Photovoltaic panel cleaning robot system and cleaning method

Abstract

The invention provides a photovoltaic panel cleaning robot system and method.The cleaning robot system comprises a remote control platform and a plurality of cleaning robots, each cleaning robot comprises a cleaning device composed of an electric push rod and a servo electric cylinder, and by means of cooperative operation of the electric push rod and the servo electric cylinder, the cleaning robot can clean the photovoltaic panel; the self-form can be automatically adjusted in real time according to the installation level of the photovoltaic panel, the photovoltaic panel cleaning device can quickly adapt to the photovoltaic panel at a high position, with an inclined installation angle or with a certain height difference, the photovoltaic panel cleaning device is tightly attached to the surface of the panel, no dead angle in cleaning is ensured, the application range of cleaning operation is expanded, and the cleaning efficiency is improved. A pressure sensor in the sensing module collects the contact pressure between the electric rolling brush and the surface of the photovoltaic panel at the current moment, a laser distance measuring sensor collects the distance between the laser distance measuring sensor and the surface of the photovoltaic panel at the current moment, and a camera shoots the surface image of the photovoltaic panel at the current moment, so that the cleaning area can be accurately divided; and key parameters of the cleaning device can be dynamically adjusted, and the cleaning accuracy and adaptability are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of robots and relates to a cleaning robot system and a cleaning method, which can be used for cleaning photovoltaic panels. Background Art

[0002] In the context of global energy transformation, photovoltaic power generation is favored due to its clean and renewable characteristics. Photovoltaic power stations rely on numerous photovoltaic panels to convert solar energy into electrical energy. However, their operating efficiency is greatly affected by the cleanliness of the photovoltaic panel surface. Since photovoltaic power stations are mostly located in open-air environments, pollutants such as dust, sand, and bird droppings can easily accumulate on the surface of photovoltaic panels, resulting in reduced photoelectric conversion efficiency. Therefore, highly automated unmanned cleaning equipment is urgently needed for daily cleaning of photovoltaic panels.

[0003] At present, traditional photovoltaic panel cleaning methods usually include manual cleaning, fixed cleaning equipment and vehicle-mounted cleaning equipment. However, these methods have obvious shortcomings. For example, manual cleaning is inefficient, costly and unsuitable for large-scale photovoltaic power stations; fixed cleaning equipment needs to be installed piece by piece, the number of equipment is large and maintenance is complicated; vehicle-mounted equipment has limited flexibility, limited cleaning range, and is prone to blind spots. In addition, these methods have poor adaptability to complex terrain and irregularly arranged photovoltaic panels, making it difficult to meet the needs of modern photovoltaic power stations, and lack a unified dispatching and command center, resulting in low cleaning efficiency.

[0004] In order to adapt to the complex layout and installation level of photovoltaic panels, while having low maintenance cost and high reliability, for example, the patent document with application number 202310646417.4 and name "A photovoltaic panel automatic cleaning device and system" discloses a photovoltaic panel cleaning system and cleaning method for cleaning photovoltaic panels. The cleaning device includes a frame, a cleaning component arranged on the frame, a panel information collection component, a control component, a posture adjustment component and a walking component, wherein the panel information collection component is used to collect relevant information of the photovoltaic panel, the control component is used to control the posture adjustment component to adjust the height and cleaning angle of the cleaning component based on the relevant information of the photovoltaic panel collected by the panel information collection component, the cleaning component is used to clean the photovoltaic panel, and the walking component is used to drive the frame to move, which has the advantage of improving the cleaning effect and efficiency of the photovoltaic panel. However, the design is mainly suitable for regular and flat photovoltaic panels, and has poor adaptability to panels with complex levels, which limits its efficient application in large-scale photovoltaic power stations. Summary of the invention

[0005] The purpose of the present invention is to overcome the defects of the above-mentioned technology and propose a photovoltaic panel cleaning robot system and cleaning method to solve the technical problem existing in the prior art of cleaning photovoltaic panels with complex installation and inconsistent layers.

[0006] To achieve the above object, the technical solution adopted by the present invention is:

[0007] A photovoltaic panel cleaning robot system includes a remote control platform composed of a photovoltaic panel surface detection module and a cleaning robot monitoring module, and N cleaning robots; the cleaning robot includes a motion platform 1 and a communication module 2, a control module 3 and a cleaning device 4 installed thereon, as well as a sensing module 5 and an electric roller brush 6; the cleaning device 4 includes a mounting bracket 41 fixed on the chassis of the motion platform 1, an electric push rod 42 installed on the chassis of the motion platform 1, and a servo electric cylinder 43 installed on the top of the mounting bracket 41; the sensing module 5 and the electric roller brush 6 are installed at the end of the telescopic part of the electric push rod 42; the telescopic part of the servo electric cylinder 43 is movably connected to the cylinder of the electric push rod 42.

[0008] As an optimization, the motion platform 1 includes a robot chassis and a controller for controlling the movement of the robot chassis.

[0009] As an optimization, the control module 3 includes a receiver for receiving information from the sensing module 5 , and a controller for controlling the electric push rod 42 , the servo cylinder 43 and the electric roller brush 6 .

[0010] As an optimization, the perception module 5 includes a pressure sensor 51 , a laser ranging sensor 52 and a camera 53 .

[0011] A method for cleaning a photovoltaic panel comprises the following steps:

[0012] (1) Collect and send information:

[0013] Multiple sensors collect information from the photovoltaic panels of their respective groups and send it to the photovoltaic panel surface detection module; at the same time, N cleaning robots send their position information to the cleaning robot monitoring module respectively;

[0014] (2) The remote control platform sends cleaning instructions:

[0015] The photovoltaic panel surface detection module determines whether the photovoltaic panel where the sensor is located needs to be cleaned through the information sent by each sensor; the cleaning robot monitoring module sends a cleaning instruction to the cleaning robot closest to the photovoltaic panel that needs to be cleaned through the communication module;

[0016] (3) Motion platform controls the movement of the cleaning robot:

[0017] The cleaning robot closest to the photovoltaic panel to be cleaned moves to the location of the photovoltaic panel to be cleaned through the control of the controller of the motion platform;

[0018] (4) The perception module collects information in real time and sends it to the control module:

[0019] The pressure sensor in the sensing module collects the contact pressure P between the electric roller brush and the photovoltaic panel surface at the current moment, the laser ranging sensor collects the distance L between itself and the photovoltaic panel surface at the current moment, and the camera captures the photovoltaic panel surface image at the current moment and sends the collected information to the control module;

[0020] (5) The control module adjusts the working state of the robot in which it is located:

[0021] The control module calculates the pollution area ratio A based on the surface image information of the photovoltaic panel pollution and pollution concentration C pollution The surface of the photovoltaic panel is divided into cleaning areas, and the working height H of the servo electric cylinder, the moving speed v of the electric push rod, and the working mode of the electric roller brush corresponding to the different cleaning areas of the photovoltaic panel surface are adjusted in real time through the contact pressure P and the distance L to achieve this cleaning task.

[0022] Compared with the prior art, the present invention has the following advantages:

[0023] 1. The present invention can automatically adjust its own shape in real time according to the installation level of the photovoltaic panel through the coordinated operation of the electric push rod and the servo cylinder in the cleaning device. It can quickly adapt to photovoltaic panels at a higher position, with an inclined installation angle or with a certain height difference, and fit closely to the surface of the panel to ensure that there are no dead angles in the cleaning. It effectively solves the problem that traditional cleaning devices are difficult to cope with complex installation layouts due to their fixed structure, and greatly expands the scope of application of cleaning operations.

[0024] 2. The present invention uses the pressure sensor in the sensing module to collect the contact pressure P between the electric roller brush and the surface of the photovoltaic panel at the current moment, the laser ranging sensor collects the distance L between itself and the surface of the photovoltaic panel at the current moment, and the camera captures the surface image of the photovoltaic panel at the current moment. It can not only accurately divide the cleaning area, but also dynamically adjust the key parameters of the cleaning device, including intelligently switching the cleaning speed of the electric roller brush according to the pollution status, strengthening the cleaning intensity for key pollution areas, and taking into account the high efficiency of ordinary areas, which greatly improves the accuracy and adaptability of cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of the cleaning robot system of the present invention.

[0026] Figure 2 It is a schematic diagram of the overall structure of the cleaning robot of the present invention.

[0027] Figure 3 It is a three-dimensional schematic diagram of the cleaning robot of the present invention.

[0028] Figure 4 It is a flow chart for realizing the cleaning method of the present invention. DETAILED DESCRIPTION

[0029] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0030] Reference Figure 1-Figure 3 A photovoltaic panel cleaning robot system includes a remote control platform composed of a photovoltaic panel surface detection module and a cleaning robot monitoring module and N cleaning robots; the cleaning robot includes a motion platform 1 and a communication module 2, a control module 3 and a cleaning device 4 installed thereon, as well as a sensing module 5 and an electric roller brush 6; the cleaning device 4 includes a mounting bracket 41 fixed on the chassis of the motion platform 1, an electric push rod 42 installed on the chassis of the motion platform 1 and a servo electric cylinder 43 installed on the top of the mounting bracket 41; the sensing module 5 and the electric roller brush 6 are installed at the end of the telescopic part of the electric push rod 42; the telescopic part of the servo electric cylinder 43 is movably connected to the cylinder of the electric push rod 42.

[0031] The motion platform 1 includes a robot chassis and a controller for controlling the movement of the robot chassis. Based on the cleaning task received from the communication module, the controller drives the robot chassis to drive the cleaning device to move accurately to the cleaning point, ensuring that the cleaning operation can be carried out in an orderly manner in various areas of the photovoltaic panel, providing reliable mobile support for the entire cleaning process.

[0032] The control module 3 includes a receiver for receiving information from the sensing module 5 , and a controller for controlling the electric push rod 42 , the servo cylinder 43 and the electric roller brush 6 .

[0033] The sensing module 5 includes a pressure sensor 51, a laser ranging sensor 52 and a camera 53; the pressure sensor 51 is used to collect the contact pressure between the electric roller brush 6 and the surface of the photovoltaic panel at the current moment, and provide key data basis for the subsequent control module 3 to adjust the working height of the servo cylinder 43; the laser ranging sensor 52 collects the distance between itself and the surface of the photovoltaic panel in real time, and the data is used to control the moving speed of the electric push rod 42 so that it can dynamically adapt to the cleaning needs; the camera 53 is responsible for capturing the surface image of the photovoltaic panel at the current moment, and the collected image information will be transmitted to the control module 3 for operations such as cleaning area division, so as to fully perceive the cleaning working environment and assist in precise cleaning.

[0034] The mounting bracket 41 in the cleaning device 4 is fixed on the robot motion platform 1 and connected to the chassis of the motion platform by welding. The fixed end of the cylinder body in the servo electric cylinder 43 is fixed to the top of the mounting bracket 41, and the other end is hinged at 2 / 3 of the distance from the fixed end cylinder of the electric push rod 42; the electric push rod 42 includes a fixed cylinder, a push rod that can be freely extended and retracted in the cylinder, a motor for controlling the moving speed of the push rod, and a motor driver. Its working principle is to control the motor speed through the motor driver, and the motor converts the rotational motion into the push rod through the internal transmission mechanism worm gear The linear reciprocating motion of the push rod is realized, thereby realizing the precise movement of the push rod. The control module realizes the dynamic adjustment of the moving speed of the push rod through the motor driver. The servo electric cylinder 43 includes a fixed cylinder body, a screw rod that can be freely extended and retracted in the cylinder body, a motor for controlling the movement of the screw rod, and a motor driver. Its working principle is to convert the rotational motion of the motor into the linear motion of the screw rod through the ball screw transmission mechanism. The design of the ball screw can effectively reduce friction, improve transmission efficiency and positioning accuracy. During the working process, the control module realizes the dynamic adjustment of the moving speed of the push rod through the motor driver;

[0035] The electric roller brush 6 is installed at the movable end of the retractable push rod in the electric push rod 42, and its design fully considers the diversity of cleaning areas and the differentiation of cleaning needs. For different cleaning areas, the system can flexibly switch the cleaning mode to achieve efficient and accurate cleaning effects. During the cleaning process, the motor of the electric roller brush 6 adjusts the speed through the control module, thereby realizing the dynamic setting of the two cleaning modes of high speed and low speed. For key cleaning areas with more serious pollution, the control module increases the motor speed so that the roller brush rotates at high speed to deeply clean the surface, thereby quickly removing stubborn dirt. For ordinary cleaning areas with less pollution, the motor speed is reduced and the roller brush rotates at a low speed, which can not only complete the surface cleaning, but also reduce the wear on the surface of the photovoltaic panel and extend the life of the panel;

[0036] The communication module 2 is responsible for data exchange between the cleaning robot and the robot monitoring module in the remote control platform, receiving the cleaning instructions issued by the cleaning robot monitoring module and forwarding them to the motion platform. It also undertakes the task of sending the cleaning robot's own status information to the cleaning robot monitoring module in the remote control platform, ensuring the timeliness and accuracy of information flow and ensuring the smooth operation of the entire cleaning process;

[0037] Reference Figure 4 , a photovoltaic panel cleaning method, comprising the following steps:

[0038] Step 1) Collect and send information:

[0039] Multiple sensors collect information from the photovoltaic panels of their respective groups and send it to the photovoltaic panel surface detection module; at the same time, N cleaning robots send their position information to the cleaning robot monitoring module respectively; the implementation steps are:

[0040] (1a) Pollutant sensors and temperature sensors are fixed on the frame of the photovoltaic panel, and data is collected every 10 minutes to ensure that the pollution and temperature change trends of the photovoltaic panel can be reflected; each group of sensors packages the collected data and sends it to the photovoltaic panel surface detection module through the wireless communication module. The data format includes: photovoltaic panel number, sensor type number, collection timestamp, pollutant concentration and temperature value information;

[0041] (1b) Each cleaning robot is equipped with a high-precision Beidou differential positioning module to monitor its specific position in the photovoltaic power station in real time; each robot collects position information every 1 minute to ensure the real-time data transmission. The collected content mainly includes the robot's current coordinates, motion status, and battery power information, and the data is sent to the cleaning robot monitoring module in real time through the wireless communication module;

[0042] Step 2) The remote control platform sends a cleaning instruction:

[0043] The photovoltaic panel surface detection module determines whether the photovoltaic panel where the sensor is located needs to be cleaned through the information sent by each sensor; the cleaning robot monitoring module sends a cleaning instruction to the cleaning robot closest to the photovoltaic panel that needs to be cleaned through the communication module; the implementation steps are:

[0044] (2a) The photovoltaic panel surface detection module receives the information collected by each sensor, and the data is analyzed after pre-processing; if the pollutant concentration of a photovoltaic panel exceeds the set threshold, that is, the dust concentration is >50mg / m 2 Or if the particle concentration is >100ppm, it is marked as needing cleaning. If the temperature sensor detects a high temperature hotspot area, that is, a temperature difference >5°C, and it is associated with the pollution distribution, it is prioritized as needing cleaning. Output the information of the photovoltaic panels that need to be cleaned, including the panel number and location information.

[0045] (2b) The cleaning robot monitoring module receives the information of the photovoltaic panels to be cleaned, and calculates the distance between each cleaning robot and the panel to be cleaned in combination with the robot position information, and preferably assigns the cleaning task to the robot with the shortest distance and idle task; generates a cleaning task instruction for each cleaning robot, including the target photovoltaic panel number and position coordinates, and cleaning path planning; the cleaning robot monitoring module sends the cleaning task instruction to the selected cleaning robot through the communication module;

[0046] Step 3) The motion platform controls the movement of the cleaning robot:

[0047] The cleaning robot closest to the photovoltaic panel to be cleaned moves to the location of the photovoltaic panel to be cleaned under the control of the controller of the motion platform; the implementation steps are:

[0048] (3a) The motion platform of the cleaning robot receives instructions through a built-in controller, controls the hub motors of the four wheels to move, and controls the steering motor to turn;

[0049] (3b) The cleaning robot uses the Beidou differential positioning module to monitor its current position in real time and compares it with the position information of the photovoltaic panel to be cleaned. If the error is less than 5 cm, it is determined that the robot has reached the photovoltaic panel cleaning position;

[0050] Step 4) The perception module collects information in real time and sends it to the control module:

[0051] The pressure sensor in the sensing module collects the contact pressure P between the electric roller brush and the photovoltaic panel surface at the current moment, the laser ranging sensor collects the distance L between itself and the photovoltaic panel surface at the current moment, and the camera captures the photovoltaic panel surface image at the current moment and sends the collected information to the control module;

[0052] Step 5) The control module adjusts the working state of the robot in which it is located:

[0053] The control module calculates the pollution area ratio A based on the surface image information of the photovoltaic panel pollution and pollution concentration C pollution The surface of the photovoltaic panel is divided into cleaning areas, and the working height H of the servo electric cylinder, the moving speed v of the electric push rod, and the working mode of the electric roller brush corresponding to the different cleaning areas of the photovoltaic panel surface are adjusted in real time through the contact pressure P and the distance L to achieve this cleaning task.

[0054] The control module calculates the pollution area ratio A based on the surface image information of the photovoltaic panel. pollution and pollution concentration C pollution The cleaning area of ​​the photovoltaic panel surface is divided into the following steps:

[0055] (5a) The control module takes a color image of the photovoltaic panel surface at the current moment according to the camera Convert and convert the grayscale image Perform median filtering to obtain the filtered grayscale image I g,m , where I g,m The pixel value I at the coordinate (x, y) g,m The expression for (x,y) is:

[0056]

[0057] in, represents a set of real numbers, H, W, and L represent the height, width, and number of channels of the image, respectively. median{·} represents the median of the pixel values ​​calculated in a certain m×m neighborhood. g (u,v) represents I g The pixel value at the coordinate (u,v), Represents a 3×3 area window centered at pixel (x,y).

[0058] (5b) The control module uses the Laplacian operator in the image sharpening algorithm to g,m Perform edge enhancement and perform edge enhancement on the grayscale image I edge Perform global adaptive threshold segmentation and segment the pixels with values ​​greater than the optimal threshold T * The pixel point is marked as 1, which is less than T * The pixel points are marked as 0, and the binary image I is obtained. binary ;

[0059]

[0060] Among them 2 represents the Laplacian operator, α is the intensity coefficient used to adjust the sharpening, I g,m (x, y) represents the pixel value at coordinate (x, y) in the filtered grayscale image, I edge (x,y) represents the pixel value at coordinate (x,y) in the grayscale image after filtering and edge enhancement. represents the weighted sum of intra-class variances of different categories under threshold T, I binary (x,y) represents the pixel value at coordinate (x,y) on the binary image;

[0061] (5c) The control module converts the binary image I binary Calculate the pollution area ratio A pollution and pollution concentration C pollution :

[0062]

[0063] Where N pollution 、N total Respectively represent the number of polluted pixels and the total number of pixels, (x n ,y n ) represents the coordinates of the nth contaminated pixel, Represents the centroid coordinates of n polluted pixels;

[0064] (5d) The control module determines A pollution and the critical value of pollution area T A , and Cpollution and pollution concentration critical value T c Does it meet A? pollution <T A And C pollution <T c The area is divided into the general cleaning area, and the rest is divided into the key cleaning area.

[0065] The working height H of the servo cylinder is adjusted by the following formula:

[0066]

[0067] Among them, H max and H0 represent the maximum lifting height and initial height of the servo electric cylinder, which are set to 0 respectively. P and P0 represent the contact pressure and ideal contact pressure detected by the pressure sensor in real time respectively. β represents the sensitivity coefficient of pressure change to the height adjustment of the servo electric cylinder. e represents the base of the natural logarithm.

[0068] The adjustment formula for the moving speed v of the electric push rod is:

[0069] ΔL=LL target

[0070]

[0071] where v min and v max Respectively represent the minimum speed and maximum speed of the electric push rod; ΔL, L near and L far They represent the distance difference between the laser ranging sensor and the photovoltaic panel, the short-distance threshold and the long-distance threshold respectively.

[0072] The working mode of the electric roller brush corresponding to different cleaning areas on the photovoltaic panel surface is adjusted as follows: when the photovoltaic panel is a normal cleaning area, the electric roller brush is adjusted to a low-speed mode; when the photovoltaic panel is a key cleaning area, the electric roller brush is adjusted to a high-speed mode.

Claims

1. A photovoltaic panel cleaning robot system, comprising a remote control platform consisting of a photovoltaic panel surface detection module and a cleaning robot monitoring module and N cleaning robots; the cleaning robot comprises a motion platform (1) and a communication module (2), a control module (3) and a cleaning device (4) installed thereon, as well as a sensing module (5) and an electric roller brush (6); characterized in that: The cleaning device (4) comprises a mounting bracket (41) fixed on the chassis of the motion platform (1), an electric push rod (42) mounted on the chassis of the motion platform (1), and a servo electric cylinder (43) mounted on the top of the mounting bracket (41); the sensing module (5) and the electric roller brush (6) are mounted at the end of the telescopic part of the electric push rod (42); the telescopic part of the servo electric cylinder (43) is movably connected to the cylinder of the electric push rod (42).

2. The system according to claim 1, characterized in that The motion platform (1) comprises a robot chassis and a controller for controlling the movement of the robot chassis.

3. The system according to claim 1, characterized in that The control module (3) comprises a receiver for receiving information from the sensing module (5), and a controller for controlling the electric push rod (42), the servo electric cylinder (43) and the electric roller brush (6).

4. The system according to claim 1, characterized in that The sensing module (5) comprises a pressure sensor (51), a laser distance measuring sensor (52) and a camera (53).

5. A method for cleaning the system according to claim 1, characterized in that: The steps include: (1) Collect and send information: Multiple sensors collect information from the photovoltaic panels of their respective groups and send it to the photovoltaic panel surface detection module; at the same time, N cleaning robots send their position information to the cleaning robot monitoring module respectively; (2) The remote control platform sends cleaning instructions: The photovoltaic panel surface detection module determines whether the photovoltaic panel where the sensor is located needs to be cleaned through the information sent by each sensor; the cleaning robot monitoring module sends a cleaning instruction to the cleaning robot closest to the photovoltaic panel that needs to be cleaned through the communication module; (3) Motion platform controls the movement of the cleaning robot: The cleaning robot closest to the photovoltaic panel to be cleaned moves to the location of the photovoltaic panel to be cleaned through the control of the controller of the motion platform; (4) The perception module collects information in real time and sends it to the control module: The pressure sensor in the sensing module collects the contact pressure P between the electric roller brush and the photovoltaic panel surface at the current moment, the laser ranging sensor collects the distance L between itself and the photovoltaic panel surface at the current moment, and the camera captures the photovoltaic panel surface image at the current moment and sends the collected information to the control module; (5) The control module adjusts the working state of the robot in which it is located: The control module calculates the pollution area ratio A based on the surface image information of the photovoltaic panel pollution and pollution concentration C pollution The surface of the photovoltaic panel is divided into cleaning areas, and the working height H of the servo electric cylinder, the moving speed v of the electric push rod, and the working mode of the electric roller brush corresponding to the different cleaning areas of the photovoltaic panel surface are adjusted in real time through the contact pressure P and the distance L to achieve this cleaning task.

6. The method according to claim 5, characterized in that The control module in step (5) calculates the pollution area ratio A according to the surface image information of the photovoltaic panel. pollution and pollution concentration C pollution The cleaning area of ​​the photovoltaic panel surface is divided into the following steps: (5a) The control module takes a color image of the photovoltaic panel surface at the current moment according to the camera. Convert and convert the grayscale image Perform median filtering to obtain the filtered grayscale image I g,m , where I g,m The pixel value I at the coordinate (x, y) g,m The expression for (x,y) is: in, represents a set of real numbers, H, W, and L represent the height, width, and number of channels of the image, respectively. median{·} represents the median of the pixel values ​​calculated in a certain m×m neighborhood. g (u,v) represents I g The pixel value at the coordinate (u,v), represents a domain window centered at pixel (x, y) with a size of m×m; (5b) The control module uses the Laplacian operator in the image sharpening algorithm to g,m Perform edge enhancement and perform edge enhancement on the grayscale image I edge Perform global adaptive threshold segmentation and segment the pixels with values ​​greater than the optimal threshold T * The pixel point is marked as 1, which is less than T * The pixel points are marked as 0, and the binary image I is obtained. binary ; in represents the Laplacian operator, α is the intensity coefficient used to adjust the sharpening, I g,m (x, y) represents the pixel value at coordinate (x, y) in the filtered grayscale image, I edge (x,y) represents the pixel value at coordinate (x,y) in the grayscale image after filtering and edge enhancement. represents the weighted sum of intra-class variances of different categories under threshold T, I binary (x,y) represents the pixel value at coordinate (x,y) on the binary image; (5c) The control module converts the binary image I binary Calculate the pollution area ratio A pollution and pollution concentration C pollution : Where N pollution 、N total Respectively represent the number of polluted pixels and the total number of pixels, (x n ,y n ) represents the coordinates of the nth contaminated pixel, Represents the centroid coordinates of n polluted pixels; (5d) The control module determines A pollution and the critical value of pollution area T A , and C pollution and pollution concentration critical value T c Does it meet A? pollution <T A And C pollution <T c The area is divided into the general cleaning area, and the rest is divided into the key cleaning area.

7. The method according to claim 6, characterized in that The adjustment formula for the working height H of the servo electric cylinder described in step (5) is: Among them, H max and H0 represent the maximum lifting height and initial height of the servo electric cylinder respectively. P and P0 represent the contact pressure and ideal contact pressure detected by the pressure sensor in real time respectively. β represents the sensitivity coefficient of pressure change to the height adjustment of the servo electric cylinder. e represents the base of the natural logarithm.

8. The method according to claim 7, characterized in that The adjustment formula for the moving speed v of the electric push rod described in step (5) is: ΔL=LL target where v min and v max Respectively represent the minimum speed and maximum speed of the electric push rod; ΔL, L near and L far They represent the distance difference between the laser ranging sensor and the photovoltaic panel, the short-distance threshold and the long-distance threshold respectively.

9. The method according to claim 8, characterized in that The working mode of the electric roller brush corresponding to the different cleaning areas on the photovoltaic panel surface described in step (5) is adjusted as follows: when the photovoltaic panel is a normal cleaning area, the electric roller brush is adjusted to a low-speed mode; when the photovoltaic panel is a key cleaning area, the electric roller brush is adjusted to a high-speed mode.

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