Intelligent photovoltaic panel cleaning system

Abstract

The invention provides an intelligent photovoltaic panel cleaning system, which relates to the technical field of photovoltaic power generation and comprises a carrying part and a cleaning part, the cleaning part comprises a cleaning trolley and a dust detection sensor; the cleaning trolley comprises a driving main body and a cleaning main body, the driving main body comprises a main crawler belt and a sucker type auxiliary crawler belt which are driven by transmission shafts, the transmission shafts are divided into a first transmission shaft and a second transmission shaft according to the distance from the cleaning main body, and the main crawler belt and the sucker type auxiliary crawler belt are coaxial on the second transmission shaft; the carrying part comprises a visual detection module, a path planning module and a carrying trolley; the carrying part and the cleaning part are connected in a LoRa wireless communication mode; and the carrying part plans an advancing path of the carrying part through the path planning module according to feedback information of the visual detection module, and after the carrying part reaches a target location of the advancing path, the cleaning trolley is conveyed to the photovoltaic panel through the carrying trolley for cleaning. And the automation degree and efficiency of photovoltaic panel cleaning are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic power generation, and particularly to an intelligent photovoltaic panel cleaning system. Background Art

[0002] With the increasing demand for new energy power generation, and many photovoltaic power stations are often in arid areas with a lot of sand and dust. This causes a large amount of dust to accumulate on the surface of the exposed photovoltaic modules, and even the occurrence of hot spot effects, which has a great impact on the service life and conversion efficiency of the photovoltaic modules. The cleaning direction of the photovoltaic panels becomes increasingly important.

[0003] The necessity of cleaning the photovoltaic panels is mainly reflected in two aspects. First, the dust accumulation on the surface of the photovoltaic panels will significantly reduce the conversion efficiency of the photovoltaic panels, and even cause a reduction in power generation of about 20%. This has a huge impact on the economic benefits of large-scale photovoltaic power generation systems. Second, long-term dust accumulation may also lead to hot spot effects, affecting the service life of the photovoltaic panels, and may even cause equipment damage in severe cases. Therefore, timely cleaning of the photovoltaic panels is the key to maintaining the photovoltaic power generation efficiency, extending the service life of the equipment, and improving the economic benefits.

[0004] However, the existing photovoltaic panel cleaning solutions require too much manual intervention during the cleaning process, increasing the manpower and material resources. And the gaps between the photovoltaic panels are not considered during the cleaning process, resulting in the current designed photovoltaic panel cleaning system being unable to automatically cross when encountering gaps, with insufficient automation, and seriously reducing the cleaning efficiency of the photovoltaic panels. Summary of the Invention

[0005] In order to solve the technical problems that the existing photovoltaic panel cleaning solutions require too much manual intervention during the cleaning process, increasing the manpower and material resources, and the gaps between the photovoltaic panels are not considered during the cleaning process, resulting in the current designed photovoltaic panel cleaning system being unable to automatically cross when encountering gaps, with insufficient automation, and seriously reducing the cleaning efficiency of the photovoltaic panels, the present invention provides an intelligent photovoltaic panel cleaning system.

[0006] The technical solutions provided by the embodiments of the present invention are as follows:

[0007] An intelligent photovoltaic panel cleaning system provided by an embodiment of the present invention includes a carrier part and a cleaning part;

[0008] The cleaning part includes a cleaning trolley and a dust detection sensor. The cleaning trolley is used to clean the photovoltaic panels, and the dust detection sensor is used to detect whether there is dust on the photovoltaic panels;

[0009] The cleaning cart includes a driving body and a cleaning body. The driving body includes a main track and a suction cup type auxiliary track both driven by a transmission shaft. Among them, the transmission shaft is divided into a first transmission shaft and a second transmission shaft according to the distance from the cleaning body. The main track and the suction cup type auxiliary track are coaxial on the second transmission shaft;

[0010] The transportation unit includes a vision detection module, a path planning module, and a transportation cart;

[0011] The transportation unit is used to transport the cleaning cart;

[0012] The transportation unit and the cleaning unit are connected by LoRa wireless communication;

[0013] Based on the feedback information of the vision detection module, the transportation unit uses the path planning module to plan the traveling path of the transportation unit. After the transportation unit reaches the target location of the traveling path, the cleaning cart is transported to the photovoltaic panel for cleaning through the transportation cart.

[0014] The beneficial effects brought by the technical solution provided by the embodiment of the present invention at least include:

[0015] In the embodiment of the present invention, an intelligent photovoltaic panel cleaning system with a transportation unit and a cleaning unit connected by wireless communication is designed. The transportation unit has a vision detection module, a path planning module, and a transportation cart, which can automatically complete the planning of the traveling path and accurately transport the cleaning unit to the target position for cleaning. The collaborative working mode of the transportation unit and the cleaning unit greatly reduces the cost of manual intervention and greatly improves the cleaning efficiency of the photovoltaic panel. In addition, the cleaning unit includes a driving body and a cleaning body. The driving body includes a main track and a suction cup type auxiliary track both driven by a transmission shaft. Among them, the transmission shaft is divided into a first transmission shaft and a second transmission shaft according to the distance from the cleaning body. The main track and the suction cup type auxiliary track are coaxial on the second transmission shaft, and the other shaft can move to perform the folding movement of the cleaning cart. The foldable design of the suction cup type auxiliary track enables the cleaning cart to autonomously cross the gap of the photovoltaic panel, further reducing the cost of human intervention and the degree of automation of the photovoltaic panel, and completing the cleaning of the photovoltaic panel with extremely high efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0017] Figure 1 It is a schematic structural diagram of an intelligent photovoltaic panel cleaning system provided by an embodiment of the present invention;

[0018] Figure 2 Schematic structural diagram of a cleaning cart provided by an embodiment of the present invention;

[0019] Figure 3 Schematic structural diagrams of the unfolded state and the contracted state of a cleaning cart provided by an embodiment of the present invention;

[0020] Figure 4 Schematic cross-sectional structural diagram of a cleaning main body provided by an embodiment of the present invention;

[0021] Figure 5 Schematic force diagram of a cleaning cart provided by an embodiment of the present invention;

[0022] Figure 6 Schematic force diagram of sundries provided by an embodiment of the present invention;

[0023] Figure 7 Schematic structural diagram of a rolling brush contacting sundries provided by an embodiment of the present invention;

[0024] Figure 8 Graph showing the relationship between the contact area of the bristles of a rolling brush with sundries and the rotation angle provided by an embodiment of the present invention;

[0025] Figure 9 Schematic structural diagram of another intelligent photovoltaic panel cleaning system provided by an embodiment of the present invention. Detailed implementation manners

[0026] The following describes the technical solutions in the present invention with reference to the accompanying drawings.

[0027] In the embodiments of the present invention, words such as "exemplarily" and "for example" are used to represent examples, illustrations or explanations. Any embodiment or design solution described as an "example" in the present invention should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Exactly speaking, the use of the word "example" is intended to present concepts in a specific manner. In addition, in the embodiments of the present invention, the meaning expressed by "and / or" can be both, or either one of the two.

[0028] In the embodiments of the present invention, "image" and "picture" can sometimes be used interchangeably. It should be noted that when the difference is not emphasized, the meanings they express are the same. "(of)", "corresponding" and "corresponding" can sometimes be used interchangeably. It should be noted that when the difference is not emphasized, the meanings they express are the same.

[0029] In the embodiments of the present invention, sometimes subscripts such as W1 may be miswritten as non-subscript forms such as W1. When the difference is not emphasized, their intended meanings are the same.

[0030] To make the technical problems, technical solutions, and advantages to be solved by the present invention clearer, the following will be described in detail with reference to the accompanying drawings and specific embodiments.

[0031] Referring to the attached Figure 1 figures, a schematic structural diagram of an intelligent photovoltaic panel cleaning system provided by an embodiment of the present invention is shown.

[0032] Figure 1 In the system, the transportation part includes a visual detection module, a path planning module, and a transportation trolley. The transportation part detects the state of the photovoltaic panel through the visual detection module to determine the cleaning area. The path planning module generates the traveling path of the cleaning robot according to the visual detection result to ensure that the robot can accurately reach the area of the uncleaned photovoltaic panel. The transportation trolley is responsible for transporting the cleaning robot to the target area. The cleaning system mainly consists of a cleaning trolley and a dust detection sensor. The cleaning trolley reaches the target area by receiving the instructions of the transportation system and starts the cleaning task. The dust detection sensor detects the dust accumulation on the photovoltaic panel and feeds back the information to the system to decide whether to start the cleaning operation. The transportation part and the cleaning part exchange data through the LoRa wireless communication module to ensure the coordinated operation of the two parts. When a piece or a row of photovoltaic panels is cleaned, the cleaning part will notify the transportation part to perform the next transportation through the LoRa module.

[0033] It can be understood that the system avoids manual intervention and reduces labor costs through automated path planning, visual detection, and dust detection. Through precise path planning and a fast cleaning process, it can complete large-area cleaning work in a short time and improve the power generation efficiency of the photovoltaic panel. Through LoRa wireless technology, efficient communication and collaboration between the transportation system and the cleaning system are ensured. The system integrates 5G technology, sensor technology, and a cloud platform, enabling remote monitoring and control to ensure the smooth progress of the cleaning process. Such an intelligent photovoltaic panel cleaning system can efficiently and environmentally clean the photovoltaic panels, improving the long-term economic benefits of the photovoltaic power station.

[0034] Referring to the attached Figure 2 figures, a schematic structural diagram of a cleaning trolley provided by an embodiment of the present invention is shown.

[0035] Figure 2The structural schematic diagram of the cleaning cart is given. The working principle of the cleaning cart is based on a crawler structure, equipped with a suction cup type secondary crawler and a main crawler. The main crawler drives the cleaning cart to move on the photovoltaic panel, while the secondary crawler provides additional suction force through the suction cup structure to help the cart stably cross the gaps between the photovoltaic panels. The cleaning body equipped on the cleaning cart uses rotating bristles or other cleaning methods to clean the surface dust. Through the cooperation of the driving motor and the crawler, the cart can operate stably at different angles and gaps, adapting to the height difference between the photovoltaic panels. The cleaning cart has high stability: the suction cups of the secondary crawler provide strong adsorption force to ensure that the cart will not slip when crossing the gap. It has strong adaptability: it can adapt to photovoltaic panels with different spacings and angles to ensure comprehensive cleaning. It has high cleaning efficiency: the cooperation of the main crawler and the cleaning body makes the cleaning efficiency higher, which is suitable for large-scale photovoltaic power stations. It is energy-saving and environmentally friendly: through the automated design, it reduces manual intervention, improves the cleaning work efficiency, and reduces energy consumption.

[0036] Refer to the attached drawings of the specification Figure 3 , which shows the unfolded state structural schematic diagram and the contracted state structural schematic diagram of a cleaning cart provided by an embodiment of the present invention.

[0037] It can be seen from Figure 3 that when the cleaning cart is in the unfolded state, the cleaning cart can cross relatively large gaps between the photovoltaic panels, and the suction cups of the crawler provide sufficient adsorption force to prevent the cart from slipping due to gravity or slope. In the contracted state, the secondary crawler of the cleaning cart contracts, reducing the overall volume. At this time, the cart is more compact and convenient to pass through narrow areas or for storage. In the compressed state, the cleaning cart is more flexible in movement, can easily pass through narrow spaces, and can adapt to photovoltaic panels with different layouts.

[0038] Refer to the attached drawings of the specification Figure 4 , which shows the cross-sectional structural schematic diagram of a cleaning body provided by an embodiment of the present invention.

[0039] An embodiment of the present invention provides an intelligent photovoltaic panel cleaning system, including a transporting part and a cleaning part.

[0040] The cleaning part includes a cleaning cart and a dust detection sensor. The cleaning cart is used to clean the photovoltaic panel, and the dust detection sensor is used to detect whether there is dust on the photovoltaic panel.

[0041] The cleaning cart includes a driving body and a cleaning body. The driving body includes a main crawler and a suction cup type secondary crawler both driven by a transmission shaft. Among them, the transmission shaft is divided into a first transmission shaft and a second transmission shaft according to the distance from the cleaning body. The main crawler and the suction cup type secondary crawler are coaxial on the second transmission shaft.

[0042] The transporting part includes a vision detection module, a path planning module and a transporting cart.

[0043] The carrier unit is used to transport the cleaning cart.

[0044] The carrier unit and the cleaning unit are connected by LoRa wireless communication.

[0045] Based on the feedback information from the vision detection module, the carrier unit uses the path planning module to plan the traveling path of the carrier unit. After the carrier unit reaches the target location on the traveling path, the cleaning cart is transported to the photovoltaic panel for cleaning by the carrier cart.

[0046] Among them, the main track driven by the transmission shaft and the suction cup type secondary track are both flexible tracks.

[0047] In the actual application process, the principle of this intelligent photovoltaic panel cleaning system is based on two main parts: the carrier unit and the cleaning unit. The core of the cleaning unit is the cleaning cart, which consists of a driving body (including the main track and the suction cup type secondary track) and a cleaning body. The driving body controls the movement of the main track and the secondary track through the transmission shaft, enabling the cart to walk stably on the photovoltaic panel and perform cleaning operations. The dust detection sensor monitors the dust accumulation on the photovoltaic panel in real time. If dust is detected, the system will start the cleaning operation.

[0048] The carrier unit includes a vision detection module, a path planning module, and a carrier cart, and is responsible for transporting the cleaning cart to the designated position for cleaning. The carrier unit exchanges data with the cleaning unit through LoRa wireless communication technology. The carrier unit plans the traveling path of the cleaning cart according to the feedback information of the vision detection module to ensure the efficient completion of the cleaning task. The cleaning process does not require manual intervention and relies on automatic path planning and dust detection to complete the cleaning task. The cleaning cart and the carrier system achieve precise scheduling through wireless communication to optimize the cleaning efficiency. The design of the main and secondary tracks enables the cart to walk stably on different photovoltaic panel gaps and angles, adapting to various complex environments.

[0049] Refer to the attached Figure 5 illustrates a force diagram of a cleaning cart provided by an embodiment of the present invention.

[0050] In a possible implementation manner, the calculation method of the maximum inclination angle of the cleaning cart relative to the photovoltaic panel, that is, the tipping critical angle, is specifically as follows:

[0051]

[0052] Among them, β represents the anti-tipping characteristic angle related to the structure of the cleaning cart, α0 represents the tipping critical angle, tan represents the tangent function, L represents the distance between the first transmission shaft and the second transmission shaft, and h represents the distance from the center of gravity of the cleaning cart to the working plane.

[0053] Among them, L represents the distance between the first drive shaft and the second drive shaft, that is, the distance between the highest point and the lowest point of the crawler suction cup. h represents the distance from the center of gravity of the cleaning cart to the working plane, that is, the distance from the center of gravity of the cleaning robot to the working plane.

[0054] It should be noted that the calculation method of the tipping critical angle (maximum inclination angle) of the cleaning cart relative to the photovoltaic panel is based on the anti-tipping characteristics of its structure. Through this calculation method, the critical value of whether the cleaning cart will tip at different angles can be obtained. When the inclination angle of the working surface of the cleaning cart is greater than the critical angle, the robot may lose balance and tip over. This calculation helps to ensure that the cleaning cart has sufficient stability during operation when designing it, and avoid equipment damage caused by excessive inclination angles.

[0055] The specific derivation process is as follows: From Figure 5 the force analysis diagram, the formula for calculating the tipping moment can be derived as Formula 1:

[0056]

[0057] In the formula: L is the distance between the highest point and the lowest point of the crawler suction cup. h is the distance from the center of gravity of the cleaning robot to the working plane. G is the gravity of the cleaning robot (N). α is the angle between the photovoltaic panel and the horizontal plane. β is the angle between the line connecting the support point and the geometric center of gravity and the normal line of the working plane, which is called the anti-tipping characteristic angle and is determined by the structure of the cleaning robot itself. From Formula 1, it can be seen that when α > β, the tipping moment can be obtained by the formula. When α ≤ β, the robot has no tipping tendency, so there is no tipping moment. The tipping moment can be expressed by Formula 2, and Formula 2 is specifically:

[0058]

[0059] From Formula 2, it can be seen that the β angle is called the anti-tipping characteristic angle of the robot, and its size is determined by the structure of the robot. As long as the slope of the wall surface is less than the β angle, the robot will not tip over. α = β is the critical angle for the existence of the tipping tendency, denoted as α0, which is called the tipping critical angle. That is, it is obtained that When the system works at an angle between the photovoltaic panel and the horizontal plane less than α0, the cleaning system will not slide down.

[0060] In a possible implementation manner, the calculation method of the driving motor speed of the driving body is specifically:

[0061]

[0062] Among them, n 电 represents the driving motor speed, v represents the expected linear walking speed of the cleaning cart, r represents the radius of the crawler drive wheel, i represents the reduction ratio of the reduction gearbox of the cleaning cart, and π represents the pi.

[0063] Among them, the radius of the crawler drive wheel is the radius of the drive wheel of the cleaning trolley.

[0064] It should be noted that the calculation of the rotational speed of the drive motor of the drive body ensures that the drive motor can generate sufficient rotational speed to drive the cleaning trolley to reach the expected moving speed and ensure the efficient operation of the cleaning system.

[0065] The specific derivation process of the rotational speed of the drive motor is as follows: The walking speed of the cleaning robot mainly depends on the pitch circle radius and rotational speed of the crawler drive sprocket, and the rotational speed of the drive sprocket is determined by the rotational speed of the drive motor and the reduction ratio of the reduction gearbox. It is expressed by Formula 3 as In the formula, v is the linear walking speed of the cleaning robot. n is the rotational speed of the crawler drive wheel. r is the radius of the crawler drive wheel. n_electric is the rotational speed of the drive motor. i is the reduction ratio of the reduction gearbox. It can be seen from Formula 3 that the walking speed of the crawler-type cleaning robot is proportional to the rotational speed of the drive motor and the pitch circle radius of the drive wheel, and inversely proportional to the transmission ratio of the reduction gearbox. The linear walking speed v of the cleaning robot is calculated based on the cleaning speed required by the design requirements. Therefore, the rotational speed of the drive motor can be derived from the formula, that is: This formula serves as a reference basis for the selection of the drive motor of the cleaning robot and the design of the reduction gearbox.

[0066] It should be noted that the calculation formula of the rotational speed of the drive motor is used to ensure that the cleaning trolley can reach the required walking speed. The formula calculates the rotational speed of the drive motor by considering the expected walking speed of the cleaning trolley, the radius of the crawler drive wheel, and the reduction ratio of the reduction gearbox. The rotational speed of the drive motor determines the rotational speed of the crawler drive sprocket, which in turn affects the walking speed of the cleaning trolley. The formula shows that the walking speed of the cleaning trolley is proportional to the rotational speed of the drive motor and the radius of the crawler drive wheel, and inversely proportional to the reduction ratio of the reduction gearbox. Therefore, this formula helps to reasonably select the drive motor and design the reduction gearbox to ensure that the cleaning trolley can achieve efficient cleaning.

[0067] In a possible implementation manner, the suction cup type auxiliary crawler includes a plurality of suction cups. The suction cup type auxiliary crawler is used to maintain the stability of the cleaning trolley when the cleaning trolley crosses different photovoltaic panels. The calculation method of the number of suction cups is specifically as follows:

[0068]

[0069] Among them, F represents the horizontal adsorption force of each suction cup, S represents the suction cup area, P represents the air pressure difference inside and outside the suction cup, μ represents the safety factor, x represents the number of suction cups, and F 总 represents the resultant force received by the cleaning trolley in the state without suction cups.

[0070] It should be noted that during the process of the robot crossing the photovoltaic panel, it mainly relies on the suction cups on the surface of the auxiliary track. The suction cups provide suction force to ensure that the robot can maintain stability during the process of crossing the photovoltaic panel with the center of gravity suspended in the air. At the same time, the operation of the auxiliary track moves the robot to another photovoltaic panel. The designed suction cup type auxiliary track consists of multiple suction cups, which are mainly used to ensure the stability of the cleaning cart when crossing different photovoltaic panels. The calculation method of the number of suction cups is determined by considering factors such as the horizontal adsorption force of the suction cups, the area of the suction cups, the air pressure, and the safety factor. When the number of suction cups meets certain conditions, it can effectively prevent the cleaning cart from sliding or tipping over during operation. Through the strong adsorption effect of the suction cups, it ensures the stable transition of the cleaning cart between different photovoltaic panels and prevents loss of balance. The calculation of the number of suction cups takes into account different working environments and ensures that the cleaning cart can move smoothly between various photovoltaic panels through reasonable design. By setting the safety factor, it ensures that the cleaning cart can still maintain stable operation under extreme conditions and avoid tipping over or damaging the equipment.

[0071] In a possible implementation manner, the calculation method of the minimum torque of the drive motor of the drive body is specifically as follows:

[0072]

[0073] Among them, T 电min represents the minimum torque of the drive motor, μ represents the safety factor, sin and cos respectively represent the sine function and the cosine function, G represents the gravity of the cleaning cart, α represents the angle between the photovoltaic panel and the horizontal plane, r represents the radius of the track drive wheel, and i represents the reduction ratio of the reduction gearbox of the cleaning cart.

[0074] It should be noted that when the cleaning robot slides forward along the laid track links, it needs to overcome the frictional resistance between the two and the component of the gravity along the working plane. The driving force to overcome this frictional resistance is provided by the reverse force of the track link on the drive sprocket. Through the force analysis of the cleaning robot, it can be known that: F 驱min = μGsinα + Gcosα, where: F 驱min is the minimum driving force of the cleaning robot. μ is the friction coefficient between the track link and its slide rail. α is the angle between the photovoltaic panel and the horizontal plane. G is the gravity of the cleaning robot (N). The driving force of the cleaning robot is provided by the reverse force of the track link on the drive sprocket. According to Newton's third law, the action force and the reaction force are equal in magnitude and opposite in direction, so the magnitude of the force of the drive sprocket on the track link determines the magnitude of the driving force. The force of the drive sprocket on the track is provided by the drive motor. The formula is expressed as: where: F 链min is the minimum force of the drive sprocket. T 电min is the minimum torque of the drive motor. r is the radius of the track drive wheel. i is the reduction ratio of the reduction gearbox. Since F驱min and F 链min are a pair of action and reaction forces. Therefore, After arrangement, the formula for the minimum torque of the driving motor can be obtained as follows:

[0075] It can be understood that the calculation method of the minimum torque of the driving motor comprehensively considers factors such as the safety factor, the tilt angle of the photovoltaic panel, the gravity of the cleaning trolley, and the radius of the crawler drive wheel, etc., to ensure that the cleaning trolley can overcome the resistance brought by friction and gravity during driving. Through this formula, the minimum torque required for the driving motor is calculated to ensure that the motor can provide sufficient force to push the cleaning trolley, especially when facing the slope or complex terrain of the photovoltaic panel. By considering factors such as friction and gravity, the calculated minimum torque can ensure that the driving motor has sufficient power to prevent the cleaning trolley from being unable to drive in a complex environment. This calculation method considers the different tilt angles of the photovoltaic panel to ensure that the cleaning trolley can still work properly at different slopes. The minimum torque calculation can accurately select a suitable driving motor, improve the energy efficiency and stability of the system, and avoid energy waste caused by over-design or insufficient power.

[0076] Referring to the attached drawings of the specification Figure 6 , a force diagram of sundries provided by an embodiment of the present invention is shown.

[0077] Referring to the attached drawings of the specification Figure 7 , a structural diagram of a rolling brush contacting sundries provided by an embodiment of the present invention is shown.

[0078] Referring to the attached drawings of the specification Figure 8 , a curve diagram showing the relationship between the contact area size of the bristles of the rolling brush and sundries and the rotation angle provided by an embodiment of the present invention is shown.

[0079] From Figure 8 it can be seen that the larger the rotation angle of the bristles, the larger the deformation amount, and the larger the contact area. When the bristles turn perpendicular to the ground, the most dust is swept.

[0080] In a possible implementation manner, the cleaning main body is specifically a rolling brush. Among them, the rolling brush parameters of the rolling brush include the rolling brush radius and the rolling brush angular velocity. The calculation method of the rolling brush parameters is specifically as follows:

[0081]

[0082] S≥S 阈值

[0083]

[0084] Among them, G 杂物 represents the gravity of sundries, ρ 杂物It represents the instantaneous radius from the center of the rotating brush shaft to the center point of the debris, μ 杂物 It represents the coefficient of friction between the rotating brush and the debris, N represents the normal pressure when the rotating brush discards the debris, ω represents the angular velocity of the rotating brush, α 杂物 It represents the angle when the rotating brush is about to squeeze the garbage into the rolling wall of the cleaning main body, β 杂物 It represents the reverse angle between the resultant inertial force of the rotating brush and N, g represents the acceleration due to gravity, F f It represents the frictional force, sin and cos respectively represent the sine function and the cosine function, S and S 阈值 respectively represent the contact area between the rotating brush and the debris and the contact area threshold, c represents the depth of the contact between a single bristle in the rotating brush and the debris, R represents the radius of the rotating brush, d represents the diameter of the rotating brush, m 杂物 It represents the thickness of the debris to be cleaned, Δβ 杂物 It represents the angle turned by any bristle in the rotating brush relative to the contacted debris.

[0085] It should be noted that according to the provided calculation method of the rotating brush parameters, through precise physical parameter calculation, it can ensure that the rotating brush has sufficient force and stability during the cleaning process, so as to efficiently remove the debris on the photovoltaic panel. The formula takes into account multiple factors, such as the radius, angular velocity, coefficient of friction, gravity of the debris, and contact area of the rotating brush. These factors work together to ensure that the rotating brush can effectively generate sufficient cleaning force when contacting the debris. Through detailed physical calculations, including factors such as contact area, debris depth, and frictional force, it ensures that the working state of the rotating brush during the cleaning process is optimized and energy waste is avoided. Strong adaptability: This method takes into account different types of debris and cleaning surfaces, and can adjust the force and speed of the rotating brush according to the thickness of different debris to ensure the cleaning effect. Reduce damage: By calculating the balance of normal pressure and frictional force, it avoids damage to the photovoltaic panel caused by excessive cleaning and ensures the long-term service life of the equipment. Improve efficiency: The parameter setting of the rotating brush enables it to maximize the working efficiency under various cleaning conditions, so as to achieve fast and effective cleaning.

[0086] Among them, the debris can be dust or other particulate matters.

[0087] It should be noted that those skilled in the art can set the size of the bristle-debris contact area threshold according to actual needs, and the present invention does not make any limitations here.

[0088] In a possible implementation manner, the visual detection module is specifically a visual detection module based on the OpenCV algorithm.

[0089] Among them, OpenCV (Open Source Computer Vision Library) is an open-source computer vision library aimed at providing development tools and functions for real-time computer vision applications. OpenCV algorithms are widely used in fields such as image and video processing, feature extraction, object detection, motion analysis, and 3D reconstruction. The vision detection module is based on OpenCV algorithms and identifies information such as dust and dirt on the photovoltaic panel by processing images or video streams of the photovoltaic panel. It can analyze images in real time, locate the cleaning area, guide the cleaning cart for efficient cleaning, and ensure accurate operation.

[0090] In a possible implementation, the path planning module is specifically a path planning module based on the VFH algorithm.

[0091] Among them, the VFH algorithm (Vector Field Histogram) is an algorithm commonly used for path planning of mobile robots. It divides the environment around the robot into a grid and calculates the obstacle density of each grid cell to determine the most suitable obstacle avoidance route. The core idea of the VFH algorithm is to select the most suitable direction to move forward according to the distribution of obstacles, avoid collisions, and at the same time make the path as short and safe as possible. The path planning module based on the VFH algorithm calculates the optimal path for the robot to move forward by processing environmental information in real time. This module analyzes sensor data, evaluates the obstacle density in each direction, and quickly generates an obstacle avoidance and efficient travel route to ensure that the cleaning cart can reach the cleaning target area smoothly and stably.

[0092] Using the path planning module to plan the travel path of the transport unit specifically includes:

[0093] Divide the motion plane of the transport unit into grid cells containing binary information.

[0094] Calculate the confidence value describing the obstacle density of the transport line for each grid cell.

[0095] Select the new transport route with the largest confidence value and feedback it to the transport unit to drive the transport unit to travel along the feedback transport line.

[0096] In a possible implementation, the transport cart is specifically a lift-type transport cart.

[0097] It should be noted that the lift-type transport cart is a transport device with a lifting function that can adjust the height according to needs to ensure that the cleaning cart can easily move onto the photovoltaic panel for cleaning. Through the lifting function, it can adapt to photovoltaic panels of different heights, improving the flexibility and application range of the system.

[0098] In a possible implementation, the suction cup type auxiliary crawler track is located on the outside of the transmission shaft, and the main crawler track is located on the inside of the transmission shaft.

[0099] It should be noted that the suction cup auxiliary track is located on the outside of the transmission shaft, providing additional stability and adsorption force to help the cleaning trolley move smoothly between the photovoltaic panels. The main track is located on the inside of the transmission shaft, responsible for providing power and drive, so that the trolley can move efficiently. This layout ensures the stability and efficiency of the cleaning trolley in different walking environments.

[0100] Refer to the instruction manual Figure 9 , shows a structural schematic diagram of another intelligent photovoltaic panel cleaning system provided by an embodiment of the present invention.

[0101] Figure 9 The system includes a cleaning part, i.e., a cleaning unit, and a transport part, i.e., a transport unit. The two communicate with each other using wireless communication based on LoRa technology. The transport system plans the path by receiving data sent by the OpenCV visual detection module, sends the cleaning machine trolley to the uncleaned photovoltaic panel area, and transmits the cleaning trolley to the photovoltaic panel through the telescopic structure designed on it. The cleaning system determines whether to clean based on the data fed back to the MCU by the dust detection sensor. When cleaning, it determines whether it has reached the edge through the limit switch, so as to automatically clean. When a piece or a row of photovoltaic panels is cleaned and ready to go to the next work area, a signal is sent to the transport system through the LoRa module, so that the transport system can transport it to the uncleaned area.

[0102] Specifically, the transport part receives data from the OpenCV visual detection module and performs path planning based on the image processing information. The transport system transports the cleaning robot to the uncleaned photovoltaic panel area and places the cleaning robot on the panel through the designed telescopic structure. The cleaning system uses dust detection sensors to determine the dust accumulation on the photovoltaic panel and decide whether it needs to be cleaned. The sensor data is fed back to the MCU (microcontroller unit) for processing. During the cleaning process, the limit switch is used to determine whether the edge of the cleaning area has been reached to ensure that the cleaning range does not cross the boundary. After cleaning, the cleaning part sends a signal to the transport part through the LoRa module, instructing the transport part to transport the cleaning robot to the next area to be cleaned. The system uses MPPT power modules and DC-DC converters to provide power, and transmits data with the cloud platform through the 5G communication module to achieve remote monitoring and control. Users can monitor the system status in real time on their mobile phones and perform remote operations through the APP. The system achieves efficient cleaning of photovoltaic panels without human supervision through automated path planning, dust detection, wireless communication and remote control, reduces labor costs, and improves photovoltaic power generation efficiency.

[0103] For example, due to the limited load-bearing capacity of the solar panels, when designing the total mass of the cleaning robot, the mass should preferably not exceed 20 kg, and the cleaning speed of the cleaning robot needs to reach 720 m 2 / h. According to these design requirements and the above theoretical analysis of the photovoltaic cleaning robot, the performance parameters of the designed cleaning robot can be as follows: Body mass: 15 kg. Center of gravity height of the robot: 150 mm. Reduction gearbox transmission ratio: 1:1000. Driving motor torque: 334 N·m. Suction cup adsorption area: 900 cm 2 . Tipping critical angle: 53°. Gap that can be crossed: 400 mm. Walking speed: 1.0 m / s. Maximum cleaning efficiency: 1440 m 2 / h. Maximum working angle: 70°.

[0104] In the actual application process, the intelligent photovoltaic panel cleaning system achieves efficient cleaning through a precisely designed transportation part and cleaning part. The cleaning cart of the system includes a driving main body and a cleaning main body. The driving main body is composed of a main track and a suction cup type secondary track. The main track provides power for the cleaning cart, while the suction cup type secondary track is located outside the transmission shaft to provide additional stability. When the cart crosses the gap between photovoltaic panels, the suction cup type secondary track provides sufficient adsorption force through the suction cups to help the cleaning cart cross stably and avoid slipping due to gravity or slope. The transportation part includes a vision detection module, a path planning module, and a transportation cart. The vision detection module obtains the status information of the photovoltaic panels and plans the path to accurately send the cleaning cart to the area to be cleaned. The two parts exchange data through the LoRa wireless communication module to ensure efficient coordination. This system can automatically complete the cleaning task, reduce manual intervention, improve the cleaning efficiency and reduce the operation and maintenance costs, and long-term improve the power generation efficiency of the photovoltaic power station.

[0105] The beneficial effects brought by the technical solution provided in the embodiment of the present invention at least include:

[0106] In the embodiment of the present invention, an intelligent photovoltaic panel cleaning system with a carrying part and a cleaning part connected by wireless communication is designed. The carrying part has a vision detection module, a path planning module and a carrying cart, which can automatically complete the planning of the traveling path and accurately transport the cleaning part to the target position for cleaning. The collaborative working mode of the carrying part and the cleaning part greatly reduces the cost of manual intervention and greatly improves the cleaning efficiency of the photovoltaic panel. In addition, the cleaning part includes a driving main body and a cleaning main body. The driving main body includes a main track and a suction cup type secondary track both driven by a transmission shaft. Among them, the transmission shaft is divided into a first transmission shaft and a second transmission shaft according to the distance from the cleaning main body. The main track and the suction cup type secondary track are coaxial on the second transmission shaft, and the other shaft can move to perform the folding movement of the cleaning cart. The foldable design of the suction cup type secondary track enables the cleaning cart to independently cross the gap of the photovoltaic panel, further reducing the cost of human intervention and the degree of automation of the photovoltaic panel, and completing the cleaning of the photovoltaic panel with extremely high efficiency.

[0107] The above is only the specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

[0108] The following points need to be explained:

[0109] (1) The drawings of the embodiments of the present invention only relate to the structures involved in the embodiments of the present invention, and other structures can refer to the general design.

[0110] (2) For clarity, in the drawings used to describe the embodiments of the present invention, the thickness of the layer or region is enlarged or reduced, that is, these drawings are not drawn according to the actual scale. It can be understood that when an element such as a layer, film, region or substrate is referred to as being "on" or "under" another element, the element can be "directly" on or under the other element or there can be an intermediate element.

[0111] (3) Without conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other to obtain new embodiments.

[0112] The above is only the specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. The protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. An intelligent photovoltaic panel cleaning system, characterized in that, It includes a carrying part and a cleaning part; The cleaning part includes a cleaning cart and a dust detection sensor. The cleaning cart is used to clean the photovoltaic panel, and the dust detection sensor is used to detect whether there is dust on the photovoltaic panel; The cleaning cart includes a driving body and a cleaning body. The driving body includes a main track and a suction cup type auxiliary track both driven by a transmission shaft. Among them, the transmission shaft is divided into a first transmission shaft and a second transmission shaft according to the distance from the cleaning body. The main track and the suction cup type auxiliary track are coaxial on the second transmission shaft; The carrying part includes a vision detection module, a path planning module and a carrying cart; The carrying part is used to transport the cleaning cart; The carrying part and the cleaning part are connected by LoRa wireless communication; The carrying part plans the traveling path of the carrying part by using the path planning module according to the feedback information of the vision detection module. After the carrying part reaches the target location of the traveling path, the cleaning cart is transported to the photovoltaic panel by the carrying cart for cleaning.

2. The intelligent photovoltaic panel cleaning system according to claim 1, wherein The calculation method of the maximum inclination angle of the cleaning cart relative to the photovoltaic panel, that is, the tipping critical angle, is specifically as follows: Among them, β represents the anti-tipping characteristic angle related to the structure of the cleaning cart, α0 represents the tipping critical angle, tan represents the tangent function, L represents the distance between the first transmission shaft and the second transmission shaft, and h represents the distance from the center of gravity of the cleaning cart to the working plane.

3. The intelligent photovoltaic panel cleaning system according to claim 1, wherein The calculation method of the driving motor speed of the driving body is specifically as follows: Among them, n 电 represents the rotational speed of the drive motor, v represents the desired linear travel speed of the cleaning cart, r represents the radius of the crawler drive wheel, i represents the reduction ratio of the reduction gearbox of the cleaning cart, and π represents the pi.

4. The intelligent photovoltaic panel cleaning system according to claim 1, wherein, The suction cup type auxiliary track includes a plurality of suction cups; the suction cup type auxiliary track is used to maintain the stability of the cleaning cart when the cleaning cart crosses different photovoltaic panels; the calculation method of the number of suction cups is as follows: μ≥2.5 x·F≥F 总 Among them, F represents the horizontal adsorption force of each suction cup, S represents the suction cup area, P represents the air pressure difference inside and outside the suction cup, μ represents the safety factor, x represents the number of suction cups, and F 总 represents the resultant force received by the cleaning cart in the state without suction cups.

5. The intelligent photovoltaic panel cleaning system according to claim 1, characterized in that, The calculation method of the minimum torque of the driving motor of the driving body is specifically as follows: Among them, T 电min represents the minimum torque of the drive motor, μ represents the safety factor, sin and cos represent the sine function and cosine function respectively, G represents the gravity of the cleaning cart, α represents the angle between the photovoltaic panel and the horizontal plane, r represents the radius of the crawler drive wheel, and i represents the reduction ratio of the reduction gearbox of the cleaning cart.

6. The intelligent photovoltaic panel cleaning system according to claim 1, characterized in that, The cleaning body is specifically a rotary brush. Among them, the rotary brush parameters of the rotary brush include the rotary brush radius and the rotary brush angular velocity; the calculation method of the rotary brush parameters is as follows: S≥S 阈值 Among them, G 杂物 represents the gravity of sundries, ρ 杂物 represents the instantaneous radius from the center of the roller brush shaft to the center point of the sundries, μ 杂物 represents the friction coefficient between the roller brush and the sundries, N represents the normal pressure when the roller brush discards the sundries, ω represents the angular velocity of the roller brush, α 杂物 represents the angle when the roller brush is about to squeeze the garbage into the rolling wall of the cleaning main body, β 杂物 represents the reverse angle between the resultant inertial force of the roller brush and N, g represents the acceleration due to gravity, F f represents the frictional force, sin and cos respectively represent the sine function and the cosine function, S and S 阈值 respectively represent the contact area between the roller brush and the sundries and the contact area threshold, c represents the depth of contact between a single bristle in the roller brush and the sundries, R represents the radius of the roller brush, d represents the diameter of the roller brush, m 杂物 represents the thickness of the sundries to be cleaned, Δβ 杂物 represents the angle turned by any bristle in the roller brush relative to the contacted sundries.

7. The intelligent photovoltaic panel cleaning system according to claim 1, characterized in that, The vision detection module is specifically a vision detection module based on the OpenCV algorithm.

8. The intelligent photovoltaic panel cleaning system according to claim 1, wherein, The path planning module is specifically a path planning module based on the VFH algorithm.

9. The intelligent photovoltaic panel cleaning system according to claim 1, wherein The carrying cart is specifically a lifting type carrying cart.

10. The intelligent photovoltaic panel cleaning system according to claim 1, wherein The suction cup type auxiliary track is located outside the transmission shaft; the main track is located inside the transmission shaft.

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