Photovoltaic panel full-automatic movable cleaning system and method based on timing control

Abstract

According to the photovoltaic panel full-automatic movable type cleaning system and method based on timing control, the real-time dust thickness, power generation efficiency, weather data and surface image data of the photovoltaic panel are obtained through the sensor, the pollution condition of the photovoltaic panel in a future period of time is predicted in combination with historical data, and the photovoltaic panel cleaning efficiency is improved. The photovoltaic panel is accurately predicted based on comprehensive data, the accurate photovoltaic panel condition is provided for automatic cleaning control, the cleaning time point of the photovoltaic panel is determined based on the pollution condition of the photovoltaic panel in a period of time in the future and the use condition of the photovoltaic panel, the rationality of the cleaning time is ensured, and the cleaning efficiency is improved based on the arrangement characteristics of the photovoltaic panel. The cleaning path of the cleaning equipment for the photovoltaic panel is determined by combining the pollution condition and the cleaning time point, the reasonability of the cleaning path is ensured, timing control is established based on the cleaning time point and the cleaning path, the photovoltaic panel is automatically cleaned by using the cleaning equipment, and the energy consumption for cleaning the photovoltaic panel is reduced while the power generation efficiency is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic panel cleaning, and particularly relates to a fully automatic mobile cleaning system and method for photovoltaic panels based on timing control. Background Art

[0002] Currently, due to being outdoors, dust often adheres to the surface of photovoltaic panels, affecting the collection of photovoltaic panels and thus the power generation efficiency. Existing fully automatic mobile cleaning equipment can clean the dust on photovoltaic panels and improve the power generation efficiency of photovoltaic panels.

[0003] However, how to optimize the cleaning process to minimize resource consumption, such as water, electricity, and equipment loss, while ensuring the power generation efficiency when cleaning photovoltaic panels based on fully automatic mobile cleaning equipment is a problem that needs to be solved in current photovoltaic panel cleaning. Summary of the Invention

[0004] The present invention provides a fully automatic mobile cleaning system and method for photovoltaic panels based on timing control to solve the problems raised in the background art.

[0005] A fully automatic mobile cleaning system for photovoltaic panels based on timing control includes:

[0006] A data acquisition module for obtaining real-time dust thickness, power generation efficiency, weather data, and surface image data of the photovoltaic panel through sensors;

[0007] A pollution prediction module for predicting the pollution situation of the photovoltaic panel in a future period based on the dust thickness, power generation efficiency, weather data, and surface image data, combined with historical data;

[0008] A time determination module for determining the cleaning time point of the photovoltaic panel based on the pollution situation of the photovoltaic panel in a future period and the usage situation of the photovoltaic panel;

[0009] A path determination module for determining the cleaning path of the cleaning equipment for the photovoltaic panel based on the arrangement characteristics of the photovoltaic panel, combined with the pollution situation and the cleaning time point;

[0010] A cleaning control module for establishing timing control based on the cleaning time point and the cleaning path, and automatically cleaning the photovoltaic panel using the cleaning equipment.

[0011] Preferably, the data acquisition module includes:

[0012] A dust data acquisition unit for obtaining the dust thickness on the surface of the photovoltaic panel in real time based on a dust sensor arranged on the photovoltaic panel;

[0013] An efficiency acquisition unit, which is used to obtain voltage and current data based on an inverter set on a photovoltaic panel, and calculate the power generation efficiency based on the voltage and current data;

[0014] A meteorological acquisition unit, which is used to obtain weather data based on meteorological data accessed by the photovoltaic panel;

[0015] A visual acquisition unit, which is used to collect surface image data on the surface of the photovoltaic panel based on visual technology.

[0016] Preferably, the pollution prediction module includes:

[0017] A model training unit, which is used to obtain historical dust thickness, historical power generation efficiency, historical weather data, and historical surface image data from historical data and their corresponding photovoltaic panel pollution data to train an initial prediction model to obtain a target prediction model;

[0018] A model prediction unit, which is used to input the dust thickness, power generation efficiency, weather data, and surface image data into the target prediction model to obtain the pollution situation of the photovoltaic panel in a future period of time.

[0019] Preferably, the time determination module includes:

[0020] A prediction information acquisition unit, which is used to obtain the predicted dust thickness distribution and the predicted power generation efficiency trend from the pollution situation of the photovoltaic panel in a future period of time, and obtain the predicted weather trend of the photovoltaic panel in a future period of time from the meteorological data;

[0021] A time determination unit, which is used to determine the cleaning time point of the photovoltaic panel based on the predicted dust thickness distribution, the predicted power generation efficiency trend, and the predicted weather trend, in combination with the historical cleaning time setting information.

[0022] Preferably, the path determination module includes:

[0023] A priority determination unit, which is used to divide the photovoltaic panels into several cleaning areas with the same area based on the arrangement characteristics of the photovoltaic panels, and divide the cleaning priorities of the cleaning areas based on the pollution situation of each cleaning area to obtain the cleaning priorities;

[0024] A path determination unit, which is used to establish multiple initial paths that meet the allowable maximum cleaning invalid movement distance based on the cleaning priorities and the distribution characteristics of the cleaning areas;

[0025] A path evaluation unit, which is used to evaluate multiple initial paths based on the cleaning requirements of the photovoltaic panel, the usage specifications of the cleaning equipment, and the cost control requirements, and select the final cleaning path according to the evaluation results.

[0026] Preferably, the cleaning control module includes:

[0027] An instruction establishment unit, configured to establish timing information based on the cleaning time point, establish cleaning control information based on the cleaning path, and establish a timing control instruction based on the timing information and the cleaning control information;

[0028] An automatic cleaning unit, configured to send the timing control instruction to the cleaning device to implement automatic cleaning of the photovoltaic panel.

[0029] Preferably, the time determination unit includes:

[0030] A relationship determination unit, configured to determine the corresponding relationship between the cleaning time point and the photovoltaic panel characteristics from the historical cleaning time setting information and the historical situation of the photovoltaic panel;

[0031] A time matching unit, configured to determine the future photovoltaic panel characteristics from the predicted dust thickness distribution, the predicted power generation efficiency trend, and the predicted weather trend, and obtain the initial cleaning time point that matches the future photovoltaic panel characteristics based on the corresponding relationship;

[0032] A difference determination unit, configured to obtain the device difference information between the current basic information of the cleaning device and the historical basic information, and obtain the demand difference information between the current demand of the photovoltaic power generation and the historical demand;

[0033] A time difference determination unit, configured to determine the first unit time difference caused by the device difference information, determine the second unit time difference caused by the demand difference information, determine the first specific time difference based on the future photovoltaic panel characteristics combined with the first unit time difference, and determine the second specific time difference based on the future photovoltaic panel characteristics combined with the second unit time difference;

[0034] A correction unit, configured to correct the initial cleaning time point based on the first specific time difference and the second specific time difference to obtain the cleaning time point of the photovoltaic panel.

[0035] Preferably, the path evaluation unit includes:

[0036] An index determination unit, configured to determine the first index in the cleaning demand dimension from the cleaning demand for the photovoltaic panel, determine the second index in the device dimension based on the usage specifications of the cleaning device, and determine the third index in the cost dimension based on the cost control requirements;

[0037] A structure determination unit, configured to hierarchically divide the first index, the second index, and the third index based on the causal relationship between the evaluation dimension and the index to obtain an index hierarchy structure, and perform weighted processing on the index hierarchy structure based on the influence degree relationship between the evaluation dimension and the index to obtain a weighted index hierarchy structure;

[0038] A static establishment unit, configured to establish a weighted comprehensive evaluation system for each evaluation dimension based on the normalization relationship between metrics and in combination with a weighted metric hierarchy, and determine a static evaluation structure based on the weighted comprehensive evaluation system;

[0039] A dynamic analysis unit, configured to obtain dynamic metrics among a first metric, a second metric, and a third metric, establish a fuzzy control rule for the dynamic metrics based on the influence of the dynamic metrics on the evaluation dimension, and add the fuzzy control rule to the structural position of the dynamic metrics in the static evaluation structure to obtain a dynamic evaluation structure;

[0040] A model construction unit, configured to perform a weighting process on the dynamic evaluation structure based on the allocation ratio of the evaluation dimension to obtain a weighted dynamic evaluation structure, and establish an initial path evaluation model based on the weighted dynamic evaluation structure;

[0041] A model adjustment unit, configured to input path information in historical data into the initial path evaluation model to obtain a predicted cleaning result, and adjust the weight coefficient of the initial path evaluation model based on the result difference between the predicted cleaning result and the actual cleaning result to obtain a target path evaluation model;

[0042] A model evaluation unit, configured to input multiple initial paths into the target path evaluation model for evaluation to obtain a preview and evaluation result, and select the initial path corresponding to the best predicted evaluation result as the final cleaning path.

[0043] Preferably, after obtaining the cleaning path, it further includes: a method determination unit:

[0044] Configured to determine the cleaning movement trajectory for each cleaning area based on the cleaning path, and determine the cleaning intensity in the cleaning area in combination with the area characteristics of the cleaning area;

[0045] Set the moving speed in two adjacent unit areas based on the cleaning intensity in every two adjacent cleaning areas, and finally determine the cleaning speed under the cleaning path;

[0046] Determine the cleaning method based on the cleaning path, cleaning intensity, and cleaning speed.

[0047] A fully automatic mobile cleaning method for a photovoltaic panel based on timing control, including:

[0048] S1: Obtain the real-time dust thickness, power generation efficiency, weather data, and surface image data of the photovoltaic panel through sensors;

[0049] S2: Based on the dust thickness, power generation efficiency, weather data, and surface image data, and in combination with historical data, predict the pollution situation of the photovoltaic panel in a future period of time;

[0050] S3: Determine the cleaning time point of the photovoltaic panel based on its pollution condition and usage in the next period of time;

[0051] S4: Based on the arrangement characteristics of the photovoltaic panels, combined with the pollution condition and cleaning time point, determine the cleaning path of the cleaning equipment for the photovoltaic panels;

[0052] S5: Establish timing control based on the cleaning time point and cleaning path, and use the cleaning equipment to automatically clean the photovoltaic panels.

[0053] Compared with the prior art, the present invention has achieved the following beneficial effects:

[0054] Obtain the real-time dust thickness, power generation efficiency, weather data and surface image data of the photovoltaic panel through sensors, providing a data basis for the timing design of the full-automatic mobile cleaning of the photovoltaic panel. Based on the dust thickness, power generation efficiency, weather data and surface image data, combined with historical data, predict the pollution condition of the photovoltaic panel in the next period of time. Achieve accurate prediction of the photovoltaic panel based on comprehensive data, providing accurate information about the photovoltaic panel for automatic cleaning control. Determine the cleaning time point of the photovoltaic panel based on its pollution condition and usage in the next period of time, ensuring the rationality of the cleaning time. Based on the arrangement characteristics of the photovoltaic panels, combined with the pollution condition and cleaning time point, determine the cleaning path of the cleaning equipment for the photovoltaic panels, ensuring the rationality of the cleaning path. Establish timing control based on the cleaning time point and cleaning path, and use the cleaning equipment to automatically clean the photovoltaic panels, achieving the reduction of energy consumption for cleaning the photovoltaic panel while ensuring the power generation efficiency.

[0055] Other features and advantages of the present invention will be described in the following description, and some will become obvious from the description, or be understood by implementing the present invention. The objectives and other advantages of the present invention can be achieved and obtained through the structures specifically pointed out in this application document.

[0056] The following further describes the technical solutions of the present invention in detail through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The accompanying drawings are used to provide further understanding of the present invention, and constitute a part of the description. They are used together with the embodiments of the present invention to explain the present invention, and do not constitute a limitation to the present invention. In the accompanying drawings:

[0058] Figure 1 is a structural diagram of a full-automatic mobile cleaning system for photovoltaic panels based on timing control in an embodiment of the present invention;

[0059] Figure 2 is a structural diagram of the time determination module in an embodiment of the present invention;

[0060] Figure 3 This is a flowchart of a fully automatic mobile cleaning method for photovoltaic panels based on timing control in an embodiment of the present invention. Specific Embodiments

[0061] The following describes the preferred embodiments of the present invention with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only for explaining and illustrating the present invention and are not used to limit the present invention.

[0062] Embodiment 1:

[0063] An embodiment of the present invention provides a fully automatic mobile cleaning system for photovoltaic panels based on timing control, as shown in Figure 1 the following, including:

[0064] A data acquisition module for obtaining real-time dust thickness, power generation efficiency, weather data, and surface image data of the photovoltaic panel through sensors;

[0065] A pollution prediction module for predicting the pollution situation of the photovoltaic panel in a future period based on the dust thickness, power generation efficiency, weather data, and surface image data, combined with historical data;

[0066] A time determination module for determining the cleaning time point of the photovoltaic panel based on the pollution situation of the photovoltaic panel in a future period and the usage situation of the photovoltaic panel;

[0067] A path determination module for determining the cleaning path of the cleaning equipment for the photovoltaic panel based on the arrangement characteristics of the photovoltaic panel, combined with the pollution situation and the cleaning time point;

[0068] A cleaning control module for establishing timing control based on the cleaning time point and the cleaning path, and using the cleaning equipment to automatically clean the photovoltaic panel.

[0069] In this embodiment, the dust thickness on the surface of the photovoltaic panel is obtained in real time based on a dust sensor provided on the photovoltaic panel, the power generation efficiency data is obtained based on the current and voltage data of the photovoltaic panel obtained by an inverter, the image data on the surface of the photovoltaic panel is obtained based on visual detection, and the real-time weather information is obtained based on the accessed meteorological data.

[0070] In this embodiment, the pollution situation of the photovoltaic panel in a future period includes dust thickness, dust distribution, etc.

[0071] In this embodiment, when determining the cleaning time point of the photovoltaic panel, not only the dust situation is considered, but also the impact on photovoltaic power generation during cleaning is considered, and cleaning is not carried out during the power generation peak period.

[0072] The beneficial effects of the above design scheme are as follows: By using sensors to obtain the real-time dust thickness, power generation efficiency, weather data, and surface image data of the photovoltaic panel, it provides a data basis for the timing design of the full-automatic mobile cleaning of the photovoltaic panel. Based on the dust thickness, power generation efficiency, weather data, and surface image data, combined with historical data, it predicts the pollution situation of the photovoltaic panel in the next period of time. Based on comprehensive data, it accurately predicts the photovoltaic panel, provides accurate information about the photovoltaic panel for automatic cleaning control. Based on the pollution situation of the photovoltaic panel in the next period of time and the usage situation of the photovoltaic panel, it determines the cleaning time point of the photovoltaic panel to ensure the rationality of the cleaning time. Based on the arrangement characteristics of the photovoltaic panel, combined with the pollution situation and the cleaning time point, it determines the cleaning path of the cleaning equipment for the photovoltaic panel to ensure the rationality of the cleaning path. Based on the cleaning time point and the cleaning path, it establishes a timing control, and uses the cleaning equipment to automatically clean the photovoltaic panel, achieving the reduction of energy consumption for cleaning the photovoltaic panel while ensuring the power generation efficiency.

[0073] Embodiment 2:

[0074] Based on Embodiment 1, the embodiment of the present invention provides a full-automatic mobile cleaning system for photovoltaic panels based on timing control. The data acquisition module includes:

[0075] A dust data acquisition unit for real-time obtaining the dust thickness on the surface of the photovoltaic panel based on a dust sensor arranged on the photovoltaic panel;

[0076] An efficiency acquisition unit for obtaining voltage and current data based on an inverter arranged on the photovoltaic panel, and calculating the power generation efficiency based on the voltage and current data;

[0077] A meteorological acquisition unit for obtaining weather data based on meteorological data accessed by the photovoltaic panel;

[0078] A visual acquisition unit for acquiring surface image data on the surface of the photovoltaic panel based on visual technology.

[0079] In this embodiment, the visual technology may be a camera, an infrared thermal imager, etc.

[0080] The beneficial effects of the above design scheme are as follows: By using sensors to obtain the real-time dust thickness, power generation efficiency, weather data, and surface image data of the photovoltaic panel, it provides a basis for the next pollution prediction.

[0081] Embodiment 3:

[0082] Based on Embodiment 1, the embodiment of the present invention provides a full-automatic mobile cleaning system for photovoltaic panels based on timing control. The pollution prediction module includes:

[0083] A model training unit, configured to obtain historical dust thickness, historical power generation efficiency, historical weather data, and historical surface image data from historical data, and their corresponding photovoltaic panel pollution data to train an initial prediction model, so as to obtain a target prediction model;

[0084] A model prediction unit, configured to input the dust thickness, power generation efficiency, weather data, and surface image data into the target prediction model to obtain the pollution condition of the photovoltaic panel in a future period of time.

[0085] The beneficial effects of the above design solution are: by obtaining historical dust thickness, historical power generation efficiency, historical weather data, and historical surface image data from historical data, and their corresponding photovoltaic panel pollution data to train an initial prediction model, a target prediction model is obtained. The dust thickness, power generation efficiency, weather data, and surface image data are input into the target prediction model to obtain the pollution condition of the photovoltaic panel in a future period of time. Based on comprehensive data, accurate prediction of the photovoltaic panel is realized, providing accurate photovoltaic panel conditions for automatic cleaning control.

[0086] Embodiment 4:

[0087] Based on Embodiment 1, an embodiment of the present invention provides a fully automatic mobile cleaning system for photovoltaic panels based on timing control, as Figure 2 shown. The time determination module includes:

[0088] A prediction information acquisition unit, configured to obtain a predicted dust thickness distribution and a predicted power generation efficiency trend from the pollution condition of the photovoltaic panel in a future period of time, and obtain a predicted weather trend of the photovoltaic panel in a future period of time from meteorological data;

[0089] A time determination unit, configured to determine the cleaning time point of the photovoltaic panel based on the predicted dust thickness distribution, the predicted power generation efficiency trend, and the predicted weather trend, in combination with historical cleaning time setting information.

[0090] In this embodiment, the determination of the cleaning time point of the photovoltaic panel takes into account the relationship between the predicted dust thickness distribution and the predicted power generation efficiency trend, as well as the influence brought by the weather, information such as the peak power generation period of the photovoltaic panel, and the loss situation of the photovoltaic panel to comprehensively determine the time point, ensuring the optimality of the cleaning time point.

[0091] The beneficial effects of the above design solution are: by obtaining a predicted dust thickness distribution and a predicted power generation efficiency trend from the pollution condition of the photovoltaic panel in a future period of time, and obtaining a predicted weather trend of the photovoltaic panel in a future period of time from meteorological data, based on the predicted dust thickness distribution, the predicted power generation efficiency trend, and the predicted weather trend, in combination with historical cleaning time setting information, the cleaning time point of the photovoltaic panel is determined, ensuring the rationality of the cleaning time, so as to minimize resource consumption through the cleaning time.

[0092] Example 5:

[0093] Based on Example 1, an embodiment of the present invention provides a fully automatic mobile cleaning system for photovoltaic panels based on timing control. The path determination module includes:

[0094] A priority determination unit for dividing the photovoltaic panels into several cleaning areas with the same area based on the arrangement characteristics of the photovoltaic panels, and dividing the cleaning priorities of the cleaning areas based on the pollution conditions of each cleaning area to obtain the cleaning priorities;

[0095] A path determination unit for establishing multiple initial paths that satisfy the allowable maximum cleaning ineffective movement distance based on the cleaning priorities and the distribution characteristics of the cleaning areas;

[0096] A path evaluation unit for evaluating multiple initial paths based on the cleaning requirements of the photovoltaic panels, the usage specifications of the cleaning equipment, and the cost control requirements, and selecting the final cleaning path according to the evaluation results.

[0097] In this embodiment, the allowable maximum cleaning ineffective movement distance is the movement generated during the alternation of cleaning areas. The more such movements, the lower the cleaning efficiency and the higher the energy consumption.

[0098] In this embodiment, the cleaning requirements of the photovoltaic panels are, for example, the control of the cleaning time, the requirements for the cleaning effect, etc.

[0099] In this embodiment, the usage specifications of the cleaning equipment are, for example, the requirements for the number of turns, the requirements for the path smoothness, etc.

[0100] In this embodiment, the cost control requirements are the energy consumption and the loss of the cleaning equipment, etc.

[0101] In this embodiment, the greater the pollution of the cleaning area, the higher the corresponding cleaning priority.

[0102] The beneficial effects of the above design solution are as follows: Based on the arrangement characteristics of the photovoltaic panels, the photovoltaic panels are divided into several cleaning areas with the same area. The cleaning priorities of the cleaning areas are divided based on the pollution conditions of each cleaning area to obtain the cleaning priorities. The power generation efficiency of the photovoltaic panels is ensured through the cleaning sequence. Based on the cleaning priorities and the distribution characteristics of the cleaning areas, multiple initial paths that meet the allowable maximum cleaning invalid movement distance are established to determine the cleaning path planning. Based on the cleaning requirements of the photovoltaic panels, the usage specifications of the cleaning equipment, and the cost control requirements, the multiple initial paths are evaluated, and the final cleaning path is selected according to the evaluation results. Considering multiple aspects, the superiority of the obtained final cleaning path is ensured. While ensuring the power generation efficiency through the cleaning path selection, the energy consumption of photovoltaic panel cleaning is reduced.

[0103] Embodiment 6:

[0104] Based on Embodiment 1, an embodiment of the present invention provides a fully automatic mobile cleaning system for photovoltaic panels based on timing control. The cleaning control module includes:

[0105] An instruction establishment unit for establishing timing information based on the cleaning time point, establishing cleaning control information based on the cleaning path, and establishing a timing control instruction based on the timing information and the cleaning control information;

[0106] An automatic cleaning unit for sending the timing control instruction to the cleaning equipment to realize automatic cleaning of the photovoltaic panels.

[0107] The beneficial effects of the above design solution are as follows: By establishing timing information based on the cleaning time point, establishing cleaning control information based on the cleaning path, and establishing a timing control instruction based on the timing information and the cleaning control information, and sending the timing control instruction to the cleaning equipment to realize automatic cleaning of the photovoltaic panels, the cleaning equipment is used to automatically clean the photovoltaic panels, so as to reduce the energy consumption of photovoltaic panel cleaning while ensuring the power generation efficiency.

[0108] Embodiment 7:

[0109] Based on Embodiment 4, an embodiment of the present invention provides a fully automatic mobile cleaning system for photovoltaic panels based on timing control. The time determination unit includes:

[0110] A relationship determination unit for determining the corresponding relationship between the cleaning time point and the photovoltaic panel characteristics from the historical cleaning time setting information and the historical photovoltaic panel conditions;

[0111] A time matching unit for determining the future photovoltaic panel characteristics from the predicted dust thickness distribution, the predicted power generation efficiency trend, and the predicted weather trend, and obtaining the initial cleaning time point that matches the future photovoltaic panel characteristics based on the corresponding relationship;

[0112] A difference determination unit, configured to obtain device difference information between the current basic information and the historical basic information of the cleaning device, and obtain demand difference information between the current demand and the historical demand of the photovoltaic power generation;

[0113] A time difference determination unit, configured to determine a first unit time difference caused by the device difference information, determine a second unit time difference caused by the demand difference information, determine a first specific time difference based on the future photovoltaic panel characteristics in combination with the first unit time difference, and determine a second specific time difference based on the future photovoltaic panel characteristics in combination with the second unit time difference;

[0114] A correction unit, configured to correct the initial cleaning time point based on the first specific time difference and the second specific time difference to obtain the cleaning time point for the photovoltaic panel.

[0115] In this embodiment, the device difference information between the current basic information and the historical basic information mainly comes from the losses caused by the long-term use of the cleaning device, such as the difference in the water spray amount and the difference in the cleaning range.

[0116] In this embodiment, the demand difference information between the current demand and the historical demand is determined according to the actual situation, such as the time requirement and the cleaning effect requirement.

[0117] In this embodiment, the first unit time difference is the time difference caused by the device during the completion of the preset unit cleaning, the second unit time difference is the time difference caused by the different cleaning requirements during the completion of the preset unit cleaning, the first specific time difference is determined according to the quantitative relationship between the preset unit cleaning and the current cleaning, the second specific time difference is determined according to the quantitative relationship between the preset unit cleaning and the current cleaning, and the preset unit cleaning can be set independently. For example, cleaning a photovoltaic panel with a specific area and specific pollution is used as the preset unit cleaning. When the area increases and the pollution degree increases, the cleaning time of the preset unit cleaning is increased proportionally.

[0118] In this embodiment, correcting the initial cleaning time point based on the first specific time difference and the second specific time difference is to add the first specific time difference, the second specific time difference, and the initial cleaning time point to obtain the final cleaning time point.

[0119] The beneficial effects of the above design scheme are as follows: By determining the future photovoltaic panel characteristics from predicting the dust thickness distribution, predicting the power generation efficiency trend, and predicting the weather trend, obtaining the initial cleaning time point matching the future photovoltaic panel characteristics based on the corresponding relationship, and then correcting the time point from two aspects of the device difference information and the demand difference information, the rationality of the obtained cleaning time point for the photovoltaic panel is ensured, which can not only ensure the power generation efficiency but also reduce the resource loss caused by unnecessary cleaning.

[0120] Embodiment 8:

[0121] Based on Embodiment 5, an embodiment of the present invention provides a fully automatic mobile cleaning system for photovoltaic panels based on timing control. The path evaluation unit includes:

[0122] An index determination unit for determining a first index in the dimension of cleaning requirements from the cleaning requirements of the photovoltaic panels, determining a second index in the dimension of equipment based on the usage specifications of the cleaning equipment, and determining a third index in the dimension of cost based on the cost control requirements;

[0123] A structure determination unit for hierarchically dividing the first index, the second index, and the third index based on the causal relationship between the evaluation dimension and the index to obtain an index hierarchical structure, and performing a weighting process on the index hierarchical structure based on the influence degree relationship between the evaluation dimension and the index to obtain a weighted index hierarchical structure;

[0124] A static establishment unit for establishing a weighted comprehensive evaluation system for each evaluation dimension based on the normalization relationship between the indexes, and determining a static evaluation structure based on the weighted comprehensive evaluation system;

[0125] A dynamic analysis unit for obtaining dynamic indexes among the first index, the second index, and the third index, establishing a fuzzy control rule for the dynamic indexes based on the influence of the dynamic indexes on the evaluation dimension, and adding the fuzzy control rule to the structural position of the dynamic indexes in the static evaluation structure to obtain a dynamic evaluation structure;

[0126] A model construction unit for performing a weighting process on the dynamic evaluation structure based on the allocation ratio of the evaluation dimension to obtain a weighted dynamic evaluation structure, and establishing an initial path evaluation model based on the weighted dynamic evaluation structure;

[0127] A model adjustment unit for inputting the path information in the historical data into the initial path evaluation model to obtain a predicted cleaning result, and adjusting the weight coefficient of the initial path evaluation model based on the result difference between the predicted cleaning result and the actual cleaning result to obtain a target path evaluation model;

[0128] A model evaluation unit for evaluating multiple initial paths by inputting them into the target path evaluation model to obtain a preview and evaluation result, and selecting the initial path corresponding to the best predicted evaluation result as the final cleaning path.

[0129] In this embodiment, the evaluation dimensions include cleaning efficiency effect, cleaning cost, and cleaning equipment adaptability.

[0130] In this embodiment, dynamic indexes include, for example, weather influence and demand change.

[0131] In this embodiment, the index hierarchical structure is weighted by weighting each index node, and the dynamic evaluation structure is weighted by weighting each dimension node.

[0132] In this embodiment, the adjustment of the weight coefficient of the initial path evaluation model is, for example, the adjustment of the weights of the index nodes or dimension nodes.

[0133] In this embodiment, the normalization relationship between the indexes is to standardize the index values under the same dimension to eliminate the differences caused by different units.

[0134] The beneficial effects of the above design solution are as follows: By hierarchically dividing the first index, the second index, and the third index based on the causal relationship between the evaluation dimension and the indexes, an index hierarchical structure is obtained, and based on the influence degree relationship between the evaluation dimension and the indexes, the index hierarchical structure is weighted to obtain a weighted index hierarchical structure, so as to realize the integration and weighting of the indexes, ensure that the obtained weighted index hierarchical structure can accurately evaluate from the index aspect, obtain the dynamic indexes among the first index, the second index, and the third index, and establish a fuzzy control rule for the dynamic indexes based on the influence of the dynamic indexes on the evaluation dimension, and add the fuzzy control rule to the structural position of the dynamic indexes in the static evaluation structure to obtain a dynamic evaluation structure, so as to realize the dynamicization of the evaluation process, make the evaluation adaptable to different cleaning environments, weight the dynamic evaluation structure based on the allocation ratio of the evaluation dimension to obtain a weighted dynamic evaluation structure, establish an initial path evaluation model based on the weighted dynamic evaluation structure, accurately evaluate from the dimension aspect, input the path information in the historical data into the initial path evaluation model to obtain a predicted cleaning result, adjust the weight coefficient of the initial path evaluation model based on the result difference between the predicted cleaning result and the actual cleaning result to obtain a target path evaluation model, optimize the model based on the historical data to make the model have better evaluation ability, input multiple initial paths into the target path evaluation model for evaluation to obtain preview and evaluation results, and select the initial path corresponding to the best predicted evaluation result as the final cleaning path, so as to ensure the superiority of the obtained final cleaning path from multiple aspects, and reduce the energy consumption of photovoltaic panel cleaning while ensuring the power generation efficiency through the selection of the cleaning path.

[0135] Embodiment 9:

[0136] Based on Embodiment 5, the embodiment of the present invention provides a fully automatic mobile cleaning system for photovoltaic panels based on timing control. After obtaining the cleaning path, it further includes: a method determination unit:

[0137] configured to determine the cleaning movement trajectory for each cleaning area based on the cleaning path, and determine the cleaning intensity in the cleaning area in combination with the area characteristics of the cleaning area;

[0138] Calculate the cleaning difficulty K in the cleaning area according to the following formula;

[0139]

[0140] where n represents the number of turns of the cleaning movement trajectory, α i represents the turning angle of the i-th turn, β represents the slope of the cleaning movement trajectory, H0 represents the dust layer distribution uniformity in the cleaning area, σ max represents the maximum dust thickness in the cleaning area, σ min represents the minimum dust thickness in the cleaning area, Δσ represents the reference thickness difference, A represents the trajectory weight, and B represents the pollution weight;

[0141] Based on the cleaning difficulty in the unit area, calculate the cleaning force F in the cleaning area according to the following formula;

[0142]

[0143] where e represents the natural constant, with a value of 2.72, L0 represents the reference trajectory length, M0 represents the reference area, L represents the trajectory length of the cleaning movement trajectory, and M represents the area of the cleaning area;

[0144] Based on the cleaning forces in every two adjacent cleaning areas, set the moving speed in two adjacent unit areas, and finally determine the cleaning speed along the cleaning path;

[0145] Determine the cleaning method based on the cleaning path, cleaning force, and cleaning speed.

[0146] In this embodiment, the trajectory weight and pollution weight are flexibly set according to actual requirements and actual situations.

[0147] The beneficial effects of the above design are as follows: Determine the cleaning difficulty of the cleaning area through the number of turns of the moving trajectory, turning angle, slope of the cleaning movement trajectory, and dust layer distribution uniformity in the cleaning area, providing a basis for determining the cleaning force. Combine the trajectory length of the cleaning movement trajectory and the area of the cleaning area to determine the cleaning force. Based on the cleaning forces in every two adjacent cleaning areas, set the moving speed in two adjacent unit areas, and finally determine the cleaning speed along the cleaning path. Determine the cleaning method based on the cleaning path, cleaning force, and cleaning speed, ensuring the rationality of the obtained cleaning method, achieving targeted cleaning, and ensuring the cleaning effect while minimizing energy consumption as much as possible.

[0148] Embodiment 10:

[0149] A fully automatic mobile cleaning method for photovoltaic panels based on timing control, as Figure 3 shown, includes:

[0150] S1: Obtain the real-time dust thickness, power generation efficiency, weather data, and surface image data of the photovoltaic panel through sensors;

[0151] S2: Based on the dust thickness, power generation efficiency, weather data, and surface image data, combined with historical data, predict the pollution situation of the photovoltaic panel in a future period;

[0152] S3: Based on the pollution situation of the photovoltaic panel in a future period and the usage situation of the photovoltaic panel, determine the cleaning time point of the photovoltaic panel;

[0153] S4: Based on the arrangement characteristics of the photovoltaic panels, combined with the pollution situation and the cleaning time point, determine the cleaning path of the cleaning equipment for the photovoltaic panels;

[0154] S5: Establish timing control based on the cleaning time point and the cleaning path, and use the cleaning equipment to automatically clean the photovoltaic panels.

[0155] In this embodiment, the real-time dust thickness on the surface of the photovoltaic panel is obtained based on the dust sensor set on the photovoltaic panel, the power generation efficiency data is obtained based on the current and voltage data of the photovoltaic panel obtained by the inverter, the image data on the surface of the photovoltaic panel is obtained based on visual detection, and the real-time weather information is obtained based on the accessed meteorological data.

[0156] In this embodiment, the pollution situation of the photovoltaic panel in a future period includes dust thickness, dust distribution, etc.

[0157] In this embodiment, when determining the cleaning time point of the photovoltaic panel, not only the dust situation is considered, but also the impact on photovoltaic power generation during cleaning is considered, and cleaning is not carried out during the peak power generation period.

[0158] The beneficial effects of the above design solution are as follows: Obtain the real-time dust thickness, power generation efficiency, weather data, and surface image data of the photovoltaic panel through sensors, providing a data basis for the timing design of the full-automatic mobile cleaning of the photovoltaic panel. Based on the dust thickness, power generation efficiency, weather data, and surface image data, combined with historical data, predict the pollution situation of the photovoltaic panel in a future period, and achieve accurate prediction of the photovoltaic panel based on comprehensive data, providing accurate information about the photovoltaic panel for automatic cleaning control. Based on the pollution situation of the photovoltaic panel in a future period and the usage situation of the photovoltaic panel, determine the cleaning time point of the photovoltaic panel to ensure the rationality of the cleaning time. Based on the arrangement characteristics of the photovoltaic panels, combined with the pollution situation and the cleaning time point, determine the cleaning path of the cleaning equipment for the photovoltaic panels to ensure the rationality of the cleaning path. Establish timing control based on the cleaning time point and the cleaning path, and use the cleaning equipment to automatically clean the photovoltaic panels, achieving the reduction of energy consumption for cleaning the photovoltaic panels while ensuring the power generation efficiency.

[0159] Obviously, those skilled in the art can make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of this application document and its equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. A fully automatic mobile cleaning system for photovoltaic panels based on timing control, characterized in that, Including: A data acquisition module, which is used to obtain the real-time dust thickness, power generation efficiency, weather data and surface image data of the photovoltaic panel through sensors; A pollution prediction module, which is used to predict the pollution situation of the photovoltaic panel in a future period based on the dust thickness, power generation efficiency, weather data and surface image data, in combination with historical data; A time determination module, which determines the cleaning time point of the photovoltaic panel based on the pollution situation of the photovoltaic panel in a future period and the usage situation of the photovoltaic panel; A path determination module, which is used to determine the cleaning path of the cleaning equipment for the photovoltaic panel based on the arrangement characteristics of the photovoltaic panel, in combination with the pollution situation and the cleaning time point; A cleaning control module, which is used to establish timing control based on the cleaning time point and the cleaning path, and use the cleaning equipment to automatically clean the photovoltaic panel.

2. The full-automatic mobile cleaning system for photovoltaic panels based on timing control according to claim 1, characterized in that The data acquisition module includes: A dust data acquisition unit, which is used to obtain the dust thickness on the surface of the photovoltaic panel in real time based on the dust sensor arranged on the photovoltaic panel; An efficiency acquisition unit, which is used to obtain voltage and current data based on the inverter arranged on the photovoltaic panel, and calculate the power generation efficiency based on the voltage and current data; A meteorological acquisition unit, which is used to obtain weather data based on the meteorological data accessed by the photovoltaic panel; A visual acquisition unit, which is used to acquire surface image data on the surface of the photovoltaic panel based on vision technology.

3. The fully automatic mobile cleaning system for photovoltaic panels based on timing control according to claim 1, characterized in that, The pollution prediction module includes: A model training unit, which is used to obtain historical dust thickness, historical power generation efficiency, historical weather data, historical surface image data and their corresponding photovoltaic panel pollution data from historical data to train an initial prediction model to obtain a target prediction model; A model prediction unit, which is used to input the dust thickness, power generation efficiency, weather data and surface image data into the target prediction model to obtain the pollution situation of the photovoltaic panel in a future period.

4. A fully automatic mobile cleaning system for photovoltaic panels based on timing control according to claim 1, characterized in that, The time determination module includes: A prediction information acquisition unit, which is used to obtain the predicted dust thickness distribution and the predicted power generation efficiency trend from the pollution situation of the photovoltaic panel in a future period, and obtain the predicted weather trend of the photovoltaic panel in a future period from the meteorological data; A time determination unit, which is used to determine the cleaning time point of the photovoltaic panel based on the predicted dust thickness distribution, the predicted power generation efficiency trend and the predicted weather trend, in combination with the historical cleaning time setting information.

5. A fully automatic mobile cleaning system for photovoltaic panels based on timing control according to claim 1, characterized in that, The path determination module includes: A priority determination unit, which is used to divide the photovoltaic panel into several cleaning areas with the same area based on the arrangement characteristics of the photovoltaic panel, and divide the cleaning priority of the cleaning areas based on the pollution situation of each cleaning area to obtain the cleaning priority; A path determination unit, which is used to establish multiple initial paths that meet the allowable maximum cleaning ineffective movement distance based on the cleaning priority and the distribution characteristics of the cleaning areas; A path evaluation unit, which is used to evaluate multiple initial paths based on the cleaning requirements of the photovoltaic panel, the usage specifications of the cleaning equipment and the cost control requirements, and select the final cleaning path according to the evaluation results.

6. The fully automatic mobile cleaning system for photovoltaic panels based on timing control according to claim 1, characterized in that, The cleaning control module includes: An instruction establishment unit, which is used to establish timing information based on the cleaning time point, establish cleaning control information based on the cleaning path, and establish a timing control instruction based on the timing information and the cleaning control information; An automatic cleaning unit for sending a timing control instruction to a cleaning device to automatically clean a photovoltaic panel.

7. The fully automatic mobile cleaning system for photovoltaic panels based on timing control according to claim 4, characterized in that, The time determination unit includes: A relationship determination unit for determining the correspondence between the cleaning time point and the photovoltaic panel characteristics from the historical cleaning time setting information and the historical photovoltaic panel conditions; A time matching unit for determining the future photovoltaic panel characteristics based on the predicted dust thickness distribution, the predicted power generation efficiency trend, and the predicted weather trend, and obtaining an initial cleaning time point matching the future photovoltaic panel characteristic items based on the correspondence; A difference determination unit for obtaining the equipment difference information between the current basic information of the cleaning device and the historical basic information, and obtaining the demand difference information between the current demand of photovoltaic power generation and the historical demand; A time difference determination unit for determining a first unit time difference caused by the equipment difference information, determining a second unit time difference caused by the demand difference information, determining a first specific time difference based on the future photovoltaic panel characteristics combined with the first unit time difference, and determining a second specific time difference based on the future photovoltaic panel characteristics combined with the second unit time difference; A correction unit for correcting the initial cleaning time point based on the first specific time difference and the second specific time difference to obtain the cleaning time point of the photovoltaic panel.

8. A fully automatic mobile cleaning system for photovoltaic panels based on timing control according to claim 5, characterized in that, The path evaluation unit includes: An index determination unit for determining a first index in the cleaning demand dimension from the cleaning demand for the photovoltaic panel, determining a second index in the equipment dimension based on the usage specifications of the cleaning device, and determining a third index in the cost dimension based on the cost control requirements; A structure determination unit for hierarchically dividing the first index, the second index, and the third index based on the causal relationship between the evaluation dimension and the index to obtain an index hierarchical structure, and performing a weighting process on the index hierarchical structure based on the influence degree relationship between the evaluation dimension and the index to obtain a weighted index hierarchical structure; A static establishment unit for establishing a weighted comprehensive evaluation system for each evaluation dimension based on the normalization relationship between the indexes, and determining a static evaluation structure based on the weighted comprehensive evaluation system; A dynamic analysis unit for obtaining the dynamic indexes among the first index, the second index, and the third index, establishing a fuzzy control rule for the dynamic indexes based on the influence of the dynamic indexes on the evaluation dimension, and adding the fuzzy control rule to the structural position of the dynamic indexes in the static evaluation structure to obtain a dynamic evaluation structure; A model construction unit for performing a weighting process on the dynamic evaluation structure based on the allocation ratio of the evaluation dimension to obtain a weighted dynamic evaluation structure, and establishing an initial path evaluation model based on the weighted dynamic evaluation structure; A model adjustment unit for inputting the path information in the historical data into the initial path evaluation model to obtain a predicted cleaning result, and adjusting the weight coefficient of the initial path evaluation model based on the result difference between the predicted cleaning result and the real cleaning result to obtain a target path evaluation model; A model evaluation unit for evaluating multiple initial paths by inputting them into the target path evaluation model to obtain a preview and evaluation result, and selecting the initial path corresponding to the best predicted evaluation result as the final cleaning path.

9. The fully automatic mobile cleaning system for photovoltaic panels based on timing control according to claim 5, characterized in that, After obtaining the cleaning path, it further includes: a method determination unit: configured to determine the cleaning movement trajectory for each cleaning area based on the cleaning path, and determine the cleaning intensity in the cleaning area in combination with the area characteristics of the cleaning area; set the moving speed in two adjacent unit areas based on the cleaning intensities in every two adjacent cleaning areas, and finally determine the cleaning speed under the cleaning path; determine the cleaning method based on the cleaning path, cleaning intensity, and cleaning speed.

10. A fully automatic mobile cleaning method for photovoltaic panels based on timing control, specifically used in the fully automatic mobile cleaning system as described in any one of claims 1-9, characterized in that, It includes: S1: Obtain the real-time dust thickness, power generation efficiency, weather data, and surface image data of the photovoltaic panel through sensors; S2: Predict the pollution situation of the photovoltaic panel in a future period based on the dust thickness, power generation efficiency, weather data, and surface image data, in combination with historical data; S3: Determine the cleaning time point of the photovoltaic panel based on the pollution situation of the photovoltaic panel in a future period and the usage situation of the photovoltaic panel; S4: Determine the cleaning path of the cleaning equipment for the photovoltaic panel based on the arrangement characteristics of the photovoltaic panel, in combination with the pollution situation and the cleaning time point; S5: Establish timing control based on the cleaning time point and the cleaning path, and use the cleaning equipment to automatically clean the photovoltaic panel.

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