Self-adaptive photovoltaic panel cleaning system and method based on multi-mode sensing

Abstract

The invention belongs to the technical field of solar photovoltaic power generation operation and maintenance, and relates to a self-adaptive photovoltaic panel cleaning system and method based on multi-mode sensing. Comprising a rack, a sensing assembly, a cleaning module, a power supply module and a control module; the sensing assembly is arranged on the rack and located at the front end of the advancing direction of the rack. The cleaning module is arranged on the rack and located behind the sensing assembly. The power supply module and the control module are both arranged on the rack; the power supply module is connected with the control module; the control module is connected with the sensing assembly and the cleaning module. According to the invention, precise judgment and efficient cleaning of the cleaning state of the photovoltaic panel are realized, and the intelligent level and the operation and maintenance efficiency of the cleaning operation are remarkably improved.

Description

Technical Field

[0001] This invention belongs to the field of solar photovoltaic power generation operation and maintenance technology, and relates to an adaptive photovoltaic panel cleaning system and method based on multimodal perception. Background Technology

[0002] With the rapid development and widespread application of solar power generation technology, the construction scale of photovoltaic power plants continues to expand. As the core component of the entire power generation system, the cleanliness of the photovoltaic panel's surface directly determines the photoelectric conversion efficiency. Due to long-term exposure to the outdoor environment, the surface of photovoltaic panels easily accumulates various pollutants such as dust, bird droppings, and oil, resulting in a significant decrease in light transmittance and consequently a continuous decline in power generation performance. To address this issue, various cleaning methods have emerged and are applied in actual operation and maintenance, such as manual wiping, mechanical roller brush cleaning, high-pressure water gun rinsing, and fixed automatic cleaning robots. However, most of these existing solutions rely on manual operation or pre-set programs. Only some equipment is equipped with basic sensors for simple status judgment, and they generally lack the ability to comprehensively identify and analyze the type, spatial distribution, and surface morphology of stains. This leads to a tendency for the cleaning process to adopt a uniform mode, making it impossible to dynamically adjust the cleaning strategy according to the actual pollution situation.

[0003] Current technologies have several significant shortcomings: manual cleaning is not only inefficient but also poses safety risks due to working at heights; mechanical brushing can easily scratch the anti-reflective coating on the photovoltaic panel surface when removing stubborn stains, affecting its service life and optical performance; high-pressure spraying consumes a huge amount of water, making it difficult to promote its use in arid regions with scarce water resources; while fixed automatic cleaning devices have poor adaptability and cannot flexibly cope with photovoltaic panel layout scenarios with different installation angles or curved structures. At the same time, due to the lack of an effective quality feedback mechanism, it is impossible to evaluate and optimize the cleaning effect in real time, thus making it difficult to guarantee long-term stable power generation efficiency. Summary of the Invention

[0004] To address the problems in existing technologies, this invention provides an adaptive photovoltaic panel cleaning system and method based on multimodal perception, which enables accurate judgment of the cleanliness status of photovoltaic panels and efficient cleaning, significantly improving the intelligence level and operation and maintenance efficiency of cleaning operations.

[0005] To achieve the above objectives, the present invention employs the following technical solution: In a first aspect, the present invention provides an adaptive photovoltaic panel cleaning system based on multimodal sensing, including a frame, sensing components, a cleaning module, a power supply module, and a control module; The sensing component is mounted on the frame and located at the front end of the frame in the direction of travel; the cleaning module is mounted on the frame and located behind the sensing component; the power supply module and the control module are both mounted on the frame; the power supply module is connected to the control module; the control module is connected to both the sensing component and the cleaning module.

[0006] Preferably, the sensing components include a multispectral camera, a laser rangefinder, and a conductivity sensor; the multispectral camera, the laser rangefinder, and the conductivity sensor are all mounted on the frame and located at the front end of the frame in the direction of travel; the multispectral camera, the laser rangefinder, and the conductivity sensor are all connected to the control module.

[0007] Preferably, the cleaning module includes an air blowing unit, a micro-mist cleaning unit, and a cleaning agent spraying unit arranged sequentially along the travel direction of the frame; the air blowing unit, the micro-mist cleaning unit, and the cleaning agent spraying unit are all connected to the control module.

[0008] Preferably, the air blowing unit includes an air compressor and a nozzle communicating with the air compressor, the nozzle being disposed facing the surface of the photovoltaic panel.

[0009] Preferably, the micro-mist cleaning unit includes an atomizer and a rotating brush; the atomizer is positioned in front of the rotating brush along the traveling direction of the frame, and both the mist outlet of the atomizer and the brush head of the rotating brush face the surface of the photovoltaic panel.

[0010] Preferably, the cleaning agent spraying unit includes a scraper, a cleaning agent storage tank, and a spray head communicating with the cleaning agent storage tank; the spray head is arranged in front of the scraper along the traveling direction of the frame, and the spraying direction of the spray head and the working end of the scraper are both arranged facing the surface of the photovoltaic panel.

[0011] Preferably, the power supply module includes a flexible photovoltaic panel disposed on the top of the frame and a battery electrically connected to the flexible photovoltaic panel via a power conversion circuit.

[0012] Preferably, it further includes a walking mechanism and a suspension mechanism; the walking mechanism includes a drive motor and a walking wheel connected to the drive motor; the drive motor is fixedly mounted on the frame; the walking wheel is disposed at the bottom of the frame; the suspension mechanism includes a parallelogram linkage assembly and a quick-release interface, one end of the parallelogram linkage assembly is hinged to the frame, and the other end is connected to the quick-release interface.

[0013] Preferably, the quick-release interface includes a mounting base, a magnetic suction assembly, and a snap-fit ​​assembly; the mounting base is fixedly connected to the end of the parallelogram linkage assembly; the magnetic suction assembly is fixedly mounted on the mounting base; and the snap-fit ​​assembly is movably mounted on the mounting base.

[0014] Secondly, the present invention provides an adaptive photovoltaic panel cleaning method based on multimodal sensing, comprising the following steps: The sensing components are used to detect multimodal stains on the surface of the photovoltaic panel and obtain data on the type, distribution, and morphology of the stains. The control module receives and analyzes the sensing data from the sensing components, and generates a corresponding cleaning strategy based on the type, distribution, and morphology of the stains. The control module controls the cleaning module to perform cleaning operations according to the cleaning strategy; After the cleaning operation is completed, the sensor component is used to detect the effect on the surface of the cleaned photovoltaic panel, and the detection result is fed back to the control module. The control module determines whether the cleaning effect meets the standard based on the detection results. If it does not meet the standard, the control module controls the cleaning module to perform supplementary cleaning on the areas that do not meet the standard.

[0015] Compared with the prior art, the present invention has the following beneficial effects: By incorporating sensing components, the system achieves real-time and accurate perception of the surface contamination status of photovoltaic panels, providing a data foundation for intelligent cleaning decisions. The cleaning module executes targeted cleaning actions based on control commands, effectively removing various contaminants. The power supply module provides a continuous and stable power supply to the entire system, ensuring long-term autonomous operation of the equipment. The control module, as the core of the system, coordinates the processing of sensor information and the execution of cleaning actions, achieving closed-loop control from perception to execution. This invention achieves accurate judgment of the cleanliness status of photovoltaic panels and efficient cleaning, significantly improving the intelligence level of cleaning operations and maintenance efficiency. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of an adaptive photovoltaic panel cleaning system based on multimodal sensing according to the present invention.

[0018] The components include: 1. rack; 2. sensing components; 3. cleaning module; 4. power supply module; and 5. control module. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0020] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0021] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0022] In the description of the embodiments of the present invention, it should be noted that if terms such as "upper," "lower," "horizontal," or "inner" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, terms such as "first" and "second" are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0023] Furthermore, the use of the term "horizontal" does not imply that the component must be absolutely horizontal, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0024] In the description of the embodiments of the present invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0025] The present invention will now be described in further detail with reference to the accompanying drawings: The first objective of this invention is to provide an adaptive photovoltaic panel cleaning system based on multimodal sensing, such as... Figure 1 As shown, it includes a rack 1, a sensing assembly 2, a cleaning module 3, a power supply module 4, and a control module 5; The sensing component 2 is mounted on the frame 1 and located at the front end of the frame 1 in the direction of travel; the cleaning module 3 is mounted on the frame 1 and located behind the sensing component 2; the power supply module 4 and the control module 5 are both mounted on the frame 1; the power supply module 4 is connected to the control module 5; the control module 5 is connected to both the sensing component 2 and the cleaning module 3.

[0026] The frame 1 serves as the main load-bearing structure of the entire system, used to fix and support other functional modules. Its structure is made of lightweight, high-strength aluminum alloy or carbon fiber composite material, with an overall elongated frame structure for smooth movement on the photovoltaic panel surface. The frame design considers the center of gravity distribution and structural rigidity, ensuring good stability when operating on inclined mounting surfaces. The sensing component 2 is located at the front end of the frame 1 in the direction of travel, used to collect real-time status information of the photovoltaic panel surface before cleaning. This arrangement allows the system to acquire the type, distribution, and morphological characteristics of contaminants before contact or approach, thus avoiding misjudgments or ineffective cleaning due to blind spots. The cleaning module 3 is located on the frame 1, behind the sensing component 2, forming a front-to-back functional sequence layout. This spatial arrangement allows the system to naturally complete the "detection-analysis-cleaning" process loop during movement, improving operational continuity and response efficiency. The cleaning module 3, as the execution unit, is responsible for implementing specific cleaning actions according to control commands, and its working state is controlled by the dynamic scheduling of the control module 5. Both the power supply module 4 and the control module 5 are integrated on the rack 1. The power supply module 4 provides stable power to the control module 5 (and can also power the sensing component 2 and the cleaning module 3), supporting long-term independent operation without relying on an external power source or frequent charging. The control module 5 receives data input from the sensing component 2, analyzes and judges it, and outputs corresponding control signals to the cleaning module 3 to achieve coordinated operation between multiple modules.

[0027] For example, the sensing component 2 includes a multispectral camera, a laser rangefinder, and a conductivity sensor; the multispectral camera, the laser rangefinder, and the conductivity sensor are all mounted on the frame 1 and located at the front end of the frame 1 in the direction of travel; the multispectral camera, the laser rangefinder, and the conductivity sensor are all connected to the control module 5.

[0028] Multispectral cameras are used to collect the reflectance spectrum information of photovoltaic panel surfaces at different wavelengths. Their working principle is based on the differences in the absorption and reflection characteristics of different pollutants at specific wavelengths of light, thereby enabling the identification of stain types. Specifically, multispectral cameras can use CMOS image sensors covering the 400-1000 nm wavelength range, possessing high sensitivity and a wide dynamic range, capable of distinguishing subtle spectral differences. For example, a significant absorption peak in the 700-900 nm wavelength range indicates the presence of inorganic dust mainly composed of SiO2 and Al2O3; a characteristic response in the 500-1600 nm wavelength range suggests the presence of oily organic pollutants; and anomalies in the 650-750 nm range may correspond to urate components in bird droppings.

[0029] Laser rangefinders emit laser beams and receive reflected signals to precisely measure changes in distance from the sensor to the photovoltaic panel surface, thereby reconstructing the surface microstructure and identifying structural features such as particle accumulation thickness or local protrusions. Specifically, the laser rangefinder preferably uses a triangulation-based or time-of-flight principle miniature sensor, achieving a measurement accuracy of ±0.1 mm. This is suitable for detecting areas with sand accumulation layers exceeding 50 μm in thickness, where pre-cleaning with an air-blowing unit is typically required. Multiple measuring points are evenly distributed along the transverse direction, or a stepper motor drives a linear scanning motion to obtain a continuous surface contour curve. Alternatively, a structured light 3D scanning module can be used to replace the single-point laser sensor, achieving higher-density morphology reconstruction on complex curved photovoltaic panels.

[0030] The conductivity sensor is a contact-type microprobe structure that detects the ion concentration of residual liquid contaminants upon light contact with the photovoltaic panel surface, outputting a corresponding conductivity value to determine the presence of soluble salt deposits. Specifically, the conductivity sensor uses a dual-electrode microprobe made of stainless steel or platinum, with a probe spacing of approximately 1-2 mm. A small current is applied, and the voltage drop is measured to calculate the conductivity value. The detection threshold can be set to >50 μS / cm, indicating significant salt residue, requiring a desalination step in the cleaning process. To prevent scratching the antireflective coating of the photovoltaic panel, the probe tip is rounded, and the applied pressure is less than 0.1 N.

[0031] The cleaning module 3 includes an air blowing unit, a micro-mist cleaning unit, and a cleaning agent spraying unit arranged sequentially along the traveling direction of the frame 1; the air blowing unit, the micro-mist cleaning unit, and the cleaning agent spraying unit are all connected to the control module 5.

[0032] This invention divides the cleaning function into three sequentially arranged functional units, which are uniformly scheduled by the control module 5 to achieve differentiated treatment of different types of stains. The functional units are arranged sequentially according to the principle of increasing physical intensity and gradually deepening media intervention, forming a progressively enhanced cleaning process. This effectively removes various contaminants while avoiding excessive intervention or damage to the anti-reflective coating on the photovoltaic panel surface.

[0033] The air-blowing unit includes an air compressor and a nozzle connected to the air compressor, with the nozzle facing the surface of the photovoltaic panel. The air-blowing unit is used to initially remove loosely attached dust and dry particles from the photovoltaic panel surface. It mainly relies on the impact of high-speed airflow generated by compressed gas to blow away the unconsolidated dust layer from the panel surface, preventing secondary dust deposition caused by brushing disturbance during subsequent wet cleaning. This unit can use a silent micro air compressor as the air source, with an output pressure stable in the range of 0.4~0.6 MPa. Combined with a conical nozzle with an orifice diameter of 0.5 mm, the airflow velocity is maintained between 8~12 m / s to ensure sufficient cleaning power while reducing noise interference (<50 dB).

[0034] The micro-mist cleaning unit includes an atomizer and a rotating brush. The atomizer is positioned in front of the rotating brush along the travel direction of the frame 1, with both the atomizer's outlet and the rotating brush head facing the photovoltaic panel surface. Micro-mist cleaning is used to dissolve and assist in the removal of residual inorganic dust and some water-soluble contaminants after pre-cleaning. This unit is connected to a nano-atomizing plate via an ultrapure water supply system to generate micron-sized water mist with a particle size in the range of 5-10 μm. These droplets have strong air suspension and surface permeability, allowing for thorough wetting of the contaminated area without forming a water flow, softening the particle adhesion interface. The atomizer outlet is angled towards the photovoltaic panel surface to ensure uniform coverage of the area to be cleaned. The unit also includes a rotating soft brush with bristles made of polyester fiber or nylon 6, with a hardness lower than the photovoltaic panel's anti-reflective coating (typically a SiO2-based coating). This brush is used only for light scraping to promote contaminant removal without causing scratches.

[0035] The cleaning agent spraying unit includes a scraper, a cleaning agent tank, and a spray head connected to the cleaning agent tank. The spray head is positioned in front of the scraper along the travel direction of the frame 1, and the spray direction of the spray head and the working end of the scraper are both directed towards the photovoltaic panel surface. The cleaning agent spraying unit performs targeted treatment on stubborn stains such as organic pollutants and bird droppings. The cleaning agent used can be a biological enzyme preparation with a pH value between 6 and 8, which has the ability to efficiently decompose grease and protein pollutants, and is non-corrosive, biodegradable, and avoids chemical residues. The scraper is made of silicone material with a Shore hardness controlled between 40A and 60A, lower than the hardness of the anti-reflective coating (usually ≥70A), thereby maximizing the protection of the surface structure while ensuring the scraping effect.

[0036] For example, the power supply module 4 includes a flexible photovoltaic panel disposed on the top of the frame 1 and a battery electrically connected to the flexible photovoltaic panel through a power conversion circuit.

[0037] The flexible photovoltaic (PV) panel is lightweight and thin, with a thickness of less than 2 mm, allowing it to be fitted onto the upper surface of the frame 1 without significantly increasing the overall height or compromising structural stability. Utilizing a high-efficiency material system, the PV panel achieves a photoelectric conversion efficiency of up to 22%, maintaining effective output even under low-light conditions. It is suitable for PV power plant operation and maintenance scenarios under various geographical and meteorological conditions. The flexible PV panel can be made of amorphous silicon, copper indium gallium selenide (CIGS), or perovskite-based thin-film materials, exhibiting good anti-shading performance and some surface adaptability, enabling stable operation in curved or tilted PV array environments. The power conversion circuit is used to stabilize, regulate, and perform maximum power point tracking (MPPT) on the output power of the flexible PV panel, ensuring efficient charging of the battery under varying light intensities. This circuit includes a DC-DC converter, a charge / discharge management chip, and an overvoltage / overcurrent protection unit, dynamically adjusting the charging strategy based on the battery's current state of charge (SOC) to extend battery life and improve energy utilization efficiency.

[0038] The system of this invention also includes a walking mechanism; the walking mechanism includes a drive motor and walking wheels connected to the drive motor; the drive motor is fixedly mounted on the frame 1; the walking wheels are located at the bottom of the frame 1; the drive motor, as a power source, can be a DC brushless motor or a stepper motor, which has the characteristics of fast response, high speed adjustment accuracy, and smooth operation, and its output shaft is mechanically connected to the walking wheels through a coupling or gear transmission structure. The drive motor is fixedly mounted on the frame 1, which facilitates overall integration and center of gravity optimization. The walking wheels are located at the bottom of the frame 1 and are symmetrically arranged along the length of the frame 1. The number can be set to two or more according to the system weight and friction requirements. The wheel material can be elastic materials such as silicone or polyurethane to improve grip and avoid scratching the surface of the photovoltaic panel.

[0039] The system of this invention also includes a suspension mechanism; the suspension mechanism includes a parallelogram linkage assembly and a quick-release interface. The parallelogram linkage assembly consists of four links connected sequentially by hinges to form a closed quadrilateral structure, with one end hinged to the frame 1 and the other end connected to the quick-release interface. This structure has an angle self-holding characteristic, that is, no matter how the mounting base is tilted, the frame 1 connected to the linkage always maintains its original posture, thereby keeping the cleaning module 3 perpendicular to the photovoltaic panel surface or at a preset angle, ensuring uniform distribution of cleaning pressure. The linkage assembly can be made of aluminum alloy or carbon fiber material, reducing the overall weight while ensuring structural strength. In an optional embodiment, dampers or spring buffer elements can be added to the hinge points between the links to absorb vibration and impact during travel and improve operational stability.

[0040] Furthermore, the quick-release interface includes a mounting base, a magnetic traction assembly, and a snap-fit ​​assembly. The mounting base is fixedly connected to the end of the parallelogram linkage assembly. The magnetic traction assembly is fixedly mounted on the mounting base. The snap-fit ​​assembly is movably mounted on the mounting base. The mounting base, as the structural support, rigidly fixes the entire quick-release interface to the parallelogram linkage assembly in the suspension mechanism, ensuring reliable torque transmission. The magnetic traction assembly is fixedly mounted on the surface of the mounting base and uses a high-energy-product neodymium iron boron permanent magnet or an electromagnetic device, which automatically generates an adsorption effect when approaching the metal frame of the photovoltaic panel, achieving initial positioning and pre-fixation. The snap-fit ​​assembly is movably mounted on the mounting base and can slide along a specific track or rotate around an axis, possessing both locking and releasing working states. After magnetic positioning is completed, a mechanical locking action is performed, forming a double-fixing mechanism.

[0041] A second objective of this invention is to provide an adaptive photovoltaic panel cleaning method based on multimodal sensing, comprising the following steps: S1. The sensing component 2 is used to detect multimodal stains on the surface of the photovoltaic panel and obtain data on the type, distribution and morphology of the stains. The multispectral camera in sensor component 2 collects reflectance spectral information of the photovoltaic panel surface at different wavelengths to identify stain types such as inorganic dust, organic pollutants, or bird droppings. The laser rangefinder emits a laser beam and receives the reflected signal to accurately measure the distance change to the photovoltaic panel surface, thereby reconstructing the surface microstructure and detecting particle accumulation thickness or local protrusions. The conductivity sensor detects the ion concentration of residual liquid pollutants through its contact microprobe structure and outputs conductivity values ​​to determine the deposition of soluble salts. These multimodal data acquired by sensor component 2 together constitute a comprehensive perception of the stain status and are transmitted to control module 5.

[0042] S2. The control module 5 receives and analyzes the sensing data of the sensing component 2, and generates a corresponding cleaning strategy based on the type, distribution and morphology data of the stains. For example, for loosely attached dust detected by sensor component 2, the strategy generated by control module 5 will prioritize activating the air blowing unit in cleaning module 3 for airflow stripping; for residual inorganic dust or water-soluble contaminants, the micro-mist cleaning unit in cleaning module 3 will be activated for wetting and softening; and for stubborn organic stains or bird droppings, the cleaning agent spraying unit in cleaning module 3 will be used for targeted decomposition. Based on the fusion analysis of multimodal data, control module 5 dynamically adjusts the activation sequence, operating parameters, and duration of each cleaning unit to achieve precise differentiated treatment.

[0043] S3. The control module 5 controls the cleaning module 3 to perform cleaning operations according to the cleaning strategy. The cleaning module 3, consisting of an air blowing unit, a micro-mist cleaning unit, and a cleaning agent spraying unit arranged sequentially along the travel direction of the frame 1, works collaboratively under the command of the control module 5, forming a progressively enhanced cleaning process. The air blowing unit removes loose particles by impacting the surface with high-speed airflow generated by its air compressor and nozzles; the micro-mist cleaning unit wets the surface with micron-sized water mist generated by its atomizer, and performs light scraping with a rotating brush; the cleaning agent spraying unit sprays bio-enzymes from the cleaning agent tank through its spray head to decompose stubborn stains, and removes residual liquid film with a silicone scraper. The entire cleaning process is coordinated by the control module 5, ensuring that the cleaning actions match the characteristics of the stains.

[0044] S4. After the cleaning operation is completed, the sensor component 2 is used to detect the effect on the surface of the cleaned photovoltaic panel, and the detection result is fed back to the control module 5. The effectiveness assessment is also based on data from multispectral cameras, laser rangefinders, and conductivity sensors, comparing the changes in state before and after cleaning to evaluate the cleanliness of each area.

[0045] S5. The control module 5 determines whether the cleaning effect meets the standard based on the detection result. If it does not meet the standard, the control module 3 is controlled to perform supplementary cleaning on the unqualified area. Supplemental cleaning may involve adjusting the combination or parameters of the cleaning units to target specific stains. For example, the micro-mist cleaning unit may be used to increase micro-mist rinsing in areas with localized salt residue, or the cleaning agent spraying unit may be used to repeat the cleaning agent spraying process for unremoved organic stains until the test results meet the preset cleaning standards.

[0046] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A self-adapting photovoltaic panel cleaning system based on multi-modal perception, characterized in that, It comprises a rack (1), a sensing assembly (2), a cleaning module (3), a power supply module (4) and a control module (5). The sensing assembly (2) is arranged on the rack (1) and located at the front end of the rack (1) in the direction of travel; the cleaning module (3) is arranged on the rack (1) and located behind the sensing assembly (2); the power supply module (4) and the control module (5) are both arranged on the rack (1); the power supply module (4) is connected with the control module (5); the control module (5) is connected with the sensing assembly (2) and the cleaning module (3) respectively.

2. The adaptive photovoltaic panel cleaning system based on multi-modal perception as claimed in claim 1, wherein, The sensing assembly (2) comprises a multi-spectrum camera, a laser ranging sensor and an electrical conductivity sensor; the multi-spectrum camera, the laser ranging sensor and the electrical conductivity sensor are all arranged on the rack (1) and located at the front end of the rack (1) in the direction of travel; the multi-spectrum camera, the laser ranging sensor and the electrical conductivity sensor are all connected with the control module (5).

3. The adaptive photovoltaic panel cleaning system based on multi-modal perception as claimed in claim 1, wherein, The cleaning module (3) comprises a gas blowing unit, a micro-fog cleaning unit and a cleaning agent spraying unit arranged in sequence in the direction of travel of the rack (1); the gas blowing unit, the micro-fog cleaning unit and the cleaning agent spraying unit are all connected with the control module (5).

4. The adaptive photovoltaic panel cleaning system based on multi-modal perception as claimed in claim 3, wherein, The gas blowing unit comprises an air compressor and a nozzle in communication with the air compressor, and the nozzle is arranged towards the surface of the photovoltaic panel.

5. The adaptive photovoltaic panel cleaning system based on multi-modal perception as claimed in claim 3, wherein, The micro-fog cleaning unit comprises an atomizer and a rotating brush; the atomizer is arranged in front of the rotating brush in the direction of travel of the rack (1), and the atomizing port of the atomizer and the brush head of the rotating brush are both arranged towards the surface of the photovoltaic panel.

6. The adaptive photovoltaic panel cleaning system based on multi-modal perception as claimed in claim 3, wherein, The cleaning agent spraying unit comprises a scraper, a cleaning agent storage tank and a spraying head in communication with the cleaning agent storage tank; the spraying head is arranged in front of the scraper in the direction of travel of the rack (1), and the spraying direction of the spraying head and the working end of the scraper are both arranged towards the surface of the photovoltaic panel.

7. The adaptive photovoltaic panel cleaning system based on multi-modal perception as claimed in claim 1, wherein, The power supply module (4) comprises a flexible photovoltaic panel arranged on the top of the rack (1) and a storage battery electrically connected with the flexible photovoltaic panel through an electric energy conversion circuit.

8. The adaptive photovoltaic panel cleaning system based on multi-modal perception as claimed in claim 1, wherein, It also comprises a running mechanism and a suspension mechanism; the running mechanism comprises a driving motor and a running wheel connected with the driving motor; the driving motor is fixedly installed on the rack (1); the running wheel is arranged at the bottom of the rack (1); the suspension mechanism comprises a parallelogram linkage assembly and a quick release interface, one end of the parallelogram linkage assembly is hinged to the rack (1), and the other end is connected with the quick release interface.

9. The adaptive photovoltaic panel cleaning system based on multi-modal perception as claimed in claim 8, wherein, The quick release interface comprises a mounting seat, a magnetic attraction assembly and a buckle assembly; the mounting seat is fixedly connected with the end of the parallelogram linkage assembly; the magnetic attraction assembly is fixedly installed on the mounting seat; the buckle assembly is movably installed on the mounting seat.

10. A method for adaptive photovoltaic panel cleaning based on multi-modal perception, characterized in that, The system according to any one of claims 1-9, comprising the following steps: acquiring the type, distribution and morphology data of the stains through the sensing assembly (2) for multi-modal stain sensing on the surface of the photovoltaic panel; The control module (5) receives and analyzes the sensing data of the sensing assembly (2), generates a corresponding cleaning strategy according to the type, distribution and shape data of the stains; The control module (5) controls the cleaning module (3) to perform the cleaning operation according to the cleaning strategy; After the cleaning operation is completed, the sensing assembly (2) detects the effect of the cleaned photovoltaic panel surface, and feeds back the detection result to the control module (5); The control module (5) judges whether the cleaning effect meets the standard according to the detection result, and if not, controls the cleaning module (3) to perform supplementary cleaning on the area that does not meet the standard.

Images