A high-efficiency cleaning device and method for a photovoltaic module and an intelligent terminal

Abstract

The application relates to a photovoltaic module efficient cleaning device and method and an intelligent terminal, and relates to unmanned aerial vehicle cleaning technology, which comprises the following steps: acquiring a complete cleaning range; determining a parking center and a corresponding single cleaning range based on the complete cleaning range and a preset cleaning radius; determining a single cleaning flight track based on the single cleaning range and a preset cleaning rule; sequentially forming a cleaning step based on the single cleaning flight track and the corresponding parking center, wherein the cleaning step comprises the following steps: a walking trolley drives to the parking center, an unmanned aerial vehicle flies and sprays steam or cleaning water according to the single cleaning flight track with the walking trolley as a coordinate point; and sequentially executing the cleaning step to clean the photovoltaic module. The application has the effects that the cleaning water and the battery are placed on the ground, the unmanned aerial vehicle only needs to fly and spray, the load of the unmanned aerial vehicle is reduced, and the operation efficiency of the unmanned aerial vehicle is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of unmanned aerial vehicle cleaning technology, in particular to a photovoltaic module efficient cleaning device, method and intelligent terminal. BACKGROUND

[0002] At present, with the wide application of photovoltaic power generation, the surface of the photovoltaic power generation panel needs to be cleaned regularly, which greatly increases the workload, because the power generation efficiency is closely related to the cleanliness of the surface of the photovoltaic panel.

[0003] In the related art, one patent document with the patent number CN119408712A discloses a multifunctional photovoltaic panel cleaning unmanned aerial vehicle, which comprises: a machine body; a plurality of extension frames arranged circumferentially around the machine body; a spraying device arranged at the lower end of the extension frame; a protective device sleeved on the outer wall of the spraying device and adapted to limit the direction of the liquid sprayed by the spraying device; wherein when the rotating disc of the spraying device rotates to spray liquid in all directions, the protective device moves downward to surround the outside of the rotating disc to limit the coverage range of the rotating disc; through the arrangement of the protective device, the splashing of the sprayed liquid to the outside of the photovoltaic panel can be avoided when the spraying device moves to the edge position of the photovoltaic panel.

[0004] For the related technology in the above, the inventors believe that the photovoltaic panel now often has a large laying area, and the unmanned aerial vehicle now often has a self-contained water tank for spraying, but the excessive load limits the performance, and generally needs to return to charge and refill water after flying for 20 minutes, which is low in operation efficiency and cannot meet the operation requirements of large-scale photovoltaic power stations. SUMMARY

[0005] In order to improve the problem that the excessive load of the unmanned aerial vehicle limits the performance, generally needs to return to charge and refill water after flying for 20 minutes, which is low in operation efficiency and cannot meet the operation requirements of large-scale photovoltaic power stations, the present application provides a photovoltaic module efficient cleaning device, method and intelligent terminal.

[0006] In a first aspect, the present application provides a photovoltaic module efficient cleaning device, which adopts the following technical solution:

[0007] A photovoltaic module efficient cleaning device, comprising:

[0008] An unmanned aerial vehicle, a sprayer is arranged on the unmanned aerial vehicle for spraying steam, and a water-steam electric hose is arranged on the sprayer;

[0009] A walking trolley, a cleaning assembly and a ground battery are arranged on the walking trolley, one end of the water-steam electric hose away from the sprayer is connected with the ground battery, a cable line for transmitting electric quantity to the unmanned aerial vehicle is arranged on the ground battery and connected with the unmanned aerial vehicle, the cable line is buried in the water-steam electric hose, and the cleaning assembly comprises:

[0010] The cleaning water tank is provided with a cleaning water hose for delivering cleaning water, one end of the cleaning water hose is communicated with the inside of the cleaning water tank, the other end of the cleaning water hose is communicated with the water vapor electric hose, and the cleaning water hose is provided with a first check valve;

[0011] The steam boiler is communicated with the inside of the cleaning water tank, the steam boiler is provided with a steam hose communicated with the inside of the steam boiler and delivering steam, the end of the steam hose away from the steam boiler is communicated with the water vapor electric hose, and the steam hose is provided with a second check valve.

[0012] By placing the cleaning water and the battery on the ground, the unmanned aerial vehicle only needs to fly and spray, the load of the unmanned aerial vehicle is reduced, and the operation efficiency of the unmanned aerial vehicle is improved.

[0013] In a second aspect, the application provides a high-efficiency cleaning method for a photovoltaic module, which adopts the following technical scheme:

[0014] A high-efficiency cleaning method for a photovoltaic module, which applies the high-efficiency cleaning device for a photovoltaic module as described above, and comprises:

[0015] Obtaining a complete cleaning range;

[0016] Determining a parking center and a corresponding single cleaning range based on the complete cleaning range and a preset cleaning radius;

[0017] Determining a single cleaning flight trajectory based on the single cleaning range and a preset cleaning rule;

[0018] Forming cleaning steps in sequence based on the single cleaning flight trajectory and the corresponding parking center, wherein the cleaning steps comprise: driving a walking trolley to the parking center, and flying and spraying steam or cleaning water by the unmanned aerial vehicle according to the single cleaning flight trajectory with the walking trolley as a coordinate point;

[0019] Executing the cleaning steps in sequence to clean the photovoltaic module.

[0020] By placing the cleaning water and the battery on the ground, the unmanned aerial vehicle only needs to fly and spray, the load of the unmanned aerial vehicle is reduced, and the operation efficiency of the unmanned aerial vehicle is improved.

[0021] Optionally, the method for determining the single cleaning range based on the complete cleaning range and the cleaning radius comprises:

[0022] Repairing the complete cleaning range to form a repaired cleaning range, wherein the shape of the repaired cleaning range is a preset rectangle;

[0023] Determining a cleaning aspect ratio based on the repaired cleaning range;

[0024] determine a standard cleaning range based on the cleaning radius and the aspect ratio, the standard cleaning range being a rectangle and having the same aspect ratio as the cleaning aspect ratio, and four vertices of the rectangle corresponding to the standard cleaning range falling on a circle with the cleaning radius as the radius;

[0025] fill the standard cleaning range in the repaired cleaning range in sequence to obtain a parking center and a theoretical single cleaning range;

[0026] cut the theoretical single cleaning range based on the complete cleaning range to obtain a single cleaning range.

[0027] By adopting the above technical solution, the entire cleaning area is filled according to the standard shape, so that the entire cleaning area is a square and a rectangle, and then the parking center is determined according to the cleaning radius, and the single cleaning area similar to the filled square or rectangle is obtained, which simplifies the distribution of the entire cleaning area and improves the distribution efficiency of the cleaning area in the distribution process.

[0028] Optionally, the method for repairing the complete cleaning range to form the repaired cleaning range comprises:

[0029] determine a cleaning edge line based on the complete cleaning range;

[0030] determine a vertical line and a parallel line based on any cleaning edge line;

[0031] form a rectangular range based on the vertical line, the cleaning edge line and the parallel line;

[0032] define the rectangular range as a predicted cleaning range when the rectangular range contains the complete cleaning range;

[0033] select the predicted cleaning range corresponding to the smallest area in the predicted cleaning range corresponding to all cleaning edge lines as the repaired cleaning range and output the repaired cleaning range.

[0034] By adopting the above technical solution, the most reasonable cleaning repair area is determined by the edge line, so that a large number of empty areas are not generated, and the rationality of the repaired cleaning range is improved.

[0035] Optionally, the method further comprises an optimization method for a cleaning step, the method comprising:

[0036] define the single cleaning range as a non-standard cleaning range when the single cleaning range is different from the standard cleaning range;

[0037] determine a single cleaning range adjacent to and the same as the standard cleaning range based on the non-standard cleaning range, and define the single cleaning range as an adjacent cleaning range;

[0038] determine the merging possibility based on the non-standard cleaning range and the adjacent cleaning range;

[0039] when the merging possibility is preset as unmergeability, not performing optimization;

[0040] when the merging possibility is preset as mergability, merging the non-standard cleaning range and the adjacent cleaning range to obtain a merged cleaning range;

[0041] determine the merged cleaning flight trajectory based on the merged cleaning range and the cleaning rule;

[0042] determine the stop center moving trajectory based on the merged cleaning flight trajectory and the cleaning radius, and form a trajectory mapping relationship between the stop center point corresponding to the stop center moving trajectory and the spraying point corresponding to the merged cleaning flight trajectory;

[0043] optimize the cleaning step according to the trajectory mapping relationship.

[0044] By adopting the above technical solution, when there are not too many block areas and it is unnecessary to additionally set a stop center, the block area can be cleaned together with the previous area, and only the action vehicle needs to be slightly moved, thereby improving the cleaning efficiency of the unmanned aerial vehicle.

[0045] Optionally, the method for determining the single cleaning flight trajectory based on the single cleaning range and the cleaning rule comprises:

[0046] determine the missing cleaning range based on the single cleaning range and the standard cleaning range;

[0047] determine the standard cleaning flight trajectory based on the standard cleaning range and the cleaning rule;

[0048] determine the invalid trajectory based on the standard cleaning flight trajectory and the missing cleaning range, the invalid trajectory being a trajectory segment falling outside the single cleaning range;

[0049] determine the avoidance trajectory based on the invalid trajectory and the missing cleaning range;

[0050] select the avoidance trajectory with the shortest length, and define the avoidance trajectory as the optimized avoidance trajectory;

[0051] replace the invalid trajectory with the optimized avoidance trajectory to determine the single cleaning flight trajectory.

[0052] Optionally, the method further comprises a method for determining the stop center when the missing cleaning range exists, the method comprising:

[0053] when the stop center does not fall into the missing cleaning range, obtain the stop center based on the standard cleaning range;

[0054] when the stop center falls into the missing cleaning range, form an optimized stop center trajectory based on the optimized avoidance trajectory.

[0055] form an avoidance trajectory mapping relationship based on the stop center corresponding to the optimized stop center trajectory and the spray point corresponding to the single cleaning flight trajectory;

[0056] output the stop center point corresponding to the optimized stop center trajectory corresponding to the spray point corresponding to the single cleaning flight trajectory in the avoidance trajectory mapping relationship as the stop center in sequence.

[0057] By adopting the above technical solution, since the vacancy area is often caused by some obstacles or damage, the vacancy area cannot necessarily be used for the trolley to stop, at this time, it is necessary to distinguish whether stopping is possible, if stopping is not possible, the trolley is moved to the edge line of the vacancy area, and moves along the edge line of the vacancy area without stopping along with the flight of the unmanned aerial vehicle.

[0058] Optionally, the method further comprises an optimization method of the single cleaning flight trajectory, the method comprising:

[0059] comparing the optimized avoidance trajectory and the invalid trajectory to obtain a flight distance difference;

[0060] when the flight distance difference is greater than a preset critical waste distance, the invalid trajectory is not replaced;

[0061] when the flight distance difference is less than the preset critical waste distance, the invalid trajectory is replaced.

[0062] By adopting the above technical solution, when the vacancy area is directly flown past, the efficiency is much higher than that of flying around, then the vacancy area can be directly flown past, thereby saving a large amount of time and improving the flight efficiency of the unmanned aerial vehicle.

[0063] Optionally, the method further comprises a method of merging the non-standard cleaning range and the adjacent cleaning range to obtain a merged cleaning range if the merging possibility is the unmerging possibility, the method comprising:

[0064] determining whether the adjacent cleaning range is a missing cleaning range and the stop center in the adjacent cleaning range is the stop center point corresponding to the optimized stop center trajectory;

[0065] when the adjacent cleaning range is the missing cleaning range and the stop center in the adjacent cleaning range is the stop center point corresponding to the optimized stop center trajectory, determining an extended cleaning range based on the optimized stop center trajectory, the standard cleaning range and the non-standard cleaning range;

[0066] determining an extended merging possibility based on the extended cleaning range and the non-standard cleaning range;

[0067] when the extended merging possibility is the unmerging possibility, not performing optimization;

[0068] When the extension merging possibility is mergability, the non-standard cleaning range and the adjacent cleaning range are merged to obtain a merged cleaning range.

[0069] By adopting the technical scheme, the cleaning range can be expanded, and if the adjacent area is not enough, the expanded cleaning range can be compared with the adjacent area to determine whether they can be cleaned together, thereby improving the cleaning efficiency of the UAV and the rationalization of merging.

[0070] In a third aspect, the present application provides an intelligent terminal, which adopts the technical scheme as follows:

[0071] An intelligent terminal includes a memory and a processor, and the memory stores a computer program capable of being loaded and executed by the processor to perform any of the above methods.

[0072] By placing the cleaning water and the battery on the ground, the UAV only needs to fly and spray, thereby reducing the load of the UAV and improving the operation efficiency of the UAV.

[0073] In summary, the present application has at least one of the following beneficial technical effects:

[0074] 1. By placing the cleaning water and the battery on the ground, the UAV only needs to fly and spray, thereby reducing the load of the UAV and improving the operation efficiency of the UAV.

[0075] 2. By filling the entire cleaning area according to the standard shape, the distribution of the entire cleaning area is simplified, and the distribution efficiency of the cleaning area in the distribution process is improved.

[0076] 3. When there is not enough area and it is completely unnecessary to set another docking center, the area can be cleaned together with the previous area, and only the action car needs to be slightly moved, thereby improving the cleaning efficiency of the UAV. BRIEF DESCRIPTION OF DRAWINGS

[0077] Figure 1 is a flowchart of a high-efficiency cleaning method for a photovoltaic module in an embodiment of the present application.

[0078] Figure 2 is a structural schematic diagram of a high-efficiency cleaning device for a photovoltaic module in an embodiment of the present application.

[0079] Figure 3 is a schematic diagram of a complete cleaning range in an embodiment of the present application.

[0080] Figure 4 is a flowchart of a method for determining a single cleaning range based on a complete cleaning range and a cleaning radius in an embodiment of the present application.

[0081] Figure 5 is a schematic diagram of the repaired cleaning range and the theoretical single cleaning range in the embodiment of the present application.

[0082] Figure 6 is a flow chart of the method of repairing the complete cleaning range to form the repaired cleaning range in the embodiment of the present application.

[0083] Figure 7 is a flow chart of the optimization method of the cleaning step in the embodiment of the present application.

[0084] Figure 8 is a schematic diagram of the merged cleaning track in the embodiment of the present application.

[0085] Figure 9 is a flow chart of the determination of the single cleaning flight track based on the single cleaning range and the preset cleaning rule in the embodiment of the present application.

[0086] Figure 10 is a comparison schematic diagram of the standard cleaning track and the avoidance track in the embodiment of the present application.

[0087] Figure 11 is a flow chart of the determination method of the docking center when there is a missing cleaning range in the embodiment of the present application.

[0088] Figure 12 is a flow chart of the optimization method of the single cleaning flight track in the embodiment of the present application.

[0089] Figure 13 is a flow chart of the method of merging the non-standard cleaning range and the adjacent cleaning range to obtain the merged cleaning range when the merging possibility is the unmerging in the embodiment of the present application.

[0090] Reference signs: 1, unmanned aerial vehicle; 2, walking trolley; 3, sprayer; 4, water vapor electric hose; 5, cleaning assembly; 6, cleaning water tank; 7, cleaning water hose; 8, first check valve; 9, steam boiler; 10, steam hose; 11, second check valve; 12, ground battery. DETAILED DESCRIPTION

[0091] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application. Figures 1-13

[0092] The embodiment of the present application discloses a high-efficiency cleaning method for a photovoltaic module. With reference to the accompanying drawings and embodiments, Figure 1 A high-efficiency cleaning method for a photovoltaic module includes: ​

[0093] Step 100: Obtain the complete cleaning range.

[0094] like Figure 2 As shown, this method is applied to a high-efficiency cleaning device for photovoltaic modules, which includes a drone 1 and a mobile trolley 2. The drone 1 is equipped with an injector 3 for spraying steam. A water-steam hose 4 is connected to the injector 3 to provide water and steam. Additionally, the injector 3 is also equipped with spray openings to expel the corresponding water and steam.

[0095] The mobile cart 2 is equipped with a cleaning assembly 5 and a ground battery 12. A water vapor-electric hose 4, with its end away from the injector 3, connects to the ground battery 12, connecting the drone 1 to the mobile cart 2 below. The ground battery 12 is equipped with a cable that connects to the drone 1 to supply power to it; the cable is embedded within the water vapor-electric hose 4, leaving only one hose exposed and protecting the cable. One end of the cable is electrically connected to the ground battery 12, and the other end is electrically connected to the drone 1, ensuring the ground battery 12 can always supply power to the drone 1. The cleaning assembly 5 includes a cleaning water tank 6 and a steam boiler 9. A cleaning water hose 7 is installed on the cleaning water tank 6 to transfer cleaning water. One end of the cleaning water hose 7 communicates with the interior of the cleaning water tank 6, and the other end communicates with the water vapor-electric hose 4. A drive pump is also installed inside the cleaning water tank 6 to propel the cleaning water along the cleaning water hose 7 into the injector 3. A first check valve 8 is installed on the cleaning water hose 7 to prevent backflow of cleaning water. The steam boiler 9 and the cleaning water tank 6 are internally interconnected, allowing water from the cleaning water tank 6 to enter the steam boiler 9 and be converted into steam. A steam hose 10 is installed on the steam boiler 9, communicating with its interior and transmitting steam. The end of the steam hose 10 furthest from the steam boiler 9 is connected to a water-steam-electric hose 4. Due to pressure, the gas inside the steam hose 10 flows along the hose and into the ejector 3 for injection. A second check valve 11 is installed on the steam hose 10 to prevent backflow of steam or condensate.

[0096] The complete cleaning area refers to the entire area that actually needs to be cleaned. This can be determined by combining drawings with the actual scenario, such as... Figure 3 The dotted-dash area is shown.

[0097] Step 101: Determine the docking center and the corresponding single cleaning range based on the complete cleaning range and the preset cleaning radius.

[0098] The cleaning radius is the radius that the UAV 1 can fly around the walking trolley 2, and here the distance between the UAV 1 and the walking trolley 2 can only be less than the radius of the water vapor electric hose 4 since the UAV 1 is connected to the walking trolley 2 through the water vapor electric hose 4. The parking center is the center of the single parking of the walking trolley 2. The single cleaning range is the range of the single cleaning in one parking center.

[0099] The method of determining the parking center and the corresponding single cleaning range is introduced in the subsequent steps, which will not be described here.

[0100] Step 102: determining the single cleaning flight trajectory based on the single cleaning range and the preset cleaning rule.

[0101] The single cleaning flight trajectory is the flight trajectory of the UAV 1 when the walking trolley 2 walks to the parking center. The cleaning rule can be any rule that can completely cover the single cleaning range, for example: from top to bottom, from left to right, and then if it exceeds the edge line from top to bottom or from left to right, it will fly along the edge line until it can go down or to the right. It can also be flown to one end of the single cleaning range, then fly along the edge of the single cleaning range clockwise or counterclockwise, and gradually approach the parking center until it reaches the parking center.

[0102] Step 103: sequentially forming the cleaning steps based on the single cleaning flight trajectory and the corresponding parking center.

[0103] The cleaning step includes the walking trolley 2 driving to the parking center, and the UAV 1 flying and spraying steam or cleaning water according to the single cleaning flight trajectory with the walking trolley 2 as the coordinate point.

[0104] Step 104: sequentially executing the cleaning steps to clean the photovoltaic module.

[0105] The sequentially executed process is that when the walking trolley 2 drives to the parking center, the UAV 1 flies according to the corresponding single cleaning flight trajectory, and when the flight is completed, the walking trolley 2 continues to drive to the next parking center, and then continues to fly according to the single cleaning flight trajectory corresponding to the next parking center and sprays.

[0106] Reference Figure 4 The method of determining the single cleaning range based on the complete cleaning range and the cleaning radius includes:

[0107] Step 200: repairing the complete cleaning range to form a repaired cleaning range.

[0108] The shape of the repaired cleaning range is a rectangle, as shown in Figure 3The dotted line in the figure is to make the whole complete cleaning range a regular pattern. The specific repairing method is introduced in the subsequent steps and will not be described here.

[0109] Step 201: Determine the cleaning aspect ratio based on the repaired cleaning range.

[0110] The cleaning aspect ratio is the ratio of the length and width of the standard shape corresponding to the cleaning, and the standard shape here is a rectangle.

[0111] Step 202: Determine the standard cleaning range based on the cleaning radius and the aspect ratio.

[0112] The shape of the standard cleaning range is a rectangle and the aspect ratio is consistent with the cleaning aspect ratio, and the four vertices of the rectangle corresponding to the standard cleaning range fall on the circle with the cleaning radius as the radius.

[0113] Step 203: Fill the standard cleaning range in the repaired cleaning range in turn to obtain the parking center and the theoretical single cleaning range.

[0114] The theoretical single cleaning range is the actual range corresponding to the standard cleaning range.

[0115] Here, since the aspect ratio corresponding to the repaired cleaning range and the standard cleaning range is consistent, they are in a similar relationship, so the corresponding parking center and theoretical single cleaning range can be obtained at this time, as shown in Figure 5 The dashed area in the figure is the theoretical single cleaning range, and the point at the center of each dashed area is the parking center.

[0116] Step 204: Crop the theoretical single cleaning range based on the complete cleaning range to obtain the single cleaning range.

[0117] Referring to Figure 6 , the method for repairing the complete cleaning range to form the repaired cleaning range includes:

[0118] Step 300: Determine the cleaning edge line based on the complete cleaning range.

[0119] The cleaning edge line is the edge line of the complete cleaning range, as shown in Figure 3 The solid line, such as a and b.

[0120] Step 301: Determine the perpendicular line and the parallel line based on any cleaning edge line.

[0121] The perpendicular line is a straight line perpendicular to the cleaning edge line, and the parallel line is a straight line parallel to the cleaning edge line. Here, the perpendicular line is two, and the parallel line is one.

[0122] Step 302: Form a rectangular range based on the perpendicular line, the cleaning edge line and the parallel line.

[0123] The rectangular range is a range in the shape of a rectangle.

[0124] Step 303: defining the rectangular range as the predicted cleaning range when the rectangular range contains the complete cleaning range.

[0125] The rectangular range containing the complete cleaning range indicates that all parts that need to be cleaned can be completely covered.

[0126] Step 304: screening the predicted cleaning range corresponding to the area of the smallest predicted cleaning range corresponding to all cleaning edge lines as the repair cleaning range for output.

[0127] The purpose of screening is to select the smallest possible area to reduce waste during cleaning.

[0128] Reference Figure 7 The method also includes an optimization method of the cleaning step, which comprises:

[0129] Step 400: defining the single cleaning range as the non-standard cleaning range when the single cleaning range and the standard cleaning range are different.

[0130] When the single cleaning range and the standard cleaning range are different, it indicates that cleaning cannot be performed according to the standard cleaning track, such as Figure 8 The enlarged view of the two standard cleaning ranges in the upper left corner of Figure 5 At this time, only the right half of the range on the left side is actually needed, and it can be defined as a non-standard cleaning range.

[0131] Step 401: determining the adjacent single cleaning range that is the same as the standard cleaning range based on the non-standard cleaning range, and defining the single cleaning range as the adjacent cleaning range.

[0132] The determination method can be that the boundary lines of the corresponding cleaning ranges are the same. It should be noted that the adjacent cleaning range must be a standard cleaning range, and if there is no adjacent cleaning range, optimization is not performed.

[0133] Step 402: determining the merging possibility based on the non-standard cleaning range and the adjacent cleaning range.

[0134] The merging possibility can be any index, such as the ratio of the non-standard cleaning range to the adjacent cleaning range, or the regularity of the shape of the non-standard cleaning range itself and the standard rectangular shape. The determination method is related to the calculation formula of the corresponding index.

[0135] Step 403: not performing optimization when the merging possibility is a preset non-merging possibility.

[0136] The non-mergeability is the probability or value that a non-standard cleaning range and an adjacent cleaning range cannot be merged. Here, the non-mergeability can be a range of parameters. For example, if the merging probability is the ratio of the non-standard cleaning range to the adjacent cleaning range, then the corresponding non-mergeability is 0.5-1.

[0137] If the merging probability is non-mergeable, it means that merging will not improve the cleaning efficiency, so no optimization will be performed.

[0138] Step 404: When the merging probability is the preset merging probability, merge the non-standard cleaning range and the adjacent cleaning range to obtain the merged cleaning range.

[0139] Mergeability is the probability or value that a non-standard cleaning range and adjacent cleaning ranges can be merged; it is a range of parameters. For example, mergeability can be 0-0.5.

[0140] Step 405: Determine the merged cleaning flight trajectory based on the merged cleaning range and cleaning rules.

[0141] The merged cleaning flight trajectory is the flight trajectory of UAV 1 when cleaning the merged cleaning range.

[0142] The determination method is similar to step 102, and will not be repeated here. If the cleaning rule is clockwise or counterclockwise rotation, then... Figure 8 The dotted line is shown.

[0143] Step 406: Determine the docking center movement trajectory based on the merged cleaning flight trajectory and the cleaning radius, and form a trajectory mapping relationship between the docking center point corresponding to the docking center movement trajectory and the spray point corresponding to the merged cleaning flight trajectory.

[0144] The docking center's movement trajectory is the trajectory required for the docking center to move in order to meet the requirements of merging and cleaning flight trajectories. It is generally a line segment in the merging direction, such as... Figure 8 As shown, if the merged cleaning range is a left-right merge, it is a line segment in the left-right direction, and the length of the line segment is the width of the non-standard cleaning range in the merged direction, with the starting point being the docking center of the standard cleaning range on the right.

[0145] In the trajectory mapping relationship, the length of the line segment connecting the docking center point corresponding to the docking center movement trajectory and the spray point corresponding to the merged cleaning flight trajectory is less than or equal to the cleaning radius. The docking center point is the location of the docking center. The spray point is the location of UAV 1, i.e., the location of sprayer 3.

[0146] Step 407: Optimize the cleaning steps according to the trajectory mapping relationship.

[0147] Reference Figure 9 Methods for determining the flight trajectory of a single cleaning operation based on the single cleaning range and cleaning rules include:

[0148] Step 500: Determine the missing cleaning range based on the single cleaning range and the standard cleaning range.

[0149] The missing cleaning range refers to the cleaning area where there are internal defects. It is determined by comparing the two.

[0150] The missing cleaning range here refers to the area within the range that is missing, meaning that at least all four sides of the missing cleaning range and the standard cleaning range partially overlap.

[0151] Step 501: Determine the standard cleaning flight trajectory based on the standard cleaning range and cleaning rules.

[0152] The standard cleaning flight path is a standard flight path. The method for determining it has been introduced in the previous steps and will not be repeated here. Figure 10 The dotted lines within the standard cleaning range shown on the left represent the standard cleaning flight trajectory.

[0153] Step 502: Determine invalid trajectories based on standard cleaning flight trajectories and missing cleaning ranges.

[0154] An invalid trajectory is a trajectory segment that falls outside the scope of a single cleaning cycle. It is determined by placing the standard cleaning flight trajectory within the missing cleaning range; any trajectory falling within this range is considered invalid.

[0155] Step 503: Determine the avoidance trajectory based on the invalid trajectory and the missing cleaning range.

[0156] The avoidance trajectory is the path taken along the edge of the missing area. For example... Figure 10 The trajectory shown on the right will generate a clockwise or counterclockwise avoidance trajectory along the missing area in the middle.

[0157] Step 504: Filter the shortest avoidance trajectory and define it as the optimized avoidance trajectory.

[0158] The purpose of screening is to reduce the time spent on ineffective flights.

[0159] Step 505: Replace invalid trajectories with optimized avoidance trajectories to determine the single-cycle cleaning flight trajectory.

[0160] Reference Figure 11 It also includes a method for determining the docking center when there is a missing cleaning range, the method comprising:

[0161] Step 600: Obtain the docking center based on the standard cleaning range when the docking center does not fall within the missing cleaning range.

[0162] When the parking center does not fall into the missing cleaning range, it indicates that the position of the parking center can exist and the walking trolley 2 can move to the position, so the parking center can be directly obtained based on the standard cleaning range.

[0163] Step 601: When the parking center falls into the missing cleaning range, an optimized parking center trajectory is formed based on the optimized avoidance trajectory.

[0164] The optimized parking center trajectory is the trajectory of the parking center corresponding to the optimized avoidance trajectory, which can be consistent with the optimized avoidance trajectory, because there are points on the trajectory that satisfy the distance between any point on the single cleaning flight trajectory and the point is less than the cleaning radius, so the optimized parking center trajectory can meet the requirements of the parking center.

[0165] The determined manner is similar to step 406, and details are not repeated here.

[0166] Step 602: Form an avoidance trajectory mapping relationship based on the parking center corresponding to the optimized parking center trajectory and the spray point corresponding to the single cleaning flight trajectory.

[0167] The avoidance trajectory mapping relationship is the corresponding relationship between the parking center corresponding to the optimized parking center trajectory and the spray point corresponding to the single cleaning flight trajectory.

[0168] The purpose of forming is to move the parking center according to the avoidance trajectory mapping relationship when the spray point corresponding to the single cleaning flight trajectory moves.

[0169] Step 603: The parking center point corresponding to the optimized parking center trajectory corresponding to the spray point corresponding to the single cleaning flight trajectory in the avoidance trajectory mapping relationship is output as the parking center in turn.

[0170] Reference Figure 12 , also includes an optimization method of the single cleaning flight trajectory, the method comprising:

[0171] Step 700: Compare the optimized avoidance trajectory and the invalid trajectory to obtain a flight distance difference.

[0172] The flight distance difference is the difference between the distance values of the optimized avoidance trajectory and the invalid trajectory. The calculation method is to subtract the numerical values.

[0173] Step 701: When the flight distance difference is greater than a preset critical waste distance, the invalid trajectory is not replaced.

[0174] The critical waste distance is a distance value that causes a large waste of efficiency when the distance difference is too large. It is obtained by human setting. When the flight distance difference is greater than the preset critical waste distance, it indicates that the distance difference value is too large, and there is a waste of efficiency, so the flight is still performed according to the original trajectory to reduce the waste of distance.

[0175] Step 702: replacing the invalid trajectory when the flight distance difference is less than the preset critical waste distance.

[0176] When the flight distance difference is less than the preset critical waste distance, it means that the distance difference value is not large at this time, and the missing edge position can be repeatedly cleaned at this time, and since the missing edge line is often difficult to clean, repeated cleaning can reasonably clean the position.

[0177] Referring to Figure 13 The method also includes merging the non-standard cleaning range and the adjacent cleaning range to obtain a merged cleaning range if the merging possibility is unmergeability, and the method includes:

[0178] Step 800: determining whether the adjacent cleaning range is a missing cleaning range and the parking center in the adjacent cleaning range is a parking center point corresponding to the optimized parking center trajectory.

[0179] The condition for the determination here is whether both conditions are met.

[0180] Step 801: when the adjacent cleaning range is a missing cleaning range and the parking center in the adjacent cleaning range is a parking center point corresponding to the optimized parking center trajectory, determining an extended cleaning range based on the optimized parking center trajectory, the standard cleaning range and the non-standard cleaning range.

[0181] The extended cleaning range is a cleaning range in the non-standard cleaning range that conforms to the extension direction of the optimized parking center trajectory. The determination is first made according to the optimized parking center trajectory to determine the extension direction, as shown in Figure 10 the offset direction is upward or downward, then the parking center is moved to the uppermost or lowermost of the optimized avoidance trajectory according to the extension direction, and then the corresponding standard cleaning range is obtained, and the missing cleaning range and the extended standard cleaning range are taken as the extended cleaning range.

[0182] When the adjacent cleaning range is a missing cleaning range and the parking center in the adjacent cleaning range is a parking center point corresponding to the optimized parking center trajectory, it means that the distance between the drone 1 and the walking trolley 2 at some positions is less than the cleaning radius, and the cleaning can be further expanded outward, i.e. theoretically, the area corresponding to the extended cleaning range can be cleaned.

[0183] Step 802: determining an extended merging possibility based on the extended cleaning range and the non-standard cleaning range.

[0184] The purpose of the determination here is whether to continue to extend outward. The extended merging possibility can be any index, such as the ratio of the non-standard cleaning range and the extended cleaning range, or the regularity of the shape of the non-standard cleaning range itself and the standard rectangular shape. The determination method is related to the calculation formula of the corresponding index.

[0185] The step 402 is similar here, and thus is not described again.

[0186] Step 803: When the extension merging possibility is unmergeability, no optimization is performed.

[0187] The step 403 is similar here, and thus is not described again.

[0188] Step 804: When the extension merging possibility is mergeability, the non-standard cleaning range and the adjacent cleaning range are merged to obtain a merged cleaning range.

[0189] The step 404 is similar here, and thus is not described again.

[0190] Based on the same inventive concept, the embodiment of the present application provides a kind of intelligent terminal, including memory and processor, computer program capable of being loaded and being executed photovoltaic module high-efficiency cleaning method is stored on memory by processor.

[0191] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above-mentioned division of each functional module is exemplified, and in actual application, the above-mentioned functions can be completed by different functional modules according to needs, i.e. the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiment, which will not be described here.

[0192] The above are preferred embodiments of the present application, and are not intended to limit the protection scope of the present application, any feature disclosed in the specification (including abstract and drawings) can be replaced by other equivalent or similar purpose alternative features, unless specifically described. That is, unless specifically described, each feature is only an example of a series of equivalent or similar features.

Claims

1. A method for efficiently cleaning a photovoltaic module, applied to a photovoltaic module efficient cleaning device, characterized in that, A photovoltaic module high-efficiency cleaning device comprises: An unmanned aerial vehicle (1) is provided with a sprayer (3) for spraying steam, and the sprayer (3) is provided with a water-steam electric hose (4); A walking trolley (2) is provided with a cleaning assembly (5) and a ground battery (12), the end of the water-steam electric hose (4) away from the sprayer (3) is connected with the ground battery (12), the ground battery (12) is provided with a cable line connected with the unmanned aerial vehicle (1) for transmitting electric quantity to the unmanned aerial vehicle (1), the cable line is buried in the water-steam electric hose (4), and the cleaning assembly (5) comprises: A cleaning water tank (6) is provided with a cleaning water hose (7) for transmitting cleaning water, one end of the cleaning water hose (7) is in communication with the inside of the cleaning water tank (6), the other end of the cleaning water hose (7) is in communication with the water-steam electric hose (4), and the cleaning water hose (7) is provided with a first check valve (8); A steam boiler (9) is in communication with the inside of the cleaning water tank (6), the steam boiler (9) is provided with a steam hose (10) in communication with the inside of the steam boiler (9) and transmitting steam, the end of the steam hose (10) away from the steam boiler (9) is in communication with the water-steam electric hose (4), and the steam hose (10) is provided with a second check valve (11); The method comprises: acquiring a complete cleaning range; determining a parking center and a corresponding single cleaning range based on the complete cleaning range and a preset cleaning radius; determining a single cleaning flight trajectory based on the single cleaning range and a preset cleaning rule; forming cleaning steps in sequence based on the single cleaning flight trajectory and the corresponding parking center, wherein the cleaning steps comprise driving the walking trolley (2) to the parking center, and the unmanned aerial vehicle (1) flies according to the single cleaning flight trajectory and sprays steam or cleaning water with the walking trolley (2) as a coordinate point; sequentially executing the cleaning steps to clean the photovoltaic module; wherein the method for determining the single cleaning range based on the complete cleaning range and the cleaning radius comprises: repairing the complete cleaning range to form a repaired cleaning range, wherein the shape of the repaired cleaning range is a preset rectangle; determining a cleaning aspect ratio based on the repaired cleaning range; determining a standard cleaning range based on the cleaning radius and the cleaning aspect ratio, wherein the shape of the standard cleaning range is a rectangle, the cleaning aspect ratio is consistent with the cleaning aspect ratio, and the four vertices of the rectangle corresponding to the standard cleaning range fall on a circle with the cleaning radius as the radius; sequentially filling the standard cleaning range in the repaired cleaning range to obtain the parking center and a theoretical single cleaning range; carpentry the theoretical single cleaning range based on the complete cleaning range to obtain the single cleaning range; wherein the method for repairing the complete cleaning range to form the repaired cleaning range comprises: determining a cleaning edge line based on the complete cleaning range; determining a perpendicular line and a parallel line based on any cleaning edge line; forming a rectangular range based on the perpendicular line, the cleaning edge line and the parallel line; defining the rectangular range as a predicted cleaning range when the rectangular range contains the complete cleaning range; Screening all the cleaning edge lines corresponding to the minimum area of the expected cleaning range in the expected cleaning range corresponding to the cleaning edge line as the repair cleaning range for output; The optimization method of the cleaning step further comprises: Defining the single cleaning range as a non-standard cleaning range when the single cleaning range is different from the standard cleaning range; Defining the single cleaning range adjacent to the non-standard cleaning range and the same as the standard cleaning range as an adjacent cleaning range; Determining the merging possibility based on the non-standard cleaning range and the adjacent cleaning range; Not performing optimization when the merging possibility is a preset non-merging possibility; Merging the non-standard cleaning range and the adjacent cleaning range to obtain a merged cleaning range when the merging possibility is a preset merging possibility; Determining a merged cleaning flight trajectory based on the merged cleaning range and the cleaning rule; Determining a stop center movement trajectory based on the merged cleaning flight trajectory and the cleaning radius, and forming a trajectory mapping relationship between the stop center point corresponding to the stop center movement trajectory and the spraying point corresponding to the merged cleaning flight trajectory; Optimizing the cleaning step according to the trajectory mapping relationship.

2. A method of efficiently cleaning a photovoltaic module according to claim 1, wherein, The method for determining a single cleaning flight trajectory based on the single cleaning range and the cleaning rule comprises: Determining a missing cleaning range based on the single cleaning range and the standard cleaning range; Determining a standard cleaning flight trajectory based on the standard cleaning range and the cleaning rule; Determining an invalid trajectory based on the standard cleaning flight trajectory and the missing cleaning range, the invalid trajectory being a trajectory segment falling outside the single cleaning range; Determining an avoidance trajectory based on the invalid trajectory and the missing cleaning range; Screening the avoidance trajectory with the shortest length, and defining the avoidance trajectory as an optimized avoidance trajectory; Replacing the invalid trajectory with the optimized avoidance trajectory to determine the single cleaning flight trajectory.

3. A method of efficiently cleaning a photovoltaic module according to claim 2, wherein The method for determining a stop center when there is a missing cleaning range further comprises: Obtaining the stop center based on the standard cleaning range when the stop center does not fall into the missing cleaning range; Forming an optimized stop center trajectory based on the optimized avoidance trajectory when the stop center falls into the missing cleaning range; Forming an avoidance trajectory mapping relationship between the stop center corresponding to the optimized stop center trajectory and the spraying point corresponding to the single cleaning flight trajectory; Outputting the stop center point corresponding to the optimized stop center trajectory as the stop center corresponding to the single cleaning flight trajectory in the avoidance trajectory mapping relationship in sequence.

4. The method of claim 3, wherein the cleaning solution is applied to the photovoltaic module by spraying the cleaning solution onto the photovoltaic module. The optimization method of the single cleaning flight trajectory further comprises: Comparing the optimized avoidance trajectory and the invalid trajectory to obtain a flight distance difference; Not replacing the invalid trajectory when the flight distance difference is greater than a preset critical waste distance; Replacing the invalid trajectory when the flight distance difference is less than the preset critical waste distance.

5. The method of claim 3, wherein the cleaning solution is applied to the photovoltaic module by spraying the cleaning solution onto the photovoltaic module. The method for still merging the non-standard cleaning range and the adjacent cleaning range to obtain the merged cleaning range when the merging possibility is the non-merging possibility further comprises: Determining whether the adjacent cleaning range is the missing cleaning range and the stop center in the adjacent cleaning range is the stop center point corresponding to the optimized stop center trajectory; when the adjacent cleaning range is the missing cleaning range and the parking center in the adjacent cleaning range is the parking center point corresponding to the optimized parking center trajectory, determining an extended cleaning range based on the optimized parking center trajectory, the standard cleaning range and the non-standard cleaning range; determining an extended merging possibility based on the extended cleaning range and the non-standard cleaning range; when the extended merging possibility is the non-merging possibility, not performing optimization; when the extended merging possibility is the merging possibility, merging the non-standard cleaning range and the adjacent cleaning range to obtain a merged cleaning range.

6. A smart terminal, characterized by A computer program product comprising a memory and a processor, the memory having stored thereon a computer program loadable and executable by the processor to perform the method of any one of claims 2 to 5.

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