Circulating cleaning system for photovoltaic panel

Abstract

The invention relates to the technical field of photovoltaic panel cleaning, and discloses a cyclic cleaning system for a photovoltaic panel, which comprises an environmental data acquisition module, a cleaning analysis module and a cleaning cyclic evaluation module, and is characterized in that the cleaning analysis module judges whether to send out a first early warning instruction or not based on a constructed to-be-cleaned coefficient; and after the cleaning early warning strategy is executed or when the photovoltaic cleaning robot is started according to a preset cleaning period, the cleaning circulation evaluation module obtains a current cleaning defect coefficient, judges whether to send a second early warning instruction or not, and executes a circulation cleaning strategy. The system can dynamically evaluate the pollution shielding risk of the photovoltaic panel according to actual environmental factors, and can perform secondary judgment by adopting the unmanned aerial vehicle to patrol when the pollution shielding risk occurs, thereby reducing the patrol frequency of workers, improving the working efficiency, and improving the safety of the workers. And after the secondary judgment is passed, the photovoltaic cleaning robot is called to start the self-cleaning of the photovoltaic panel, so that the cleaning of the current photovoltaic panel in time is ensured.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic panel cleaning technology, specifically to a circulating cleaning system for photovoltaic panels. Background Technology

[0002] Solar energy is an inexhaustible and renewable resource. With the energy crisis worsening, solar cells are receiving increasing attention. However, improving the conversion efficiency of solar cells is becoming increasingly difficult. Solar modules, such as photovoltaic panels, are typically installed outdoors, exposed to wind and rain, making their surfaces highly susceptible to the accumulation of fine dust particles. Therefore, the cleanliness of photovoltaic panels is crucial to the performance and efficiency of the solar energy system. Over time, dust, dirt, and other contaminants accumulate on the surface of solar panels, reducing the absorption capacity and conversion efficiency of photovoltaic cells. Therefore, regular cleaning is crucial for maintaining the efficient operation of solar systems. Firstly, surface dirt affects light transmittance, thus impacting the amount of radiation received by the module surface and reducing its power generation efficiency. Secondly, dirt adhering to the panel surface creates shadows, generating localized hot spots on the solar modules, damaging the photovoltaic panels and potentially shortening their lifespan. Photovoltaic robot systems are autonomous mobile robotic systems specifically designed for wet cleaning of photovoltaic panels. These systems combine advanced robotics, sensor, and communication technologies to intelligently sense environmental conditions and perform cleaning tasks. Currently, photovoltaic robots increasingly adopt wet cleaning methods, using water spray to wash away adhering dust from the photovoltaic panel surface. However, existing technologies for cyclic cleaning of photovoltaic panels only set a fixed cleaning cycle, without adjusting the cleaning cycle based on actual environmental and biological factors, resulting in low overall efficiency. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a cyclic cleaning system for photovoltaic panels, which has the advantages of dynamically adjusting the cleaning cycle of photovoltaic panels and solves the problems of traditional methods.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a cyclic cleaning system for photovoltaic panels, comprising a photovoltaic panel and a photovoltaic cleaning robot mounted thereon, including an environmental data acquisition module, a cleaning analysis module and a cleaning cycle assessment module; The environmental data acquisition module is used to collect and construct a biological environment database of the current location of the photovoltaic panel. The environmental data acquisition module acquires image data based on the shooting components installed on the photovoltaic cleaning robot mounted on the current photovoltaic panel. The cleaning analysis module assesses the cleaning coefficient of the photovoltaic panel based on the environmental data of the current location of the photovoltaic panel. If the cleaning coefficient of the current photovoltaic panel exceeds the set cleaning threshold, a first warning instruction is issued and a cleaning warning strategy is executed. After the cleaning early warning strategy is completed or when the photovoltaic cleaning robot starts according to the preset cleaning cycle, the cleaning cycle evaluation module analyzes the current cleaning defect coefficient based on image data. When the cleaning defect coefficient exceeds the set threshold, a second early warning command is issued and the cycle cleaning strategy is executed.

[0005] As a preferred technical solution of the present invention, the specific steps of the cleaning analysis module in evaluating the cleaning coefficient of the current photovoltaic panel based on the environmental data of the current location of the photovoltaic panel are as follows: Step A1: Based on real-time environmental impact data obtained from the biological environment database, obtain the environmental assessment coefficient for the location in the current sampling period. ; Step A2: Based on real-time bioimpact data acquired from the biological environment database, obtain the bioassessment coefficient for the location in the current sampling period. ; Step A3: Based on the environmental assessment coefficient of the current location in Step A1 And the biological assessment coefficient of the location in the current sampling period in step A2. The cleaning coefficient is constructed by combining the following expressions: in, and Represents the weighting coefficient, and .

[0006] As a preferred technical solution of the present invention, in step A1, the environmental assessment coefficient of the current location is obtained based on environmental impact data acquired in real time from the biological environment database. The specific expression is as follows: in, This indicates the sand content at the location of the photovoltaic panel, as measured by a wind and sand measurement device, during the current sampling period. This represents the initial value of sand content obtained by the wind and sand measurement device. This represents the average wind speed measurement at the location of the photovoltaic panel during the current sampling period. This indicates the average annual wind speed at the location of the photovoltaic panel. Indicates from Select the largest item from the list and output it.

[0007] As a preferred embodiment of the present invention, in step A2, the biological assessment coefficient of the current location is obtained based on the biological impact data acquired in real time from the biological environment database. The specific expression is as follows: in, This represents the total number of biological activities sampled in the current sampling period. This represents the initial total number of biological activities.

[0008] As a preferred technical solution of the present invention, the specific steps of the cleaning early warning strategy are as follows: The system dispatches drones to the current location of the photovoltaic panels to acquire overhead images of each panel's location. These images are then compared with the initial images of the photovoltaic panels stored in the cleaning analysis module to obtain several image difference areas. Based on these image difference areas, an area difference coefficient is constructed. When the area difference coefficient Exceeding the preset area difference threshold When the cleaning warning strategy is completed, the photovoltaic cleaning robot is invoked to start the self-cleaning of the photovoltaic panels. When the area difference coefficient Exceeding the preset area difference threshold If the cleaning warning strategy is not completed, it will be determined that the cleaning warning strategy has not been completed and will be terminated. The photovoltaic cleaning robot will then start self-cleaning according to the preset cleaning cycle.

[0009] As a preferred technical solution of the present invention, the area difference coefficient The specific expression is as follows: in, This indicates the initial image area of ​​the photovoltaic panel. Indicates the current sampling period. Image difference area of ​​each photovoltaic panel Indicates support for the common good Corresponding to each photovoltaic panel The values ​​are summed.

[0010] As a preferred technical solution of the present invention, the specific steps of the cleaning cycle evaluation module in analyzing the current cleaning defect coefficient based on image data are as follows: Step B1: Acquire image data using the camera module installed on the photovoltaic cleaning robot mounted on the current photovoltaic panel; Step B2: Input the image data from Step B1 into the trained YOLOv8 recognition model in real time to identify defects in the cleaned area, and perform minimum bounding box selection on the identified defect areas to obtain the first... The first photovoltaic panel Area of ​​the defect ; Step B3: Based on the first The first photovoltaic panel Area of ​​the defect Construct the current number Cleanliness defect coefficient of each photovoltaic panel .

[0011] As a preferred technical solution of the present invention, step B3 is based on the first The first photovoltaic panel Area of ​​the defect Construct the current number Cleanliness defect coefficient of each photovoltaic panel The specific expression is as follows: in, Indicates the first The total area of ​​each photovoltaic panel This indicates the total number of defects. Indicates support for the common good indivual The values ​​are summed.

[0012] As a preferred technical solution of the present invention, the cleaning cycle assessment module obtains the current... Cleanliness defect coefficient of each photovoltaic panel Then make a judgment, if the current number is... Cleanliness defect coefficient of each photovoltaic panel Exceeding the preset cleaning defect threshold Then, issue a second early warning command and execute a cyclical cleaning strategy. If the current cleaning cycle continues... Cleanliness defect coefficient of each photovoltaic panel The pre-set cleaning defect threshold was not exceeded. Therefore, no second warning instruction will be issued.

[0013] As a preferred technical solution of the present invention, the specific steps of the cyclic cleaning strategy are as follows: [The text abruptly ends here, likely due to an incomplete sentence or a formatting error.] The location of the defect area is synchronized to the first The corresponding photovoltaic cleaning robot for each photovoltaic panel is provided by the first... A photovoltaic cleaning robot performs a secondary cleaning of each photovoltaic panel.

[0014] Compared with the prior art, the present invention provides a circulating cleaning system for photovoltaic panels, which has the following beneficial effects: This invention collects and constructs a biological environment database in real time through an environmental data acquisition module. It can dynamically assess the pollution and shading risks of photovoltaic panels based on actual environmental factors. When pollution and shading risks occur, drone patrols can be used for secondary judgment, which can reduce the number of patrols by staff and improve work efficiency. After the secondary judgment is passed, a photovoltaic cleaning robot will be called to start the self-cleaning of the photovoltaic panels, thereby ensuring timely cleaning of the current photovoltaic panels. Attached Figure Description

[0015] Figure 1 This is a system flowchart of the present invention. Detailed Implementation

[0016] 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] Please see Figure 1 A cyclic cleaning system for photovoltaic panels includes a photovoltaic panel and a photovoltaic cleaning robot mounted thereon, comprising an environmental data acquisition module, a cleaning analysis module and a cleaning cycle assessment module; The environmental data acquisition module is used to collect and build a biological environment database of the current location of the photovoltaic panel. The environmental data acquisition module acquires image data based on the shooting components installed on the photovoltaic cleaning robot mounted on the current photovoltaic panel. The cleaning analysis module assesses the cleaning coefficient of the photovoltaic panel based on the environmental data of the current location of the photovoltaic panel. If the cleaning coefficient of the current photovoltaic panel exceeds the set cleaning threshold, the module issues the first warning command and executes the cleaning warning strategy. After the cleaning early warning strategy is completed or when the photovoltaic cleaning robot starts according to the preset cleaning cycle, the cleaning cycle evaluation module analyzes the current cleaning defect coefficient based on image data. When the cleaning defect coefficient exceeds the set threshold, a second early warning command is issued and the cycle cleaning strategy is executed.

[0018] The cleaning analysis module assesses the cleaning coefficient of the current photovoltaic panel based on environmental data of the current location of the photovoltaic panel, and the specific steps are as follows: Step A1: Based on real-time environmental impact data obtained from the biological environment database, obtain the environmental assessment coefficient for the location in the current sampling period. The specific expression is as follows: in, This indicates the sand content at the location of the photovoltaic panel, as measured by a wind and sand measurement device, during the current sampling period. This represents the initial value of sand content obtained by the wind and sand measurement device. This represents the average wind speed measurement at the location of the photovoltaic panel during the current sampling period. This indicates the average annual wind speed at the location of the photovoltaic panel. Indicates from The largest value is selected for output. The wind and sand measuring device consists of several measuring cylinders arranged according to the wind direction. The data collected includes, but is not limited to, the scale and weight of the sediment inside the measuring cylinder. The selection of the measuring cylinder is a common technical method, which will not be elaborated on here. In this invention, the weight unit g is used, and it is ensured that... It just needs to be non-zero; Step A2: Based on real-time bioimpact data acquired from the biological environment database, obtain the bioassessment coefficient for the location in the current sampling period. The specific expression is as follows: in, This represents the total number of biological activities sampled in the current sampling period. The total number of biological activities is the initial total number of biological activities. In this invention, the total number of biological activities is specifically the maximum number of bird activities within the sampling period. The number of birds in the area can be obtained by monitoring probes in the area where the photovoltaic panels are laid. For bird identification in the image, an additional image recognition model can be configured. The method of bird identification is a conventional technology and will not be described in detail here. By identifying the number of bird activities, when there are more bird activities, there is a correlation with bird droppings falling on the photovoltaic panels. That is, when there are more bird activities, the probability of bird droppings falling on the photovoltaic panels will also increase. Step A3: Based on the environmental assessment coefficient of the current location in Step A1 And the biological assessment coefficient of the location in the current sampling period in step A2. The cleaning coefficient is constructed by combining the following expressions: in, and Represents the weighting coefficient, and .

[0019] The specific steps of the cleaning early warning strategy are as follows: The system dispatches drones to the current location of the photovoltaic panels to acquire overhead images of each panel's location. These images are then compared with the initial images of the photovoltaic panels stored in the cleaning analysis module to obtain several image difference areas. Based on these image difference areas, an area difference coefficient is constructed. When the area difference coefficient Exceeding the preset area difference threshold When the cleaning warning strategy is completed, the photovoltaic cleaning robot is invoked to start the self-cleaning of the photovoltaic panel, without affecting the photovoltaic cleaning robot's cleaning of the photovoltaic panel according to the preset cleaning cycle; When the area difference coefficient Exceeding the preset area difference threshold If the cleaning warning strategy is not completed, it will be terminated and the photovoltaic cleaning robot will start self-cleaning according to the preset cleaning cycle. When there is a risk of pollution shading, the use of drone patrols can make a secondary judgment, which can reduce the number of patrols by staff and improve work efficiency.

[0020] Area difference coefficient The specific expression is as follows: in, This indicates the initial image area of ​​the photovoltaic panel. Indicates the current sampling period. Image difference area of ​​each photovoltaic panel Indicates support for the common good Corresponding to each photovoltaic panel The values ​​are summed.

[0021] The specific steps of the cleaning cycle assessment module in analyzing the current cleaning defect coefficient based on image data are as follows: Step B1: Acquire image data using the camera module installed on the photovoltaic cleaning robot mounted on the current photovoltaic panel; Step B2: Input the image data from Step B1 into the trained YOLOv8 recognition model in real time (YOLOv8 was released by Ultralytics on January 10, 2023, offering cutting-edge performance in accuracy and speed. YOLOv8 improves upon previous YOLO versions, introducing new features and optimizations, making it ideal for various object detection tasks in various applications). Perform defect identification on the cleaned area, and select the identified defect areas using a minimum rectangular bounding box (those skilled in the art can use circular, elliptical, or similar bounding box methods; it is not limited to a single shape, as long as it can be bounded and the bounding box shape fits the defect area without significant differences). This yields the result... The first photovoltaic panel Area of ​​the defect ; The defects include snow accumulation, bird droppings, obstructions, etc., and are not limited to these. For a YOLOv8 that has been trained, those skilled in the art can select a training set and train it themselves. The training set and the corresponding test set can be adjusted according to the defects, which will not be elaborated on here. Step B3: Based on the first The first photovoltaic panel Area of ​​the defect Construct the current number Cleanliness defect coefficient of each photovoltaic panel The specific expression is as follows: in, Indicates the first The total area of ​​each photovoltaic panel This indicates the total number of defects. Indicates support for the common good indivual The values ​​are summed, and by using robots to collect images and inputting them into the recognition model in real time, defects and residues can be detected instantly, facilitating rapid response and processing. At the same time, it can provide unified indicators for cleaning effect evaluation, maintenance decisions, and cleaning frequency optimization, making it easy for automated operation and maintenance systems to use.

[0022] The cleaning cycle assessment module obtains the current cleaning cycle assessment module. Cleanliness defect coefficient of each photovoltaic panel Then make a judgment, if the current number is... Cleanliness defect coefficient of each photovoltaic panel Exceeding the preset cleaning defect threshold Then, issue a second early warning command and execute a cyclical cleaning strategy. If the current cleaning cycle continues... Cleanliness defect coefficient of each photovoltaic panel The pre-set cleaning defect threshold was not exceeded. Therefore, no second warning instruction will be issued.

[0023] The specific steps of the cyclic cleaning strategy are as follows: ... The location of the defect area is synchronized to the first The corresponding photovoltaic cleaning robot for each photovoltaic panel is provided by the first... A photovoltaic cleaning robot performs secondary cleaning on each photovoltaic panel; Example: The specific parameters for evaluating the cleaning coefficient of the current photovoltaic panel by the cleaning analysis module in this embodiment are shown in Table 1 below: Table 1 At this point, the cleaning coefficient of the current photovoltaic panel exceeds the set cleaning threshold, a first warning command is issued, and a cleaning warning strategy is executed. In this embodiment... Below ; At this point, it is determined that the cleaning warning strategy has not been completed and is terminated. The photovoltaic cleaning robot then initiates self-cleaning according to the preset cleaning cycle. During the cleaning process, the acquired data... Exceeding the preset threshold for cleaning defects , will the The location of the defect area is synchronized to the first The corresponding photovoltaic cleaning robot for each photovoltaic panel is provided by the first... The photovoltaic cleaning robot performs secondary cleaning on each photovoltaic panel. When the photovoltaic cleaning robot detects a defect, it synchronizes the location of the corresponding defect to the coordinate axis of the photovoltaic cleaning robot's movement direction and performs secondary cleaning at the corresponding position on the coordinate axis. The threshold is set to facilitate comparison. The size of the threshold depends on the amount of sample data and the number of bases set by those skilled in the art for each set of sample data; as long as it does not affect the ratio between the parameter and the quantized value, it is acceptable.

[0024] The above formulas are all derived from software simulation using a large amount of data and are selected to be close to the actual values. The coefficients in the formulas are set by those skilled in the art according to the actual situation. The above description is only a preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the protection scope of the present invention.

Claims

1. A circulating cleaning system for photovoltaic panels, comprising photovoltaic panels and a photovoltaic cleaning robot mounted thereon, characterized in that, It includes an environmental data acquisition module, a cleaning analysis module, and a cleaning cycle assessment module; The environmental data acquisition module is used to collect and construct a biological environment database of the current location of the photovoltaic panel. The environmental data acquisition module acquires image data based on the shooting components installed on the photovoltaic cleaning robot mounted on the current photovoltaic panel. The cleaning analysis module assesses the cleaning coefficient of the photovoltaic panel based on the environmental data of the current location of the photovoltaic panel. If the cleaning coefficient of the current photovoltaic panel exceeds the set cleaning threshold, a first warning instruction is issued and a cleaning warning strategy is executed. After the cleaning early warning strategy is completed or when the photovoltaic cleaning robot starts according to the preset cleaning cycle, the cleaning cycle evaluation module analyzes the current cleaning defect coefficient based on image data. When the cleaning defect coefficient exceeds the set threshold, a second early warning command is issued and the cycle cleaning strategy is executed.

2. The circulating cleaning system for photovoltaic panels according to claim 1, characterized in that: The specific steps of the cleaning analysis module in assessing the cleaning coefficient of the current photovoltaic panel based on the environmental data of the current location of the photovoltaic panel are as follows: Step A1: Based on real-time environmental impact data obtained from the biological environment database, obtain the environmental assessment coefficient for the location in the current sampling period. ; Step A2: Based on real-time bioimpact data acquired from the biological environment database, obtain the bioassessment coefficient for the location in the current sampling period. ; Step A3: Based on the environmental assessment coefficient of the current location in Step A1 And the biological assessment coefficient of the location in the current sampling period in step A2. The cleaning coefficient is constructed by combining the following expressions: in, and Represents the weighting coefficient, and .

3. A circulating cleaning system for photovoltaic panels according to claim 2, characterized in that: In step A1, the environmental assessment coefficient for the current location is obtained based on real-time environmental impact data acquired from the biological environment database. The specific expression is as follows: in, This indicates the sand content at the location of the photovoltaic panel, as measured by a wind and sand measurement device, during the current sampling period. This represents the initial value of sand content obtained by the wind and sand measurement device. This represents the average wind speed measurement at the location of the photovoltaic panel during the current sampling period. This indicates the average annual wind speed at the location of the photovoltaic panel. Indicates from Select the largest item from the list and output it.

4. A circulating cleaning system for photovoltaic panels according to claim 2, characterized in that: In step A2, the biological impact data obtained in real time from the biological environment database is used to obtain the biological assessment coefficient of the current location. The specific expression is as follows: in, This represents the total number of biological activities sampled in the current sampling period. This represents the initial total number of biological activities.

5. A circulating cleaning system for photovoltaic panels according to claim 2, characterized in that: The specific steps of the cleaning early warning strategy are as follows: The system dispatches drones to the current location of the photovoltaic panels to acquire overhead images of each panel's location. These images are then compared with the initial images of the photovoltaic panels stored in the cleaning analysis module to obtain several image difference areas. Based on these image difference areas, an area difference coefficient is constructed. When the area difference coefficient Exceeding the preset area difference threshold When the cleaning warning strategy is completed, the photovoltaic cleaning robot is invoked to start the self-cleaning of the photovoltaic panels. When the area difference coefficient Exceeding the preset area difference threshold If the cleaning warning strategy is not completed, it will be determined that the cleaning warning strategy has not been completed and will be terminated. The photovoltaic cleaning robot will then start self-cleaning according to the preset cleaning cycle.

6. A circulating cleaning system for photovoltaic panels according to claim 5, characterized in that: The area difference coefficient The specific expression is as follows: in, This indicates the initial image area of ​​the photovoltaic panel. Indicates the current sampling period. Image difference area of ​​each photovoltaic panel Indicates support for the common good Corresponding to each photovoltaic panel The values ​​are summed.

7. A circulating cleaning system for photovoltaic panels according to claim 5, characterized in that: The specific steps of the cleaning cycle evaluation module in analyzing the current cleaning defect coefficient based on image data are as follows: Step B1: Acquire image data using the camera module installed on the photovoltaic cleaning robot mounted on the current photovoltaic panel; Step B2: Input the image data from Step B1 into the trained YOLOv8 recognition model in real time to identify defects in the cleaned area, and perform minimum bounding box selection on the identified defect areas to obtain the first... The first photovoltaic panel Area of ​​the defect ; Step B3: Based on the first The first photovoltaic panel Area of ​​the defect Construct the current number Cleanliness defect coefficient of each photovoltaic panel .

8. A circulating cleaning system for photovoltaic panels according to claim 7, characterized in that: In step B3, based on the first The first photovoltaic panel Area of ​​the defect Construct the current number Cleanliness defect coefficient of each photovoltaic panel The specific expression is as follows: in, Indicates the first The total area of ​​each photovoltaic panel This indicates the total number of defects. Indicates support for the common good indivual The values ​​are summed.

9. A circulating cleaning system for photovoltaic panels according to claim 8, characterized in that: The cleaning cycle assessment module obtains the current [number] [item]. Cleanliness defect coefficient of each photovoltaic panel Then make a judgment, if the current number is... Cleanliness defect coefficient of each photovoltaic panel Exceeding the preset cleaning defect threshold Then, issue a second early warning command and execute a cyclical cleaning strategy. If the current cleaning cycle continues... Cleanliness defect coefficient of each photovoltaic panel The pre-set cleaning defect threshold was not exceeded. Therefore, no second warning instruction will be issued.

10. A circulating cleaning system for photovoltaic panels according to claim 9, characterized in that: The specific steps of the cyclic cleaning strategy are as follows: ... The location of the defect area is synchronized to the first The corresponding photovoltaic cleaning robot for each photovoltaic panel is provided by the first... A photovoltaic cleaning robot performs a secondary cleaning of each photovoltaic panel.

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