Air-ground cooperative offshore photovoltaic cleaning and maintenance system

Abstract

The invention provides an air-ground cooperative offshore photovoltaic cleaning and maintenance system, which comprises an unmanned aerial vehicle and a plurality of photovoltaic cleaning robots, and is characterized in that the unmanned aerial vehicle is used for monitoring the real-time monitoring video information according to the real-time monitoring video information; acquiring position information of a target photovoltaic module needing to be cleaned and maintained, position information of a plurality of photovoltaic cleaning robots and state information of the plurality of photovoltaic cleaning robots; the most suitable photovoltaic cleaning robot is scheduled to execute a cleaning maintenance task according to the acquired information; the photovoltaic cleaning robot is provided with a bionic suction cup and a cleaning assembly, and is used for receiving the position information of the target photovoltaic assembly transmitted by the unmanned aerial vehicle and the position information of the robot, carrying out path planning, and moving to the target photovoltaic assembly according to a path planning result. And cleaning and maintaining the target photovoltaic module through the cleaning module. The cleaning and maintenance efficiency of the photovoltaic power station is improved, the cost is reduced, and the safety is improved.

Description

Technical Field

[0001] The present application relates to the field of offshore photovoltaic maintenance technology, and in particular to an air-ground coordinated offshore photovoltaic cleaning and maintenance system. Background Art

[0002] In recent years, with the increasing global attention to the environment and sustainable development, the application of clean energy has been widely promoted and applied. As an emerging form of clean energy, offshore photovoltaic power generation has become a hot research direction in the field of clean energy because of its advantages such as not occupying land resources and sufficient sunlight. Due to the harsh marine environment, such as the influence of seawater corrosion, dust, bird droppings and other factors, the surface of photovoltaic modules is easily damaged and polluted, reducing the power generation efficiency. The pollution of photovoltaic modules will also cause the performance of photovoltaic power stations to gradually decline and shorten their lifespan. The safety of offshore photovoltaic power stations is also a major concern. Factors such as wind and waves, and marine life may have an adverse effect on photovoltaic power stations. Strong winds and waves may cause the structure of photovoltaic power stations to loosen or tilt, endangering the stability and safety of the equipment. Marine life such as birds may stop on the power station or damage photovoltaic modules, causing damage to the equipment and even affecting sustainability.

[0003] The existing cleaning and maintenance technologies for offshore photovoltaic power stations mainly rely on the operation of manual labor and ship equipment. Traditional methods include manually boarding a ship to clean photovoltaic panels, or using a specific ship to carry cleaning equipment for operation. Although these methods can achieve a certain cleaning effect, they have significant shortcomings and deficiencies. First, manual operation is inefficient and labor-intensive, especially in harsh marine environments, where the working conditions are difficult, the safety risks are high, and it is easily affected by factors such as weather and wind and waves, which may pose a threat to personnel safety. In addition, manual cleaning and maintenance are inefficient and cannot respond to the pollution and damage of photovoltaic modules in a timely manner. Secondly, traditional methods rely on manual labor and ship equipment for cleaning and maintenance, which requires frequent equipment and manpower scheduling, involves high labor costs and equipment costs, and in offshore photovoltaic power stations far from the shore, the actual operation difficulty and time cost of this method are higher. In addition, traditional technologies lack effective monitoring means, making it difficult to grasp the status and pollution of photovoltaic modules in real time, and it is difficult to ensure the comprehensiveness and timeliness of cleaning. The dust, stains and biological attachments on photovoltaic modules cannot be cleaned in time, and long-term accumulation will significantly reduce the power generation efficiency of photovoltaic power stations and even shorten the service life of equipment.

[0004] In summary, the traditional cleaning and maintenance technology of offshore photovoltaic power stations has obvious deficiencies in efficiency, cost, safety and cleaning effect. These problems are exactly the technical pain points that the present invention can solve. Summary of the invention

[0005] The present application aims to solve one of the technical problems in the related art at least to some extent.

[0006] To this end, the purpose of this application is to propose an air-ground coordinated offshore photovoltaic cleaning and maintenance system to achieve automated cleaning of offshore photovoltaic components.

[0007] To achieve the above-mentioned purpose, the embodiment of the present application proposes an air-ground coordinated offshore photovoltaic cleaning and maintenance system, comprising:

[0008] The invention comprises a drone and a plurality of photovoltaic cleaning robots, wherein the drone comprises a monitoring component and a communication component, wherein the monitoring component is used to obtain real-time monitoring video information of photovoltaic components; the communication component is used to communicate in real time with the plurality of photovoltaic cleaning robots and a user end; the drone is used to:

[0009] Acquiring location information of a target photovoltaic component that needs to be cleaned according to the real-time monitoring video information;

[0010] Acquiring status information of the plurality of photovoltaic cleaning robots through the communication component; the status information is used to indicate whether the photovoltaic cleaning robots are in an idle state or a busy state;

[0011] Determining a photovoltaic cleaning robot that is in an idle state according to the state information of the plurality of photovoltaic cleaning robots;

[0012] According to the location information of the target photovoltaic assembly and the location information of the photovoltaic cleaning robots in an idle state, determining the photovoltaic cleaning robot with the best path among the photovoltaic cleaning robots in an idle state as the most active photovoltaic cleaning robot;

[0013] Transmitting data with the most active photovoltaic cleaning robot, sending the location information of the target photovoltaic component to the most active photovoltaic cleaning robot, and scheduling the most active photovoltaic cleaning robot to perform cleaning and maintenance tasks on the target photovoltaic component;

[0014] The photovoltaic cleaning robot is provided with a bionic suction cup and a cleaning component, and can move on the photovoltaic component through the bionic suction cup. The most active photovoltaic cleaning robot is used to respond to the dispatch of the drone, perform path planning according to the received position information of the target photovoltaic component and the robot's own position information, and move to the target photovoltaic component according to the path planning result, and perform cleaning and maintenance processing on the target photovoltaic component through the cleaning component.

[0015] In some implementations, the drone communicates with the photovoltaic cleaning robot using a data packet-based connection-oriented transmission protocol, and the data packet-based connection-oriented transmission protocol includes the first layer to the fourth layer, wherein:

[0016] The first layer includes at least 11 flag bits, and the at least 11 flag bits include a connection status flag, a transmission direction flag, a robot status flag, a robot self-check flag, a time synchronization flag, a transmission priority flag, a data check flag, a data type flag, a transmission fault recovery flag, a data integrity flag, and a data encryption flag;

[0017] The second layer includes a 16-bit serial number, which is used to mark the location information of the photovoltaic components that need to be cleaned and maintained and the order of the robot location information in the sent data packet, and is also used to mark the user end contained in the data packet. The receiving party can reorganize and sort the data according to the serial number, and update the data packet and the status bit;

[0018] The third layer includes a 12-bit check code for checking the data packet. After receiving the data packet, the receiver will calculate the check code and compare it with the check code sent by the sender to verify the integrity and correctness of the data packet;

[0019] The fourth layer includes a 24-bit retransmission tag, which is used to mark the sequence number of the data packet that needs to be retransmitted. When the receiver finds that the data packet is lost or damaged, it will send the retransmission tag to the sender, and the sender will resend the corresponding data packet according to the retransmission tag.

[0020] In some implementations, the communication between the drone and the photovoltaic cleaning robot includes the following steps:

[0021] Based on the connection-oriented transmission protocol of data packets, the drone, as a sender, initiates a handshake request to the robot;

[0022] After receiving the handshake request from the drone, the robot checks its own status. If it is in a transmitting or busy state, it returns a busy flag to the drone. If it is in an idle state, the robot and the drone respectively change their own control flags to indicate the connection status, and perform time synchronization to establish a connection.

[0023] After the connection is established, the drone and the robot configure the data transmission parameters and start data transmission; after completing one data transmission, the drone initiates a handshake request to the robot again to ensure the stability of the connection, and after confirming that the connection is established, continues with subsequent data transmission; wherein, the drone can establish communication with all robots within its monitoring range at the same time, but can only transmit data with one robot at a time.

[0024] In some implementations, when the drone obtains the location information of the target photovoltaic assembly to be cleaned according to the real-time monitoring video information, it is used to:

[0025] Based on the real-time monitoring video information, acquiring image frames of the photovoltaic module area, and preprocessing the image frames;

[0026] The dust accumulation state of the photovoltaic components in the preprocessed image frame is detected by using an improved deep residual network to obtain the position information of the target photovoltaic components whose dust accumulation state is greater than or equal to the dust accumulation state parameter in the image frame;

[0027] Based on the position information of the target photovoltaic component in the image frame and the characteristics of the target photovoltaic component, the position information of the target photovoltaic component is obtained.

[0028] In some implementations, when the drone obtains the position information of the target photovoltaic component based on the position information of the target photovoltaic component in the image frame and the characteristics of the target photovoltaic component, it is used to:

[0029] Based on the position information of the target photovoltaic component, identifying features of the target photovoltaic component from the image frame;

[0030] Matching the features of the target photovoltaic module with a known feature set to obtain a matching feature pair; the known feature set includes feature point information of all photovoltaic modules;

[0031] Based on the matched feature pairs and the position information corresponding to each feature in the known feature set, the position information of the target photovoltaic component is obtained.

[0032] In some implementations, while determining that the photovoltaic cleaning robot with the best path among the photovoltaic cleaning robots in the idle state is the most active photovoltaic cleaning robot, the drone is further used to:

[0033] Determine the photovoltaic cleaning robots other than the most active photovoltaic cleaning robot among the photovoltaic cleaning robots in the idle state as the second active photovoltaic cleaning robots; wherein the photovoltaic cleaning robot in the busy state returns to the idle state after completing the cleaning and maintenance task, and the drone re-determines the photovoltaic cleaning robot as the second active photovoltaic cleaning robot after receiving the status information of the photovoltaic cleaning robot that has returned to the idle state;

[0034] In response to receiving a cleaning and maintenance task, the most active photovoltaic cleaning robot is re-determined from the second most active photovoltaic cleaning robots, and the most active photovoltaic cleaning robot is scheduled to perform the cleaning and maintenance task.

[0035] In some implementations, the drone is further used to:

[0036] The following operations are performed iteratively multiple times to ensure that the robot's position information and the robot's unique identifier match;

[0037] Sending an identity query request to the photovoltaic cleaning robot, so that the robot receiving the identity query request returns a robot unique identifier;

[0038] The location information of the photovoltaic cleaning robot is matched with the received robot unique identifier.

[0039] In some implementations, the most active photovoltaic cleaning robot performs path planning according to the received location information of the target photovoltaic component and the robot's own location information, including:

[0040] The optimal path from the position of the robot itself to the position of the target photovoltaic component is calculated by the A* algorithm.

[0041] In some implementations, the monitoring component is a camera, the cleaning component includes a cleaning brush made of nylon material, and the robot removes dirt and dust on the photovoltaic component by rotating and reciprocating the cleaning component on the surface of the photovoltaic component.

[0042] In some implementations, the drone includes:

[0043] Data acquisition module, used to collect cleaning data and damage data of photovoltaic modules;

[0044] A data processing module, used to analyze and process the data acquired by the data acquisition module according to a set algorithm;

[0045] The decision-making and scheduling module is used to make decisions based on the analysis and processing results obtained by the data processing module, including: whether the photovoltaic components need to be cleaned and maintained, determining the photovoltaic components that need to be cleaned and maintained, and scheduling the photovoltaic cleaning robot to complete the cleaning and maintenance tasks;

[0046] A data transmission module, used to transmit the robot feedback data and collected data to the host computer;

[0047] The robot comprises:

[0048] A data receiving module is used to receive data transmitted by the drone and analyze and process the data;

[0049] An autonomous planning module is used to autonomously plan routes based on the location of the PV panels that need to be cleaned or maintained and its own location;

[0050] A cleaning module, used to perform actual cleaning operations on the photovoltaic modules;

[0051] Self-check module, used to check whether it can receive data and work normally;

[0052] The feedback module is used to feed back the status information of the robot and whether it is damaged to the drone.

[0053] The air-ground coordinated offshore photovoltaic cleaning and maintenance system provided by the present application adopts the coordinated operation of drones and photovoltaic cleaning robots to realize the automated cleaning and maintenance of photovoltaic modules, thereby reducing labor costs and operational risks; the drone performs high-altitude monitoring, and the photovoltaic cleaning robot moves on the photovoltaic modules through bionic suction cups to automatically plan the optimal cleaning route, thereby improving cleaning efficiency; the drone is equipped with a monitoring component that can monitor the cleaning and maintenance of the photovoltaic modules in real time, communicate with the robot, and promptly feedback information to the user end, thereby realizing timely management of the photovoltaic power station; the present invention adopts unmanned operation, thereby reducing the risks of personnel in harsh offshore environments and ensuring the safety of operations; the drone uniformly dispatches multiple photovoltaic cleaning robots, thereby improving the efficiency of offshore photovoltaic cleaning and maintenance, and making the cleaning scheme more economical and stable; the drone can monitor all robots within the range and establish communication and transmit data with the robot defined as the most active, thereby avoiding repeated data acquisition between robots, improving data acquisition efficiency, and thus improving task execution efficiency; the present invention has significant advantages in improving the cleaning and maintenance efficiency of photovoltaic power stations, reducing costs, improving safety and monitoring capabilities.

[0054] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0056] Figure 1 A schematic diagram of the structure of an offshore photovoltaic cleaning and maintenance system provided in an embodiment of the present application;

[0057] Figure 2 A schematic diagram of the main working process of an offshore photovoltaic cleaning and maintenance system provided in an embodiment of the present application;

[0058] Figure 3 A schematic diagram of the format of a connection-oriented transmission protocol based on data packets provided in an embodiment of the present application. DETAILED DESCRIPTION

[0059] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0060] The following describes the air-ground coordinated offshore photovoltaic cleaning and maintenance system of an embodiment of the present application with reference to the accompanying drawings.

[0061] Figure 1 This is a schematic diagram of the structure of the air-ground coordinated offshore photovoltaic cleaning and maintenance system provided in the embodiment of the present application. Figure 1 As shown, the air-ground coordinated offshore photovoltaic cleaning and maintenance system includes: a drone 1 and a plurality of photovoltaic cleaning robots 2, wherein the drone 1 includes a monitoring component and a communication component, the monitoring component is used to obtain real-time monitoring video information of the photovoltaic component; the communication component is used to communicate in real time with the plurality of photovoltaic cleaning robots 2 and the user end; the drone 1 is used to:

[0062] Acquiring location information of target photovoltaic components that need to be cleaned and maintained based on the real-time monitoring video information;

[0063] Acquiring the status information of the plurality of photovoltaic cleaning robots 2 through the communication component; the status information is used to indicate whether the photovoltaic cleaning robot 2 is in an idle state or a busy state;

[0064] Determine a photovoltaic cleaning robot 2 that is in an idle state according to the state information of the plurality of photovoltaic cleaning robots 2;

[0065] According to the location information of the target photovoltaic assembly and the location information of the photovoltaic cleaning robots 2 in an idle state, determining the photovoltaic cleaning robot 2 with the best path among the photovoltaic cleaning robots 2 in an idle state as the most active photovoltaic cleaning robot 2;

[0066] Transmitting data with the most active photovoltaic cleaning robot 2, sending the location information of the target photovoltaic component to the most active photovoltaic cleaning robot 2, and scheduling the most active photovoltaic cleaning robot 2 to perform cleaning and maintenance tasks on the target photovoltaic component;

[0067] The photovoltaic cleaning robot 2 is provided with a bionic suction cup and a cleaning component, and can move on the photovoltaic component through the bionic suction cup. The most active photovoltaic cleaning robot 2 is used to respond to the dispatch of the drone 1, perform path planning according to the received position information of the target photovoltaic component and the robot's own position information, and move to the target photovoltaic component according to the path planning result, and perform cleaning and maintenance processing on the target photovoltaic component through the cleaning component.

[0068] The user end includes a host computer 3. The drone 1 monitors the photovoltaic components and the robots, and can obtain the location of the photovoltaic components that need to be cleaned and maintained based on the monitoring. The drone 1 establishes communication with all robots within its monitoring range and records the working status of each robot, retrieves robots in an idle state, and obtains the location of the robots.

[0069] The main working process of the air-ground coordinated offshore photovoltaic cleaning and maintenance system of this embodiment includes: Figure 2 As shown, drone 1 monitors information; drone 1 establishes communication with the robot; transmits data; the robot performs cleaning; the robot feeds back information to drone 1; drone 1 establishes connection with the host computer 3; drone 1 feeds back information to the host computer 3; the host computer 3 issues instructions to drone 1.

[0070] Therefore, the drone 1 and the photovoltaic cleaning robot 2 are used to work together. In the sky, the drone 1 monitors the status of the photovoltaic power station from a high altitude, including the position and status of the robot, the position of the photovoltaic components that need to be cleaned and maintained, etc., and communicates with the photovoltaic cleaning robot 2 in real time to dispatch the robot to complete the cleaning task; on the ground, the photovoltaic cleaning robot 2 can realize the field operation of cleaning the photovoltaic components. The robot tightly adsorbs itself on the photovoltaic components through the simulated suction cup, and the staggered auxiliary suction cups ensure that the robot can walk freely and stably on the smooth slope of the photovoltaic component. The robot is equipped with micro sensors, communication components, and cleaning components, and automatically plans the optimal cleaning route and cleans. The drone 1 and the robot communicate in real time and work together to improve the monitoring and cleaning maintenance capabilities. At the same time, according to the specific situation of the power station, the drone 1 regularly inspects and promptly feedbacks the photovoltaic component information to manage the photovoltaic power station in a timely manner. According to the real-time monitoring data, the drone 1 will dispatch the most suitable robot to perform the cleaning task and improve the efficiency of task execution. The drone 1 collects data from the photovoltaic components and the robot in real time through the monitoring components and the communication components, and feeds the data back to the host computer 3; the host computer 3 processes and visualizes the data, and the user can monitor and manage the operation status of the photovoltaic power station through the host computer 3.

[0071] The air-ground coordinated offshore photovoltaic cleaning and maintenance system of the embodiment of the present application adopts the collaborative operation of drones and photovoltaic cleaning robots to realize the automated cleaning and maintenance of photovoltaic modules, reducing labor costs and operational risks; the drone performs high-altitude monitoring, and the photovoltaic cleaning robot moves on the photovoltaic modules through bionic suction cups to automatically plan the optimal cleaning route, thereby improving cleaning efficiency; the drone is equipped with a monitoring component that can monitor the cleaning and maintenance of the photovoltaic modules in real time, communicate with the robot, and promptly feedback information to the user end to realize timely management of the photovoltaic power station; the present invention adopts unmanned operation, which reduces the risks of personnel in harsh offshore environments and ensures the safety of operation; the drone uniformly dispatches multiple photovoltaic cleaning robots, improves the efficiency of offshore photovoltaic cleaning and maintenance, and makes the cleaning scheme more economical and stable; the drone can monitor all robots within the range and establish communication and transmit data with the robot defined as the most active, avoiding repeated data acquisition between robots, improving data acquisition efficiency, and thus improving task execution efficiency; the present invention has significant advantages in improving the cleaning and maintenance efficiency of photovoltaic power stations, reducing costs, improving safety and monitoring capabilities.

[0072] In some embodiments, the drone 1 communicates with the photovoltaic cleaning robot 2 using a data packet-based connection-oriented transmission protocol, and the data packet-based connection-oriented transmission protocol includes the first layer to the fourth layer, wherein:

[0073] The first layer includes at least 11 flag bits, and the at least 11 flag bits include a connection status flag, a transmission direction flag, a robot status flag, a robot self-check flag, a time synchronization flag, a transmission priority flag, a data check flag, a data type flag, a transmission fault recovery flag, a data integrity flag, and a data encryption flag;

[0074] The second layer includes a 16-bit serial number, which is used to mark the location information of the photovoltaic components that need to be cleaned and maintained and the order of the robot location information in the sent data packet, and is also used to mark the user end contained in the data packet. The receiving party can reorganize and sort the data according to the serial number, and update the data packet and the status bit;

[0075] The third layer includes a 12-bit check code for checking the data packet. After receiving the data packet, the receiver will calculate the check code and compare it with the check code sent by the sender to verify the integrity and correctness of the data packet;

[0076] The fourth layer includes a 24-bit retransmission tag, which is used to mark the sequence number of the data packet that needs to be retransmitted. When the receiver finds that the data packet is lost or damaged, it will send the retransmission tag to the sender, and the sender will resend the corresponding data packet according to the retransmission tag.

[0077] As a way to achieve this, Figure 3 As shown in FIG. 1 , the format of the connection-oriented transmission protocol based on data packets is as follows: the 16 bits of the first layer are: the first flag bit S0: connection status flag, S0 is 0 to indicate connected, S0 is 1 to indicate unconnected; the second flag bit S1: transmission direction flag, S1 is 0 to indicate data is in the outgoing direction, S1 is 1 to indicate data is in the incoming direction; the third flag bit S2: robot status flag, S2 is 0 to indicate the robot is in the idle state, S2 is 1 to indicate the robot is in the busy state; the fourth flag bit S3: robot self-test flag, S3 is 0 to indicate the self-test result is normal, S3 is 1 to indicate there is a problem with the self-test result; the fifth flag bit S1: the ... the robot status flag, S2 is 0 to indicate the robot is in the idle state, S2 is 1 to indicate the robot is in the busy state; the fourth flag bit S3: the robot self-test flag, S3 is 0 to indicate the self-test result is normal, S3 is 1 to indicate there is a problem with the self-test result; the fifth flag bit S3: the robot self-test flag, S3 is 0 to indicate the self-test result is normal, S3 is 1 to indicate there is a problem with the self-test result; the fifth flag bit S4: the robot self- Flag S4: time synchronization flag, S4 is 0, indicating that the time of UAV 1 and the robot is synchronized, S4 is 1, indicating that the time is not synchronized; the sixth flag S5: transmission priority flag, S5 is 0, indicating that the data transmission has a normal priority, S5 is 1, indicating that the data transmission has a high priority; the seventh flag S6: data check flag, S6 is 0, indicating that the data has passed the check, S6 is 1, indicating that the data has not passed the check; the eighth flag S7: data type flag, S7 is 0, indicating that the data is text type, S7 is 1, indicating that the data is binary type; the ninth flag S8: transmission fault recovery flag, S S8 is 0, indicating that no fault recovery processing is performed during the transmission process, and S8 is 1, indicating that fault recovery processing is performed during the transmission process; the tenth flag bit S9: data integrity flag, S9 is 0, indicating that the data integrity has been verified, and S9 is 1, indicating that the data integrity has not been verified; the eleventh flag bit S10: data encryption flag, S10 is 0, indicating that the data has been encrypted, and S10 indicates that the data has not been encrypted; the remaining bits are reserved bits and can be set according to actual needs; the second layer is a 16-bit sequence number: used to mark the photovoltaic panel position information and robot position information sequence that need to be cleaned and maintained in the sent data packet, and at the same time Used to mark the users included in the data packet. The receiver can reorganize and sort the data according to the serial number, and update the data packet and status bit; the third layer is a 12-bit check code: used to check the data packet. After receiving the data packet, the receiver will calculate the check code and compare it with the check code sent by the sender to verify the integrity and correctness of the data packet; the fourth layer is a 24-bit retransmission mark: used to mark the sequence number of the data packet that needs to be retransmitted. When the receiver finds that the data packet is lost or damaged, it will send a retransmission mark to the sender, and the sender will resend the corresponding data packet according to the retransmission mark.

[0078] The drone 1 can obtain the robot status information based on the third flag bit S2 of the first layer of the connection-oriented transmission protocol of the data packet: the robot status flag, S2 is 0 to indicate the robot is in an idle state, and S2 is 1 to indicate the robot is in a busy state.

[0079] The drone 1 of this embodiment and the photovoltaic cleaning robot use a data packet-based connection-oriented transmission protocol to ensure the efficiency and reliability of data transmission, effectively avoid data loss and errors, avoid duplication and disorder problems, and improve the system's response capabilities. The various flags set in the protocol can monitor the connection status, data transmission direction, robot working status, self-test results, time synchronization, etc. between the drone 1 and the robot in real time to ensure the integrity and accuracy of the data during transmission. In addition, the protocol also supports data encryption and transmission fault recovery mechanisms, further improving the security and robustness of data transmission.

[0080] The communication level of the air-ground coordinated offshore photovoltaic cleaning and maintenance system of this embodiment is divided into a main station level, a substation level, a communication level and a terminal level, wherein:

[0081] Main station layer: It is composed of drone 1, which communicates with other layers in real time and acts as a node for data transmission and collection. Drone 1 in the main station layer can cruise within the system, collect PV panel and robot data and make decisions.

[0082] Substation layer: It is composed of the host computer 3, which has the functions of equipment management and visualization information. This layer provides management and monitoring functions to the user end. The user end can receive the main station layer data through the substation layer to monitor the operating status of the offshore photovoltaic power station, equipment failure and other information. The connection-oriented transmission protocol based on data packets is used between the drone 1 and the host computer 3 to complete the cleaning and maintenance tasks of the photovoltaic components.

[0083] Communication layer: mainly responsible for processing data transmitted between the master station layer and the terminal layer, and between the master station layer and the substation layer through the NB-IoS communication method, including: issuing decisions made by the master station layer to the terminal layer and receiving feedback information from the terminal layer, transmitting data monitored by the master station layer to the substation layer and receiving instructions from the substation layer. This layer is responsible for coordinating the command interaction between the master station layer, the substation layer and the terminal layer.

[0084] Terminal layer: It is composed of photovoltaic cleaning robots, which execute the instructions sent by the main station layer and transmit the flag information upward.

[0085] In some embodiments, the communication between the drone 1 and the photovoltaic cleaning robot 2 includes the following steps:

[0086] Step 1: Based on the connection-oriented transmission protocol of the data packet, the drone 1 as the sender initiates a handshake request to the robot;

[0087] Step 2: After the robot receives the handshake request from the UAV 1, it checks its own status. If it is in the state of transmitting or busy, it returns a busy flag to the UAV 1. If it is in the idle state, the robot and the UAV 1 respectively change their own control flag bits to indicate the connection state and perform time synchronization to establish a connection.

[0088] Step 3: After establishing the connection, after the UAV 1 and the robot configure the data transmission parameters, they start data transmission. After completing one data transmission, the UAV 1 initiates a handshake request to the robot again to ensure the stability of the connection. After confirming the establishment of the connection, the subsequent data transmission continues.

[0089] It should be noted that the UAV 1 can establish communications with all robots within its monitoring range at the same time, but it can only perform data transmission with one robot at a time. That is, the system allows the photovoltaic cleaning robots 2 to work simultaneously, but the UAV 1 can only perform data transmission with one robot to avoid data conflicts. During communication, time synchronization is performed to keep the clocks of both sides consistent.

[0090] In some embodiments, when the UAV 1 obtains the position information of the target photovoltaic module that needs to be cleaned and maintained according to the real-time monitoring video information, it is used for:

[0091] Based on the real-time monitoring video information, obtain the image frame of the photovoltaic module area and preprocess the image frame.

[0092] Detect the dust accumulation state of the photovoltaic modules in the preprocessed image frame through an improved deep residual network, and obtain the position information of the target photovoltaic modules with a dust accumulation state greater than or equal to the dust accumulation state parameter in the image frame.

[0093] Based on the position information of the target photovoltaic modules in the image frame and the characteristics of the target photovoltaic modules, obtain the position information of the target photovoltaic modules.

[0094] It should be noted that when training the improved deep residual network with a large number of photovoltaic dust accumulation component images, according to the average value of the power generation efficiency loss rate of the photovoltaic modules, four levels of photovoltaic panel dust accumulation degree are divided (P>14; 10<P≤14; 6<P≤10; P<6). Therefore, after obtaining the image frame of the photovoltaic module, for example, taking the dust accumulation image corresponding to P = 10 as the dust accumulation state parameter, select the photovoltaic modules with an average power generation efficiency loss rate less than 10 for cleaning.

[0095] Thus, the improved deep residual network can accurately identify the target photovoltaic modules that need to be cleaned and maintained.

[0096] Furthermore, when the drone 1 obtains the position information of the target photovoltaic component based on the position information of the target photovoltaic component in the image frame and the characteristics of the target photovoltaic component, it is used to:

[0097] Based on the position information of the target photovoltaic component, identifying features of the target photovoltaic component from the image frame;

[0098] Matching the features of the target photovoltaic module with a known feature set to obtain a matching feature pair; the known feature set includes feature point information of all photovoltaic modules;

[0099] Based on the matched feature pairs and the position information corresponding to each feature in the known feature set, the position information of the target photovoltaic component is obtained.

[0100] Therefore, the drone uses visual positioning technology, through deep learning algorithms combined with feature matching, to accurately obtain the location information of target photovoltaic components that need to be cleaned and maintained.

[0101] In some embodiments, the drone 1 can obtain the position information of multiple photovoltaic cleaning robots 2 in real time, and according to the position information of the target photovoltaic component and the position information of the photovoltaic cleaning robot in an idle state, and according to the positional relationship between each idle photovoltaic cleaning robot and the target photovoltaic component, according to path planning, find the idle photovoltaic cleaning robot with the shortest path, and record it as the most active photovoltaic cleaning robot. Thus, the most active photovoltaic cleaning robot can be scheduled to complete the cleaning task.

[0102] In some embodiments, while determining that the photovoltaic cleaning robot 2 with the best path among the photovoltaic cleaning robots 2 in the idle state is the most active photovoltaic cleaning robot 2, the drone 1 is also used to:

[0103] Determine the photovoltaic cleaning robots 2 in the idle state except the most active photovoltaic cleaning robot 2 as the second active photovoltaic cleaning robots 2; wherein the photovoltaic cleaning robot 2 in the busy state returns to the idle state after completing the cleaning and maintenance task, and the drone 1 re-determines the photovoltaic cleaning robot 2 as the second active photovoltaic cleaning robot 2 after receiving the status information of the photovoltaic cleaning robot 2 that has returned to the idle state;

[0104] In response to receiving the cleaning and maintenance task, the most active photovoltaic cleaning robot 2 is re-determined from the second most active photovoltaic cleaning robots 2, and the most active photovoltaic cleaning robot 2 is scheduled to perform the cleaning and maintenance task.

[0105] That is, UAV 1 selects the robot with the best cleaning path for the PV module to be cleaned from the idle PV cleaning robots 2, defines it as the most active robot, and the rest of the idle robots are the second active ones; and establishes communication with the most active robot, records the most active robot and schedules it to perform cleaning work; when faced with the next cleaning task, it will evaluate the second active robots again to determine the most active robot and schedule it to perform the cleaning task. After the robot successfully completes the cleaning task, it will return to the idle state, and then UAV 1 will redefine it as the second active state so that it can participate in the next round of cleaning work.

[0106] As a result, the robot in the idle state is always defined as the second most active robot. When a cleaning and maintenance task is received, the most active robot is determined from the second most active robots to improve scheduling efficiency.

[0107] In some embodiments, the most active photovoltaic cleaning robot 2 performs path planning according to the received location information of the target photovoltaic component and the robot's own location information, including:

[0108] The optimal path from the robot's own position to the target photovoltaic module is calculated by the A* algorithm. When calculating the optimal path, the distance between the robot's current position and the starting point of the photovoltaic area, and the distance between the robot's current position and the target photovoltaic module are considered. For example, if the target photovoltaic module is located in the upper right corner of the photovoltaic area, the robot moves to the right and then moves upward to obtain the optimal shortest path.

[0109] Therefore, after receiving the data packet transmitted by UAV 1, the robot unpacks and parses the data packet, extracts the position coordinates of the target photovoltaic component and the robot's own position coordinates, and uses the A* algorithm to calculate the optimal path from the robot's current position to the position of each target photovoltaic component.

[0110] In some embodiments, the drone 1 is also used for:

[0111] After the robot moves, the following operations are performed iteratively for multiple times to ensure that the robot's position information matches the robot's unique identifier; an identity query request is sent to the photovoltaic cleaning robot 2 so that the robot that receives the identity query request returns the robot's unique identifier; the position information of the photovoltaic cleaning robot 2 is matched with the received robot's unique identifier.

[0112] It can be understood that in areas where photovoltaic modules are densely distributed, robots may move and position frequently, and simple one-time verification may not be able to accurately identify the individual identity of the robot; secondly, wireless communication may be interfered with, resulting in reduced accuracy of one-time verification. Specifically, multiple iterations of verification are performed through the following process: a query request is sent through drone 1, requiring each robot to send its unique identifier; the robot responds with its unique identifier, and drone 1 records these unique identifiers; drone 1 detects and records the location information of each robot; drone 1 matches the robot's location information with the robot's unique identifier; multiple iterations of verification are performed to ensure the accuracy of the results; after the robot moves, drone 1 repeats the above process to ensure that the robot's location information matches the robot's unique identifier.

[0113] Thus, the drone 1 determines the individual identity of the robots on the photovoltaic module through iterative experiments and verifications, where the individual identity refers to a unique identifier of each robot, for example, the serial number of the robot is used as its unique identifier.

[0114] In some embodiments, the monitoring component is a camera, the cleaning component includes a cleaning brush made of nylon material, and the robot removes dirt and dust on the photovoltaic component by rotating and reciprocating the cleaning component on the surface of the photovoltaic component.

[0115] Optionally, the cleaning component is made of PA88 nylon material.

[0116] In some embodiments, the drone 1 as a master node includes:

[0117] Data acquisition module, used to collect cleaning data and damage data of photovoltaic modules;

[0118] A data processing module, used to analyze and process the data acquired by the data acquisition module according to a set algorithm;

[0119] The decision-making and scheduling module is used to make decisions based on the analysis and processing results obtained by the data processing module, including: whether the photovoltaic components need to be cleaned and maintained, determining the photovoltaic components that need to be cleaned and maintained, and scheduling the photovoltaic cleaning robot to complete the cleaning and maintenance tasks;

[0120] A data transmission module, used for transmitting the robot feedback data and collected data to the host computer 3;

[0121] The robot serves as a terminal node, including:

[0122] A data receiving module is used to receive data transmitted by the drone 1 and analyze and process the data;

[0123] An autonomous planning module is used to autonomously plan routes based on the location of the PV panels that need to be cleaned or maintained and its own location;

[0124] A cleaning module, used to perform actual cleaning operations on the photovoltaic modules;

[0125] Self-check module, used to check whether it can receive data and work normally;

[0126] The feedback module is used to feed back the status information of the robot and whether it is damaged to the drone 1.

[0127] It should be noted that the drone 1 can collect damage data, that is, determine whether there is a damaged photovoltaic component based on the collected video frames. If so, send the information to the host computer 3 to notify the user to repair or replace the damaged photovoltaic component, thereby improving the timeliness of the processing.

[0128] The air-ground collaborative offshore photovoltaic cleaning and maintenance system of the embodiment of the present application realizes efficient collaboration between drones and photovoltaic cleaning robots, and solves the problem of difficulty in cleaning and maintaining offshore photovoltaic power stations. The drone monitors the status of the photovoltaic power station at high altitude, and the photovoltaic cleaning robot performs specific cleaning operations on the ground. The two communicate in real time through a connection-oriented transmission protocol based on data packets, which effectively improves the cleaning efficiency and maintenance capabilities of the system. Under the real-time monitoring of the drone, the status of the photovoltaic modules of the photovoltaic power station can be fed back in time, and the drone can accurately locate the locations that need to be cleaned and maintained, and command the photovoltaic cleaning robot to perform cleaning tasks through the communication protocol. The robot uses a bionic suction cup to move on the photovoltaic module and automatically plans the optimal cleaning route to ensure that the cleaning work is carried out efficiently. This collaborative working mode overcomes the difficulties of harsh offshore environment and difficulty in reaching manpower, and greatly improves the efficiency and safety of cleaning work. The data packet-based connection-oriented transmission protocol adopted in the present invention confirms the priority of data transmission, checks the data with a check bit, and ensures the efficiency and reliability of data transmission; adopts a data mutual transmission mechanism to improve the accuracy of data transmission and reduce communication costs; a transmission fault recovery mechanism can be performed during communication, and data encryption can be set to avoid data loss and errors to the greatest extent, improve data security, and the system can quickly repair transmission problems through the transmission fault recovery mechanism, ensuring the efficiency and reliability of data transmission and improving the ability to cope with complex environments. The real-time communication and collaborative work between the drone and the photovoltaic cleaning robot not only improve the efficiency of cleaning and maintenance, but also realize the dynamic management of the photovoltaic power station. The drone conducts regular inspections and promptly feeds back the relevant information of the photovoltaic components to the host computer, which processes and visualizes the data, and the user can monitor the operating status and equipment failure of the photovoltaic power station in real time through the substation layer. This information feedback mechanism makes the management of the photovoltaic power station more scientific and efficient, and avoids the problem of untimely maintenance due to information lag.

[0129] The technical solution of the present invention is not only applicable to offshore photovoltaic power stations, but can also be extended to land photovoltaic power stations, photovoltaic modules on building roofs, agricultural photovoltaic greenhouses, and remote desert photovoltaic power stations, and has wide applicability and promotion value. Overall, the present invention significantly improves the efficiency of cleaning and maintenance of photovoltaic power stations through air-ground collaborative working, reduces labor costs and safety risks, and provides solid technical support for the efficient use of clean energy.

[0130] In the description of the aforementioned embodiments, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0131] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0132] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0133] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute the instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0134] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0135] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0136] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0137] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. An air-ground coordinated offshore photovoltaic cleaning and maintenance system, characterized in that: The invention comprises a drone and a plurality of photovoltaic cleaning robots, wherein the drone comprises a monitoring component and a communication component, wherein the monitoring component is used to obtain real-time monitoring video information of photovoltaic components; the communication component is used to communicate in real time with the plurality of photovoltaic cleaning robots and a user end; the drone is used to: Acquiring location information of a target photovoltaic component that needs to be cleaned according to the real-time monitoring video information; Acquiring status information of the plurality of photovoltaic cleaning robots through the communication component; the status information is used to indicate whether the photovoltaic cleaning robots are in an idle state or a busy state; Determining a photovoltaic cleaning robot that is in an idle state according to the state information of the plurality of photovoltaic cleaning robots; According to the location information of the target photovoltaic assembly and the location information of the photovoltaic cleaning robots in an idle state, determining the photovoltaic cleaning robot with the best path among the photovoltaic cleaning robots in an idle state as the most active photovoltaic cleaning robot; Transmitting data with the most active photovoltaic cleaning robot, sending the location information of the target photovoltaic component to the most active photovoltaic cleaning robot, and scheduling the most active photovoltaic cleaning robot to perform cleaning and maintenance tasks on the target photovoltaic component; The photovoltaic cleaning robot is provided with a bionic suction cup and a cleaning component, and can move on the photovoltaic component through the bionic suction cup. The most active photovoltaic cleaning robot is used to respond to the dispatch of the drone, perform path planning according to the received position information of the target photovoltaic component and the robot's own position information, and move to the target photovoltaic component according to the path planning result, and perform cleaning and maintenance processing on the target photovoltaic component through the cleaning component.

2. The air-ground coordinated offshore photovoltaic cleaning and maintenance system according to claim 1 is characterized in that: The drone communicates with the photovoltaic cleaning robot using a data packet-based connection-oriented transmission protocol, and the data packet-based connection-oriented transmission protocol includes the first layer to the fourth layer, wherein: The first layer includes at least 11 flag bits, and the at least 11 flag bits include a connection status flag, a transmission direction flag, a robot status flag, a robot self-check flag, a time synchronization flag, a transmission priority flag, a data check flag, a data type flag, a transmission fault recovery flag, a data integrity flag, and a data encryption flag; The second layer includes a 16-bit serial number, which is used to mark the location information of the photovoltaic components that need to be cleaned and maintained and the order of the robot location information in the sent data packet, and is also used to mark the user end contained in the data packet. The receiving party can reorganize and sort the data according to the serial number, and update the data packet and the status bit; The third layer includes a 12-bit check code for checking the data packet. After receiving the data packet, the receiver will calculate the check code and compare it with the check code sent by the sender to verify the integrity and correctness of the data packet; The fourth layer includes a 24-bit retransmission tag, which is used to mark the sequence number of the data packet that needs to be retransmitted. When the receiver finds that the data packet is lost or damaged, it will send the retransmission tag to the sender, and the sender will resend the corresponding data packet according to the retransmission tag.

3. The air-ground coordinated offshore photovoltaic cleaning and maintenance system according to claim 2 is characterized in that: The communication between the drone and the photovoltaic cleaning robot includes the following steps: Based on the connection-oriented transmission protocol of data packets, the drone, as a sender, initiates a handshake request to the robot; After receiving the handshake request from the drone, the robot checks its own status, and if it is in a transmitting or busy state, returns a busy sign to the drone; If in an idle state, the robot and the drone respectively change their own control flags to indicate a connection state, and perform time synchronization to establish a connection; After the connection is established, the drone and the robot configure the data transmission parameters and start data transmission; after completing one data transmission, the drone initiates a handshake request to the robot again to ensure the stability of the connection, and after confirming that the connection is established, continues with subsequent data transmission; wherein, the drone can establish communication with all robots within its monitoring range at the same time, but can only transmit data with one robot at a time.

4. The air-ground coordinated offshore photovoltaic cleaning and maintenance system according to claim 1 is characterized in that: When the drone obtains the location information of the target photovoltaic assembly to be cleaned according to the real-time monitoring video information, it is used to: Based on the real-time monitoring video information, acquiring image frames of the photovoltaic module area, and preprocessing the image frames; The dust accumulation state of the photovoltaic components in the preprocessed image frame is detected by using an improved deep residual network to obtain the position information of the target photovoltaic components whose dust accumulation state is greater than or equal to the dust accumulation state parameter in the image frame; Based on the position information of the target photovoltaic component in the image frame and the characteristics of the target photovoltaic component, the position information of the target photovoltaic component is obtained.

5. The air-ground coordinated offshore photovoltaic cleaning and maintenance system according to claim 4 is characterized in that: When the drone obtains the position information of the target photovoltaic component based on the position information of the target photovoltaic component in the image frame and the characteristics of the target photovoltaic component, it is used to: Based on the position information of the target photovoltaic component, identifying features of the target photovoltaic component from the image frame; Matching the features of the target photovoltaic module with a known feature set to obtain a matching feature pair; the known feature set includes feature point information of all photovoltaic modules; Based on the matched feature pairs and the position information corresponding to each feature in the known feature set, the position information of the target photovoltaic component is obtained.

6. The air-ground coordinated offshore photovoltaic cleaning and maintenance system according to claim 5 is characterized in that: While determining that the photovoltaic cleaning robot with the best path among the photovoltaic cleaning robots in the idle state is the most active photovoltaic cleaning robot, the drone is also used for: Determine the photovoltaic cleaning robots other than the most active photovoltaic cleaning robot among the photovoltaic cleaning robots in the idle state as the second active photovoltaic cleaning robots; wherein the photovoltaic cleaning robot in the busy state returns to the idle state after completing the cleaning and maintenance task, and the drone re-determines the photovoltaic cleaning robot as the second active photovoltaic cleaning robot after receiving the status information of the photovoltaic cleaning robot that has returned to the idle state; In response to receiving a cleaning and maintenance task, the most active photovoltaic cleaning robot is re-determined from the second most active photovoltaic cleaning robots, and the most active photovoltaic cleaning robot is scheduled to perform the cleaning and maintenance task.

7. The air-ground coordinated offshore photovoltaic cleaning and maintenance system according to claim 1 is characterized in that: The drone is also used to: The following operations are performed iteratively multiple times to ensure that the robot's position information and the robot's unique identifier match; Sending an identity query request to the photovoltaic cleaning robot, so that the robot receiving the identity query request returns a robot unique identifier; The location information of the photovoltaic cleaning robot is matched with the received robot unique identifier.

8. The air-ground coordinated offshore photovoltaic cleaning and maintenance system according to claim 1 is characterized in that: The most active photovoltaic cleaning robot performs path planning according to the received position information of the target photovoltaic component and the robot's own position information, including: The optimal path from the position of the robot itself to the position of the target photovoltaic component is calculated by the A* algorithm.

9. The air-ground coordinated offshore photovoltaic cleaning and maintenance system according to claim 1 is characterized in that: The monitoring component is a camera, the cleaning component includes a cleaning brush made of nylon material, and the robot removes dirt and dust on the photovoltaic component by rotating and reciprocating the cleaning component on the surface of the photovoltaic component.

10. The air-ground coordinated offshore photovoltaic cleaning and maintenance system according to claim 1 is characterized in that: The drone comprises: Data acquisition module, used to collect cleaning data and damage data of photovoltaic modules; A data processing module, used to analyze and process the data acquired by the data acquisition module according to a set algorithm; The decision-making and scheduling module is used to make decisions based on the analysis and processing results obtained by the data processing module, including: whether the photovoltaic components need to be cleaned and maintained, determining the photovoltaic components that need to be cleaned and maintained, and scheduling the photovoltaic cleaning robot to complete the cleaning and maintenance tasks; A data transmission module, used to transmit the robot feedback data and collected data to the host computer; The robot comprises: A data receiving module is used to receive data transmitted by the drone and analyze and process the data; An autonomous planning module is used to autonomously plan routes based on the location of the PV panels that need to be cleaned or maintained and its own location; A cleaning module, used to perform actual cleaning operations on the photovoltaic modules; Self-check module, used to check whether it can receive data and work normally; The feedback module is used to feed back the status information of the robot and whether it is damaged to the drone.

Images