Solar photovoltaic panel cleaning unmanned aerial vehicle and control method thereof

Abstract

The invention relates to the technical field of photovoltaic panel cleaning, and discloses a solar photovoltaic panel cleaning unmanned aerial vehicle and a control method thereof. The multi-stage rolling brush cleaning module comprises a plurality of rolling brushes and micro motors, and the rolling brushes are driven by different micro motors respectively; the self-adaptive pressure adjusting mechanism is arranged on the unmanned aerial vehicle, the rolling brush and the micro motor are arranged on the self-adaptive pressure adjusting mechanism, and the self-adaptive pressure adjusting mechanism is used for driving the rolling brush to be close to or away from the photovoltaic panel; the detection module is arranged on the unmanned aerial vehicle and used for detecting the pollution degree of the photovoltaic panel and the surface flatness of the photovoltaic panel; the multi-stage rolling brush cleaning module forms a sweeping-removing-throwing complete cleaning link, different types of stains are covered, and the cleaning efficiency is improved by 60% or above compared with a traditional single-rolling-brush unmanned aerial vehicle. The self-adaptive pressure adjusting mechanism can effectively prevent the surface of the photovoltaic panel from being scratched and abraded, and is adaptive to cleaning of the photovoltaic panel which is aged and slightly damaged.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic panel cleaning technology, and in particular to a solar photovoltaic panel cleaning drone and its control method. Background Technology

[0002] Photovoltaic panels are exposed to the outdoor environment for extended periods, making their surfaces prone to accumulating dust, sand, bird droppings, and other contaminants, which significantly reduces their photovoltaic conversion efficiency. Currently, the primary method for cleaning photovoltaic panels is water truck washing. However, due to the high water consumption, the photovoltaic industry has gradually begun to use drones for cleaning in recent years. Drones are equipped with single roller brushes, which can clean the surface dust of photovoltaic panels. However, they are not thorough in cleaning stubborn stains, and the roller brush pressure is not adjustable, which can easily scratch the surface of the photovoltaic panels or result in ineffective cleaning due to insufficient pressure.

[0003] Therefore, how to provide a photovoltaic panel cleaning drone that can improve the cleaning effect of photovoltaic panels and adjust the pressure of the roller brush is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] The purpose of this invention is to provide a solar photovoltaic panel cleaning drone and its control method to solve the problems existing in the prior art.

[0005] To achieve the above objectives, the present invention provides a solar photovoltaic panel cleaning drone, comprising: Drones; The multi-stage roller brush cleaning module includes multiple roller brushes and micro motors, with each roller brush driven by a different micro motor. An adaptive pressure adjustment mechanism is installed on the drone. The roller brush and micro motor are installed on the adaptive pressure adjustment mechanism, which is used to drive the roller brush to move closer to or away from the photovoltaic panel. The detection module, mounted on a drone, is used to detect the degree of contamination and the surface flatness of photovoltaic panels. The flight control system transmits the contamination level data and surface flatness data of the photovoltaic panel to the flight control system, which then adjusts the position or rotation speed of the roller brush accordingly through an adaptive pressure adjustment mechanism.

[0006] Furthermore, multiple roller brushes may have different bristle densities or different bristle materials.

[0007] Furthermore, the multiple roller brushes include a first roller brush, a second roller brush, and a third roller brush. The first roller brush is a flexible nylon bristle roller brush, the second roller brush is a hard bristle roller brush, and the third roller brush is a water-absorbing polishing sponge bristle roller brush. The spacing between adjacent roller brushes is 8-10 cm.

[0008] Furthermore, the bristle density of the first roller brush is not less than 800 bristles / cm², and the bristles of the second roller brush are embedded with nano-cleaning particles.

[0009] Furthermore, it also includes: a cleaning fluid supply unit, which includes a miniature storage tank and a metering nozzle connected to the miniature storage tank. The miniature storage tank is filled with cleaning fluid, and the metering nozzle is installed above the second roller brush. The flight control system controls the opening and closing of the metering nozzle and the spray volume of the cleaning fluid according to the degree of contamination of the photovoltaic panel.

[0010] Furthermore, the adaptive pressure regulation mechanism includes: An electric push rod is provided, wherein the roller brush is rotatably mounted on a mounting bracket, the mounting bracket is connected to a mounting plate via an elastic telescopic bracket, the electric push rod is mounted on a drone, and its output end is connected to the mounting plate; A pressure sensor is installed at the connection between the mounting bracket and the elastic telescopic bracket. The pressure sensor is used to detect the contact pressure between the roller brush and the photovoltaic panel and send it to the flight control system.

[0011] Furthermore, the detection module includes a visual camera and an infrared sensor mounted on the drone. The visual camera is used to detect the degree of contamination on the photovoltaic panel, and the infrared sensor is used to detect the surface flatness of the photovoltaic panel.

[0012] Furthermore, it also includes a photovoltaic panel positioning and navigation module, which identifies the features of the photovoltaic panel frame through a visual camera, plans a cleaning path based on GPS or Beidou positioning, and corrects the position deviation of the drone in real time.

[0013] This invention also provides a control method for a solar photovoltaic panel cleaning drone, which includes the following steps: S1: The drone flies over the photovoltaic panels to be cleaned, identifies the features of the photovoltaic panel frame through a visual camera, determines the frame position and arrangement of multiple photovoltaic panels, plans the cleaning path based on GPS or Beidou positioning, and corrects the drone's position deviation in real time. S2: The drone flies over the first photovoltaic panel to be cleaned. The adaptive pressure adjustment mechanism moves the roller brush downward until the roller brush contacts the surface of the photovoltaic panel. The initial contact pressure is detected by the pressure sensor. The flight control system automatically adjusts the electric push rod to calibrate the contact pressure to the preset threshold. S3: The degree of contamination of the photovoltaic panels is detected by a visual camera, and the flight control system adjusts the position or speed of the roller brush accordingly through an adaptive pressure adjustment mechanism. S4: When the infrared sensor detects the edge of the photovoltaic panel, the flight control system raises the roller brush through the adaptive pressure adjustment mechanism. S5: After cleaning the first photovoltaic panel, the drone flies over the next photovoltaic panel to be cleaned and repeats steps S2-S4 until all photovoltaic panels are cleaned.

[0014] Furthermore, in step S3, the degree of contamination of the photovoltaic panel is divided into light contamination, moderate contamination, and heavy contamination, and the contamination images of the photovoltaic panels at light, moderate, and heavy contamination levels are stored in the flight control system. The flight control system acquires images of the photovoltaic panel surface through a visual camera and determines the degree of contamination accordingly. When the degree of contamination is light, the first and third roller brushes are activated, and the drone travels at a speed of 0.8 m / s. When the degree of contamination is moderate, all roller brushes are activated, the speed of the second roller brush is adjusted to 300 r / min, and the metered nozzle sprays cleaning fluid. When the degree of contamination is heavy, the speed of the second roller brush is increased to 500 r / min, the metered nozzle sprays cleaning fluid, and the amount of cleaning fluid sprayed is increased compared to the moderate contamination level, and the drone's travel speed is reduced to 0.4 m / s.

[0015] The present invention discloses the following technical effects: Superior cleaning thoroughness: The first, second, and third rollers of the multi-stage roller brush cleaning module form a complete "sweep-remove-discard" cleaning chain, covering different types of stains, and improving cleaning efficiency by more than 60% compared to traditional single-roller brush drones.

[0016] Strong panel protection: The pressure sensor and electric push rod of the adaptive pressure adjustment mechanism precisely control the contact pressure, which can effectively avoid scratches and wear on the surface of the photovoltaic panel and is suitable for cleaning aging or slightly damaged photovoltaic panels.

[0017] High level of intelligence: It integrates detection modules, photovoltaic panel positioning and navigation modules, flight control systems, etc., to achieve fully unmanned cleaning and significantly reduce labor costs.

[0018] Energy-saving and environmentally friendly: The cleaning liquid supply unit sprays cleaning liquid in a quantitative manner according to the degree of pollution of the photovoltaic panels. The water consumption is only 1 / 10 of that of traditional water truck washing, and there is no wastewater residue, which meets the operation requirements of green photovoltaic power stations.

[0019] Wide adaptability: It is compatible with photovoltaic panels of different sizes, arrangements, and surface conditions, without the need to modify equipment for specific photovoltaic power stations. It is applicable to ground-mounted photovoltaic power stations, rooftop photovoltaic systems, etc. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a bottom view of the present invention; Figure 3 This is a front view of the present invention; Figure 4 This is a side view of the present invention; Figure 5 This is a rear view of the present invention; The components include: 1. Unmanned Aerial Vehicle (UAV); 11. Flight Control System; 12. Battery Module; 13. Wireless Communication Module; 2. Multi-stage Roller Brush Cleaning Module; 21. First Roller Brush; 22. Second Roller Brush; 23. Third Roller Brush; 24. Fourth Roller Brush; 3. Adaptive Pressure Adjustment Mechanism; 31. Elastic Telescopic Support; 32. Pressure Sensor; 33. Electric Push Rod; 4. Detection Module; 41. Vision Camera; 42. Infrared Sensor; 5. Cleaning Fluid Supply Unit; 51. Miniature Liquid Storage Tank; 52. Metering Nozzle; and 6. Photovoltaic Panel Positioning and Navigation Module. Detailed Implementation

[0022] 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.

[0023] Those skilled in the art will understand that the term "comprising" as used in this application means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It should be understood that when we say an element is "connected" or "coupled" to another element, it can be directly connected or coupled to the other element, or there may be intermediate elements present. Furthermore, "connected" or "coupled" as used herein can include wireless connections or wireless coupling. The term "and / or" as used herein includes all or any unit and all combinations of one or more associated listed items.

[0024] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] like Figures 1 to 5 As shown, an embodiment of the present invention provides a solar photovoltaic panel cleaning drone, comprising: Unmanned Aerial Vehicle 1 (UAV 1) adopts a multi-rotor flight structure; The multi-stage roller brush cleaning module 2 includes multiple roller brushes and micro motors, with each roller brush being driven by a different micro motor. An adaptive pressure adjustment mechanism 3 is mounted on the drone 1. The roller brush and micro motor are mounted on the adaptive pressure adjustment mechanism 3. The adaptive pressure adjustment mechanism 3 is used to drive the roller brush to move closer to or away from the photovoltaic panel. The detection module 4, installed on the drone 1, is used to detect the degree of contamination of the photovoltaic panel and the surface flatness of the photovoltaic panel; The flight control system 11 and the detection module 4 send the pollution level data and surface flatness data of the photovoltaic panel to the flight control system 11. The flight control system 11 adjusts the position or speed of the roller brush through the adaptive pressure adjustment mechanism 3. The position and speed of each roller brush can be adjusted independently.

[0026] In this embodiment, the flight control system 11 is integrated on the UAV 1, which also integrates a battery module 12 and a wireless communication module 13. A modular mounting slot is reserved in the middle of the fuselage, into which the flight control system 11, battery module 12, and wireless communication module 13 are sequentially embedded. The flight control system 11 uses an STM32H7 series main controller, integrates an MPU6050 attitude sensor, has a data processing rate ≥100Hz, and is responsible for receiving detection signals from each module and outputting control commands. The battery module 12 uses a 20Ah high-rate lithium battery (22.2V), which is detachably installed via a snap-fit ​​structure. The charging interface uses an XT60 fast charging interface, supporting a full charge within 2 hours and a single charge providing ≥2 hours of flight time. The wireless communication module 13 has an omnidirectional antenna fixed to the top of the fuselage with an antenna gain ≥8dBi. It uses dual-mode WiFi and 4G communication to ensure stable signal within 5km (packet loss rate ≤1%), enabling remote control, real-time data transmission, and fault alarms. The flight control system 11 integrates a path correction algorithm. The drone's fuselage is made of a one-piece carbon fiber structure with a tensile strength of ≥300MPa. Its dimensions are 60cm×60cm×25cm (length×width×height), and its weight is ≤5kg (excluding battery and cleaning fluid), balancing lightweight design with structural stability.

[0027] In this embodiment, the multiple roller brushes have different bristle densities or different bristle materials.

[0028] In this embodiment, the multiple roller brushes include a first roller brush 21, a second roller brush 22, and a third roller brush 23. The first roller brush 21 is a flexible nylon bristle roller brush, the second roller brush 22 is a hard bristle roller brush, and the third roller brush 23 is a water-absorbing polishing sponge bristle roller brush. The spacing between adjacent roller brushes is 8-10cm.

[0029] In this embodiment, the bristle density of the first roller brush 21 is not less than 800 bristles / cm², and the bristles of the second roller brush 22 are embedded with nano-cleaning particles.

[0030] In this embodiment, each roller brush is connected to the output shaft of the micro motor via a coupling. Anti-slip washers are installed at the connection to prevent slippage during operation. The motor speed adjustment range is calibrated to 0-500 r / min. It is controlled by the PWM signal of the flight control system 11. The speed error of the three speed levels (low speed (100-200 r / min), medium speed (300 r / min), and high speed (500 r / min) is ≤ ±5 r / min. After installation, each roller brush needs to undergo a dynamic balance test. The vibration amplitude should be ≤0.1mm at a test speed of 300r / min to prevent vibration from affecting the flight stability of the UAV1. The first roller brush 21 has a diameter of 9cm and uses flexible high-density nylon bristles with a density of 800 bristles / cm² and a length of 2.5cm. After installation, check the flatness of the bristles to ensure that there is no obvious flattening. It is used to gently sweep away loose dirt such as dust and sand. The second roller brush 22 has a diameter of 9cm and uses hard and wear-resistant composite bristles with a nylon and carbon fiber ratio of 7:3. The bristles are embedded with nano-alumina particles with a particle size of 50nm. After installation, the bristle hardness is tested to be Shore hardness D60 to avoid damage to the photovoltaic panel coating layer due to excessive hardness. It is used to remove stubborn deposits. The third roller brush 23 has a diameter of 11cm and uses highly absorbent polyurethane polishing sponge material with a density of 35kg / m³. During installation, ensure that the sponge fits tightly with the roller brush shaft without loosening to prevent it from falling off during operation. It is used to wipe away residual cleaning liquid and polish the panel. In this embodiment, the first roller brush 21 rotates at a low speed of 100-200 r / min, gently sweeping away loose dirt such as dust, sand, and fallen leaves, while avoiding scratches caused by hard particles rubbing against the surface of the panel, laying the foundation for subsequent deep cleaning. The second roller brush 22 is harder than the first roller brush 21, and its rotation speed can be adjusted to 300-500 r / min according to the level of dirt. Through mechanical friction and nanoparticle abrasion, it effectively removes stubborn deposits such as bird droppings, dried water stains, oil stains, and moss without damaging the photovoltaic panel coating. The third roller brush 23 has strong water absorption and easy rebound characteristics. It rotates at a speed of 200-300 r / min, which can quickly wipe away the cleaning liquid and water remaining after cleaning by the second roller brush 22, while lightly polishing the surface of the photovoltaic panel, improving the light transmittance of the panel and avoiding water marks that may affect the photovoltaic conversion efficiency.

[0031] In this embodiment, a fourth roller brush 24 is provided behind the third roller brush 23. The fourth roller brush 24 can adopt the same structural design as the first roller brush 21 or the third roller brush 23 to improve the cleaning effect.

[0032] In this embodiment, a cleaning fluid supply unit 5 is also included. The cleaning fluid supply unit 5 includes a miniature storage tank 51 and a metering nozzle 52 connected to the miniature storage tank 51. The miniature storage tank 51 is filled with cleaning fluid, and the metering nozzle 52 is installed above the second roller brush 22. The flight control system 11 controls the opening and closing of the metering nozzle 52 and the spray volume of the cleaning fluid according to the degree of contamination of the photovoltaic panel. The capacity of the miniature storage tank 51 is 0.5-2L.

[0033] In this embodiment, the miniature liquid storage tank 51 is made of corrosion-resistant food-grade plastic and has a reserved liquid level sensor to monitor the remaining cleaning fluid in real time and feed it back to the flight control system 11. The metering nozzle 52 is a high-pressure atomizing nozzle, installed 10-15cm above the second roller brush 22, and the spraying range accurately covers the working area of ​​the second roller brush 22 to avoid waste of cleaning fluid. The electromagnetic control valve is controlled by the flight control system 11 and only opens when the "medium / heavy pollution" level is detected. The spray volume (0-50ml / min) is adjusted according to the degree of pollution. The cleaning fluid can be a mixture of neutral environmentally friendly detergent and water (ratio 1:10-1:20), which not only improves the removal effect of stubborn stains, but also does not corrode the photovoltaic panel coating layer.

[0034] In this embodiment, the adaptive pressure adjustment mechanism 3 includes: The electric push rod 33 and the roller brush are rotatably mounted on the mounting bracket. The mounting bracket is connected to the mounting plate through the elastic telescopic bracket 31. The electric push rod 33 is mounted on the UAV 1, and its output end is connected to the mounting plate. Pressure sensor 32 is located at the connection between the mounting bracket and the elastic telescopic bracket 31. Pressure sensor 32 is used to detect the contact pressure between the roller brush and the photovoltaic panel and send it to the flight control system 11.

[0035] In this embodiment, the adaptive pressure adjustment mechanism 3, as the core component connecting the multi-stage roller brush cleaning module 2 and the drone 1, adopts a closed-loop structure of "elastic support + electric control + pressure feedback". The elastic telescopic bracket 31 is made of stainless steel and has a telescopic stroke of 0-10cm. It has a built-in return spring to buffer the instantaneous impact force during operation. The pressure sensor 32 has a detection accuracy of ±0.05N / cm², collects the contact pressure data between the roller brush and the photovoltaic panel in real time, and converts the analog signal into a digital signal for transmission to the flight control system 11. The electric push rod 33 has a rated thrust of 50-80N and a stroke adjustment accuracy of ±0.1cm. The flight control system 11 automatically adjusts the stroke of the electric push rod 33 according to the feedback data from the pressure sensor 32, stabilizing the roller brush contact pressure within the optimal range of 0.5-1N / cm², adapting to different conditions such as slight bumps and aging scratches on the photovoltaic panel surface, ensuring sufficient cleaning pressure while preventing damage to the panel.

[0036] In this embodiment, the detection module 4 includes a visual camera 41 and an infrared sensor 42 mounted on the drone 1. The visual camera 41 is used to detect the degree of contamination of the photovoltaic panel, and the infrared sensor 42 is used to detect the surface flatness of the photovoltaic panel.

[0037] In this embodiment, the visual camera 41 uses a 1080P high-definition lens with a frame rate of ≥30fps, and has the ability to resist backlight and dust interference. It performs real-time scanning of the photovoltaic panel surface through image recognition algorithms, accurately identifying the type of stain (loose dust, bird droppings, oil stains, etc.), stain coverage, and pollution level, and outputs three-level digital signals of "light stain / medium stain / heavy stain", with an accuracy of ≥95%. The infrared sensor 42 has a detection distance of 5-50cm and an accuracy of ±0.1cm. It can quickly identify special structures such as photovoltaic panel frames, solder joints, damaged areas, and surface protrusions, and outputs position and height signals to avoid collisions between the roller brush and special structures during the cleaning process. At the same time, it provides surface flatness data support for the adaptive pressure adjustment mechanism 3.

[0038] In this embodiment, it also includes: a photovoltaic panel positioning and navigation module 6, which identifies the features of the photovoltaic panel frame through a visual camera 41, plans a cleaning path based on GPS or Beidou positioning, and corrects the position deviation of the drone 1 in real time.

[0039] In this embodiment, the photovoltaic panel positioning and navigation module 6 captures the features of the photovoltaic panel frame through the visual camera 41, quickly delineates the boundary of the cleaning area, and constructs a three-dimensional map of the photovoltaic panel array by combining satellite positioning data. It automatically plans a serpentine coverage cleaning path with a path coverage rate of 100%, ensuring no missed sweeps and no repeated cleaning. During the operation, the visual camera 41 captures the edge features of the panel in real time, dynamically corrects the position deviation of the drone 1 (correction accuracy ±2cm), adapts to photovoltaic panels of different arrangements and sizes (adapting width 0.8-2m), and supports the function of resuming cleaning after a breakpoint. If the battery is low or the drone returns to base due to a malfunction, it can accurately return to the breakpoint and continue cleaning after taking off again.

[0040] This invention also provides a control method for a solar photovoltaic panel cleaning drone, which includes the following steps: S1: Drone 1 is initially located at the charging base station. After assembly and debugging, Drone 1 is placed at the charging base station. The device is started via a remote control terminal (mobile phone / computer). The flight control system 11 automatically completes a self-test, covering items such as battery power, communication of various modules, and sensor status. After passing the self-test, it sends a "ready" signal to the terminal. Drone 1 then flies over the photovoltaic panel to be cleaned. It identifies the features of the photovoltaic panel frame through the visual camera 41, determines the frame position and arrangement of multiple photovoltaic panels, plans a cleaning path based on GPS or Beidou positioning, and corrects the position deviation of Drone 1 in real time. The path planning generates a serpentine covering cleaning path according to the horizontal or vertical arrangement of the photovoltaic panels. The starting point of the path is set at the upper left corner of the photovoltaic panel array, and the ending point is the lower right corner. The path spacing is equal to the cleaning width of 160cm of the drone to ensure no missed cleaning and no repeated cleaning. After the planning is completed, the path is sent to the remote control terminal for record.

[0041] S2: The drone 1 flies over the first photovoltaic panel to be cleaned. The adaptive pressure adjustment mechanism 3 moves the roller brush downward until the roller brush contacts the surface of the photovoltaic panel. The initial contact pressure is detected by the pressure sensor 32. The flight control system 11 automatically adjusts the electric push rod 33 to calibrate the contact pressure to the preset threshold. After calibration, the pressure parameters are locked and the cleaning operation is officially started. If the pressure deviation exceeds 1N / cm² during the calibration process, the system automatically raises the roller brush and issues an alarm signal to avoid damaging the photovoltaic panel.

[0042] S3: The degree of contamination of the photovoltaic panel is detected by the visual camera 41, and the flight control system 11 adjusts the position or speed of the roller brush accordingly through the adaptive pressure adjustment mechanism 3. S4: When the infrared sensor 42 detects the edge of the photovoltaic panel, the flight control system 11 raises the roller brush via the adaptive pressure adjustment mechanism 3 by 5-8cm. The infrared sensor 42 monitors the flatness of the photovoltaic panel surface in real time. When it detects a photovoltaic panel edge with a height difference ≥2cm or a weld point with a protrusion ≥0.5cm, it immediately sends a signal to the flight control system 11. Within 0.2 seconds, the system controls the adaptive pressure adjustment mechanism 3 to raise the roller brush by 7cm (adjustable within the range of 5-8cm). At the same time, the drone 1 decelerates to 0.2m / s and smoothly passes over the special area. After passing over, the system controls the roller brush to slowly lower, recalibrate the contact pressure, and restore normal cleaning parameters. When cleaning reaches 5cm from the edge of the photovoltaic panel, the vision camera 41 triggers an edge recognition signal. The drone 1 automatically decelerates and adjusts its direction, switching to the next cleaning path with a path connection error ≤±2cm.

[0043] S5: After cleaning the first photovoltaic panel, Drone 1 flies to the next panel and repeats steps S2-S4 until all panels are cleaned. After cleaning a single panel, Drone 1 hovers 30cm above the panel and uses the visual camera 41 to perform a comprehensive check of the panel surface. A residual stain coverage rate of <2% is considered acceptable. If localized residual stains exist, the system automatically plans a cleaning path to cover only the affected area, and checks again after cleaning. If no residual stains are found, the system switches to the next panel according to the navigation path and repeats the cleaning process. When the battery level drops to 20% (low battery threshold) or the cleaning fluid level is below 10%, the system automatically pauses the cleaning operation, plans the shortest path back to the charging base station, raises the roller brush during the return trip to avoid contact with obstacles, and automatically connects to the charging and cleaning fluid replenishment interfaces upon arrival at the base station to complete charging and replenishment. Simultaneously, it uploads data such as the cleaning area, stain level distribution, and equipment status to the remote control terminal, generating a cleaning report.

[0044] In this embodiment, in step S2, the preset threshold for contact pressure is 0.5-1 N / cm². The vertical extension stroke of the roller brush is 0-10 cm.

[0045] In this embodiment, in step S3, the degree of contamination of the photovoltaic panel is divided into light contamination, moderate contamination, and heavy contamination, and the contamination images of the photovoltaic panels at light, moderate, and heavy contamination levels are stored in the flight control system 11. The classification of light, moderate, and heavy contamination is based on the stain coverage rate, or it can be based on pollutants that are difficult to clean, such as feces. The flight control system 11 acquires images of the photovoltaic panel surface through the vision camera 41 and determines its degree of contamination accordingly. When the degree of contamination is light, the first roller brush 21 and the third roller brush 21 are activated. The roller brush 23 and drone 1 move at a speed of 0.8 m / s, completing the cleaning through a "sweeping-throwing" combination. When the pollution level is medium, all roller brushes are activated, the second roller brush 22 speed is adjusted to 300 r / min, and the metering nozzle 52 sprays cleaning fluid, removing stains through a "sweeping-removing-throwing" combination. When the pollution level is heavy, the second roller brush 22 speed is increased to 500 r / min, the metering nozzle 52 sprays cleaning fluid, and the amount of cleaning fluid sprayed is increased compared to the medium pollution level, while the drone 1's speed is reduced to 0.4 m / s. Drone 1 is equipped with an attitude sensor. During operation, the flight control system 11 receives attitude sensor data in real time and adjusts the drone 1's flight attitude to ensure that the roller brush is always parallel to the photovoltaic panel surface, with a tilt angle ≤ ±2°, avoiding uneven cleaning pressure in certain areas.

[0046] In this embodiment, the travel speed of the UAV 1 is adjustable from 0 to 0.8 m / s. The rotation speed of the roller brush is adjustable from 0 to 500 r / min.

[0047] In this embodiment, proper handling of equipment malfunctions and routine maintenance should be implemented. If the roller brush jams during operation (motor speed drops sharply by ≥50 r / min), the flight control system 11 will immediately stop the drone and raise the roller brush. The visual camera 41 will be used to check the cause of the jam (foreign object entanglement / brush bristle damage). At the same time, an alarm signal will be sent to the remote terminal, and the staff can remotely control the drone 1 to return to home for processing. If the pressure sensor 32 data is abnormal (no feedback / excessive fluctuation), the system will automatically switch to the backup pressure detection mode and control the roller brush pressure based on preset travel parameters to ensure that the cleaning operation continues. After returning to home, the faulty sensor will be replaced. If the wireless communication is interrupted for more than 3 seconds, the drone 1 will initiate an autonomous return-to-home procedure and return to the nearest safe landing point based on the locally stored path data to avoid losing contact and crashing. For routine maintenance, after each cleaning operation, disassemble the three sets of roller brushes, clean the residual dirt and foreign objects on the bristles, and replace them in time when the bristle length of the first and second roller brushes is worn by more than 30%, or when the sponge of the third roller brush 23 is cracked or broken off; clean the pressure sensor 32 and infrared sensor 42 probes to avoid dirt affecting detection accuracy; check the liquid pipelines and nozzles, and remove blockages to ensure smooth flow of cleaning fluid; after every 50 hours of operation, regularly calibrate the flight control system 11, pressure regulation mechanism, and navigation module to ensure stable and reliable equipment parameters. This implementation method, through standardized integrated debugging procedures, dynamically adaptable cleaning logic, and a comprehensive fault response and maintenance mechanism, can ensure the stable operation of UAV 1 in various outdoor photovoltaic power station scenarios, achieving efficient, safe, and intelligent cleaning of photovoltaic panels, while facilitating replication and promotion by those skilled in the art.

[0048] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this 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. Therefore, they should not be construed as limitations on this invention.

[0049] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0050] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0051] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A solar photovoltaic panel cleaning drone, characterized in that, include: Unmanned aerial vehicle (1); The multi-stage roller brush cleaning module (2) includes multiple roller brushes and micro motors, with each roller brush being driven by a different micro motor. An adaptive pressure adjustment mechanism (3) is provided on the drone (1). The roller brush and the micro motor are provided on the adaptive pressure adjustment mechanism (3). The adaptive pressure adjustment mechanism (3) is used to drive the roller brush to move closer to or away from the photovoltaic panel. The detection module (4) is installed on the drone (1) and is used to detect the degree of contamination of the photovoltaic panel and the surface flatness of the photovoltaic panel; The flight control system (11) sends the pollution level data and surface flatness data of the photovoltaic panel to the flight control system (11), and the flight control system (11) adjusts the position or rotation speed of the roller brush through the adaptive pressure adjustment mechanism (3).

2. The solar photovoltaic panel cleaning drone according to claim 1, characterized in that, Multiple roller brushes may have different bristle densities or different bristle materials.

3. The solar photovoltaic panel cleaning drone according to claim 2, characterized in that, The multiple roller brushes include a first roller brush (21), a second roller brush (22) and a third roller brush (23). The first roller brush (21) is a flexible nylon bristle roller brush, the second roller brush (22) is a hard bristle roller brush, and the third roller brush (23) is a water-absorbing polishing sponge bristle roller brush. The distance between adjacent roller brushes is 8-10cm.

4. A solar photovoltaic panel cleaning drone according to claim 3, characterized in that, The first roller brush (21) has a bristle density of not less than 800 bristles / cm², and the bristles of the second roller brush (22) are embedded with nano-cleaning particles.

5. A solar photovoltaic panel cleaning drone according to claim 4, characterized in that, Also includes: The cleaning fluid supply unit (5) includes a miniature liquid storage tank (51) and a metering nozzle (52) connected to the miniature liquid storage tank (51). The miniature liquid storage tank (51) is filled with cleaning fluid. The metering nozzle (52) is installed above the second roller brush (22). The flight control system (11) controls the opening and closing of the metering nozzle (52) and the amount of cleaning fluid sprayed according to the degree of pollution of the photovoltaic panel.

6. A solar photovoltaic panel cleaning drone according to claim 5, characterized in that, The adaptive pressure regulation mechanism (3) includes: An electric push rod (33) is provided. The roller brush is rotatably mounted on a mounting bracket. The mounting bracket is connected to the mounting plate via an elastic telescopic bracket (31). The electric push rod (33) is mounted on the drone (1), and its output end is connected to the mounting plate. A pressure sensor (32) is installed at the connection between the mounting bracket and the elastic telescopic bracket (31). The pressure sensor (32) is used to detect the contact pressure between the roller brush and the photovoltaic panel and send it to the flight control system (11).

7. A solar photovoltaic panel cleaning drone according to claim 6, characterized in that, The detection module (4) includes a visual camera (41) and an infrared sensor (42) mounted on the drone (1). The visual camera (41) is used to detect the degree of contamination of the photovoltaic panel, and the infrared sensor (42) is used to detect the surface flatness of the photovoltaic panel.

8. A solar photovoltaic panel cleaning drone according to claim 7, characterized in that, Also includes: The photovoltaic panel positioning and navigation module (6) identifies the features of the photovoltaic panel frame through a visual camera (41), plans a cleaning path based on GPS or Beidou positioning, and corrects the position deviation of the drone (1) in real time.

9. A control method for a solar photovoltaic panel cleaning drone, characterized in that, The application of the solar photovoltaic panel cleaning drone according to claim 8 includes the following steps: S1: The drone (1) flies over the photovoltaic panel to be cleaned, identifies the features of the photovoltaic panel frame through the visual camera (41), determines the frame position and arrangement of multiple photovoltaic panels, plans the cleaning path based on GPS or Beidou positioning, and corrects the position deviation of the drone (1) in real time. S2: The drone (1) flies to the top of the first photovoltaic panel to be cleaned. The adaptive pressure adjustment mechanism (3) moves the roller brush down until the roller brush contacts the surface of the photovoltaic panel. The initial contact pressure is detected by the pressure sensor (32). The flight control system (11) automatically adjusts the electric push rod (33) to calibrate the contact pressure to the preset threshold. S3: The degree of contamination of the photovoltaic panel is detected by the visual camera (41), and the flight control system (11) adjusts the position or speed of the roller brush accordingly through the adaptive pressure adjustment mechanism (3); S4: When the infrared sensor (42) detects the photovoltaic panel frame, the flight control system (11) raises the roller brush through the adaptive pressure adjustment mechanism (3); S5: After cleaning the first photovoltaic panel to be cleaned, the drone (1) flies over the next photovoltaic panel to be cleaned and repeats steps S2-S4 until all photovoltaic panels are cleaned.

10. The control method for a solar photovoltaic panel cleaning drone according to claim 9, characterized in that, In step S3, the degree of pollution of the photovoltaic panel is divided into light pollution, moderate pollution and heavy pollution, and the pollution images of the photovoltaic panel with light pollution, moderate pollution and heavy pollution are stored in the flight control system (11). The flight control system (11) collects images of the photovoltaic panel surface through the vision camera (41) and judges its pollution degree accordingly. When the pollution degree is light pollution, the first roller brush (21) and the third roller brush (23) are started, and the UAV (1) moves at a speed of 0.8m / s. When the pollution degree is moderate pollution, all roller brushes are started, the second roller brush (22) is rotated to 300r / min, and the metering nozzle (52) sprays cleaning liquid. When the pollution level is heavy, the rotation speed of the second roller brush (22) is increased to 500 r / min, the metering nozzle (52) sprays cleaning liquid and increases the amount of cleaning liquid sprayed compared to when the pollution level is medium, and the travel speed of the drone (1) is reduced to 0.4 m / s.

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