Salt light fish three-body one-position photovoltaic panel automatic cleaning device, system and method

Abstract

The invention belongs to the technical field of photovoltaic power systems, and particularly relates to a salt light fish three-body one-position photovoltaic panel automatic cleaning device, system and method. The automatic cleaning system comprises a double-sided photovoltaic module which is arranged in a solarization salt pan and used for collecting salt, light and fish, an automatic cleaning device used for cleaning the front face and the back face of the double-sided photovoltaic module and a device platform used for automatically collecting and releasing the automatic cleaning device, and the double-sided photovoltaic module comprises a photovoltaic panel supporting structure and photovoltaic panels with the front face and the back face generating electricity. A multifunctional device nest and an operation room are arranged on the upper portion of the device platform, a clear water tank and a sewage tank are arranged on the lower portion of the device platform, the automatic cleaning device can complete automatic detection and automatic cleaning of the photovoltaic panel, and an adsorption sensor is adopted to keep plane balance so as to achieve operations such as front face and back face double-face cleaning of the photovoltaic panel. According to the salt pan photovoltaic panel cleaning device, the problem of salt pan photovoltaic panel cleaning is solved, the labor cost expenditure is reduced, the safety of cleaning personnel is guaranteed, the working efficiency is greatly improved, and the cleaning effect of the photovoltaic panel is guaranteed.

Description

Technical Field

[0001] This invention belongs to the technical field of photovoltaic power systems, and particularly relates to an automatic cleaning device, system and method for photovoltaic panels, which mainly aims to improve the power generation efficiency of photovoltaic panels and extend their service life. Background Technology

[0002] The "Salt-Light-Fish Tripartite Project" is an innovative project that combines a photovoltaic power generation system with salt fields (solar-dried salt ponds). Utilizing the vast, flat land of the salt fields, and while ensuring basic salt production performance, photovoltaic panels are erected at a certain height on the salt fields to achieve effective operation of power generation on the water, salt drying on the water surface, and aquaculture underwater—a new, efficient, three-dimensional production method that realizes three uses from one piece of land, greatly improving the output value per unit area and achieving comprehensive utilization of land resources and development of clean energy.

[0003] The "Salt-Light-Fish Tri-Body One-Position" photovoltaic power generation model has the following advantages:

[0004] 1. Efficient use of land resources: Sun-dried salt fields often occupy a large area of ​​land, while the vast space above the salt ponds has a low utilization rate. Utilizing these areas to build photovoltaic power stations can effectively improve land utilization and avoid wasting land resources.

[0005] 2. Promote the development of clean energy: Photovoltaic power generation is a clean energy source that uses solar energy to generate electricity without producing greenhouse gas emissions. It helps reduce carbon emissions, improve the environment, promote the transformation and upgrading of the energy structure, and achieve sustainable development goals.

[0006] 3. Extension of the industrial chain: The Salt-Light-Fish Tri-Body Project can drive the development of related industrial chains, such as photovoltaic equipment manufacturing, seawater desalination equipment manufacturing, and salt chemical industry, thereby promoting local economic development.

[0007] 4. Reduced power generation costs: Salt fields have relatively low land prices and require no additional land leveling, reducing the construction costs of photovoltaic power plants and thus lowering power generation costs, thereby improving the project's economic efficiency. The salt field environment also facilitates heat dissipation for photovoltaic panels, improving power generation efficiency.

[0008] 5. Improved economic benefits: Combining photovoltaic power generation with the comprehensive utilization of salt resources can generate multiple economic benefits. In addition to the revenue from photovoltaic power generation, it can also generate revenue from industries such as seawater desalination or lithium extraction from salt fields, thereby improving the overall economic benefits of the project.

[0009] The newly commissioned "Salt-Solar-Fish Tripartite Aquaculture" project, the world's largest single-unit capacity photovoltaic power plant, has installed photovoltaic panels on salt fields, simultaneously generating electricity, producing salt, and engaging in aquaculture. The biggest difference between this project and other photovoltaic power plants is the significantly larger spacing between the photovoltaic arrays, reaching 14 meters, almost twice that of other plants. This is to minimize the shading of the water surface and the impact on salt production. The slope of the photovoltaic panels here is precisely designed at 17 degrees, while most other photovoltaic power plants use around 30-40 degrees. This is because, considering the sun's trajectory throughout the year, 17 degrees results in the least shading of the water surface. Furthermore, the photovoltaic panels can generate electricity from both sides; in addition to directly absorbing sunlight and converting it into electricity on the top, the back can also absorb sunlight reflected from the water surface, increasing its power generation efficiency by 5-7%.

[0010] The automatic cleaning system for photovoltaic panels in the Yanguangyu Tri-Body solar panel installation was set up for the following important reasons:

[0011] 1. The impact of saline-alkali environment on photovoltaic panels: The saline-alkali environment in salt fields may affect the lifespan and performance of photovoltaic panels, requiring corresponding protective measures and targeted maintenance.

[0012] 2. Solving the challenges of cleaning photovoltaic panels: There are many difficulties in cleaning photovoltaic panels in salt fields, such as the lack of fresh water resources, the impact of wastewater discharge into salt fields on salt production, the reliance on small boats for transportation in salt flats, the inefficient operation of such boats, the difficulty in selecting the point of contact for cleaning the photovoltaic panels and the risk of them falling, and the low efficiency of manual cleaning operations.

[0013] 3. Facilitates preventative maintenance: By acquiring visual images and monitoring and analyzing equipment operating data in real time, the system can predict and identify potential faults, thereby enabling preventative maintenance, improving the power generation efficiency of photovoltaic panels, and ensuring the stable operation of the photovoltaic power generation system.

[0014] 4. Effectively reduce human error: Manual inspection and cleaning operations may lead to errors due to fatigue, negligence or other reasons, while the automatic photovoltaic panel cleaning system can eliminate these human factors, improve work efficiency and ensure personal safety.

[0015] 5. Helps improve the efficiency of photovoltaic power generation: The automatic photovoltaic panel cleaning system can call up various parameters of photovoltaic power generation in real time, and generate spectral images through daily inspections to conduct system analysis of photovoltaic panel power generation efficiency. The automatic photovoltaic panel cleaning system can respond quickly, adjust the operation path and plan key cleaning areas during photovoltaic panel cleaning operations, improve the cleaning effect of the entire project, reduce photovoltaic power generation attenuation, and improve the efficiency of photovoltaic power generation.

[0016] In summary, the Yanguangyu Santi photovoltaic power generation project is a clean energy project with enormous development potential. It not only addresses land resource utilization and environmental protection issues but also promotes sustainable local economic development. The automatic cleaning system for the Yanguangyu Santi photovoltaic panels effectively solves various operation and maintenance problems associated with the project, significantly improving photovoltaic power generation efficiency, reducing equipment operating costs, enhancing panel cleanliness, and reducing manual labor intensity and efficiency while ensuring the safety of personnel and equipment. Summary of the Invention

[0017] In response to the problems raised above, this invention proposes an automatic cleaning device, system, and method for one-position photovoltaic panels in a salt-light-fishing three-body system. The specific solution is as follows:

[0018] An automatic cleaning system for solar panels in a salt-producing area is disclosed. This system primarily performs automatic detection and cleaning of the solar panels, and is installed in a planned, extensive salt pan covering tens of thousands of acres. It includes bifacial solar modules specifically designed for the salt-producing project, an automatic cleaning device for cleaning both sides of the bifacial modules, and a multifunctional platform. The bifacial solar modules consist of a support structure and solar panels that generate electricity on both sides. The upper part of the platform houses a multifunctional equipment compartment and an operating room, while the lower part contains a clean water tank and a wastewater tank.

[0019] In the above technical solution, the sun-dried salt field is an evaporation salt pond used in the sun-dried sea salt process, covering an area of ​​about 20,000 mu. Its brine has extremely high mineralization, containing various ions such as sodium, lithium, magnesium, and lithium, and is rich in halophilic algae and microorganisms. The salt field often displays colorful red, yellow, and green hues. The basalt of the salt field is extremely conducive to the growth of fish and shrimp. The salt field shrimp attracts many tourists with its firm texture, bright colors, and sweet shrimp meat. After the brine is processed and sun-dried, salt crystals are formed. With the successful implementation of the "Salt, Light, Fish and Aquaculture Tripartite Project", a great situation can be formed, which includes water-based photovoltaic power generation, water surface evaporation for brine production, and underwater aquaculture.

[0020] In the above technical solution, the multifunctional device housing and operating room are mainly used for functions such as power swapping, lifting and lowering, fully automatic path support, data transmission, analysis and processing, and inspection and maintenance of the automatic cleaning device.

[0021] In the above technical solution, the photovoltaic panel is installed above the sun-dried salt field at a slope of 17 degrees through a photovoltaic panel support structure. The photovoltaic panel adopts monocrystalline silicon modules and double-glass moisture-resistant photovoltaic panels. Specifically, the photovoltaic panel adopts monocrystalline silicon modules and double-glass moisture-resistant photovoltaic panels, with a maximum power of 625W. It adopts bifacial power generation technology, which can improve the power generation efficiency by up to 10%. The size is 2462*1134*30. It adopts composite passivation technology, which has higher conversion efficiency, stronger versatility, and higher reliability.

[0022] In the above technical solution, the photovoltaic panel support structure includes a main keel, a secondary keel, a clamp, a front support, a rear support, a vertical support, a diagonal brace, and a pile foundation;

[0023] In the above technical solution, the pile foundation is a prestressed concrete pipe pile with multifunctional composite concrete anti-corrosion admixture added to the concrete. Specifically, the pile foundation is a PHC-AB500(100) prestressed concrete pipe pile with a pile length of 22m. The concrete impermeability grade of the prestressed concrete pipe pile is S10, the concrete protective layer thickness of the steel reinforcement is 40mm, and multifunctional composite concrete anti-corrosion admixture is added to the pile concrete.

[0024] In the above technical solution, the main keel and secondary keel are made of U-shaped carbon structural steel Q235B with hot-dip galvanizing treatment. Specifically, the main keel and secondary keel are made of U-shaped carbon structural steel Q235B with hot-dip galvanizing treatment and have dimensions of 41*62*2.5.

[0025] In the above technical solution, the diagonal brace includes a front support and a rear support. The front support and the rear support are made of C-shaped carbon structural steel Q235B with hot-dip galvanizing treatment. Specifically, the front support and the rear support are made of C-shaped carbon structural steel Q235B with hot-dip galvanizing treatment and have a size of 41*41*2.5.

[0026] In the above technical solution, the support frame is a rectangular tube made of carbon structural steel Q235B with hot-dip galvanizing treatment. Specifically, the support frame is a rectangular tube made of carbon structural steel Q235B with hot-dip galvanizing treatment and has dimensions of 40*40*2.0.

[0027] In the above technical solution, the clamp includes an upper clamp and a lower clamp. The upper clamp and the lower clamp are stamped from galvanized sheet and made of carbon structural steel Q235B with hot-dip galvanizing treatment. Specifically, the upper clamp and the lower clamp are stamped from galvanized sheet with a thickness of 8mm and a width of 80mm, made of carbon structural steel Q235B with hot-dip galvanizing treatment.

[0028] The above technical solution also includes a universal joint, which adopts a four-hole triangular hinge, is made of Q235B, has a hot-dip galvanized surface treatment, and has dimensions of 85*63*3.0.

[0029] The above technical solution also includes a crossbeam, which is a universal angle steel made of carbon structural steel Q235B with hot-dip galvanized surface treatment. It can be cut, punched, and welded, and its dimensions are 63*63*8.0.

[0030] In the above technical solution, the clean water tank and the sewage tank are mainly used to provide sufficient cleaning water for the automatic cleaning device and to temporarily store the sewage and garbage collected after the device is cleaned.

[0031] In the above technical solution, the clean water tank is made of FRP fiberglass, formed by wind-curing glass fiber, and has a barrel-shaped structure. It is equipped with a quick-connect valve for water inlet, a low-level drain valve, a delivery and pressurization pump, and a removable and replaceable filter. Specifically, the clean water tank is made of FRP fiberglass, and it is recommended that the inner lining resin be SW-901# and the structural layer resin be P65-901#. It has a barrel-shaped structure with a diameter of 2200mm and a height of 2000mm. It is equipped with a quick-connect valve for water inlet and a low-level drain valve, a delivery and pressurization pump, and a removable and replaceable filter. It is also equipped with a maintenance manhole with a diameter of not less than 600mm for internal cleaning and maintenance.

[0032] In the above technical solution, the sewage tank is made of FRP fiberglass, formed by wind-curing glass fiber, and has a barrel-shaped structure. It is equipped with a quick-connect valve for water inlet, a low-level drain valve, a conveying and pressurizing pump, and a removable and replaceable filter screen. Specifically, the sewage tank is made of FRP fiberglass, and it is recommended that the inner lining resin be of type SW-901# and the structural layer resin be of type P65-901#. It has a barrel-shaped structure with a diameter of 2200mm and a height of 2000mm. It is equipped with a quick-connect valve for water inlet and a low-level drain valve, a conveying and pressurizing pump, and a removable and replaceable filter screen. It is also equipped with a maintenance manhole with a diameter of not less than 600mm for internal cleaning and maintenance.

[0033] The second objective of this invention is to provide an automatic cleaning device for photovoltaic panels on a solar panel, used for automatically detecting the cleanliness of the photovoltaic panels and automatically cleaning them. The automatic cleaning device adopts a multi-rotor design and consists of a fuselage, a rotor system, a power system, a control system, and a load system.

[0034] The main body is the main structure of the automatic cleaning device, bearing all the components of the automatic cleaning device and mainly playing a supporting and protective role.

[0035] The rotor system adopts an X-type four-rotor design;

[0036] The power system includes a battery, a motor, a propeller, and an electronic speed controller, which is responsible for providing energy for the automatic cleaning device to take off, hover, and operate.

[0037] The control system includes a flight control system (operation control system), a remote control system, and a GPS navigation system, which are responsible for the stable operation and autonomous navigation of the automatic cleaning device;

[0038] The load system refers to the various sensors and devices mounted on the automatic cleaning device, including multi-dimensional sensors, binocular vision imaging machines, communication equipment, gripping devices, adsorption components, and cleaning components.

[0039] In the above technical solution, the multi-dimensional sensor includes an infrared sensor, and the binocular vision imaging machine includes an 8K high-definition electrically adjustable dual camera.

[0040] In the above technical solution, the adsorption component includes an adsorption sensor, which can feed back the unbalanced force attached to the inclined surface of the photovoltaic panel to the control system, and the control system makes dynamic adjustments to maintain the balance of the working plane.

[0041] In the aforementioned technical solution, the payload system is equipped with 8K high-definition electrically adjustable dual cameras, supporting 100x zoom. Its ultra-sensitive technology ensures more detailed images, and the use of the 8.8GHz analog frequency band results in extremely low image latency, guaranteeing real-time visibility of the operating perspective. An environmental map is formed through binocular visual imaging and multi-dimensional sensor detection, ultimately locating the photovoltaic panels and generating the optimal cleaning path to autonomously complete the cleaning task. Furthermore, the system compares the cleanliness of the photovoltaic panels captured by the visual system to autonomously formulate a cleaning plan and complete the cleaning task.

[0042] In the above technical solution, the clean water tank and wastewater tank are detachable and have replaceable filter screens. The interior of the tank and the interior of each water pipeline are coated with acid and alkali resistant anti-corrosion coating to ensure the corrosion resistance of the internal equipment and pipelines. Furthermore, by replacing the water tank and adding photovoltaic panel protective coating liquid, photovoltaic panel protective film coating operations can be performed.

[0043] In the above technical solution, the cleaning components include a clean water tank, a wastewater tank, a multi-purpose atomizing nozzle, a soft brush and a roller brush, and a dust collection device.

[0044] In the above technical solution, the cleaning component has a replaceable soft brush, a replaceable dual-power roller brush, and a suction port with a suction power of over 80,000 Pa; the cleaning component has a high-efficiency self-cleaning function that can automatically clean the roller brush and internal pipes, an 85℃ high-temperature full-chain quick-drying function, and a constant-pressure active water cleaning system, integrating water spraying, brushing, scraping, and recycling functions; it is equipped with a high-efficiency motor that can deeply clean various stubborn dirt, and a high-performance battery that provides a single cleaning operation time of over 120 minutes.

[0045] In the above technical solution, the cleaning component has a high-efficiency self-cleaning function, which can automatically clean the roller brush and internal pipes. It also has a 75℃ high-temperature full-chain quick-drying function and a constant pressure active water cleaning system, integrating water spraying, brushing, scraping and recycling functions.

[0046] In the above technical solution, the cleaning component is equipped with a high-efficiency motor, which can deeply clean various stubborn dirt, and a high-performance battery provides a single cleaning operation time of more than 240 minutes.

[0047] In the above technical solution, the load system has an adsorption sensor (21), and four adsorption sensors are provided. It has pressure sensing and transmission function, and can feed back the unbalanced force attached to the inclined surface of the photovoltaic panel to the control system. The control system makes dynamic adjustments to maintain the balance of the working plane. The photovoltaic panel back panel cleaning operation can be realized by using this feedback device.

[0048] In the above technical solution, the load system has a high-pressure atomizing nozzle (22), which can atomize and spray water or coating liquid at a pressure of not less than 0.05 MPa. The atomized water plays a role in lubrication and cleaning, which is beneficial to cleaning the surface of the photovoltaic panel. After the photovoltaic panel is cleaned, the coating liquid can be replaced for atomized spraying to form a high-definition transparent, scratch-resistant, corrosion-resistant, and self-cleaning protective coating, which further improves the protective effect of the photovoltaic panel.

[0049] In the above technical solution, the multifunctional device is equipped with an intelligent charging and swapping system, a visual guidance system, a remote monitoring system, an intelligent positioning system, and a path planning system. It also transmits the images, videos, and operation data information acquired by the automatic cleaning device to the back-end center for processing and analysis in real time through wireless data transmission technology.

[0050] In the above technical solution, the intelligent charging and swapping system equipped in the multi-functional device's nest can autonomously charge and swap energy for the multi-functional device, thereby ensuring that the device can continuously and efficiently perform various tasks. The visual guidance system and intelligent positioning system equipped in the multi-functional device's nest adopt advanced positioning technology and visual guidance technology, which can achieve precise take-off and landing of the device under complex and changeable weather conditions. The path planning system equipped in the multi-functional device's nest adopts advanced automatic path algorithms and system operation capabilities, which can autonomously decide on the trajectory, attitude, and shooting parameters to achieve efficient and accurate inspection tasks. The multi-functional device's nest is also equipped with a monitoring camera and a remote monitoring system, which can monitor the operating status of the automatic cleaning device and the safety status of the airport area in real time. At the same time, it can transmit the images, videos, operation data, and other information acquired by the device to the back-end center for processing and analysis in real time through wireless data transmission technology.

[0051] In the above technical solution, the operating room is equipped with a device programming computer for writing and simulating the operation program of the automatic cleaning device, and is also equipped with automatic cleaning device fault detection equipment, maintenance software, maintenance instruments and meters and maintenance tools, which can quickly and efficiently restore the operation of the automatic cleaning device.

[0052] The third objective of this invention is to provide a cleaning method for an automatic cleaning device for photovoltaic panels, comprising the following steps:

[0053] Step 1: After the automatic cleaning system is set up and deployed, the water tank is first filtered and filled with water, and the automatic cleaning device is tested for take-off, landing and retraction. After the trial run is completed, the device program is written in the control room to control the automatic cleaning device to take off, land, hover and perform waypoint tasks.

[0054] Step 2: The automatic cleaning device uses binocular vision images and multi-dimensional sensors to form an environmental map, and finally determines the location of the photovoltaic panel in the three-dimensional solar panel, generates the optimal cleaning operation path, and autonomously formulates the cleaning task.

[0055] Step 3: The cleaning task of the automatic cleaning device includes multiple phased cleaning tasks. After completing each phased cleaning task, the automatic cleaning device records the node, returns to the automatic cleaning device nest to replenish power, automatically replenish water, and clean the sewage tank. At the same time, the images, videos, and operation data acquired by the automatic cleaning device are transmitted to the back-end center in real time for processing and analysis through wireless data transmission technology. The visual cleanliness of the photovoltaic panel surface is compared by the captured images to formulate the next phased cleaning task. The automatic cleaning device autonomously decides its trajectory, attitude, and shooting parameters when completing the phased cleaning task.

[0056] Step 4: Replace the soft brush, recharge and rest, and continue to perform the next stage of cleaning until all cleaning tasks are completed. Repeat this cycle. During this period, operators and maintenance personnel should pay attention to the operating status of the device and the liquid levels of the clean water tank and the sewage tank. They should replenish fresh water in advance and clean the sewage tank in a planned manner to ensure the smooth operation of the Salt Light Fish Tri-body One-Stop Automatic Cleaning Device System.

[0057] Step 5: After the photovoltaic panel is cleaned, add photovoltaic panel protective coating liquid to the water tank, replace the soft brush and roller brush, and spray the atomized coating medium through the high-pressure atomizing nozzle to perform an automatic cleaning and coating integrated operation, thereby autonomously completing the coating task of the photovoltaic panel protective coating.

[0058] In the above technical solution, in step 3, a digital visual intelligent algorithm is adopted. The automatic cleaning device can also perform comprehensive comparative analysis on the average daily power generation of the photovoltaic panel and the visual cleanliness data of the photovoltaic panel surface, and automatically generate information such as the cleaning path, cleaning mode and cleaning degree of the photovoltaic panel. It can intelligently sense the dirt situation, intelligently adjust the water volume and suction to ensure the best cleaning effect.

[0059] The fourth objective of this invention is to provide an automatic cleaning method for a single-phase photovoltaic panel, comprising the following steps:

[0060] S1: Requirements Analysis;

[0061] Determine the scale, terrain, and climate conditions of the photovoltaic power station, and select appropriate equipment and cleaning systems.

[0062] S2: System Design;

[0063] The design of the device platform, cleaning system, control system, and image processing system was carried out, and simulation was performed.

[0064] S3: Hardware selection and procurement;

[0065] Based on the design scheme, select appropriate hardware equipment, including devices, sensors, actuators, controllers, etc.

[0066] S4: Software Development;

[0067] Develop and operate control software, cleaning control software, image processing software, and ground control station software.

[0068] S5: System Integration;

[0069] Integrate the various components together and perform system testing and debugging.

[0070] S6: On-site testing and deployment;

[0071] Test in a real-world environment and make necessary adjustments and optimizations.

[0072] Combining all the above technical solutions, the advantages and positive effects of this invention are as follows:

[0073] 1. This invention provides an automatic cleaning device, system, and method for photovoltaic panels in salt fields. The automatic cleaning device system adopts an innovative design, utilizing a multi-functional device to perform visual scanning and coordinate positioning of the photovoltaic panels, generating an automatic cleaning path, and completing the automatic cleaning task of the photovoltaic panels through cleaning steps such as water spraying, roller brushing, wiping, and vacuuming. This solves the problem of cleaning photovoltaic panels in salt fields, reduces labor costs, and greatly improves work efficiency.

[0074] 2. The automatic photovoltaic panel cleaning system uses binocular vision imaging and multi-dimensional sensor detection to form an environmental map and ultimately locate the photovoltaic panels, generating the optimal cleaning operation path and autonomously completing the cleaning task. This effectively improves the light transmittance of the photovoltaic panels and further optimizes power generation efficiency. In dusty areas such as northern my country, power generation can be increased by 10% to 32% after cleaning, resulting in significant long-term economic benefits.

[0075] 3. The path planning algorithm of the photovoltaic panel automatic cleaning device is suitable for scenarios with high requirements for both global search and local development capabilities. It has good performance in solving complex optimization problems. Combined with MPC model predictive control, it integrates dynamic model and real-time optimization, supports smooth path adjustment in dynamic environments, reduces planning time by 30%, balances convergence speed and accuracy, improves the ability to escape local optima by 15%, and supports multi-machine task allocation and path conflict avoidance.

[0076] 4. The automatic cleaning system for photovoltaic panels can effectively avoid the hot spot effect caused by dust accumulation due to failure to clean in time through real-time monitoring and efficient cleaning, reduce the risk of damage to photovoltaic panel components, reduce equipment corrosion and local high temperature, thereby effectively preventing material aging and extending the service life of photovoltaic panels to more than 20 years.

[0077] 5. The automatic photovoltaic panel cleaning device can also perform an integrated automatic cleaning and coating operation by replacing the clean water tank and adding photovoltaic panel protective coating liquid. This allows the device to autonomously complete the coating task of the photovoltaic panel protective coating, further improving the anti-corrosion, gloss, self-cleaning and anti-fouling effects of the photovoltaic panel, effectively reducing the frequency of device cleaning operations, achieving the goal of reducing maintenance and operating costs, and ensuring the continuous increase of enterprise benefits.

[0078] In addition, the inventive step evidence for this invention is also reflected in the following important aspects:

[0079] 1. The expected benefits and commercial value of the technical solution of this invention after transformation are reflected in:

[0080] Convenience of preventive maintenance: By acquiring visual images and monitoring and analyzing equipment operation data in real time, the system can predict and identify potential faults, thereby achieving preventive maintenance, improving the power generation efficiency of photovoltaic panels, and ensuring the stable operation of the photovoltaic power generation system.

[0081] Improved tolerance for human error: This invention can effectively avoid errors that may occur during manual inspection and cleaning operations due to fatigue, negligence or other reasons. By eliminating these human factors through an automatic cleaning device, it can improve work efficiency and ensure personal safety.

[0082] Commercial value and profitability: This invention can directly generate economic benefits through technology transfer or product sales, or obtain financial returns by undertaking the operation and maintenance tasks of photovoltaic panels for various enterprises. It can also open up new business opportunities and market space by providing technical services such as guidance on implementation and upgrading.

[0083] 2. The technical solution of this invention fills the gap in the automatic cleaning of photovoltaic panels on salt pans, and solves the technical problems that people have been exploring for a long time but have not been able to achieve results in cleaning photovoltaic panels on salt pans: it solves the problems of lack of fresh water resources, the impact of cleaning wastewater discharge into salt fields on salt production, the reliance on small boats for transportation on salt pans, the relatively inefficient operation path, the difficulty in selecting the cleaning point of the photovoltaic panel and the certain risk of falling, and the low efficiency of manual cleaning operations.

[0084] 3. This invention enables comprehensive, real-time inspection of the cleanliness of the photovoltaic panels of the Yanguangyu Tri-body project, leaving no blind spots. The automatic cleaning system for the photovoltaic panels of the Yanguangyu Tri-body project effectively solves various problems in the operation and maintenance of the power generation project, conveniently and efficiently improves the photovoltaic power generation efficiency, comprehensively reduces equipment operating costs, effectively improves the cleanliness of the photovoltaic panel, reduces the intensity and efficiency of manual labor while ensuring the safety of personnel and equipment, extends the equipment life, and achieves long-term economic benefits. Attached Figure Description

[0085] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. However, it should be understood that these drawings are designed for illustrative purposes only and are not intended to limit the scope of the present invention. Furthermore, unless specifically indicated, these drawings are intended only to conceptually illustrate the structural construction described herein and are not necessarily drawn to scale.

[0086] Figure 1 This is a schematic diagram of the salt-light-fish three-body photovoltaic panel of the present invention;

[0087] Figure 2 This is a schematic diagram of the automatic cleaning device system of the present invention;

[0088] Figure 3This is a schematic diagram of the automatic cleaning device of the present invention;

[0089] Figure 4 This is a schematic diagram of the cleaning operation of the automatic cleaning device of the present invention;

[0090] In the diagram: 1-Salt pool, 2-Pile foundation, 3-Double-sided photovoltaic panel module, 4-Main keel, 5-Secondary keel, 6-Universal angle, 7-Front support, 8-Rear support, 9-Crossbeam, 10-Upper clamp, 11-Erect support, 12-Lower clamp, 13-Clean water tank, 14-Sewage tank, 15-Equipment parking area, 16-Automatic cleaning device, 17-Soft brush, 18-Equipment trough, 19-Equipment maintenance room, 20-Load system, 21-Adsorption sensor, 22-High-pressure atomizing nozzle. Detailed Implementation

[0091] First, it should be noted that the specific structure, features, and advantages of the present invention will be described in detail below by way of examples. However, all descriptions are for illustrative purposes only and should not be construed as limiting the present invention in any way. Furthermore, any single technical feature described or implied in the embodiments mentioned herein, or any single technical feature shown or implied in the accompanying drawings, can still be arbitrarily combined or deleted among these technical features to obtain more other embodiments of the present invention that may not be directly mentioned herein. Additionally, for the sake of simplifying the drawings, the same or similar technical features may be indicated only in one place in the same drawing.

[0092] The following is in conjunction with the appendix Figure 1 -Appendix Figure 4 This invention will be described in detail.

[0093] Example 1: Bifacial Photovoltaic Module

[0094] like Figure 1 As shown, the bifacial photovoltaic module includes a photovoltaic panel, a main keel 4, a secondary keel 5, clamps, a support frame 11, diagonal braces, and pile foundation 2. The biggest difference between the bifacial photovoltaic module in this embodiment and other photovoltaic power stations is that, firstly, the photovoltaic array spacing is increased to 14 meters, almost twice that of other photovoltaic power stations. This is done to minimize the shading of the photovoltaic panels on the water surface and the impact on salt production. Secondly, the slope of the photovoltaic panels is precisely designed at 17 degrees, while most other photovoltaic power stations use around 30-40 degrees. This is because, considering the sun's trajectory throughout the year, 17 degrees results in minimal shading of the water surface. Furthermore, the photovoltaic panels in this embodiment can generate electricity from both sides; in addition to directly absorbing sunlight for energy conversion on the top, the back can also absorb sunlight reflected from the water surface. This alone can increase its power generation efficiency by 5-7%.

[0095] Furthermore, in this embodiment, the photovoltaic panel can be installed above the sun-dried salt field at a slope of 17 degrees via a photovoltaic panel support structure. The photovoltaic panel includes a monocrystalline silicon module and a double-glass moisture-resistant photovoltaic panel. Specifically, the photovoltaic panel uses a monocrystalline silicon module and a double-glass moisture-resistant photovoltaic panel, with a maximum power of 625W. It adopts bifacial power generation technology, which can improve the power generation efficiency by up to 10%. The dimensions are 2462*1134*30 mm. It adopts composite passivation technology, which has higher conversion efficiency, stronger versatility, and higher reliability.

[0096] Furthermore, in this embodiment, the pile foundation 2 can also be considered as a prestressed concrete pipe pile with a multifunctional composite concrete anti-corrosion admixture added to the concrete. Specifically, the pile foundation 2 is a PHC-AB500(100) prestressed concrete pipe pile with a pile length of 22m. The concrete impermeability grade of the prestressed concrete pipe pile is S10, the concrete protective layer thickness of the reinforcing steel is 40mm, and a multifunctional composite concrete anti-corrosion admixture is added to the pile concrete.

[0097] Furthermore, in this embodiment, the main keel 4 and the secondary keel 5 are made of U-shaped carbon structural steel Q235B with hot-dip galvanizing treatment. Specifically, the main keel 4 and the secondary keel 5 are made of U-shaped carbon structural steel Q235B with hot-dip galvanizing treatment and have dimensions of 41*62*2.5.

[0098] Furthermore, in this embodiment, the diagonal brace may include a front support 7 and a rear support 8. The front support 7 and the rear support 8 are made of C-shaped carbon structural steel Q235B with hot-dip galvanizing treatment. Specifically, the front support 7 and the rear support 8 are made of C-shaped carbon structural steel Q235B with hot-dip galvanizing treatment and have dimensions of 41*41*2.5.

[0099] Furthermore, in this embodiment, the support bracket 11 can be considered as a rectangular tube made of carbon structural steel Q235B with hot-dip galvanizing treatment. Specifically, the support bracket 11 is a rectangular tube made of carbon structural steel Q235B with hot-dip galvanizing treatment and has dimensions of 40*40*2.0.

[0100] Furthermore, in this embodiment, the clamp may include an upper clamp 10 and a lower clamp 12. The upper clamp 10 and the lower clamp 12 are stamped from galvanized sheet, made of carbon structural steel Q235B, and hot-dip galvanized. Specifically, the upper clamp 10 and the lower clamp 12 are stamped from galvanized sheet with a thickness of 8mm and a width of 80mm, made of carbon structural steel Q235B, and hot-dip galvanized.

[0101] Furthermore, in this embodiment, the universal joint 6 can be considered to be a four-hole triangular hinge made of Q235B with hot-dip galvanized surface treatment, and with dimensions of 85*63*3.0.

[0102] Furthermore, in this embodiment, the crossbeam 9 can be considered as a universal angle steel, made of carbon structural steel Q235B, with hot-dip galvanized surface treatment, and can be cut, punched, and welded, with dimensions of 63*63*8.0.

[0103] Example 2: Automatic Cleaning System for One-Dimensional Photovoltaic Panels of Salt-Light-Fish Tri-Body

[0104] like Figure 2-3 As shown, the automatic cleaning system for photovoltaic panels in the Yanguangyu Santi photovoltaic power generation project is an automatic inspection and cleaning device for photovoltaic panels. It applies the automatic cleaning path planning method of the Yanguangyu Santi photovoltaic panel project and mainly performs automatic detection of the cleanliness of photovoltaic panels and automatic cleaning of photovoltaic panels. The system includes an automatic cleaning device 16, a device platform 15, a multi-functional device nest 18 and an operating room 19 set on the device platform 15, and a clean water tank 13 and a wastewater tank 14 set on the device platform 15. The automatic cleaning device 16 can be automatically deployed and retracted on the device platform 15.

[0105] Furthermore, in the embodiments, the multifunctional device nest can be considered to be mainly used for the functions of battery swapping, lifting and lowering, fully automatic operation support, data transmission, analysis and processing, and device inspection and maintenance of the photovoltaic panel multifunctional inspection and automatic cleaning device.

[0106] In this embodiment, the multifunctional device is equipped with an intelligent charging and power swapping system, which enables the multifunctional automatic cleaning device to charge and swap power autonomously, thereby ensuring that the automatic cleaning device can continuously and efficiently perform various tasks.

[0107] The multi-functional device nest adopts advanced positioning technology and a visual guidance system, enabling the automatic cleaning device to take off and land precisely under complex and changeable weather conditions.

[0108] The multi-functional device's nest is equipped with advanced automatic operation algorithms and system operation capabilities, enabling it to autonomously decide on flight paths, attitudes, and shooting parameters to achieve efficient and accurate inspection tasks.

[0109] The multi-functional device is also equipped with surveillance cameras and a remote monitoring system, which can monitor the operation status of the automatic cleaning device and the security situation of the airport area in real time. At the same time, it can transmit the images, videos, operation data and other information acquired by the device to the back-end center for processing and analysis in real time through wireless data transmission technology.

[0110] Furthermore, in the embodiments, the automatic cleaning device operation room can be equipped with a device programming computer for writing and simulating the automatic cleaning device operation program, and equipped with automatic cleaning device fault detection equipment, maintenance software, maintenance instruments and meters and maintenance tools, which can quickly and efficiently restore the operation of the automatic cleaning device.

[0111] In this embodiment, a clean water tank and a wastewater tank are provided at the bottom of the device platform, mainly for providing sufficient cleaning water for the automatic cleaning device and temporarily storing the wastewater and garbage collected after the device is cleaned.

[0112] Furthermore, in the embodiments, the clean water tank can be made of FRP fiberglass material. It is recommended that the inner lining resin be SW-901# and the structural layer resin be P65-901#. The tank should be barrel-shaped with a diameter of 2200mm and a height of 2000mm. It should be equipped with a quick-connect valve for water inlet and a low-level drain valve, a delivery and booster pump, and a removable and replaceable filter screen. A maintenance manhole with a diameter of not less than 600mm should be provided for internal cleaning and maintenance.

[0113] The wastewater tank is made of FRP (fiberglass reinforced plastic). It is recommended that the inner lining resin be SW-901# and the structural layer resin be P65-901#. The tank should be barrel-shaped with a diameter of 2200mm and a height of 2000mm. It should be equipped with a quick-connect valve for water inlet and a low-level drain valve. It should also be equipped with a delivery and booster pump and a replaceable filter screen. A manhole with a diameter of not less than 600mm should be provided for internal cleaning and maintenance.

[0114] Example 3: Automatic Cleaning Device

[0115] The automatic cleaning system for photovoltaic panels in the above embodiment is applied to the automatic inspection and cleaning device for photovoltaic panels in the photovoltaic panel power generation project of the Salt-Light-Fish Tri-Body Project. The final execution device for data acquisition and automatic cleaning is a multi-functional automatic cleaning device.

[0116] like Figure 3 As shown, the photovoltaic panel automatic cleaning device parked in the multi-functional device nest operates in a multi-rotor mode, with X-type 4 rotors. It consists of a fuselage, engine, control system and load system 20. The control system of the device mainly consists of an operating system, a remote control system and a GPS positioning system.

[0117] The main body is the core structure of the automatic cleaning device, supporting all components and providing support and protection.

[0118] The power system provides energy for the automatic cleaning device to take off, hover, and operate, and mainly includes batteries, motors, propellers, electronic speed controllers, etc.

[0119] The control system is responsible for the stable operation and autonomous navigation of the automatic cleaning device, and mainly includes an operation control system, a remote control system, and a navigation system.

[0120] The load system refers to the various sensors and equipment mounted on the automatic cleaning device, including infrared sensors, cameras, communication equipment and gripping devices, clean water tanks, wastewater tanks, soft brushes, roller brushes, multi-purpose atomizing nozzles, adsorption sensors, dust collection devices, etc.

[0121] Furthermore, in the embodiments, the payload system may be equipped with 8K high-definition electrically adjustable dual cameras, supporting 100x zoom. The super-sensitive technology makes the captured images more delicate, and the use of the 8.8GHz analog frequency band ensures extremely low image latency, guaranteeing that the operating perspective can be seen in real time.

[0122] Furthermore, an environmental map is formed through binocular visual imaging and multi-dimensional sensor detection, ultimately determining the location of the photovoltaic panels and generating the optimal cleaning path. The adsorption sensor 21 feeds back four-point planar data for balance control, autonomously completing the cleaning tasks on both the front and back of the photovoltaic panels. Additionally, images of the photovoltaic panels captured by the vision system are used for cleanliness comparison, allowing the system to autonomously formulate a cleaning plan and complete the cleaning task.

[0123] In addition, the clean water tank and wastewater tank of the load system are detachable and have replaceable filters. The interior of the tanks and the interior of each water pipeline are coated with acid and alkali resistant anti-corrosion coating to ensure the corrosion resistance of the internal equipment and pipelines. Furthermore, by replacing the water tank, a photovoltaic panel protective coating liquid can be added to perform photovoltaic panel protective coating operations.

[0124] In this embodiment, the automatic cleaning device includes a replaceable soft brush 17 and a replaceable dual-power roller brush 18. The dual-power roller brush 18 is driven by its motor and has a suction port in its center, possessing a powerful suction of over 80,000 Pa. The suction port is connected to the suction box within the load system via a suction pipe and a suction motor, enabling simultaneous brushing and suction. The soft brush 17 is connected to the swing arm motor within the load system via a swing arm, enabling wide-angle brushing. Furthermore, the automatic cleaning device is equipped with a clean water outlet and a wastewater absorption port around the dual-power roller brush 18. The clean water outlet is connected to a clean water tank via a clean water pipe and a clean water pump, and the wastewater absorption port is connected to a wastewater tank via a wastewater pipe and a wastewater pump, enabling wet cleaning of the photovoltaic panels and timely absorption of wastewater to prevent wastewater from flowing into the salt pond and affecting salt production quality and yield.

[0125] Furthermore, in the embodiments, the load system may be equipped with an adsorption sensor 21, with four adsorption sensors having pressure sensing and transmission functions. This allows the unbalanced force attached to the inclined surface of the photovoltaic panel to be fed back to the control system, which then dynamically adjusts the system to maintain the balance of the working plane. This feedback device can be used to perform photovoltaic panel back panel cleaning operations, enabling double-sided cleaning of the front and back of the photovoltaic panel.

[0126] Furthermore, in the embodiments, the automatic cleaning device can be designed to employ a digital visual intelligent algorithm. By comprehensively comparing and analyzing data such as the average daily power generation of the photovoltaic panel and the visual cleanliness of the panel surface, it can automatically generate information such as the cleaning path, cleaning mode, and cleaning degree of the photovoltaic panel. It can intelligently sense the dirt situation and intelligently adjust the water volume and suction to ensure the best cleaning effect.

[0127] Furthermore, a hybrid pelican optimization + MPC predictive control algorithm is adopted for path planning. This algorithm simulates the natural behavior of pelicans during hunting and integrates dynamic models with real-time optimization. It also combines deep learning and reinforcement learning to improve dynamic decision-making capabilities and enhance the robustness of the algorithm.

[0128] Furthermore, the automatic cleaning device is equipped with a high-efficiency motor that can deeply clean various stubborn dirt, and a high-performance battery that provides more than 240 minutes of cleaning time per operation.

[0129] In addition, the automatic cleaning device has a highly efficient self-cleaning function, which can automatically clean the roller brush and internal pipes. It also features an 85℃ high-temperature full-chain quick-drying function and a constant-pressure active water cleaning system, integrating water spraying, brushing, scraping, and recycling functions.

[0130] Working Principle: In this embodiment, the "Salt-Photovoltaic-Fishery Tripartite Project," the world's largest single-unit capacity project recently put into operation in northern China, uses bifacial photovoltaic modules on salt fields to simultaneously generate electricity, produce salt, and support aquaculture. The biggest difference from other photovoltaic power stations is the significantly larger spacing between the photovoltaic arrays, reaching 14 meters, almost twice that of other stations. This is to minimize the shading of the photovoltaic panels on the water surface and the impact on salt production. The slope of the photovoltaic panels here is precisely designed at 17 degrees, while most other photovoltaic power stations use around 30-40 degrees. This is because, considering the sun's trajectory throughout the year, 17 degrees results in minimal shading of the water surface. Furthermore, both sides of the photovoltaic panels can generate electricity; in addition to directly absorbing sunlight and converting it into electricity on the top, the back side can also absorb sunlight reflected from the water surface, increasing power generation efficiency by 5-7%.

[0131] This embodiment includes a planned solar salt field covering tens of thousands of acres, bifacial photovoltaic modules specifically for the Salt-Light-Fish Tri-Body Project, an automatic cleaning device platform with various functions, a clean water tank and a wastewater tank at the bottom of the automatic cleaning device platform, and a multi-functional device nest at the top of the device platform, in which an automatic cleaning device for multi-functional photovoltaic panels is placed.

[0132] In this embodiment, the photovoltaic module adopts a monocrystalline silicon module and a double-glass moisture-resistant photovoltaic panel with a maximum power of 625W. It adopts bifacial power generation technology, which can improve the power generation efficiency by up to 10%. The size is 2462*1134*30. It adopts composite passivation technology, which has higher conversion efficiency, stronger versatility, and higher reliability.

[0133] The photovoltaic panels in the aforementioned Salt-Light-Fish Tri-Body Project are blocked from sunlight by contaminants such as dust, dirt, and bird droppings, reducing their solar energy absorption efficiency. Furthermore, acidic or alkaline dust can corrode the glass cover in humid environments, causing surface roughness and even hot spot effects. Long-term accumulation may lead to component burnout. The photovoltaic panel automatic cleaning device system can achieve autonomous inspection and automatic cleaning.

[0134] The automatic cleaning device in this embodiment can form an environmental map through binocular visual images and multi-dimensional sensor detection, and finally form the location of the photovoltaic panel, generate the optimal cleaning operation path, and autonomously complete the cleaning task, thereby improving the light transmittance of the photovoltaic panel in a timely and effective manner, and further optimizing the power generation efficiency. In dusty areas such as northern my country, the power generation can be increased by 10% to 32% after cleaning, and the long-term economic benefits are significant.

[0135] Furthermore, by replacing the water tank of the automatic cleaning device and adding photovoltaic panel protective coating liquid, an integrated automatic cleaning and coating operation is performed, thereby autonomously completing the coating task of the photovoltaic panel protective coating, further improving the anti-corrosion, gloss, self-cleaning and anti-fouling effects of the photovoltaic panel, effectively reducing the frequency of device cleaning operations, achieving the goal of reducing maintenance and operation costs, and ensuring the continuous increase of enterprise benefits.

[0136] Usage: During the normal operation of the Yanguangyu Tri-Body One-Poly Photovoltaic Power Generation System, the Yanguangyu Tri-Body One-Poly Automatic Cleaning Device System is installed and deployed to automatically inspect the cleanliness of the photovoltaic panels and perform autonomous cleaning operations. After the system is set up and deployed, the water tank is first filtered and filled with water, and the device is tested for take-off, landing, and deployment. After trial operation, the device program is written in the control room to control the device's take-off, landing, hovering, and waypoint tasks. The device uses binocular visual images and multi-dimensional sensors to form an environmental map and ultimately locate the photovoltaic panels, generating the optimal cleaning operation path and autonomously formulating a cleaning plan. A hybrid pelican optimization + MPC predictive control algorithm is used for path planning. This algorithm simulates the natural behavior of pelicans during hunting and integrates a dynamic model with real-time optimization, combining deep learning and reinforcement learning to improve dynamic decision-making capabilities. Soft brushes, dual roller brushes, and powerful vacuum cleaners are used to complete the cleaning task of the photovoltaic panels. After completing a phase of cleaning, the automatic cleaning device records the node, returns to the automatic cleaning unit's reservoir to replenish power, automatically adds water, cleans the wastewater tank, replaces the soft brushes, and after recharging and resting, continues the cleaning plan until all tasks are completed, repeating this cycle. Operators and maintenance personnel need to monitor the device's operating status and the levels in the clean water and wastewater tanks, replenishing fresh water and cleaning the wastewater tank in advance as planned to ensure the smooth operation of the automatic cleaning system. Furthermore, by replacing the clean water tank, adding photovoltaic panel protective coating liquid, and replacing the soft brushes and rollers, the automatic cleaning and coating process can be integrated, autonomously completing the coating task for the photovoltaic panels and continuously improving the anti-corrosion, gloss, self-cleaning, and anti-fouling effects of the photovoltaic panels.

[0137] Example 4: Automatic Cleaning Path Planning Method for One-Dimensional Photovoltaic Panels in Salt-Light-Fish Tri-Body System

[0138] The automatic cleaning path planning method for the Yanguangyu Tri-Body photovoltaic panel is as follows: The automatic cleaning device forms an environmental map through binocular visual images and multi-dimensional sensor detection, and finally determines the location of the Yanguangyu Tri-Body photovoltaic panel, generates the optimal cleaning operation path, and autonomously formulates a cleaning plan; Among them, the cleaning operation path planning adopts a hybrid pelican optimization + MPC predictive control algorithm. This algorithm simulates the natural behavior of pelicans in the hunting process and integrates dynamic models with real-time optimization. It also combines deep learning and reinforcement learning to improve dynamic decision-making ability and enhance the robustness of the algorithm.

[0139] Application example:

[0140] Based on Examples 1-4, the application of the present invention will be described as follows:

[0141] The "Salt-Light-Fish Tripartite Project" is an innovative project that combines a photovoltaic power generation system with salt fields (solar-dried salt ponds). It achieves efficient operation of power generation on the water, salt production on the surface, and aquaculture underwater, creating a new, three-dimensional, and highly efficient production method. This allows for three uses of one plot of land, significantly increasing the output value per unit area and realizing the comprehensive utilization of land resources and the development of clean energy. However, there are several challenges in maintaining power generation efficiency through timely cleaning of the photovoltaic panels. These include a lack of freshwater resources, the impact of wastewater discharge into the salt fields on salt production, the reliance on small boats for transportation on the salt flats leading to inefficient operation paths, difficulties in selecting the optimal cleaning point for the panels with a risk of falling, and low efficiency of manual cleaning operations.

[0142] like Figure 1 As shown, the structure and materials of a photovoltaic panel module can block light and reduce the absorption efficiency of solar energy after being exposed to pollutants such as dust, dirt, and bird droppings. Furthermore, acidic or alkaline dust can corrode the glass cover in a humid environment, resulting in a rough surface and even hot spot effects. Long-term accumulation may cause the module to burn out. The automatic cleaning device system for photovoltaic panels can realize autonomous inspection and automatic cleaning.

[0143] like Figure 2 As shown, the Salt-Light-Fish Tri-Body photovoltaic panel automatic cleaning device system includes one clean water tank, one wastewater tank, one device housing (including the device itself), and one device maintenance room. The multi-functional device housing is equipped with an intelligent charging and power-swapping system, which can autonomously charge and swap power for the multi-functional automatic cleaning device, thereby ensuring that the device can continuously and efficiently perform various tasks. The multi-functional device housing adopts advanced positioning technology and a visual guidance system, enabling precise take-off and landing of the device under complex and changeable weather conditions. The multi-functional device housing is equipped with advanced automatic operation algorithms and system operation capabilities, which can autonomously decide on flight paths, attitudes, and shooting parameters to achieve efficient and accurate inspection tasks. The multi-functional device housing is also equipped with monitoring cameras and a remote monitoring system, which can monitor the operating status of the device and the security situation of the airport area in real time. At the same time, it can transmit images, videos, operation data, and other information acquired by the device to the back-end center for processing and analysis in real time through wireless data transmission technology.

[0144] The automatic cleaning unit's control room is equipped with a programming computer for writing and simulating the automatic cleaning unit's operating procedures. It is also equipped with automatic cleaning unit fault detection equipment, maintenance software, maintenance instruments, and maintenance tools, enabling the unit to quickly and efficiently resume operation.

[0145] The lower part is equipped with a clean water tank and a wastewater tank, which are mainly used to provide sufficient cleaning water for the automatic cleaning device and to temporarily store the wastewater and garbage collected after the device is cleaned.

[0146] like Figure 3As shown, the automatic cleaning device operates in a multi-rotor mode, with four X-type rotors. It consists of a fuselage, engine, control system, and payload system. The control system of the automatic cleaning device mainly consists of an operating system, a remote controller, and a GPS system.

[0147] The automatic cleaning unit features replaceable soft brushes, replaceable dual-power roller brushes, and a suction port with a suction power exceeding 80,000 Pa. Equipped with a high-efficiency motor, it deeply cleans various stubborn stains. A high-performance battery provides over 240 minutes of cleaning time per cycle. It also features a highly efficient self-cleaning function, automatically cleaning the roller brushes and internal pipes. Furthermore, it boasts an 85℃ high-temperature full-chain quick-drying function and a constant-pressure active water cleaning system, integrating water spraying, brushing, scraping, and recycling functions into one unit.

[0148] After the automatic cleaning device is activated, it visually scans the target photovoltaic panel area. By comparing the cleanliness of the photovoltaic panels, it determines the cleaning operation points. After summarizing all planned cleaning points, it generates a plan target. Through repeated comparisons of various calculation function models, it outputs the optimal solution path provided by the calculation. The automatic cleaning device will then implement the photovoltaic panel cleaning operation according to the fastest, most convenient, and most efficient cleaning path. This algorithm can reduce planning time by 30%, balance convergence speed and accuracy, improve the ability to escape local optima by 15%, and support multi-machine task allocation and path conflict avoidance.

[0149] like Figure 4 As shown, after the automatic cleaning device reaches the target photovoltaic panel, it will stop at the starting point of the cleaning operation. Taking the most common "bow" shaped cleaning path as an example, the automatic cleaning device will perform cleaning operations according to the planned cleaning path. The soft brush can gather debris to the suction port, and the powerful suction easily removes dirt and dust. In addition, the dual roller brushes can not only vacuum and wipe simultaneously, but also easily remove stubborn stains on the photovoltaic panel through bidirectional rotation. Whether it is dust, bird droppings or solid stains, they can all be removed. The large-capacity wastewater tank can not only extend the cleaning area of ​​the automatic cleaning device, but also ensure that the cleaning wastewater does not spill into the salt field, affecting the evaporation effect and reducing salt production. Furthermore, through the detection and comparison of the vision system, the cleaning operation can be repeated until the final clean effect is achieved. It can also program and select "U" shaped, triangular, and pentagonal trajectory cleaning paths according to the actual situation, and adjust the walking path automatically according to the environmental conditions, making it more intelligent and the cleaning effect more thorough. After completing the cleaning task of the photovoltaic panels, the automatic cleaning device is further improved by replacing the water tank, adding photovoltaic panel protective coating liquid, and replacing the soft brush and roller brush to perform an integrated automatic cleaning and coating operation. This allows the device to autonomously complete the coating task of the photovoltaic panel protective coating and continuously improve the anti-corrosion, gloss, self-cleaning and anti-fouling effects of the photovoltaic panels.

[0150] Compared to conventional methods for cleaning photovoltaic panels, this invention utilizes visual image acquisition and real-time monitoring and analysis of equipment operating data. The system can predict and identify potential faults, enabling preventative maintenance, improving the power generation efficiency of the photovoltaic panels, and ensuring the stable operation of the photovoltaic power generation system. Furthermore, this system effectively avoids errors that may occur during manual inspections and cleaning due to fatigue, negligence, or other reasons. By eliminating these human factors through the device, it improves operational efficiency and ensures personal safety.

[0151] This invention enables comprehensive, real-time inspection of the cleanliness of photovoltaic panels in the Yanguangyu Tri-body project, effectively solving various operational and maintenance problems in the project. It conveniently and efficiently improves photovoltaic power generation efficiency, comprehensively reduces equipment operating costs, effectively enhances the cleanliness of photovoltaic panels, reduces the intensity and efficiency of manual labor while ensuring the safety of personnel and equipment, extends equipment life, and achieves long-term economic benefits.

[0152] This invention also provides a customized implementation method for an automatic cleaning device system for a single photovoltaic panel of a salt-light fishery, comprising the following steps:

[0153] S1: Requirements Analysis;

[0154] Determine the scale, terrain, and climate conditions of the photovoltaic power station, and select appropriate equipment and cleaning systems.

[0155] S2: System Design;

[0156] The design of the device platform, cleaning system, control system, and image processing system was carried out, and simulation was performed.

[0157] S3: Hardware selection and procurement;

[0158] Based on the design scheme, select appropriate hardware equipment, including devices, sensors, actuators, controllers, etc.

[0159] S4: Software Development;

[0160] Develop and operate control software, cleaning control software, image processing software, and ground control station software.

[0161] S5: System Integration;

[0162] Integrate the various components together and perform system testing and debugging.

[0163] S6: On-site testing and deployment;

[0164] Test in a real-world environment and make necessary adjustments and optimizations.

[0165] In summary, this invention discloses an automatic cleaning device, system, and method for photovoltaic panels in the "Salt-Light-Fish Tri-Body Project," comprising photovoltaic panel components placed in a salt pond, clean water tanks and wastewater tanks placed at fixed locations within the project, a device platform placed above the clean water tanks and wastewater tanks, and a multi-functional automatic photovoltaic panel cleaning device placed on a helipad. The salt pond is an evaporation salt pond used in the solar-dried sea salt process. The double-sided photovoltaic modules in the salt pond consist of monocrystalline silicon photovoltaic panels, clamps, supports, diagonal braces, pile foundations, and other structures. The clean water tank and wastewater tank are both formed by thermosetting and winding glass fiber. The device platform has automatic deployment and charging functions. The multi-functional automatic photovoltaic panel cleaning device can automatically detect and clean the photovoltaic panels, and uses adsorption sensors to maintain planar balance to achieve double-sided cleaning of the front and back of the photovoltaic panels. This invention employs an innovative design, utilizing a multi-functional device to perform visual scanning and coordinate positioning of photovoltaic panels, generating an automatic cleaning path. Through cleaning steps such as water spraying, roller brushing, wiping, and vacuuming, it completes the automatic cleaning task of the photovoltaic panels, solving the problem of cleaning photovoltaic panels in Yantian, reducing labor costs, ensuring the safety of cleaning personnel, greatly improving work efficiency, guaranteeing the cleaning effect of the photovoltaic panels, and allowing for the immediate application of a clean and stain-resistant coating after cleaning, thereby further protecting the photovoltaic panels, improving their power generation efficiency, reducing the number of cleaning cycles, lowering energy consumption, and enhancing the benefits of photovoltaic power generation.

[0166] The above embodiments have provided a detailed description of the present invention, but the content described is only a preferred embodiment of the present invention and should not be considered as limiting the scope of the present invention. All equivalent variations and improvements made within the scope of the present invention should still fall within the patent coverage of the present invention.

Claims

1. An automatic cleaning system for photovoltaic panels, characterized in that: The device includes a double-sided photovoltaic module (3) installed in a sun-dried salt field to collect salt, light, and fish, an automatic cleaning device (16) for cleaning both sides of the double-sided photovoltaic module (3), and a device platform (15) for automatically launching and retrieving the automatic cleaning device (16). The double-sided photovoltaic module (3) includes a photovoltaic panel support structure and photovoltaic panels that generate electricity on both sides. The upper part of the device platform (15) is equipped with a multi-functional device nest (18) and an operating room. The lower part of the device platform (15) is equipped with a clean water tank (13) and a wastewater tank (14).

2. The automatic cleaning system for a single-phase photovoltaic panel according to claim 1, characterized in that: The photovoltaic panels are installed above the sun-dried salt field at a slope of 17 degrees via a photovoltaic panel support structure. The photovoltaic panels include monocrystalline silicon modules and double-glass moisture-resistant photovoltaic panels.

3. The automatic cleaning system for a single-phase photovoltaic panel according to claim 1, characterized in that: The photovoltaic panel support structure includes a main keel (4), a secondary keel (5), a front support (7), a rear support (8), a clamp, a vertical support (11), a diagonal brace, and a pile foundation (2). The pile foundation (2) is a prestressed concrete pipe pile with multifunctional composite concrete anti-corrosion admixture added to the concrete; the main keel (4) and secondary keel (5) are made of U-shaped carbon structural steel Q235B, and the surface is hot-dip galvanized; the front support (7) and rear support (8) are made of C-shaped carbon structural steel Q235B, and the surface is hot-dip galvanized; the vertical support (11) is a rectangular tube, made of carbon structural steel Q235B, and the surface is hot-dip galvanized; the clamp is divided into upper clamp (10) and lower clamp (11), both of which are stamped from galvanized sheet, made of carbon structural steel Q235B, and the surface is hot-dip galvanized.

4. The automatic cleaning system for a single-phase photovoltaic panel according to claim 1, characterized in that: The clean water tank (13) is a barrel-shaped structure made of FRP fiberglass. The clean water tank (13) is equipped with a quick-connect valve for water inlet and a low-level drain valve, as well as a delivery and pressurization pump and a removable and replaceable filter screen. The sewage tank (14) is a barrel-shaped structure made of FRP fiberglass. The sewage tank (14) is equipped with a quick-connect valve for water inlet and a low-level drain valve, as well as a delivery and pressurization pump and a removable and replaceable filter screen.

5. An automatic cleaning device for a single-phase photovoltaic panel, characterized in that: Including the automatic cleaning device in the automatic cleaning system for photovoltaic panels of the Salt-Light-Fish Tri-Body Solar Panel as described in claim 1, the automatic cleaning device adopts a multi-rotor mode and consists of a fuselage, a rotor system, a power system, a control system, and a load system, wherein: The power system includes a battery, a motor, a propeller, and an electronic speed controller, which is responsible for providing energy for the automatic cleaning device to take off, hover, and operate. The control system includes a flight control system, a remote control system, and a GPS navigation system, which are responsible for the stable operation and autonomous navigation of the automatic cleaning device; The payload system includes a multi-dimensional sensor, a binocular vision imaging system, communication equipment, a gripping device, an adsorption component, and a cleaning component.

6. The automatic cleaning device for a single-phase photovoltaic panel according to claim 5, characterized in that: The binocular vision imaging device includes 8K high-definition electrically adjustable dual cameras; The adsorption component includes an adsorption sensor (21), which can feed back the unbalanced force attached to the inclined surface of the photovoltaic panel to the control system, and the control system makes dynamic adjustments to maintain the balance of the working plane. The cleaning components include a clean water tank, a wastewater tank, a multi-purpose atomizing nozzle (22), a soft brush and a roller brush, and a dust collection device.

7. The automatic cleaning device for a single-phase photovoltaic panel according to claim 5, characterized in that: The multifunctional device nest (18) is equipped with an intelligent charging and swapping system, a visual guidance system, a remote monitoring system, an intelligent positioning system, and a path planning system. It also transmits the images, videos, and operation data information acquired by the automatic cleaning device to the back-end center for processing and analysis in real time through wireless data transmission technology.

8. The automatic cleaning device for a single-phase photovoltaic panel according to claim 5, characterized in that: The operating room is equipped with a programming computer for writing and simulating the operation program of the automatic cleaning device, and is also equipped with fault detection equipment, maintenance software, maintenance instruments and meters and maintenance tools for the automatic cleaning device.

9. A cleaning method for an automatic cleaning device for photovoltaic panels as described in any one of claims 5-8, characterized in that: Includes the following steps: Step 1: After the automatic cleaning system is set up and deployed, the water tank is first filtered and filled with water, and the automatic cleaning device is tested for take-off, landing and retraction. After the trial run is completed, the device program is written in the control room to control the automatic cleaning device to take off, land, hover and perform waypoint tasks. Step 2: The automatic cleaning device uses binocular vision images and multi-dimensional sensors to form an environmental map, and finally determines the location of the photovoltaic panel in the three-dimensional solar panel, generates the optimal cleaning operation path, and autonomously formulates the cleaning task. Step 3: The cleaning task of the automatic cleaning device includes multiple phased cleaning tasks. After completing each phased cleaning task, the automatic cleaning device records the node, returns to the automatic cleaning device nest to replenish power, automatically replenish water, and clean the sewage tank. At the same time, the images, videos, and operation data acquired by the automatic cleaning device are transmitted to the back-end center in real time for processing and analysis through wireless data transmission technology. The visual cleanliness of the photovoltaic panel surface is compared by the captured images to formulate the next phased cleaning task. The automatic cleaning device autonomously decides its trajectory, attitude, and shooting parameters when completing the phased cleaning task. Step 4: Replace the soft brush, recharge and rest, and continue to perform the next stage of cleaning until all cleaning tasks are completed. Repeat this cycle. During this period, operators and maintenance personnel should pay attention to the operating status of the device and the liquid levels of the clean water tank and the sewage tank. They should replenish fresh water in advance and clean the sewage tank in a planned manner to ensure the smooth operation of the Salt Light Fish Tri-body One-Stop Automatic Cleaning Device System. Step 5: After the photovoltaic panel is cleaned, add photovoltaic panel protective coating liquid to the water tank, replace the soft brush and roller brush, and spray the atomized coating medium through the high-pressure atomizing nozzle to perform an automatic cleaning and coating integrated operation, thereby autonomously completing the coating task of the photovoltaic panel protective coating.

10. The cleaning method of the automatic cleaning device for one-position photovoltaic panels according to claim 9, characterized in that: In step 3, the automatic cleaning device can also perform a comprehensive comparative analysis of the photovoltaic panel's average daily power generation and the visual cleanliness data of the photovoltaic panel surface to automatically generate cleaning path, cleaning mode, and cleaning degree information for the photovoltaic panel. It can intelligently sense the dirt situation and intelligently adjust the water volume and suction to ensure the best cleaning effect.

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