preset maintenance threshold, an alarm is issued and an early warning report is generated. When the photovoltaic panel evaluation parameter is less than or equal to the preset maintenance threshold, no alarm is issued.

Images