Waypoint acquisition and route planning method of photovoltaic cleaning unmanned aerial vehicle

Abstract

The invention discloses a waypoint acquisition and route planning method for a photovoltaic cleaning unmanned aerial vehicle, and belongs to the technical field of unmanned aerial vehicle application. The method comprises the following steps: firstly, calculating a nest coverage area based on a return flight threshold value, and arranging a nest according to the nest coverage area; secondly, fine waypoint collection is carried out, boundary waypoints are set when the photovoltaic panel enters and exits from the photovoltaic area, a GPS mode is adopted to prevent height falling, and operation waypoints are collected in the photovoltaic panel according to the layout; then, parameterization configuration is carried out on waypoints, a terrain-imitated flight mode is adopted in an operation leg, a load is started, a GPS mode is adopted in a transition leg, the load is closed, and automatic linkage of flight and cleaning is achieved; and finally, integrating dynamic homeward voyage and breakpoint continuation strategies, comparing the residual electric quantity homeward voyage distance with the actual distance in real time to intelligently trigger homeward voyage, and linearly returning to the breakpoint for continuation of operation after replenishment. Full coverage, high efficiency, high safety and intelligence of photovoltaic cleaning operation are achieved.

Description

Technical Field

[0001] This invention relates to the technical field of photovoltaic cleaning drones, and more particularly to methods for waypoint acquisition and route planning. Background Technology

[0002] With the widespread application of photovoltaic power generation technology, the scale of photovoltaic power plants is constantly expanding, and the issue of surface cleaning is becoming increasingly prominent. Accumulated dust, bird droppings, and other pollutants can significantly reduce the power generation efficiency of photovoltaic panels, making regular cleaning crucial. Traditional manual cleaning methods suffer from low efficiency, high cost, and poor safety, especially in large-scale photovoltaic power plants and complex terrain.

[0003] In recent years, drone-based photovoltaic panel cleaning technology has attracted attention due to its flexibility and efficiency. However, its core challenge lies in how to plan safe, efficient, and comprehensive flight routes. Existing route planning methods have the following limitations: First, they lack versatility. Uniform grid planning based on aerial surveying is difficult to adapt to the specific layout and tilt angle of photovoltaic arrays, easily creating cleaning blind spots. Second, flight control is disconnected from mission execution, relying on manual switching of flight modes and payload switches, which increases operational complexity and easily leads to safety accidents and resource waste. Third, they lack sufficient intelligence, lacking the ability to dynamically adjust for cleaning operations, especially in terms of power management. Summary of the Invention

[0004] To address the problems existing in the prior art, this invention provides a waypoint acquisition and route planning method for photovoltaic cleaning drones. This method establishes a set of waypoint acquisition principles and route rules specifically for photovoltaic cleaning scenarios, and integrates automated route generation and dynamic management strategies, thereby achieving full coverage, high efficiency, high safety, and intelligence in cleaning operations, so that photovoltaic cleaning devices can accurately and efficiently complete cleaning tasks.

[0005] To achieve the above objectives, the technical solution of the present invention is a method for waypoint acquisition and route planning of a photovoltaic cleaning drone, characterized by comprising the following steps: First, the coverage area of ​​the drone nests is calculated based on the return-to-home threshold, and the nests are deployed accordingly to fully cover all photovoltaic panels; Secondly, refined waypoint collection for the photovoltaic panel cleaning area includes: collecting transition waypoints at the center of the edge of the photovoltaic panel when entering and leaving the photovoltaic panel area, and using GPS mode to prevent altitude drop; collecting the start and end points of the operation at the center of the edge of a single or row of photovoltaic panels, and collecting several operation waypoints between the start and end points of the operation based on the actual layout, area and cleaning accuracy requirements of the photovoltaic panels, to ensure comprehensive and uniform coverage of the cleaning area; Then, the waypoints are parameterized: including using ground-following flight mode and turning on the payload in the working segment above the photovoltaic panel surface, and using GPS flight mode and turning off the payload in the non-working transfer segment, so as to realize automatic linkage between flight and cleaning. Finally, the system integrates dynamic return-to-home and breakpoint resume-flight strategies, compares the remaining battery power and return distance with the actual distance in real time to intelligently trigger automatic return-to-home, and returns in a straight line to the breakpoint to continue operation after resupply.

[0006] Furthermore, the waypoints for the photovoltaic panel cleaning area are divided into the following four categories according to their regional functions: The waypoint for the upcoming cleaning area serves as a transition point for drones before they enter the airspace above the photovoltaic panels from the open area. Entering the cleaning area waypoint indicates that the drone has officially entered the starting point of the cleaning path above the photovoltaic panels; The waypoints before the drone flies away from the cleaning area are used as positioning reference points when the drone completes the cleaning operation of the current row of photovoltaic panels and is about to leave the photovoltaic panels; The waypoint for flying away from the cleaning area is used as a transition point for the drone to switch to the next row of photovoltaic panels.

[0007] Furthermore, the dynamic return-to-home and breakpoint resume-flight strategy is as follows: During mission execution, the return distance based on the remaining battery power is calculated in real time and compared with the actual distance from the UAV to the nearest nest. When the actual distance between the UAV and the nearest nest is equal to the return distance based on the remaining battery power, the return-to-home is automatically triggered to perform battery swapping and water replenishment. Before each return-to-home, the current breakpoint location is marked. After battery swapping and water replenishment, the UAV is instructed to fly in a straight line to the breakpoint location to continue executing the mission.

[0008] Furthermore, when collecting transition waypoints at the boundaries of the photovoltaic panel cleaning area, the UAV's positioning mode is set to GPS mode, and a barometer is used for altitude fixation in GPS mode to prevent altitude anomalies at the area boundaries.

[0009] Furthermore, in the parameterized configuration step, the terrain-following flight mode obtains the precise relative altitude to the photovoltaic panel surface by fusing measurement data from millimeter-wave radar, inertial navigation system and RTK-GPS, thereby achieving stable flight within a fixed range from the photovoltaic panel surface.

[0010] Furthermore, in the parameterized configuration step, the load switch remains open throughout the entire operational segment, from the moment the flight point enters the cleaning area waypoint until the flight point is about to leave the cleaning area waypoint.

[0011] Furthermore, when the drone switches between rows of photovoltaic panels, it uses GPS mode to prevent it from falling off the plane.

[0012] Compared with the prior art, the present invention has the following beneficial technical effects: 1. This invention effectively avoids the problem of abnormal altitude when UAVs enter or leave photovoltaic areas by setting boundary transition waypoints and configuring corresponding positioning modes; combined with a refined waypoint acquisition strategy based on the layout of photovoltaic panels within the cleaning area, it ensures that the flight path can fully cover the operation area, with no cleaning blind spots, and improves the uniformity of the cleaning effect.

[0013] 2. By binding the flight mode, load switch control strategy and specific waypoints and flight segments, this invention achieves automated linkage between flight control and mission execution. This ensures accurate terrain-following flight and effective spraying of the UAV during panel cleaning, while avoiding resource waste and malfunctions in non-operation areas, thus improving the overall intelligence level of the system.

[0014] 3. This invention introduces a dynamic return-to-home strategy to assess the drone's endurance and return-to-home requirements in real time, achieving intelligent power management and safe return-to-home; combined with the breakpoint resume function, it ensures that the drone can quickly resume operations after resupply, effectively improving the continuity and overall operational efficiency of large-scale, long-endurance cleaning tasks.

[0015] 4. The method proposed in this invention has a complete system and clear logic, and can flexibly adapt to the cleaning needs of photovoltaic power plants under different scales, layouts and complex terrain conditions. It has good versatility and scalability, and provides reliable technical support for the large-scale and automated application of drone photovoltaic cleaning. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of waypoint data collection in the photovoltaic panel cleaning area; Figure 2 This is a flowchart of the process of a photovoltaic cleaning drone. Detailed Implementation

[0017] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0018] like Figure 1 , Figure 2 As shown, a method for waypoint acquisition and flight path planning of a photovoltaic cleaning drone includes... 1. Calculate the coverage area of ​​the drone nest based on the return-to-home threshold, and deploy the drone nest accordingly to fully cover all photovoltaic panels.

[0019] Based on the overall layout of the photovoltaic power station on site, a maximum return-to-home threshold for the drone was set, and the maximum supportable return-to-home distance L was calculated. max Using this distance as the radius, a service area is formed. Several service cells are deployed according to the distribution of the photovoltaic array, ensuring that all photovoltaic panels are within the service radius of the service cells. The service cells are equipped with battery swapping and water replenishment functions.

[0020] II. Refined collection of waypoints in the photovoltaic panel cleaning area: This includes collecting transition waypoints at the center of the edge of the photovoltaic panel when entering and leaving the photovoltaic panel area, and using GPS mode to prevent altitude drop; collecting the start and end points of the operation at the center of the edge of a single or row of photovoltaic panels, and collecting several operation waypoints between the start and end points of the operation based on the actual layout, area and cleaning accuracy requirements of the photovoltaic panels, to ensure comprehensive and uniform coverage of the cleaning area.

[0021] Waypoint collection upon entering and exiting the photovoltaic panel cleaning area: Waypoints should be collected before entering and after leaving the area. When collecting these waypoints, a suitable positioning mode should be set to avoid altitude loss issues for the drone. This positioning mode allows the drone to maintain a stable flight altitude when entering and exiting the area, preventing abnormal altitude changes due to inaccurate positioning or signal interference, which could affect flight safety and mission execution.

[0022] Waypoint collection within the cleaning area: When the drone flies into the photovoltaic panel area, a waypoint is collected at the center of the edge of the photovoltaic panel; when the drone is about to leave the photovoltaic panel area, another waypoint is collected at the center of the edge of the photovoltaic panel. Between these two points, the operator needs to collect several waypoints based on the actual situation such as the layout and area of ​​the photovoltaic panels and the accuracy requirements of the cleaning task. For example, for a large photovoltaic panel area, the number of waypoints can be appropriately increased to ensure comprehensive and uniform cleaning coverage; if the photovoltaic panel layout is complex, with different orientations or height differences, the waypoint positions need to be flexibly adjusted according to the specific situation to ensure that the drone can effectively cover every photovoltaic panel that needs to be cleaned.

[0023] The photovoltaic panel cleaning area waypoints are divided into the following four categories according to their regional functions: The waypoint for the upcoming cleaning area serves as a transition point for drones before they enter the airspace above the photovoltaic panels from the open area. Entering the cleaning area waypoint indicates that the drone has officially entered the starting point of the cleaning path above the photovoltaic panels; The waypoints before the drone flies away from the cleaning area are used as positioning reference points when the drone completes the cleaning operation of the current row of photovoltaic panels and is about to leave the photovoltaic panels; The waypoint for flying away from the cleaning area is used as a transition point for the drone to switch to the next row of photovoltaic panels.

[0024] like Figure 1As shown in Table 1, in this embodiment, the photovoltaic cleaning waypoints are divided into four categories according to their regional functions: waypoints about to enter the cleaning area (①, ⑤), used as a transition for the UAV before entering the area above the photovoltaic panels from the open area; waypoints entering the cleaning area (②, ⑥), indicating the starting point for the UAV to officially enter the cleaning path above the photovoltaic panels; waypoints about to leave the cleaning area (③, ⑦), used as positioning references for the UAV when it finishes cleaning the current row and is ready to leave the photovoltaic panels; and waypoints leaving the cleaning area (④, ⑧), used as transition points for the UAV before switching to the next row of photovoltaic panels.

[0025] Table 1. Classification of Photovoltaic Cleaning Flight Points by Regional Function area Waypoints Location mode Load switch We are about to enter the cleaning area. ①、⑤ GPS closure Enter the cleaning area ②、⑥ Imitation ground Open About to fly away from the cleaning area ③、⑦ GPS Open Fly away from the cleaning area ④、⑧ GPS closure Cleaning area Waypoints between ② and ③, and waypoints between ⑥ and ⑦ Imitation ground Open To prevent altitude instability when entering or leaving the area, the drone uses GPS and barometer altitude hold mode when reaching waypoints ①, ⑤, ④, ⑧, ③, and ⑦, while it uses ground-following flight mode for waypoints above the photovoltaic panels (between ② and ③, and between ⑥ and ⑦).

[0026] 3. Parametric configuration of waypoints: This includes using ground-following flight mode and activating the payload on the working segment above the photovoltaic panel surface, and using GPS flight mode and deactivating the payload on the non-working transfer segment, so as to realize automatic linkage between flight and cleaning.

[0027] The drone is equipped with a water tank, cleaning nozzles, and a water pump system. When the drone is above the photovoltaic panel (i.e., in ground-following flight mode), the load switch is automatically turned on to perform the cleaning task. When the drone flies away from the photovoltaic panel or is in the transition zone, the load switch is automatically turned off to avoid wasting water resources and spray interference with the flight control system.

[0028] Fourth, the system integrates dynamic return-to-home and breakpoint resume-flight strategies, compares the remaining battery power and return distance with the actual distance in real time to intelligently trigger automatic return-to-home, and returns in a straight line to the breakpoint to continue operation after resupply.

[0029] The system monitors the drone's remaining battery power in real time, calculates its return distance L1, and obtains the actual distance L2 between the drone and its nest. If L1=L2, the system triggers the automatic return process and executes the operation logic of "return to nest → battery replacement and water replenishment → straight return to breakpoint".

[0030] Before returning to base, the system automatically records the current waypoint location and flight status as breakpoint information; after completing water replenishment and charging, the drone returns to the recorded point in a straight line and continues to perform the cleaning task along the planned route, ensuring the continuity of the task and the completeness of the operation coverage.

[0031] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A waypoint collection and route planning method for a photovoltaic cleaning drone, characterized in that, Specifically comprising the following steps First, calculate the UAV nest coverage range based on the return threshold, and accordingly lay out the nest to completely cover all photovoltaic panels; Second, collect photovoltaic panel cleaning area waypoints in detail: including, when entering and leaving the photovoltaic panel area, respectively collect transition waypoints at the edge center positions of the photovoltaic panels and use GPS mode to prevent falling; collect work start points and work end points at the edge center positions of single or row photovoltaic panels, and based on the actual layout, area and cleaning accuracy requirements of the photovoltaic panels, collect several work waypoints between the work start point and the work end point to ensure comprehensive and uniform coverage of the cleaning area; Then, parameterize the configuration of the waypoints: including, using the ground effect flight mode and turning on the load for the work segment above the photovoltaic panel surface, and using the GPS flight mode and turning off the load for the non-work transition segment, to realize the automatic linkage of flight and cleaning; Finally, integrate dynamic return and breakpoint resume flight strategies, and compare the remaining power return distance with the actual distance in real time to intelligently trigger automatic return, and return to the breakpoint in a straight line after replenishment to continue work.

2. The method of claim 1, wherein, The photovoltaic panel cleaning area waypoints are divided into the following four categories according to the area function: the photovoltaic panel cleaning area waypoints are divided into the following four categories according to the area function: the photovoltaic panel cleaning area waypoints are divided into the following four categories according to the area function: the photovoltaic panel cleaning area waypoints are divided into the following four categories according to the area function: The dynamic return and breakpoint resume flight strategy is: during task execution, the returnable distance based on the remaining power is calculated in real time, and compared with the actual distance from the UAV to the nearest nest, when the actual distance from the UAV to the nearest nest is equal to the returnable distance based on the remaining power, the return is automatically triggered, and the power is replaced; and before each return, the current breakpoint position is marked, and after the power is replaced, the UAV is instructed to fly in a straight line to the breakpoint position to continue the task.

3. The method of claim 1, wherein, When collecting transition waypoints at the boundaries of entering and leaving the photovoltaic panel cleaning area, the positioning mode of the UAV is set to GPS mode, and the barometer is used to determine the height in GPS mode to prevent height anomalies at the region boundaries.

4. The method of claim 1, wherein, In the parameterization configuration step, the ground effect flight mode fuses the measurement data of the millimeter wave radar, inertial navigation system and RTK-GPS to obtain the accurate relative height to the photovoltaic panel surface, and realizes stable flight within a fixed range from the photovoltaic panel surface.

5. The method of claim 1, wherein, In the parameterization configuration step, the load switch is turned on during the entire work segment from the entering cleaning area waypoint to the leaving cleaning area waypoint.

6. The method of claim 1, wherein, When the UAV switches between each row of photovoltaic panels, the GPS mode is used to prevent falling.

7. The method of claim 1, wherein, ​

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