Cleaning method and system for solar photovoltaic panel

Abstract

The invention belongs to the field of photovoltaic cleaning, and particularly relates to a cleaning method and system for a solar photovoltaic panel. Comprising the following steps that S1, photovoltaic panel cleaning is completed, and a photovoltaic cleaning robot stops on a photovoltaic panel; s2, deploying the unmanned aerial vehicle to move towards the photovoltaic cleaning robot; s3, the unmanned aerial vehicle is connected with the photovoltaic cleaning robot, and the unmanned aerial vehicle drives the photovoltaic cleaning robot to be separated from the photovoltaic panel; s4, judging whether a photovoltaic panel which is not cleaned exists or not; if not, the unmanned aerial vehicle carries the photovoltaic cleaning robot to return; if yes, executing the next step; s5, judging whether the residual electric quantity of the photovoltaic cleaning robot and the unmanned aerial vehicle is lower than a threshold value or not; if yes, the unmanned aerial vehicle carries the photovoltaic cleaning robot to return; and if yes, the unmanned aerial vehicle carries the photovoltaic cleaning robot to move towards the uncleaned photovoltaic panel. The invention provides a cleaning method and system for a solar photovoltaic panel. The cleaning method and system aim at solving the problem that the utilization rate of a photovoltaic cleaning robot is low.

Description

Technical Field

[0001] The invention belongs to the field of photovoltaic cleaning, and in particular relates to a cleaning method and system for solar photovoltaic panels. Background Art

[0002] With the continuous growth of global energy demand and the increasing prominence of environmental problems, the development and utilization of clean energy has become a common concern of governments and enterprises around the world. As a clean and renewable energy, solar energy has gradually become an important part of the global energy structure optimization due to its abundant resources and good environmental benefits. In this context, photovoltaic power generation technology has been widely used, especially in renewable energy power generation systems.

[0003] However, the efficiency of photovoltaic power generation is often affected by many factors, among which the accumulation of dirt on the surface of photovoltaic panels is one of the most important factors. Large-scale photovoltaic power stations are generally deployed in arid and rainy areas. If they are not cleaned for a long time, a large amount of dust in the air will accumulate on the surface of photovoltaic modules over time, which will significantly affect the energy conversion of photovoltaic power stations and ultimately affect the power generation efficiency and economic benefits of the entire photovoltaic system. In order to clean photovoltaic panels, photovoltaic panel cleaning robots are gradually being used. Photovoltaic panel cleaning robots can automatically clean the surface of photovoltaic panels.

[0004] In the prior art, since photovoltaic power stations are often installed in remote areas with inconvenient transportation, most photovoltaic panel cleaning robots are usually fixed or need to be transported by car over long distances to the location of the photovoltaic panels. This directly leads to a low utilization rate of photovoltaic cleaning robots, which in turn causes high costs for photovoltaic panel cleaning and is difficult to promote and apply. Summary of the invention

[0005] The present invention provides a cleaning method and system for a solar photovoltaic panel, which aims to solve the problem of low utilization rate of photovoltaic cleaning robots.

[0006] In order to achieve the above object, the present invention provides a method for cleaning a solar photovoltaic panel, comprising the following steps:

[0007] S1, the photovoltaic panel cleaning is completed, and the photovoltaic cleaning robot stops on the photovoltaic panel;

[0008] S2, deploying the drone to move toward the photovoltaic cleaning robot;

[0009] S3, connecting the drone to the photovoltaic cleaning robot, and the drone drives the photovoltaic cleaning robot to separate from the photovoltaic panel;

[0010] S4, determining whether there are any photovoltaic panels that have not been cleaned; if not, the drone returns with the photovoltaic cleaning robot; if so, executing the next step;

[0011] S5, judging whether the remaining power of the photovoltaic cleaning robot and the drone is lower than a threshold; if lower than the threshold, the drone carries the photovoltaic cleaning robot back; if higher than the threshold, the drone carries the photovoltaic cleaning robot to move toward the uncleaned photovoltaic panel.

[0012] In this solution, by using a drone to dock with the photovoltaic cleaning robot, the drone can carry the photovoltaic cleaning robot to move to different photovoltaic panels. When the photovoltaic cleaning robot can be moved to different photovoltaic panels, the utilization rate of the photovoltaic cleaning robot is higher than that of the prior art in which the photovoltaic cleaning robot is fixed.

[0013] Preferably, in order to move the photovoltaic cleaning robot onto the photovoltaic panel, the present solution further includes S0, releasing the photovoltaic cleaning robot onto the photovoltaic panel via a drone.

[0014] This solution uses drones to move the photovoltaic cleaning robot. After the photovoltaic cleaning robot moves to the photovoltaic panel, the photovoltaic cleaning robot can clean the photovoltaic panel. At the same time, the photovoltaic cleaning robot is released to the photovoltaic panel by drones. Compared with other moving methods, drones can reach offset positions, which is more practical.

[0015] Alternatively, in order to move the photovoltaic cleaning robot onto the photovoltaic panel, the present solution may also include S0, releasing the photovoltaic cleaning robot onto the photovoltaic panel by means of a mobile device.

[0016] In order to move the photovoltaic cleaning robot to the photovoltaic panel, the photovoltaic cleaning robot can also be released onto the photovoltaic panel by a mobile device (such as a vehicle).

[0017] Preferably, when a drone is used to release the photovoltaic cleaning robot, in order to improve the utilization rate of the drone, the present solution also includes S0.1. After the drone releases the photovoltaic cleaning robot, it is determined whether there are other photovoltaic cleaning robots that need to be moved within the predetermined range of the drone; if so, the drone flies towards the photovoltaic cleaning robot and moves the photovoltaic cleaning robot; if not, the drone returns and waits for deployment.

[0018] In this solution, after the drone has completed the work of releasing the photovoltaic cleaning robot, it can move other photovoltaic cleaning robots through the drone. The utilization rate of the drone is higher. When there are no other photovoltaic cleaning robots that need to be moved within the predetermined range of the drone, the drone returns and the drone can wait for deployment in the base, which further improves the utilization rate of the drone.

[0019] Preferably, in order to ensure the precise flight of the drone, the present solution further includes S1.1, the photovoltaic cleaning robot sends a signal, and the drone moves toward the photovoltaic cleaning robot that sends the signal.

[0020] In this solution, when the photovoltaic cleaning robot completes cleaning, the photovoltaic cleaning robot sends a signal. When the photovoltaic cleaning robot sends a signal, the drone can fly out on time. At the same time, according to the location where the signal is sent, the drone can fly accurately to ensure that the drone and the photovoltaic cleaning robot after cleaning are accurately docked. The photovoltaic cleaning robot preferably sends a light signal to provide an identification for the drone's visual recognition.

[0021] Preferably, in order to allow the drone to dock accurately with the photovoltaic cleaning robot that completes the cleaning work, in S5 described in this solution, the drone is accurately moved to the docking point with the photovoltaic cleaning robot through a positioning method.

[0022] This solution uses positioning methods to achieve precise movement and achieve accurate docking between the drone and the photovoltaic cleaning robot.

[0023] In order to achieve detachable docking between the drone and the photovoltaic cleaning robot, in S5 described in this solution, the drone is connected to the photovoltaic cleaning robot through magnetic attraction.

[0024] This solution uses magnetic attraction to allow the drone to dock with the photovoltaic cleaning robot. Compared with other connection methods in the prior art, the magnetic attraction connection method is more stable.

[0025] Preferably, in order to achieve accurate docking between the drone and the photovoltaic cleaning robot, the positioning method described in this solution includes the following steps:

[0026] Step 1: The drone flies to the initial position;

[0027] Step 2: Visually search for the guidance mark. If the guidance mark is not found, the UAV rises to a predetermined height and searches for the guidance mark. If the guidance mark is found, proceed to the next step.

[0028] Step 3: Calculate the horizontal offset between the guide mark and the UAV, and adjust the position of the UAV according to the horizontal offset until the horizontal accuracy meets the requirements;

[0029] Step 4: The drone descends to a predetermined height;

[0030] Step 5: Determine whether the guidance mark is lost in the field of view; if the guidance mark is lost, the UAV rises to a predetermined height and repeats steps 2 to 4; if the guidance mark is not lost, proceed to the next step;

[0031] Step six, determine whether the positioning error meets the threshold. If so, the UAV hovers and prepares for docking; if not, calculate the horizontal offset between the guidance mark and the UAV, and the UAV adjusts its position according to the horizontal offset.

[0032] Through the above positioning method, this solution can accurately allow the drone to reach the docking position with the photovoltaic cleaning robot.

[0033] Preferably, in step 5, a number of repetitions is set, and when the guide mark is still not recognized after rising to a predetermined height a number of times, the drone returns and sends a docking failure message and the location of the docking failure.

[0034] In order to improve the utilization rate of the photovoltaic cleaning robot, the second aspect of the present invention discloses a solar photovoltaic panel cleaning system, comprising:

[0035] A drone, wherein the drone is used for moving the photovoltaic cleaning robot;

[0036] A photovoltaic cleaning robot, wherein the photovoltaic cleaning robot is used for cleaning photovoltaic panels;

[0037] A control module is connected to the drone and the photovoltaic cleaning robot by signals.

[0038] This solution uses a drone to achieve the movement of the photovoltaic cleaning robot. Therefore, compared with the prior art in which the photovoltaic cleaning robot is fixed, the photovoltaic cleaning robot can be moved to different photovoltaic panels, thereby improving the utilization rate of the photovoltaic cleaning robot.

[0039] Preferably, in order to realize the connection between the drone and the photovoltaic cleaning robot, the present solution also includes a docking component, which is signal-connected to the control module; the docking component includes a docking component and an adsorption unit, which are respectively arranged on the drone and the photovoltaic cleaning robot, and the docking component and the adsorption unit are detachably connected.

[0040] In this solution, the docking component and the adsorption unit are respectively arranged on the drone and the photovoltaic cleaning robot. When the docking component and the adsorption unit are connected, the drone and the photovoltaic cleaning robot are connected. When the docking component and the adsorption unit are separated, the drone and the photovoltaic cleaning robot are separated.

[0041] In order to achieve accurate docking between the drone and the photovoltaic cleaning robot, the present solution further includes a positioning module, which can locate the position of the photovoltaic cleaning robot.

[0042] This solution provides directional guidance for the drone through the positioning module, so that the drone can accurately reach the predetermined location, and then the drone and the photovoltaic cleaning robot can be accurately docked.

[0043] Preferably, in order to achieve docking with the docking component, the adsorption unit described in this solution is a magnetic unit, and the magnetic unit is magnetically connected to the docking component.

[0044] This solution uses a magnetic connection to achieve a fixed connection between the drone and the photovoltaic cleaning robot. Compared with other connection methods, the magnetic connection method has a simpler structure.

[0045] In order to increase the docking success rate and precision of the docking between the docking component and the adsorption module, the docking assembly described in this solution also includes a guiding structure, which is used to guide the connection between the docking component and the adsorption unit.

[0046] This solution plays a guiding role through the guiding structure, so that the docking component and the adsorption module can be docked more quickly and accurately, thereby improving the efficiency of docking.

[0047] Preferably, the guiding structure is a conical guiding cylinder in order to guide the adsorption module and the docking component.

[0048] In Scheme 5, the guiding structure is set as a conical guiding cylinder. When the docking component slides inside the conical guiding cylinder, the docking component can be accurately guided to the docking position, thereby achieving accurate docking between the adsorption module and the docking component.

[0049] Alternatively, the guiding structure is used to guide the adsorption module and the docking component, and the guiding structure described in Scheme 6 is a position adjustment mechanism.

[0050] Solution six adjusts the docking component to the docking position through the position adjustment mechanism, thereby achieving precise docking between the adsorption module and the docking component, and the docking accuracy and efficiency of the docking component are higher.

[0051] The beneficial effect of the present invention is that in this solution, by using a drone to dock with a photovoltaic cleaning robot, the drone can carry the photovoltaic cleaning robot to move to different photovoltaic panels. When the photovoltaic cleaning robot can be moved to different photovoltaic panels, the utilization rate of the photovoltaic cleaning robot is higher than that of the prior art in which the photovoltaic cleaning robot is fixed. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 This is a flow chart of the cleaning method of the solar photovoltaic panel in Example 1.

[0053] Figure 2 This is a flow chart of the cleaning method of the solar photovoltaic panel in Example 2.

[0054] Figure 3 This is a flow chart of the cleaning method of the solar photovoltaic panel in Example 3.

[0055] Figure 4 This is a flow chart of the cleaning method of the solar photovoltaic panel in Example 4.

[0056] Figure 5 Schematic diagram of the cleaning system for solar photovoltaic panels.

[0057] Figure 6 Schematic diagram of the guiding structure in Example 6.

[0058] Figure 7 This is a schematic diagram of the docking between the adsorption module and the docking component in Example 6.

[0059] Figure 8 Schematic diagram of the guiding structure in Example 7.

[0060] Fig. 9 This is a schematic diagram of the docking between the adsorption module and the docking component in Example 7.

[0061] The reference numerals include: UAV 1, photovoltaic cleaning robot 2, docking assembly 3, docking component 31, adsorption module 32, conical guide cylinder 33, position adjustment structure 34, lateral guide component 341, longitudinal guide component 342, force sensor 4, mounting plate 5. DETAILED DESCRIPTION

[0062] In order to make the purpose, technical solutions and advantages of the embodiments more clear, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are only examples of devices and methods consistent with some aspects of the present disclosure as detailed in the attached claims.

[0063] In the present disclosure, unless otherwise stated, the directional words used, such as "inside" and "outside", are defined according to the corresponding parts' own contours. The terms used in the present disclosure, such as "first" and "second", etc., are used to distinguish one element from another element and do not have order and importance.

[0064] Example 1

[0065] Basically as attached Figure 1 As shown, a method for cleaning a solar photovoltaic panel comprises the following steps:

[0066] Both the drone and the photovoltaic cleaning robot are located in the base, and when it is needed, the photovoltaic cleaning robot will reach the photovoltaic panels for cleaning.

[0067] S0, the photovoltaic cleaning robot is moved by the drone, and the photovoltaic cleaning robot is released on the photovoltaic panel by the drone.

[0068] When the drone carries the photovoltaic cleaning robot and moves, the drone and the photovoltaic cleaning robot are in a fixed connection state. After that, the drone and the photovoltaic cleaning robot are disconnected, and the drone releases the photovoltaic cleaning robot onto the photovoltaic panel.

[0069] When the drone is disconnected from the photovoltaic cleaning robot, the drone returns to the base to charge. Alternatively, in some embodiments, the drone can also hover directly above the photovoltaic panel and wait for the photovoltaic panel to be cleaned.

[0070] When the drone moves with the photovoltaic cleaning robot, the GPS unit and / or GPS unit provide location guidance for the drone, so that the drone can carry the photovoltaic cleaning robot and move accurately from the base to the location of the photovoltaic panel. After the drone arrives at the photovoltaic panel, it is positioned by the GPS unit and / or GPS unit to adjust the position of the drone to ensure that the photovoltaic cleaning robot is accurately released onto the photovoltaic panel.

[0071] After the photovoltaic cleaning robot is released onto the photovoltaic panel, the photovoltaic cleaning robot works to clean the photovoltaic panel. After the photovoltaic panel is cleaned, the working efficiency of the photovoltaic panel can be greatly increased.

[0072] S1, when the photovoltaic panel cleaning work is completed, the photovoltaic cleaning robot stops on the photovoltaic panel surface and waits to be moved.

[0073] S1.1, when the photovoltaic cleaning robot stops on the surface of the photovoltaic panel, the photovoltaic cleaning robot sends a signal. The signal sent by the photovoltaic cleaning robot can be sent to the control terminal, and the control terminal then feeds the signal back to the drone.

[0074] In S2, the drone is deployed to move toward the photovoltaic cleaning robot that completes the cleaning work.

[0075] Based on the received signal, the UAV moves precisely toward the photovoltaic cleaning robot that sends the signal under the guidance of the positioning module (including a visual positioning unit, a GPS positioning unit and / or an RTK unit), and precisely reaches the docking position with the photovoltaic cleaning robot.

[0076] S3, after the drone moves to the docking position of the photovoltaic cleaning robot that sends the signal, the drone is adsorbed and connected to the photovoltaic cleaning robot through magnetic attraction. Then, the drone flies upward, and the drone drives the photovoltaic cleaning robot to separate from the photovoltaic panel.

[0077] S4, when the drone drives the photovoltaic cleaning robot to rise, the system determines whether there are photovoltaic panels that have not been cleaned.

[0078] In order to determine whether there are uncleaned photovoltaic panels, one implementation method may be to judge through a built-in counting unit, for example: the photovoltaic cleaning robot is set to clean 5 photovoltaic panels. If the photovoltaic cleaning robot has completed the cleaning of 5 photovoltaic panels, it means that there are no uncleaned photovoltaic panels; if the photovoltaic cleaning robot has not completed the cleaning of 5 photovoltaic panels, it means that there are uncleaned photovoltaic panels. Another implementation method is to mark all photovoltaic panels on the map through the control terminal, cancel the marking when the cleaning is completed, and then judge whether there are any uncleaned photovoltaic panels by judging whether there are markings in the map.

[0079] When it is determined that there are no uncleaned photovoltaic panels, the drone carries the photovoltaic cleaning robot back to the base. If there are uncleaned photovoltaic panels, the next step is executed.

[0080] S5, if there are photovoltaic panels that have not been cleaned, determine whether the remaining power of the photovoltaic cleaning robot and the drone is lower than a threshold.

[0081] If the remaining power of either the photovoltaic cleaning robot or the drone is lower than the threshold, it means that the drone and the photovoltaic cleaning robot cannot continue to clean the photovoltaic panel, and the drone will directly carry the photovoltaic cleaning robot back to the base. After the drone and the photovoltaic cleaning robot return to the base, they will be charged.

[0082] If the remaining power of the photovoltaic cleaning robot and the drone is higher than the threshold, it means that the drone and the photovoltaic cleaning robot can continue to work. At this time, the drone carries the photovoltaic cleaning robot to other photovoltaic panels that have not been cleaned. After the drone carries the photovoltaic cleaning robot to other photovoltaic panels, the drone first arrives at the photovoltaic panel, and the drone releases the photovoltaic cleaning robot to other photovoltaic panels that have not been cleaned, and then performs steps S1 to S5.

[0083] It is understandable that the specific value of the threshold is determined by factors such as the battery size and the working area of ​​the photovoltaic cleaning robot. For example, it can be set to whether the remaining power of the drone and the photovoltaic cleaning robot is less than 1 / 3 of the total power.

[0084] Example 2

[0085] This embodiment differs from Embodiment 1 in that Figure 2 As shown, in order to release the photovoltaic cleaning robot onto the photovoltaic panel, in S0 of this embodiment, the photovoltaic cleaning robot is released onto the photovoltaic panel by a mobile device. The mobile device may be a car or other mobile device.

[0086] Example 3

[0087] The difference between this embodiment and embodiment 1 or embodiment 2 is that Figure 3 As shown, in this embodiment, the use efficiency of the drone is improved.

[0088] S0.1, when the UAV is separated from the photovoltaic cleaning robot, determine whether there are other photovoltaic cleaning robots that need to be moved within the predetermined range of the UAV.

[0089] The predetermined range in this embodiment may be 1 km or 2 km. The photovoltaic cleaning robot may be a photovoltaic cleaning robot located in a base, or may be a photovoltaic cleaning robot that has completed cleaning work on other photovoltaic panels.

[0090] If there are other photovoltaic cleaning robots that need to be moved within the predetermined range, the drone can fly toward the photovoltaic cleaning robot. After that, the drone and the photovoltaic cleaning robot are docked by magnetic attraction, and the drone can drive the photovoltaic cleaning robot to move.

[0091] The drone can also drive the photovoltaic cleaning robot to move toward the photovoltaic panel that needs to be cleaned, and release the photovoltaic cleaning robot onto the photovoltaic panel that needs to be cleaned, and then the drone returns to the base. Alternatively, the drone can also drive the photovoltaic cleaning robot back to the base.

[0092] If there are no other photovoltaic cleaning robots that need to be moved within the predetermined range, the drone returns directly to the base.

[0093] The drones that return to the base can receive system deployment and perform other tasks, thus improving the utilization rate of the drones.

[0094] Since drones can be deployed from other locations, in S2, the drones deployed by the system can be drones deployed from the base, or other drones that have completed the release work of other photovoltaic cleaning robots.

[0095] Example 4

[0096] In order to enable the drone to achieve precise docking with the photovoltaic cleaning robot, Figure 4 As shown, this embodiment is improved on the basis of Embodiment 1, Embodiment 2 or Embodiment 3. This embodiment provides a positioning method for guiding the precise movement of a drone and realizing precise docking of the drone with a photovoltaic cleaning robot.

[0097] The positioning method of this embodiment includes the following steps:

[0098] Step 1: Use the GPS unit and RTK unit as guidance to make the drone fly to the initial position.

[0099] At this time, there is an offset between the drone and the photovoltaic cleaning robot, and the drone is not directly above the photovoltaic cleaning robot.

[0100] Step 2: Search for guidance signs through the camera configured on the drone.

[0101] In this embodiment, the guiding mark is set on the photovoltaic cleaning robot.

[0102] If the drone fails to find the guide mark, it means that the offset between the drone and the photovoltaic cleaning robot is large. At this time, the drone is controlled to rise by a predetermined distance (for example, 0.5m or 1m). The drone rises and searches for the guide mark at a higher altitude.

[0103] If the drone still fails to recognize the guide mark after rising, the drone is controlled to rise again by a predetermined distance (for example, 0.5m or 1m), the height of the drone increases, and the drone searches for the guide mark at a higher altitude.

[0104] If the drone finds the guidance mark, proceed to the next step.

[0105] Step 3: After the guide mark is found, the horizontal offset between the guide mark and the UAV is calculated. The horizontal offset between the UAV and the guide mark is the offset between the UAV and the position directly above the photovoltaic cleaning robot. The above offset can be obtained by image recognition calculation, or can also be obtained by other calculation methods in the prior art.

[0106] After the horizontal offset is obtained, the drone adjusts its position according to the horizontal offset until the horizontal accuracy meets the requirement. When the horizontal accuracy meets the requirement, it means that the drone is above the photovoltaic cleaning robot and the offset does not exceed the threshold. For example: not more than 20cm.

[0107] Step 4: When the horizontal accuracy meets the requirements, the drone descends to a predetermined height. During the process of the drone descending, the drone gradually approaches the photovoltaic cleaning robot.

[0108] Step 5: During the descent of the drone, the drone continuously determines through vision whether the guidance mark is lost in its field of view.

[0109] If the guidance mark is lost in the field of view, it means that the drone has deviated during the descent. At this time, the drone is controlled to rise to a predetermined height (for example, 0.5m or 1m). When the drone's height rises, the drone executes steps 2 to 4 again.

[0110] If the drone has not lost the guidance mark, it means that the drone has not deviated significantly during the descent and can continue to descend.

[0111] At the same time, a threshold for the number of repetitions of steps 2 to 4 may also be set, for example, the threshold is set to 5 times. When the guidance mark is still not recognized after exceeding the threshold, the drone returns and sends a docking failure message and the location where the docking failed.

[0112] Step 6: The UAV descends to a predetermined height (for example, 2 meters from the ground, or 1 meter from the photovoltaic cleaning robot) to determine whether the positioning error between the UAV and the guide mark meets the threshold.

[0113] If the positioning error between the drone and the guide mark meets the threshold, the drone hovers and is ready to dock with the photovoltaic cleaning robot;

[0114] If the positioning error between the drone and the guide mark does not meet the threshold, the horizontal offset between the guide mark and the drone is calculated, and the drone adjusts its position according to the horizontal offset. Finally, the drone hovers and is ready to dock with the photovoltaic cleaning robot.

[0115] Example 5

[0116] This embodiment provides a solar photovoltaic panel cleaning system, which aims to realize the movement of the photovoltaic cleaning robot 2 so that the photovoltaic cleaning robot 2 can clean different photovoltaic panels and improve the utilization rate of the photovoltaic cleaning robot 2.

[0117] A solar photovoltaic panel cleaning system of this embodiment, such as Figure 5 As shown, it includes a drone 1, a photovoltaic cleaning robot 2, a docking component 3 and a control module.

[0118] The drone 1 of this embodiment can specifically be a rotor-type drone 1 in the prior art, and the photovoltaic cleaning robot 2 can also be a photovoltaic cleaning robot 2 in the prior art. The photovoltaic cleaning robot 2 can clean the photovoltaic panel to improve the working efficiency of the photovoltaic panel.

[0119] The docking assembly 3 of this embodiment includes a docking component 31 and an adsorption module 32, which are respectively arranged on the drone 1 and the photovoltaic cleaning robot 2. The docking component 31 and the adsorption module 32 can be connected by adsorption. At the same time, when the adsorption module 32 stops working, the docking component 31 and the adsorption module 32 are adsorbed and disconnected, and the docking component 31 and the adsorption module 32 can be separated.

[0120] In this embodiment, the docking component 31 is preferably connected to the drone 1, and the adsorption module 32 is directly connected to the photovoltaic cleaning robot 2. When implemented, it can be connected by configuring fasteners, or connected by straps, etc. The adsorption module 32 in this embodiment is preferably an electromagnet module, and at the same time, the docking component 31 is also configured as a magnetic component. The docking component 31 can be made of iron or other magnetic materials. When the electromagnet module is working, the electromagnet module can adsorb the docking component 31 to achieve the connection between the electromagnet module and the docking component 31; when the electromagnet module stops working, the electromagnet module can stop adsorbing the docking component 31 to achieve the disconnection between the electromagnet module and the docking component 31.

[0121] The docking component 31 of this embodiment is specifically hemispherical, the bottom of the docking component 31 is a plane, and the upper end of the docking component 31 is a hemispherical surface. The docking component 31 is in a suspended connection state with the drone 1 through a connecting rope. When the drone 1 is flying, the drone 1 drives the docking component 31 to move. When the drone 1 descends, the drone 1 drives the docking component 31 to descend and is adsorbed and connected to the adsorption module 32.

[0122] In this embodiment, the docking component 31 is suspended on the drone 1 by a connecting rope, so when the drone 1 is docking, the drone 1 hovers in the air, avoiding the interference between the drone 1 and the photovoltaic cleaning robot 2 due to the drone 1 being too low, and further ensuring the safety of the drone 1.

[0123] In order to determine whether the adsorption module 32 is stably connected to the docking component 31, the present embodiment also includes a force sensor 4, which is used to detect the connection stability between the adsorption module 32 and the docking component 31. The force sensor 4 is installed at the bottom of the adsorption module 32. That is, the adsorption module 32 is connected to the photovoltaic cleaning robot 2 through the force sensor 4. When the adsorption module 32 is stably connected to the docking component 31, the drone 1 drives the photovoltaic cleaning robot 2 to fly, and the force sensor 4 can continuously and stably detect the upward pulling force applied by the drone 1 to the photovoltaic cleaning robot 2; if the adsorption module 32 is not stably connected to the docking component 31, when the drone 1 drives the photovoltaic cleaning robot 2 to fly, the adsorption module 32 is very easy to disconnect from the docking component 31. When the adsorption module 32 is disconnected from the docking component 31, the force sensor 4 cannot continuously and stably detect the pulling force.

[0124] Take an application scenario as an example: the drone 1 flies upward. At this time, if the adsorption module 32 is stably connected to the docking component 31, the drone 1 can drive the photovoltaic cleaning robot 2 to fly upward. When the drone 1 drives the photovoltaic cleaning robot 2 to fly upward, the force sensor 4 can continuously and stably detect the pulling force. The force sensor 4 feeds back the signal to the control module, and the control module can control the drone 1 to continue flying. If the adsorption module 32 is not stably connected to the docking component 31, when the drone 1 drives the photovoltaic cleaning robot 2 to fly upward, the adsorption module 32 is easily disconnected from the docking component 31, and the force sensor 4 cannot continuously and stably detect the pulling force. The force sensor 4 feeds back the signal to the control module, and the control module controls the drone 1 to dock the docking component 31 and the adsorption module 32 again.

[0125] In this embodiment, the adsorption module 32 is in a signal connection state with the control module. When the drone 1 reaches the docking position, the control module can control the adsorption module 32 to work, and the adsorption module 32 waits for precise docking with the docking component 31.

[0126] In this embodiment, the control module can be an industrial computer module of the prior art or other control modules. The control module can also be connected to the drone 1 and the photovoltaic cleaning robot 2 by signals, so that the drone 1 and the photovoltaic cleaning robot 2 can work in conjunction with the adsorption module 32.

[0127] For example: when it is necessary to release the photovoltaic cleaning robot 2 onto the photovoltaic panel for cleaning, the control module controls the drone 1 to fly to the docking position, and then the control module controls the adsorption module 32 to stop working, and the drone 1 and the photovoltaic cleaning robot 2 are adsorbed and disconnected, and the photovoltaic cleaning robot 2 can complete the cleaning of the photovoltaic panel alone on the photovoltaic panel. When the drone 1 and the photovoltaic cleaning robot 2 are adsorbed and disconnected, the control module controls the photovoltaic cleaning robot 2 to work on the photovoltaic panel. When the photovoltaic cleaning robot 2 completes its work on the photovoltaic panel, the control module controls the drone 1 to fly to the docking position, and then the adsorption module 32 works, and the adsorption module 32 realizes the adsorption connection between the drone 1 and the photovoltaic cleaning robot 2.

[0128] Example 6

[0129] This embodiment is improved on the basis of embodiment 5, such as Figure 6 and Figure 7 As shown, in order to allow the suspended docking component 31 and the adsorption module 32 to dock accurately, this embodiment also includes a guide structure, which is used to guide the docking component 31 to dock accurately with the adsorption module 32. The guide structure in this embodiment is a conical guide cylinder 33, which is fixedly mounted on the mounting plate 5 through a bracket, and a guide channel is formed inside the conical guide cylinder 33.

[0130] In this embodiment, the open end of the conical guide cylinder 33 faces upward, and is used to receive the docking component 31. The lower end of the conical guide cylinder 33 is an outlet, and the conical guide cylinder 33 can guide the docking component 31 to move from the open end to the outlet. The adsorption module 32 is installed at the outlet of the conical guide cylinder 33. When the docking component 31 moves along the inner wall of the conical guide cylinder 33, the docking component 31 moves to the outlet of the conical guide cylinder 33, and finally realizes adsorption connection with the adsorption module 32.

[0131] In this embodiment, the adsorption module 32 can be installed on the mounting plate 5 by configuring fasteners, and the mounting plate 5 is then fixedly connected to the photovoltaic cleaning robot 2.

[0132] In order to improve the connection stability between the docking component 31 and the adsorption module 32, a gap is provided between the outlet of the conical guide cylinder 33 and the adsorption module 32 in this embodiment, and the distance of the gap can be 3 cm or 5 cm, etc. When the docking component 31 slides to the outlet position of the conical guide cylinder 33, the bottom of the docking component 31 can slide out of the conical guide cylinder 33, and the bottom of the docking component 31 is adsorbed and connected with the adsorption module 32. When the bottom of the docking component 31 slides out of the conical guide cylinder 33 and is adsorbed and connected with the adsorption module 32, compared with allowing the docking component 31 and the adsorption module 32 to be adsorbed and connected inside the conical guide cylinder 33, the bottom of the docking component 31 can be completely in contact with the adsorption module 32, and the connection between the docking component 31 and the adsorption module 32 is more stable.

[0133] The following describes the process of docking the docking component 31 with the adsorption module 32 through the conical guide cylinder 33: When the docking component 31 enters the conical guide cylinder 33, the docking component 31 slides along the conical guide cylinder 33 and finally slides to the exit of the conical guide cylinder 33. The docking component 31 slides out of the exit of the conical guide cylinder 33, and the bottom of the docking component 31 is adsorbed and connected with the adsorption module 32. When it is necessary to separate the docking component 31 from the adsorption module 32, the adsorption module 32 stops working, and the adsorption module 32 is disconnected from the docking component 31. Then the docking component 31 is separated from the conical guide cylinder 33.

[0134] It should be noted that: since the docking component 31 is hemispherical, the upper end of the docking component 31 is a hemispherical surface. Therefore, when the docking component 31 slides upward from the outlet of the conical guide tube 33, the upper end of the docking component 31 can play a guiding role to prevent the docking component 31 from getting stuck at the outlet of the conical guide tube 33.

[0135] Example 7

[0136] The difference between this embodiment and embodiment 6 is that Figure 8 and Fig. 9As shown, the guide structure of this embodiment is a position adjustment mechanism, which includes a guide component and a drive unit. The guide component includes a transverse guide component 341 and a longitudinal guide component 342, and the drive unit also includes a transverse drive unit and a longitudinal drive unit.

[0137] The transverse guide member 341 and the longitudinal guide member 342 are arranged up and down to avoid interference between the transverse guide member 341 and the longitudinal guide member 342. In implementation, the transverse guide member 341 may be located above the longitudinal guide member 342, or the longitudinal guide member 342 may be located above the transverse guide member 341.

[0138] In this embodiment, at least two transverse guide components 341 are provided, and more preferably two transverse guide components 341 are provided on both sides in the transverse direction. The two transverse guide components 341 are respectively provided with two corresponding transverse drive units. When the transverse drive units are working, the transverse guide components 341 on both sides can be driven to approach each other. The transverse drive units are installed on the mounting plate 5 by welding or configuring fasteners. The transverse drive units are fixedly connected to the transverse guide components 341 by welding or configuring fasteners, ensuring that the transverse guide components 341 can remain stable.

[0139] In this embodiment, at least two longitudinal guide components 342 are also provided, and more preferably two longitudinal guide components 342 are provided on both sides in the longitudinal direction. The two longitudinal guide components 342 are respectively provided with two longitudinal drive units, and the longitudinal drive units are operated to drive the longitudinal guide components 342 on both sides to approach each other. The longitudinal drive units are installed on the mounting plate 5 by welding or configuring fasteners. The longitudinal drive units are fixedly connected to the longitudinal guide components 342 by welding or configuring fasteners, so as to ensure that the longitudinal guide components 342 can remain stable.

[0140] The docking component 31 can be guided to the docking position with the adsorption module 32 by the transverse guide component 341 and the longitudinal guide component 342. In this embodiment, the adsorption module 32 is preferably installed in the middle position of the mounting plate 5, and the mounting plate 5 is fixedly connected to the photovoltaic cleaning robot 2. The transverse guide component 341 and the longitudinal guide component 342 guide the docking component 31 to the middle position, and finally achieve accurate docking of the adsorption module 32 with the docking component 31.

[0141] It should be noted that: in this embodiment, it is preferred that the adsorption module 32 and the docking component 31 are docked at the middle position of the mounting plate 5, but obviously, in some other embodiments, the adsorption module 32 and the docking component 31 can also be docked at other positions, such as the upper left corner, the upper right corner, the lower left corner, or the lower right corner.

[0142] In this embodiment, both the longitudinal driving unit and the transverse driving unit are configured as driving cylinders, which can drive the transverse guiding component 341 and the longitudinal guiding component 342 to perform telescopic movements.

[0143] The following is an example of an application scenario: when there is a deviation between the positions of the docking component 31 and the adsorption module 32, the transverse guide component 341 and the longitudinal guide component 342 cooperate with each other to guide the docking component 31 to the middle area. When the docking component 31 is guided to the middle area, the adsorption module 32 can adsorb the docking component 31.

[0144] After the docking component 31 and the adsorption module 32 are docked, the transverse guiding component 341 and the longitudinal guiding component 342 return to their original positions.

[0145] Example 8

[0146] This embodiment is improved on the basis of embodiment 5 in order to improve the docking accuracy between the docking component 31 and the adsorption module 32. This embodiment also includes a positioning module. The positioning module of this embodiment includes a GPS unit, an RTK unit and a visual recognition unit. The GPS unit can use a GPS device in the prior art; the RTK unit can use an RTK device in the prior art.

[0147] The visual recognition unit of this embodiment includes a guide mark and a camera module. The guide mark is set on the surface of the photovoltaic cleaning robot 2, and the camera module is set on the drone 1. The camera module is in a signal connection state with the control module. The camera module is used to capture the image of the guide mark and feed it back to the control module.

[0148] The guide mark of this embodiment includes a mounting component and an indicator light, and the indicator light is mounted on the mounting component. The indicator light is an infrared indicator light, and more preferably, the indicator light is a four-core LED lamp bead. The infrared indicator light is easier to identify than other indicator lights, which is conducive to improving the accuracy of identification. The mounting component is specifically a PCB board. At the same time, in order to achieve a better heat dissipation effect, the PCB board in this embodiment is preferably an aluminum-based PCB board.

[0149] In this embodiment, there are multiple indicator lights, and the specific number can be 10, 14, 24 or 30, etc., and there is no limit on the number of indicator lights. In this embodiment, the indicator lights are arranged evenly, and the evenly arranged indicator lights form an indication symbol.

[0150] The indicator symbol in this embodiment is set in a circular shape. The circular indicator symbol can more easily calculate the exact center of the symbol, thereby making it easier to improve positioning accuracy.

[0151] It can be understood that, in this embodiment, the indicator lights are arranged and combined to form a ring shape, but in some other embodiments, the indicator lights can also be combined to form guide signs of other shapes, such as a rectangle or an ellipse.

[0152] It can be understood that: in this embodiment, the indicator symbol is formed by combining indicator lights. Compared with the indicator symbol formed by conventionally combining symbols and colors in the prior art, the light emitted by the indicator lights is more eye-catching, so even if the size of the guide sign is reduced, a more accurate indication effect can be achieved, which solves the shortcomings of the prior art.

[0153] Take an application scenario as an example: when positioning is required, the RTK unit and GPS unit are used to perform preliminary positioning first, and then the camera module is used to identify the guide mark after the camera module and the guide mark are close to a predetermined distance, such as 10 meters, to further improve the positioning accuracy. Alternatively, the RTK unit and GPS unit are used to perform positioning, and when positioning is about to be completed, the camera module is used to identify the guide mark to determine whether there is an error in positioning.

[0154] The above is only an embodiment of the present invention, and the common knowledge such as the known specific structure and characteristics in the scheme is not described in detail here. It should be pointed out that for those skilled in the art, several deformations and improvements can be made without departing from the structure of the present invention, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A method for cleaning a solar photovoltaic panel, characterized in that: The following steps are included S1, the photovoltaic panel cleaning is completed, and the photovoltaic cleaning robot stops on the photovoltaic panel; S2, deploying the drone to move toward the photovoltaic cleaning robot; S3, connecting the drone to the photovoltaic cleaning robot, and the drone drives the photovoltaic cleaning robot to separate from the photovoltaic panel; S4, determining whether there are any photovoltaic panels that have not been cleaned; if not, the drone returns with the photovoltaic cleaning robot; if so, executing the next step; S5, judging whether the remaining power of the photovoltaic cleaning robot and the drone is lower than a threshold; if lower than the threshold, the drone carries the photovoltaic cleaning robot back; if higher than the threshold, the drone carries the photovoltaic cleaning robot to move toward the uncleaned photovoltaic panel.

2. The cleaning method according to claim 1, characterized in that: Also includes S0, releasing the photovoltaic cleaning robot onto the photovoltaic panel via a drone; or, Also includes S0, releasing the photovoltaic cleaning robot onto the photovoltaic panel through the mobile device.

3. The cleaning method according to claim 2, characterized in that: Also includes S0.1, after the UAV releases the photovoltaic cleaning robot, it is determined whether there are other photovoltaic cleaning robots that need to be moved within the predetermined range of the UAV; If it exists, the drone will fly towards the photovoltaic cleaning robot and move the photovoltaic cleaning robot; if it does not exist, the drone will return and wait for deployment.

4. The cleaning method according to claim 1, characterized in that: Also includes S1.1, the photovoltaic cleaning robot sends a signal, and the drone moves towards the photovoltaic cleaning robot that sends the signal.

5. The cleaning method according to claim 1, characterized in that: In S5, the drone moves precisely to the docking point with the photovoltaic cleaning robot through a positioning method; and / or; In S5, the drone is connected to the photovoltaic cleaning robot through magnetic attraction.

6. The cleaning method according to claim 5, characterized in that: The positioning method comprises the following steps: Step 1: The drone flies to the initial position; Step 2: visually search for the guidance mark. If the guidance mark is not found, the drone rises to a predetermined height and searches for the guidance mark. If the guide logo is found, proceed to the next step; Step 3: Calculate the horizontal offset between the guide mark and the UAV, and adjust the position of the UAV according to the horizontal offset until the horizontal accuracy meets the requirements; Step 4: The drone descends to a predetermined height; Step 5, determining whether the guide mark is lost in the field of vision; If the guidance mark is lost, the drone rises to a predetermined height and repeats steps 2 to 4; If the boot logo is not lost, proceed to the next step; Step 6: Determine whether the positioning error meets the threshold. If so, the drone hovers and prepares for docking. If not, the horizontal offset between the guidance mark and the UAV is calculated, and the UAV adjusts its position according to the horizontal offset.

7. A solar photovoltaic panel cleaning system, characterized in that: include A drone, wherein the drone is used for moving the photovoltaic cleaning robot; A photovoltaic cleaning robot, wherein the photovoltaic cleaning robot is used for cleaning photovoltaic panels; A control module is connected to the drone and the photovoltaic cleaning robot by signals.

8. The cleaning system according to claim 7, characterized in that: Also includes a docking assembly, the docking assembly being signal-connected to the control module; The docking assembly includes a docking component and an adsorption unit, the docking component and the adsorption unit are respectively arranged on the drone and the photovoltaic cleaning robot, and the docking component and the adsorption unit are detachably connected; and / or; It also includes a positioning module, which can locate the position of the photovoltaic cleaning robot.

9. The cleaning system according to claim 8, characterized in that: The adsorption unit is a magnetic unit, and the magnetic unit is magnetically connected to the docking component; and / or; The docking assembly further includes a guiding structure, and the guiding structure is used to guide the connection between the docking component and the adsorption unit.

10. The cleaning system according to claim 9, characterized in that: The guiding structure is a conical guiding cylinder; or; The guiding structure is a position adjustment mechanism.

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