Bird droppings removing photovoltaic cleaning system and method

Abstract

According to the guano-removing photovoltaic cleaning system and method, guano pollution of a photovoltaic panel is detected through a sensing group, so that a scraper blade removes guano at a place with guano, continuous contact of the scraper blade with the photovoltaic panel is reduced, and the influence of automatic cleaning on the normal power attenuation speed of the photovoltaic panel is reduced; bird droppings are sprayed with clean water, then the surface of the photovoltaic panel is cleaned through the adhesive scraping strip when the adhesive force of the bird droppings is reduced, and the problems that the bird droppings on the photovoltaic panel are difficult to remove, and the photovoltaic panel is damaged by hard removal are solved. Furthermore, when bird droppings are not removed, the cleaning robot can sweep dust on the photovoltaic panel in a dry mode, and the cleaning robot of the system can also serve as a snow remover to remove loose accumulated snow with the thickness smaller than 4 cm in an area where the snowing amount is small. According to the technical scheme, bird droppings attached to the surface of the photovoltaic panel can be timely and automatically cleaned, the influence of the bird droppings on the service life of the photovoltaic panel is greatly reduced, and the service life of the photovoltaic panel is prolonged.

Description

Technical Field

[0001] The present invention relates to the field of photovoltaic modules, and particularly to a bird droppings removal photovoltaic cleaning system and method. Background Art

[0002] A photovoltaic panel, also known as a "solar chip" or "photovoltaic cell", is a thin photovoltaic semiconductor sheet that directly generates electricity using sunlight. It is the most important part of a solar power generation system and can be installed wherever there is good sunlight. However, since birds like to perch on photovoltaic panels and their accessories, photovoltaic panels are extremely vulnerable to bird droppings contamination. Bird droppings have strong adhesiveness and acidity. Besides affecting the power generation effect of the photovoltaic panel, they are corrosive to the surface of the photovoltaic panel and can form a hot spot effect, shortening the service life of the photovoltaic panel. Therefore, it is very important to clean the bird droppings on the surface of the photovoltaic panel in a timely manner.

[0003] Dried bird droppings are not easy to remove. Simple brushing is not enough, and surfactants are needed for better cleaning, resulting in higher maintenance costs and difficult to ensure the safety of maintenance work. Summary of the Invention

[0004] In view of the above problems, the present invention provides a bird droppings removal photovoltaic cleaning system and method, which solves the problem that bird droppings on existing photovoltaic panels are not easy to clean.

[0005] To achieve the above object, in a first aspect, the present application provides a bird droppings removal photovoltaic cleaning system applicable to photovoltaic modules. The photovoltaic modules include a fixed bracket and a photovoltaic panel. The system includes a water spraying component, a stop-return component, a cleaning robot, and a control unit. The water spraying component is arranged on the fixed bracket and has a spraying end for spraying a cleaning liquid onto the photovoltaic panel. The stop-return component includes a stop frame and a return frame, which are oppositely arranged at both ends of the photovoltaic module. The cleaning robot includes a first base, a scraping blade, and a sensing group. The first base is slidably connected to the stop frame, the return frame, and the fixed bracket. The scraping blade is arranged on the first base, and the sensing group is arranged on the first base for collecting image information of the photovoltaic panel. The control unit is electrically connected to the cleaning robot, the water spraying component, and the stop-return component.

[0006] In some embodiments, the water spraying component includes a spraying pipeline, a plurality of first spraying pipes, and a plurality of first valves. The spraying pipeline is laid along the fixed bracket. Each first spraying pipe is connected to the spraying pipeline, and the plurality of first spraying pipes are arranged at intervals along the extension direction of the spraying pipeline. At least one first spraying pipe is provided on one photovoltaic panel, and the spraying end is provided on the first spraying pipe. Each first valve is arranged on one first spraying pipe and is electrically connected to the control unit.

[0007] In some embodiments, the water spraying assembly includes a drone assembly, a second spray pipe, a water storage tank, and a second valve. The drone assembly includes a drone nest and a drone. The drone is electrically connected to the control unit, and the drone nest is detachably connected to the drone. The second spray pipe is disposed on the drone, and a spray end is provided on the second spray pipe. The water storage tank is disposed on the drone, and the water storage tank is communicated with the second spray pipe. The second valve is disposed on the second spray pipe, and the second valve is electrically connected to the control unit.

[0008] In some embodiments, the sensing group includes a second base, an image processing module 132, a first adapter bracket, a camera, and a first shield. The second base is disposed on the first base. The image processing module is disposed on the second base and is electrically connected to the control unit. The first adapter bracket is disposed on the second base, and the first adapter bracket is perpendicular to the second base. The camera is disposed on the first adapter bracket, the camera is oriented towards the photovoltaic panel, and the camera is electrically connected to the image processing module. The first shield is disposed on the second base and is disposed around the image processing module.

[0009] In some embodiments, the number of sensing groups is two, and the two sensing groups are arranged side by side on the first base.

[0010] In some embodiments, the cleaning robot further includes a first support shaft, a first driving unit, and a second adapter bracket. The first support shaft is disposed on the first base and is rotatable relative to the first base. The first driving unit is in transmission connection with the first support shaft, the first driving unit is disposed on the first base, and the first driving unit is electrically connected to the control unit. The second adapter bracket is disposed on the first support shaft, the second adapter bracket is fixedly connected to the first support shaft, and a wiper is provided on the second adapter bracket.

[0011] In some embodiments, the first base includes a first connecting frame, a second connecting frame, and a first support plate. The first connecting frame and the second connecting frame are oppositely arranged, and the first support plate is disposed between the first connecting frame and the second connecting frame. The cleaning robot further includes a first moving group, a second moving group, a cleaning roller brush, and a second driving unit. The first moving group is disposed on the first connecting frame. The second moving group is disposed on the second connecting frame. The cleaning roller brush is disposed below the first support plate. The second driving unit is disposed on the first connecting frame or the second connecting frame, and the second driving unit is in transmission connection with the cleaning roller brush.

[0012] In some embodiments, the first moving group includes a first roller, a third driving unit, and a first hanging wheel. The first roller is disposed on a first connecting frame; the third driving unit is in transmission connection with the first roller; the first hanging wheel is disposed on the first connecting frame, the rotation axis of the first hanging wheel is perpendicular to the rotation axis of the first roller, and the first hanging wheel is in transmission connection with the third driving unit; the second moving group includes a second roller, the second roller is disposed on a second connecting frame, the second roller is disposed opposite to the first roller, and the second roller is in transmission connection with the third driving unit.

[0013] In some embodiments, the stop-return assembly further includes a first fixing rod, a first sensor, a first stop block, and a charging interface; the number of the first fixing rods is two, and the two first fixing rods are oppositely disposed on the parking frame; the first sensor is disposed on the parking frame, and the first sensor is used for detecting the position of the cleaning robot; the first stop block is disposed on the parking frame, and the first stop block can be lapped on the outer surface of the cleaning robot to stop the cleaning robot; the charging interface is disposed on the parking frame, and the charging interface is used for charging the cleaning robot.

[0014] In some embodiments, the stop-return assembly further includes a second fixing rod, a second sensor, and a second stop block. The number of the second fixing rods is two, and the two second fixing rods are oppositely disposed on the return frame; the second sensor is disposed on the return frame, and the second sensor is used for detecting the position of the cleaning robot; the second stop block is disposed on the return frame, and the second stop block can be lapped on the outer surface of the cleaning robot to stop the cleaning robot.

[0015] In a second aspect, the present application provides a method for cleaning bird droppings on a photovoltaic panel, which is applicable to the bird-dropping cleaning system for photovoltaic panels as described in the first aspect of the present application. The method includes the following steps:

[0016] A camera collects an image of the photovoltaic panel and transmits the collected image to an image processing module;

[0017] The image processing module analyzes the image collected by the camera. After determining that there is a contaminated area on the photovoltaic panel, it calculates the coordinate position of the contaminated area and generates a control signal based on the coordinate position of the contaminated area and sends it to the cleaning robot and the spraying assembly;

[0018] The spraying assembly sprays a cleaning liquid onto the contaminated area on the photovoltaic panel. After the cleaning robot moves to the coordinate position of the contaminated area, it starts the reciprocating movement of the wiper to scrape the contaminants in the contaminated area.

[0019] Further, the image processing module analyzes the image collected by the camera. After determining that there is a contaminated area on the photovoltaic panel, calculating the coordinate position of the contaminated area includes:

[0020] The image processing module calls the first neural network model to analyze the images collected by the camera, and determines whether there is a contaminated area on the photovoltaic panel. If there is a contaminated area, the image processing module calls the second neural network model to further identify the images collected by the camera and calculate the coordinate position of the contaminated area. Different from the prior art, in the above technical solution, the photovoltaic panel is detected for bird droppings pollution by the sensing group, so that the wiper clears the bird droppings where there are bird droppings, reducing the continuous contact of the wiper with the photovoltaic panel and reducing the impact of automated cleaning on the normal power attenuation rate of the photovoltaic panel; by spraying the bird droppings with clean water and then cleaning the surface of the photovoltaic panel with a rubber strip when the adhesion of the bird droppings decreases, the problem that the bird droppings on the photovoltaic panel are difficult to remove and hard removal will damage the photovoltaic panel is solved. Further, when not removing bird droppings, the cleaning robot can dry-clean the dust on the photovoltaic panel. In areas with little snowfall, the cleaning robot of this system can also be used as a snowplow to remove loose snow with a thickness of less than 4 cm. This technical solution can clean the bird droppings adhered to the surface of the photovoltaic panel immediately and automatically in a timely manner, greatly reducing the impact of bird droppings on the service life of the photovoltaic panel and extending the service life of the photovoltaic panel.

[0021] The above description of the invention content is only an overview of the technical solution of the present invention. In order to enable those of ordinary skill in the art to more clearly understand the technical solution of the present invention, and then can be implemented according to the content described in the text of the specification and the drawings, and in order to make the above objects, other objects, features and advantages of the present invention more easily understood, the following is described in conjunction with the specific embodiments and drawings of the present invention. Brief Description of the Drawings

[0022] The drawings are only used to illustrate the principles, implementation methods, applications, features and effects of the specific embodiments of the present invention and other related contents, and should not be regarded as a limitation of the present invention.

[0023] In the drawings of the specification:

[0024] Figure 1 It is a schematic diagram of the cleaning robot described in the specific embodiment;

[0025] Figure 2 It is a schematic diagram of the water spraying assembly described in the specific embodiment;

[0026] Figure 3 It is a schematic diagram of the sensing group described in the specific embodiment;

[0027] Figure 4 It is a schematic diagram of the wiper described in the specific embodiment;

[0028] Figure 5 It is a schematic diagram of the stop-return assembly described in the specific embodiment.

[0029] Figure 6It is a flowchart of the bird droppings removal photovoltaic cleaning method described in the specific implementation manner; the descriptions of the reference numerals involved in the above-mentioned drawings are as follows:

[0030] 1. Cleaning robot;

[0031] 11. First base;

[0032] 111. First connecting frame;

[0033] 112. Second connecting frame;

[0034] 113. First support plate;

[0035] 12. Scraper;

[0036] 13. Sensing group;

[0037] 131. Second base;

[0038] 132. Image processing module;

[0039] 133. First adapter frame;

[0040] 134. First shield;

[0041] 135. Camera;

[0042] 14. First support shaft;

[0043] 15. Second adapter frame;

[0044] 16. First drive unit;

[0045] 17. First moving group;

[0046] 18. Second moving group;

[0047] 19. Cleaning roller brush;

[0048] 2. Stop-return component;

[0049] 21. Stop machine frame;

[0050] 22. Return machine frame;

[0051] 23. First fixed rod;

[0052] 24. First sensor;

[0053] 25. First stop block;

[0054] 26. Charging interface;

[0055] 27. Second fixed rod;

[0056] 28. Second stop block;

[0057] 3. Photovoltaic module;

[0058] 31. Fixed bracket;

[0059] 32. Photovoltaic panel;

[0060] 4. Water spraying assembly;

[0061] 41. First spray pipe;

[0062] 42. Second spray pipe;

[0063] 43. Spray pipeline;

[0064] 44. Drone;

[0065] 45. Drone nest;

[0066] 5. Control unit. Detailed implementation manners

[0067] To illustrate in detail the possible application scenarios, technical principles, specific implementable solutions, achievable purposes and effects of the present invention, the following is described in detail with reference to the specific examples listed and in conjunction with the accompanying drawings. The examples described herein are only used to more clearly illustrate the technical solutions of the present invention, and thus are only examples and cannot be used to limit the protection scope of the present invention.

[0068] Referring to "embodiments" herein means that the specific features, structures or characteristics described in connection with the embodiments may be included in at least one embodiment of the present invention. The term "embodiment" appearing at various positions in the specification does not necessarily refer to the same embodiment, nor does it particularly limit its independence or relevance to other embodiments. In principle, in the present invention, as long as there is no technical contradiction or conflict, the technical features mentioned in each embodiment can be combined in any way to form corresponding implementable technical solutions.

[0069] Unless otherwise defined, the meanings of the technical terms used herein are the same as those commonly understood by those skilled in the technical field to which the present invention belongs; the use of the relevant terms herein is only for describing specific embodiments and is not intended to limit the present invention.

[0070] In the description of the present invention, the term "and / or" is an expression used to describe the logical relationship between objects, indicating that there can be three relationships, for example, A and / or B, which means: there is A, there is B, and there is both A and B at the same time. In addition, the character " / " herein generally represents an "or" logical relationship between the associated objects.

[0071] In the present invention, terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual quantitative, primary-secondary or sequential relationship between these entities or operations.

[0072] Without further limitation, in the present invention, the open-ended expressions such as "comprising", "including", "having" or other similar expressions used in a statement are intended to cover non-exclusive inclusion. These expressions do not exclude the possibility that there may be additional elements in the process, method or product including the said elements, so that a process, method or product including a series of elements may include not only those defined elements, but also other elements not explicitly listed, or elements inherent to such process, method or product.

[0073] Similar to the understanding in the "Examination Guidelines", in the present invention, expressions such as "greater than", "less than", "exceeding" are understood not to include the recited number; expressions such as "above", "below", "within" are understood to include the recited number. In addition, in the description of the embodiments of the present invention, the meaning of "a plurality of" is two or more (including two). Similar expressions related to "many", such as "multiple groups", "multiple times", etc., are understood in the same way, unless otherwise specifically defined.

[0074] In the description of the embodiments of the present invention, the spatially related expressions used, such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "perpendicular", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the specific embodiment or the accompanying drawings. It is only for the convenience of describing the specific embodiments of the present invention or for the reader to understand, rather than indicating or implying that the device or component referred to must have a specific position, a specific orientation, or be constructed or operated in a specific orientation. Therefore, it should not be construed as a limitation to the embodiments of the present invention.

[0075] Unless otherwise clearly specified or limited, in the description of the embodiments of the present invention, the terms such as "installed", "connected", "joined", "fixed", "set" should be understood in a broad sense. For example, the said "connection" may be a fixed connection, a detachable connection, or an integral setting; it may be a mechanical connection, an electrical connection, or a communication connection; it may be directly connected, or indirectly connected through an intermediate medium; it may be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art to which the present invention pertains, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0076] Please refer to Figures 1 to 5 , this embodiment provides a bird droppings removal photovoltaic cleaning system applicable to a photovoltaic module 3. The photovoltaic module 3 includes a fixing bracket 31 and a photovoltaic panel 32. The system includes a water spraying assembly 4, a stop-return assembly 2, a cleaning robot 1, and a control unit 5. The water spraying assembly 4 is arranged on the fixing bracket 31. The water spraying assembly 4 has a spraying end for spraying a cleaning liquid onto the photovoltaic panel 32. The stop-return assembly 2 includes a stop frame 21 and a return frame 22. The stop frame 21 and the return frame 22 are oppositely arranged at both ends of the photovoltaic module 3. The cleaning robot 1 includes a first base 11, a scraping blade 12, and a sensing group 13. The first base 11 is slidably connected to the stop frame 21, the return frame 22, and the fixing bracket 31. The scraping blade 12 is arranged on the first base 11. The sensing group 13 is arranged on the first base 11 and is used for collecting image information of the photovoltaic panel 32. The control unit 5 is electrically connected to the cleaning robot 1, the water spraying assembly 4, and the stop-return assembly 2.

[0077] In this embodiment, the photovoltaic module 3 includes a fixing bracket 31 and a photovoltaic panel 32. Among them, the photovoltaic panel 32 is the main component for absorbing solar energy. The number of photovoltaic panels 32 is multiple. The multiple photovoltaic panels 32 are arranged in an array on the fixing bracket 31. The fixing bracket 31 is the main support structure of the photovoltaic panel 32, and the fixing bracket 31 is fixedly connected to the ground.

[0078] In this embodiment, the water spraying assembly 4 is arranged on the fixing bracket 31. The water spraying assembly 4 includes multiple spraying ends, and each spraying end faces the photovoltaic panel 32. Specifically, the spraying end can be understood as the spraying surface of a nozzle or the output end of a pipeline, etc. Different understandings of the spraying end can be made according to different actual structures. The spraying end is used for spraying a cleaning liquid, and the cleaning liquid can be a solution containing a surfactant or pure water, which can be specifically set according to actual requirements.

[0079] The stop-return component 2 includes a stop rack 21 and a return rack 22. The stop rack 21 and the return rack 22 are arranged at both ends of the photovoltaic module 3. Specifically, the stop rack 21 is connected to one side of the fixed bracket 31, and the return rack 22 is connected to the other side of the fixed bracket 31. Then, the cleaning robot 1 can walk between the stop rack 21, the fixed bracket 31 and the return rack 22, so as to meet the different functional setting requirements of the cleaning robot 1. Among them, the stop rack 21 is the standby area of the cleaning robot 1. When the cleaning robot 1 does not need to perform cleaning operations, it can directly dock in the area where the stop rack 21 is located to perform operations such as charging and self-cleaning; the return rack 22 is the return position of the cleaning robot 1. After the cleaning robot 1 performs a cleaning operation on the photovoltaic module 3, it will reach the return rack 22. In the area of the return rack 22, components for removing bird droppings, such as high-pressure water guns, can be set to effectively remove the bird droppings or other impurities remaining on the wiper 12. Under the return rack 22, trash cans, garbage chutes, etc. can be set to facilitate the collection of the garbage on the wiper 12 and keep the area where the cleaning robot 1 and the photovoltaic module 3 are located clean and tidy.

[0080] Specifically, the cleaning robot 1 includes a first base 11, a wiper 12 and a sensing group 13. Among them, the first base 11 is the main support structure of the cleaning robot 1. The wiper 12 is arranged on the first base 11, and the wiper 12 can rotate relative to the first base 11. The sensing group 13 is arranged on the first base 11. The sensing group 13 can collect image information of the photovoltaic panel 32. When there are bird droppings on the upper surface of the photovoltaic panel 32, there are bird droppings features in the picture information of the sensing group 13. After the control unit 5 identifies the presence of bird droppings, it will control the wiper 12 to adjust a certain angle to contact the surface of the photovoltaic panel 32, and shovel the bird droppings off the photovoltaic panel 32 during the movement of the first base 11, so as to realize the removal operation of the bird droppings.

[0081] Optionally, the treatment steps of spraying first and then shoveling can be selected. After the control unit 5 determines the area where the bird droppings are located, it can control the watering component 4 to spray the upper surface of the photovoltaic panel 32, and then control the wiper 12 to scrape off the bird droppings to improve the bird droppings removal efficiency.

[0082] In this embodiment, the control unit 5 can be a PLC single-chip microcomputer, a microcomputer chip, etc. The control unit 5 is electrically connected to the watering component 4, the cleaning robot 1 and the stop-return component 2.

[0083] In this embodiment, by setting up the stop-return component 2, the water spraying component 4, the cleaning robot 1 and the control unit 5, the automatic identification and automatic cleaning process of bird droppings on the photovoltaic module 3 are realized. The stop-return component 2 is used to uniformly collect and process the removed bird droppings, maintaining the cleanliness of the wiper 12, thus avoiding the problem of damage to the photovoltaic panel 32 caused by repeated rubbing against the photovoltaic panel 32 when the bird droppings are not fully removed. Moreover, the water spraying component 4 shown in this embodiment can pre-wet the position where the bird droppings are located, making the bird droppings easy to clean, improving the bird dropping removal efficiency of the cleaning robot 1, realizing the automatic cleaning of the photovoltaic module 3, and thus extending the service life of the photovoltaic panel 32.

[0084] Please refer to Figure 2 , in some embodiments, the water spraying component 4 includes a spray pipeline 43, a plurality of first spray pipes 41 and a plurality of first valves. The spray pipeline 43 is laid along the fixed bracket 31; each first spray pipe 41 is connected to the spray pipeline 43, and the plurality of first spray pipes 41 are arranged at intervals along the extension direction of the spray pipeline 43. At least one first spray pipe 41 is provided on one photovoltaic panel 32; each first valve is arranged on one first spray pipe 41, and the first valve is electrically connected to the control unit 5.

[0085] This embodiment shows an embodiment of the water spraying component 4. Specifically, the water spraying component 4 includes a spray pipeline 43, a plurality of first spray pipes 41 and a plurality of first valves. One first valve is provided on each first spray pipe 41, and the first valve is electrically connected to the control unit 5. The spray pipeline 43 is laid along the fixed bracket 31. The spray pipeline 43 can be made of PVC pipeline or iron pipe. A plurality of first spray pipes 41 are provided on the spray pipeline 43. Preferably, the first spray pipe 41 is perpendicularly arranged to the spray pipeline 43, and a nozzle is provided at the end of the first spray pipe 41. The nozzle is the aforementioned spray end, and the nozzle is arranged towards the photovoltaic module 3. Optionally, at least one first spray pipe 41 is provided in the area where each photovoltaic panel 32 is located.

[0086] During use, when the sensing group 13 detects that there are bird droppings or other impurities on a certain photovoltaic panel 32, after the control unit 5 knows the code of the photovoltaic panel 32 where the bird droppings or impurities are located, it controls the first valve associated with the photovoltaic panel 32 to open, so that the cleaning liquid in the first spray pipe 41 is sprayed onto the corresponding photovoltaic panel 32, thereby realizing the water spraying function of the photovoltaic panel 32.

[0087] Please refer to Figure 2, in some embodiments, the water spraying assembly 4 includes a drone 44 assembly, a second spray pipe 42, a water storage tank, and a second valve. The drone 44 assembly includes a drone nest 45 and a drone 44. The drone 44 is electrically connected to the control unit 5. The drone nest 45 is detachably connected to the drone 44. The second spray pipe 42 is disposed on the drone 44. The water storage tank is disposed on the drone 44 and is in communication with the second spray pipe 42. The second valve is disposed on the second spray pipe 42 and is electrically connected to the control unit 5.

[0088] This embodiment shows another embodiment of the water spraying assembly 4. The water spraying assembly 4 includes a drone 44 assembly, a second spray pipe 42, a water storage tank, and a second valve. The second valve is disposed on the second spray pipe 42, and the second spray pipe 42 is in communication with the water storage tank. The drone 44 is detachably connected to the drone nest 45. When a task needs to be performed, the drone 44 can fly away from the drone nest 45 and align the spray end on the second spray pipe 42 with the photovoltaic panel 32 that needs to be watered, and open the second valve to release the cleaning liquid. When the task is completed, the drone 44 can fly back to the drone nest 45 for operations such as charging.

[0089] In this embodiment, by combining the drone 44 with the second spray pipe 42, the precise water spraying requirement from point to point is achieved, saving the laying process of the water spraying assembly 4 on the fixed bracket 31.

[0090] Optionally, both the first valve and the second valve can be a water pump or a regulating pump.

[0091] In some alternative embodiments, the control unit 5 is in wireless communication connection with the first valve and the second valve.

[0092] Please refer to Figure 3 , in some embodiments, the sensing group 13 includes a second base 131, an image processing module 132, a first adapter bracket 133, a camera 135, and a first shield 134. The second base 131 is disposed on the first base 11. The image processing module 132 is disposed on the second base 131 and is electrically connected to the control unit 5. The first adapter bracket 133 is disposed on the second base 131 and is perpendicular to the second base 131. The camera 135 is disposed on the first adapter bracket 133 and is oriented towards the photovoltaic panel 32. The camera 135 is electrically connected to the image processing module 132. The first shield 134 is disposed on the second base 131 and is disposed around the image processing module 132.

[0093] In this embodiment, the second base 131 is arranged on the first base 11, and optionally, the second base 131 is detachably connected to the first base 11. This makes the sensor group 13 form a relatively independent module, which is convenient for installing the sensor group 13 on the existing photovoltaic cleaning equipment and expanding the application surface of the sensor group 13. The second base 131 is provided with an image processing module 132, a first adapter frame 133, a camera 135 and a first protective cover 134. Among them, the image processing module 132 can be a separate microcomputer chip to specifically perform image processing operations, including feature annotation and recognition of the image, so as to reduce the amount of calculation of the control unit 5. The first protective cover 134 is buckled on the outside of the image processing module 132 to cover the image processing module 132 to prevent the image processing module 132 from being affected by the external environment.

[0094] The first adapter frame 133 is vertically arranged with the second base 131, and a camera 135 is arranged on the first adapter frame 133. The camera 135 may be an industrial CCD camera 135. Optionally, a light source may be installed around the camera 135 to meet the brightness requirement during the image acquisition process. In some embodiments, the camera 135 may also be a thermal imager, an infrared camera, etc., and the different degrees of heat absorption of bird droppings, impurities and photovoltaic panels 32 are used for image acquisition and feature recognition, and this embodiment is not limited to this.

[0095] In some embodiments, the number of sensor groups 13 is two, and the two sensor groups 13 are arranged in parallel on the first base 11. This can meet the image acquisition requirements of the large-size photovoltaic panel 32, and the number of sensor groups 13 can be set according to actual needs.

[0096] By setting the sensor group 13, this embodiment can collect image information of the photovoltaic panels 32 one by one during the forward movement of the cleaning robot 1, realize real-time tracking of the cleanliness level of the photovoltaic panels 32, and improve the accuracy of bird droppings self-cleaning.

[0097] See also Figure 4 In some embodiments, the cleaning robot 1 also includes a first support shaft 14, a first drive unit 16 and a second adapter frame 15. The first support shaft 14 is arranged on the first base 11, and the first support shaft 14 can rotate relative to the first base 11; the first drive unit 16 is transmission-connected to the first support shaft 14, the first drive unit 16 is arranged on the first base 11, and the first drive unit 16 is electrically connected to the control unit 5; the second adapter frame 15 is arranged on the first support shaft 14, the second adapter frame 15 is fixedly connected to the first support shaft 14, and a scraper 12 is provided on the second adapter frame 15.

[0098] In this embodiment, the first driving unit 16 can be a servo motor. Optionally, the second driving unit and the third driving unit described later can also be servo motors. The first support shaft 14 is arranged on the first base 11. The first driving unit 16 is in transmission connection with the first support shaft 14, and the transmission connection can be keyway connection, coupling connection, gear connection, belt connection, etc. A second adapter bracket 15 is fixedly arranged on the first support shaft 14. The second adapter bracket 15 is in the shape of a thin plate, and a scraping blade 12 is arranged on the second adapter bracket 15. Optionally, when the second adapter bracket 15 is Figure 4 in the shape of a long strip as shown, the second adapter bracket 15 is arranged along the extending direction of the first support shaft 14; when the second adapter bracket 15 is a block structure, the number of the second adapter brackets 15 can be multiple, and they are distributed at intervals along the axial direction of the first support shaft 14.

[0099] Optionally, the scraping blade 12 can be made of ceramic material, polyurethane material or metal material, and can be specifically set according to actual requirements. By arranging the first support shaft 14, the second adapter bracket 15 and the first driving unit 16 in this embodiment, the structural strength of the scraping blade 12 is enhanced, and at the same time, the scraping blade 12 can be rotated to a certain angle under the drive of the first driving unit 16 to meet the angle requirement for scraping bird droppings.

[0100] Please refer to Figure 1 , in some embodiments, the first base 11 includes a first connection frame 111, a second connection frame 112 and a first support plate 113. The first connection frame 111 and the second connection frame 112 are arranged opposite to each other. The first support plate 113 is arranged between the first connection frame 111 and the second connection frame 112. The cleaning robot 1 further includes a first moving group 17, a second moving group 18, a cleaning roller brush 19 and a second driving unit. The first moving group 17 is arranged on the first connection frame 111; the second moving group 18 is arranged on the second connection frame 112; the cleaning roller brush 19 is arranged below the first support plate 113; the second driving unit is arranged on the first connection frame 111 or the second connection frame 112, and the second driving unit is in transmission connection with the cleaning roller brush 19.

[0101] In this embodiment, the first base 11 includes a first connection frame 111, a second connection frame 112 and a first support plate 113. The first connection frame 111 and the second connection frame 112 are connected by the first support plate 113 to form an integral body. The first connection frame 111 is provided with the first moving group 17, the second connection frame 112 is provided with the second moving group 18, and the first support plate 113 can be used to arrange electrical components such as the control unit 5 and the sensing group 13. A cleaning roller brush 19 is arranged below the first support plate 113. The cleaning roller brush is arranged between the first connection frame 111 and the second connection frame 112. A plurality of bristles are arranged on the cleaning roller brush, and the outer surface of the photovoltaic module 3 can be cleaned.

[0102] Optionally, the cleaning robot 1 can select the photovoltaic cleaning robot shown in the patent number 202022692474.0. The specific structure can be understood by referring to the patent text. In some alternative embodiments, other dry photovoltaic cleaning robot structures can also be selected. By adding a sensing group 13 and a wiper 12 to the existing photovoltaic cleaning robot, the self-cleaning function for bird droppings of the entire cleaning robot can be added.

[0103] Specifically, in some embodiments, the first moving group 17 includes a first roller, a third driving unit, and a first hanging wheel. The first roller is arranged on the first connecting frame 111; the third driving unit is in transmission connection with the first roller; the first hanging wheel is arranged on the first connecting frame 111, the rotation axis of the first hanging wheel is perpendicular to the rotation axis of the first roller, and the first hanging wheel is in transmission connection with the third driving unit; the second moving group 18 includes a second roller, the second roller is arranged on the second connecting frame 112, the second roller is arranged opposite to the first roller, and the second roller is in transmission connection with the third driving unit.

[0104] The first roller and the second roller are arranged opposite to each other. The first roller and the second roller are in contact with the upper surface of the photovoltaic panel 32. Since the first roller and the second roller are in transmission connection with the third driving unit, the third driving unit can drive the first roller and the second roller to move on the photovoltaic module 3. The first hanging wheel is arranged on one side of the first roller. The first hanging wheel is used for hanging on the side surface of the photovoltaic module 3 to adapt to the inclined photovoltaic module 3. The first hanging wheel is in transmission connection with the third driving unit. Specifically, transmission components such as bevel gears can be arranged to achieve transmission in the vertical direction.

[0105] The structure shown in this embodiment constitutes a cleaning robot 1 with the function of cleaning dust. When removing bird droppings, it can also clean the dust on the outer surface of the photovoltaic module 3, keep the photovoltaic module 3 clean, improve the cleaning efficiency of the photovoltaic module 3, avoid the need for a dedicated dust cleaning robot for the photovoltaic module 3, and thus reduce the cleaning and maintenance cost of the photovoltaic module 3.

[0106] Please refer to Figure 5 , in some embodiments, the stop-return component 2 further includes a first fixing rod 23, a first sensor 24, a first stop block 25, and a charging interface 26; the number of the first fixing rods 23 is two, and the two first fixing rods 23 are arranged opposite to each other on the stop frame 21; the first sensor 24 is arranged on the stop frame 21, and the first sensor 24 is used for detecting the position of the cleaning robot 1; the first stop block 25 is arranged on the stop frame 21, and the first stop block 25 can be lapped on the outer surface of the cleaning robot 1 to stop the cleaning robot 1; the charging interface 26 is arranged on the stop frame 21, and the charging interface 26 is used for charging the cleaning robot 1.

[0107] In this embodiment, the first fixing rod 23 is arranged in an L shape on both sides of the parking rack 21. Specifically, the first sensor 24 can be a distance sensor. When the cleaning robot 1 is placed on the parking rack 21, the first sensor 24 will detect the position of the current cleaning robot 1 to achieve tracking of the cleaning robot 1.

[0108] In this embodiment, a first stop block 25 is also provided. Optionally, a polyurethane buffer layer can be provided on the first stop block 25 to reduce scratching of the outer surface of the cleaning robot 1.

[0109] A charging interface 26 is provided on the parking rack 21. Optionally, the shape of the charging interface 26 varies according to the charging method. For example, when charging is wired charging, the charging interface 26 can be a specific fast socket; when charging is wireless charging, the charging interface 26 can be a flat structure made of a charging coil.

[0110] In the parking rack 21 shown in this embodiment, a first fixing rod 23, a first sensor 24, a first stop block 25, and a charging interface 26 are provided. This method facilitates the monitoring of the status of the cleaning robot 1 on the parking rack 21 and charging management, making the use and standby processes of the cleaning robot 1 more standardized.

[0111] Please refer to Figure 5 , in some embodiments, the stop-return assembly 2 further includes a second fixing rod 27, a second sensor, and a second stop block 28. The number of the second fixing rods 27 is two, and the two second fixing rods 27 are oppositely arranged on the return rack 22; the second sensor is arranged on the return rack 22, and the second sensor is used to detect the position of the cleaning robot 1; the second stop block 28 is arranged on the return rack 22, and the second stop block 28 can be lapped on the outer surface of the cleaning robot 1 to stop the cleaning robot 1.

[0112] In this embodiment, the second fixing rod 27 is similar to the first fixing rod 23. The second fixing rod 27 is arranged on the return rack 22. The second stop block 28 is similar to the first stop block 25. The second stop block 28 is arranged on the return rack 22. The second sensor can be a distance sensor. By setting the second sensor, the status tracking of the cleaning robot 1 on the return rack 22 can be achieved, making the use process of the cleaning robot 1 more standardized.

[0113] In a second aspect, as Figure 6 shown, the present application provides a method for cleaning bird droppings on a photovoltaic panel, which is applicable to the bird-dropping cleaning photovoltaic system as described in the first aspect of the present application. The method includes the following steps:

[0114] Step S601: The camera collects an image of the photovoltaic panel and transmits the collected image to the image processing module;

[0115] Step S602: The image processing module analyzes the images collected by the camera. After determining that there is a contaminated area on the photovoltaic panel, it calculates the coordinate position of the contaminated area and generates a control signal based on the coordinate position of the contaminated area and sends it to the cleaning robot and the spraying component;

[0116] Step S603: The spraying component sprays the cleaning liquid onto the contaminated area on the photovoltaic panel. After the cleaning robot moves to the coordinate position of the contaminated area, it starts the reciprocating movement of the wiper to scrape the contaminants in the contaminated area.

[0117] In some embodiments, when the image processing module analyzes the images collected by the camera and calculates the coordinate position of the contaminated area after determining that there is a contaminated area on the photovoltaic panel, it includes:

[0118] The image processing module calls the first neural network model to analyze the images collected by the camera to determine whether there is a contaminated area on the photovoltaic panel. If there is a contaminated area, the image processing module calls the second neural network model to further identify the images collected by the camera and calculate the coordinate position of the contaminated area. In the above technical solution, the sensing group 13 is used to detect the bird droppings contamination on the photovoltaic panel 32, so that the wiper 12 removes the bird droppings in the place where there are bird droppings, reducing the continuous contact of the wiper 12 with the photovoltaic panel 32 and reducing the impact of automatic cleaning on the normal power attenuation rate of the photovoltaic panel 32; by spraying the bird droppings with clean water and then cleaning the surface of the photovoltaic panel 32 with a rubber strip when the adhesion of the bird droppings decreases, the problem that it is difficult to remove the bird droppings on the photovoltaic panel 32 and hard removal will damage the photovoltaic panel 32 is solved. Further, when not removing bird droppings, the cleaning robot 1 can dry-clean the dust on the photovoltaic panel 32. In areas with little snowfall, the cleaning robot 1 of this system can also be used as a snow remover to remove the loose snow with a thickness of less than 4 cm. This technical solution can promptly and automatically clean the bird droppings adhered to the surface of the photovoltaic panel 32, greatly reducing the impact of bird droppings on the lifespan of the photovoltaic panel 32 and extending the service life of the photovoltaic panel 32.

[0119] Finally, it should be noted that although the above embodiments have been described in the text and drawings of the specification of the present invention, the patent protection scope of the present invention cannot be limited thereby. Any technical solutions obtained by equivalent structure or equivalent process substitution or modification based on the essential concept of the present invention and using the content recorded in the text and drawings of the specification of the present invention, as well as directly or indirectly implementing the technical solutions of the above embodiments in other related technical fields, are all included in the patent protection scope of the present invention.

Claims

1. A bird droppings removal photovoltaic cleaning system, characterized in that Applicable to a photovoltaic module, the photovoltaic module includes a fixed bracket and a photovoltaic panel, and the system includes: A water spraying assembly, arranged on the fixed bracket, the water spraying assembly having a spraying end for spraying a cleaning liquid onto the photovoltaic panel; A stop-return assembly, including a stop frame and a return frame, the stop frame and the return frame being oppositely arranged at two ends of the photovoltaic module; A cleaning robot, including a first base, a wiper blade and a sensing group, the first base being slidably connected to the stop frame, the return frame and the fixed bracket, the wiper blade being arranged on the first base, and the sensing group being arranged on the first base for collecting image information of the photovoltaic panel; A control unit, electrically connected to the cleaning robot, the water spraying assembly and the stop-return assembly; The sensing group includes: A second base, arranged on the first base; An image processing module, arranged on the second base, the image processing module being electrically connected to the control unit; A first adapter frame, arranged on the second base, the first adapter frame being perpendicular to the second base; A camera, arranged on the first adapter frame, the camera being oriented towards the photovoltaic panel and electrically connected to the image processing module; A first shield, arranged on the second base and surrounding the image processing module.

2. The bird droppings removal photovoltaic cleaning system according to claim 1, wherein The water spraying assembly includes: A spray pipeline, laid along the fixed bracket; A plurality of first spray pipes, each first spray pipe being connected to the spray pipeline, the plurality of first spray pipes being arranged at intervals along the extension direction of the spray pipeline, at least one first spray pipe being provided on one photovoltaic panel, and the spraying end being provided on the first spray pipe; A plurality of first valves, each first valve being arranged on one first spray pipe, the first valve being electrically connected to the control unit.

3. The bird-dropping removal photovoltaic cleaning system according to claim 1, wherein The water spraying assembly includes: An unmanned aerial vehicle (UAV) assembly, including a UAV nest and a UAV, the UAV being electrically connected to the control unit, and the UAV nest being detachably connected to the UAV; A second spray pipe, arranged on the UAV, the spraying end being provided on the second spray pipe; A water storage tank, arranged on the UAV, the water storage tank being communicated with the second spray pipe; A second valve, arranged on the second spray pipe, the second valve being electrically connected to the control unit.

4. The bird-dropping removal photovoltaic cleaning system according to claim 1, characterized in that, The cleaning robot further includes: A first support shaft, arranged on the first base, the first support shaft being rotatable relative to the first base; A first driving unit, drivingly connected to the first support shaft, the first driving unit being arranged on the first base and electrically connected to the control unit; A second adapter frame, arranged on the first support shaft, the second adapter frame being fixedly connected to the first support shaft, and the wiper blade being provided on the second adapter frame.

5. The bird-dropping removal photovoltaic cleaning system according to claim 1, wherein, The first base includes a first connecting frame, a second connecting frame and a first support plate, the first connecting frame and the second connecting frame being oppositely arranged, and the first support plate being arranged between the first connecting frame and the second connecting frame. The cleaning robot further includes: The first moving group is arranged on the first connecting frame; The second moving group is arranged on the second connecting frame; The cleaning roller brush is arranged below the first support plate; The second driving unit is arranged on the first connecting frame or the second connecting frame, and the second driving unit is in transmission connection with the cleaning roller brush.

6. The bird droppings removal photovoltaic cleaning system according to claim 5, wherein, The first moving group includes: The first roller is arranged on the first connecting frame; The third driving unit is in transmission connection with the first roller; The first hanging wheel is arranged on the first connecting frame, the rotation axis of the first hanging wheel is perpendicular to the rotation axis of the first roller, and the first hanging wheel is in transmission connection with the third driving unit; The second moving group includes: The second roller is arranged on the second connecting frame, the second roller is arranged opposite to the first roller, and the second roller is in transmission connection with the third driving unit.

7. The bird droppings removal photovoltaic cleaning system according to claim 1, wherein, The stop-return assembly further includes: The first fixing rods, the number of the first fixing rods is two, and the two first fixing rods are arranged opposite to each other on the stop frame; The first sensor is arranged on the stop frame, and the first sensor is used for detecting the position of the cleaning robot; The first stop block is arranged on the stop frame, and the first stop block can be lapped on the outer surface of the cleaning robot to stop the cleaning robot; The charging interface is arranged on the stop frame, and the charging interface is used for charging the cleaning robot.

8. The bird droppings removal photovoltaic cleaning system according to claim 1, characterized in that, The stop-return assembly further includes: The second fixing rods, the number of the second fixing rods is two, and the two second fixing rods are arranged opposite to each other on the return frame; The second sensor is arranged on the return frame, and the second sensor is used for detecting the position of the cleaning robot; The second stop block is arranged on the return frame, and the second stop block can be lapped on the outer surface of the cleaning robot to stop the cleaning robot.

9. A method for cleaning bird droppings from a photovoltaic panel, characterized in that, Applicable to the bird-dropping removal photovoltaic cleaning system according to any one of claims 1 to 8, the method includes the following steps: The camera collects the image of the photovoltaic panel and transmits the collected image to the image processing module; The image processing module analyzes the image collected by the camera. After determining that there is a pollution area on the photovoltaic panel, it calculates the coordinate position of the pollution area and generates a control signal based on the coordinate position of the pollution area and sends it to the cleaning robot and the spraying assembly; The spraying assembly sprays the cleaning liquid onto the pollution area on the photovoltaic panel. After the cleaning robot moves to the coordinate position of the pollution area, it starts the reciprocating movement of the wiper blade to scrape the pollutants in the pollution area.

10. The method for cleaning bird droppings from a photovoltaic panel according to claim 9, wherein, When the image processing module analyzes the image collected by the camera and determines that there is a pollution area on the photovoltaic panel, calculating the coordinate position of the pollution area includes: The image processing module calls the first neural network model to analyze the image collected by the camera to judge whether there is a pollution area on the photovoltaic panel. If there is a pollution area, the image processing module calls the second neural network model to further identify the image collected by the camera and calculate the coordinate position of the pollution area.

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