A high-pressure automated cleaning intelligent drone for photovoltaic panels and its application

Abstract

This invention relates to the field of photovoltaic maintenance technology, specifically to a high-pressure automated cleaning drone for photovoltaic panels and its application. It realizes autonomous and closed-loop management of cleaning operations. The machine vision and positioning system accurately identifies the boundaries and cleanliness of the photovoltaic panel array. The central control system dynamically plans the global path and local trajectory based on environmental information. The onboard liquid storage and recovery bins simultaneously complete the storage of cleaning liquid and the recovery of waste liquid, completely eliminating the dependence on manual operation. It solves the pain points of low automation, water waste and secondary pollution in traditional cleaning methods, and significantly improves cleaning efficiency and environmental protection.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic maintenance technology, specifically to a high-pressure automated cleaning intelligent drone for photovoltaic panels and its application. Background Technology

[0002] As an important component of clean energy, photovoltaic power generation's efficiency directly affects energy output. Photovoltaic panels, constantly exposed to the natural environment, easily accumulate dust, bird droppings, pollen, and other contaminants. These contaminants significantly reduce the panel's light transmittance, leading to decreased power generation efficiency. Studies have shown that severe contamination can cause a power generation loss of over 15%. Therefore, regular cleaning of photovoltaic panels is crucial.

[0003] Currently, the main cleaning methods for photovoltaic panels include manual cleaning, semi-automatic cleaning vehicle cleaning, and fixed robot cleaning. Manual cleaning suffers from low efficiency, high labor intensity, high cost, and high risks when operating at heights or on sloping roofs. Semi-automatic cleaning vehicles have poor mobility and are difficult to adapt to complex terrain and densely arranged photovoltaic arrays. Fixed robot cleaning requires the pre-installation of guide rails and infrastructure on the photovoltaic array, resulting in high initial investment, poor flexibility, and difficulty in relocation.

[0004] In recent years, there have been attempts to use drones for cleaning photovoltaic panels, but most of these solutions still have the following drawbacks: Low level of automation: It requires manual remote control operation, cannot achieve truly fully autonomous operation, has a high dependence on operators, and the cleaning quality is unstable.

[0005] Limited functionality: Most only have a spraying function, with limited cleaning power, and are not effective at cleaning stubborn stains (such as bird droppings and mud stains).

[0006] Lack of waste liquid recycling: The wastewater after spraying is allowed to flow freely, forming water stains on the surface of the photovoltaic panels, causing secondary pollution to the panels, wasting water resources, and failing to meet environmental protection requirements.

[0007] Insufficient intelligence: It lacks accurate positioning and path planning capabilities, and cannot intelligently identify the boundaries and stain distribution of individual photovoltaic panels, resulting in incomplete cleaning coverage or repeated cleaning.

[0008] The information disclosed in this background section is intended only to enhance the understanding of the overall background of this invention patent and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0009] The purpose of this invention patent is to provide an intelligent drone and its application for high-pressure autonomous cleaning of photovoltaic panels. This drone can achieve full automation from identification, positioning, cleaning to recycling, with good cleaning effect, high efficiency and environmental protection.

[0010] The solution of the present invention to the above-mentioned technical problems is as follows: A high-pressure automated cleaning drone for photovoltaic panels includes: The fuselage of the drone; The flight system, mounted on the fuselage of the UAV, provides flight power and attitude control for the UAV. A cleaning system, located below or at the front of the drone fuselage, is used to clean the surface of the photovoltaic panels; Machine vision and positioning systems are used to identify and locate target photovoltaic panel arrays, and to detect the cleanliness of the photovoltaic panel surface and the photovoltaic panel boundaries in real time. The central control system is connected in communication with the flight system, cleaning system and machine vision and positioning system, and is used to integrate and process environmental information and plan the global cleaning path and local cleaning trajectory. The energy system is electrically connected to the drone fuselage, flight system, cleaning system, machine vision and positioning system, and central control system, respectively. Additionally, an onboard liquid storage and recovery compartment is located inside or below the fuselage of the UAV and connected to the cleaning system, for storing cleaning fluid and recovering waste liquid generated during cleaning.

[0011] Further specifying, the cleaning system includes: The cleaning fluid spraying module is connected to the onboard liquid storage and recovery bin, and is used to atomize the cleaning fluid in the onboard liquid storage and recovery bin and spray it onto the surface of the photovoltaic panel. A rotary scrubbing module includes at least one motor-driven roller brush for scrubbing the surface of a photovoltaic panel that has been sprayed with cleaning fluid. The vacuum water absorption and recovery module is used to absorb and recover waste liquid and dirt from the surface of photovoltaic panels to the onboard liquid storage and recovery bin.

[0012] Furthermore, the roller brush is provided with variable stiffness bristles, which are composed of an inner rigid support part and an outer flexible cleaning part.

[0013] Further specifying, the machine vision and positioning system includes: The image boundary processing module is used to acquire images of the photovoltaic panel array captured by the wide-angle camera, and to obtain the boundary and position of the target photovoltaic panel array based on the photovoltaic panel array images; The image cleanliness processing module is used to acquire images of the photovoltaic panel surface and determine the type, thickness, distribution and cleanliness of the stains on the photovoltaic panel surface based on the images. LiDAR or ultrasonic sensors are used to obtain the drone's attitude and the relative distance between the drone and the photovoltaic panel surface; The image boundary processing module, image cleanliness processing module, and lidar or ultrasonic sensor are all communicatively connected to the central control system.

[0014] Furthermore, the central control system is communicatively connected to the rotary brush cleaning module. The central control system can adjust the rotation speed of the roller brush and the pressure of the roller brush on the photovoltaic panel surface based on the type and thickness of the stains fed back by the machine vision and positioning system.

[0015] Furthermore, the airborne liquid storage and recovery chamber is equipped with a flexible diaphragm, which divides the airborne liquid storage and recovery chamber into an independent cleaning liquid chamber and a waste liquid recovery chamber. The cleaning liquid chamber is connected to the cleaning liquid spraying module, and the waste liquid recovery chamber is connected to the vacuum water absorption and recovery module.

[0016] Furthermore, the central control system has a built-in intelligent path planning algorithm, which is configured as follows: The location and boundaries of the photovoltaic panel array are obtained based on machine vision and positioning system, and a "bow"-shaped global cleaning path covering the entire photovoltaic panel array is generated. For a single photovoltaic panel, a local cleaning trajectory that matches the surface stain distribution of the target photovoltaic panel is generated based on the identification of the boundary and surface stain distribution of the target photovoltaic panel.

[0017] Furthermore, the central control system is used to autonomously plan a return path when the cleaning task is completed, when there is insufficient energy, insufficient cleaning fluid, and / or when the onboard storage and recovery tanks are full of waste liquid.

[0018] A ground base station is used to provide parking, charging and data transmission services for the aforementioned intelligent drones that automatically clean photovoltaic panels under high pressure, and also to replenish cleaning fluid and recycle waste liquid in the airborne storage and recovery bins.

[0019] The airborne liquid storage and recovery chamber are automatically replenished with cleaning fluid and automatically discharged and purified with waste liquid.

[0020] Furthermore, the ground base station and the intelligent drone for high-pressure automated cleaning of photovoltaic panels establish a connection via wireless communication.

[0021] The beneficial effects of this invention are as follows: 1. This invention realizes autonomous and closed-loop management of cleaning operations. The machine vision and positioning system accurately identifies the boundaries and cleanliness of the photovoltaic panel array. The central control system dynamically plans the global path and local trajectory based on environmental information. The onboard liquid storage and recovery bins simultaneously complete the storage of cleaning liquid and the recovery of waste liquid, completely eliminating the dependence on manual operation. It solves the pain points of low automation, water waste and secondary pollution in traditional cleaning methods, and significantly improves cleaning efficiency and environmental protection.

[0022] 2. This invention ensures deep cleaning of adhesive stains through the coordinated application of spraying, brushing, and recycling; the roller brush and central control system adapt the brushing speed and pressure to the cleaning needs of different stain types and thicknesses; the diaphragm separation structure of the onboard liquid storage tank avoids cross-contamination between cleaning liquid and waste liquid; the intelligent path planning algorithm, through a "bow"-shaped global path and a local trajectory adapted to the stain, takes into account both cleaning coverage and energy consumption optimization, thus comprehensively improving cleaning effect, operational safety, and economy. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of an intelligent drone for high-pressure autonomous cleaning of photovoltaic panels according to the present invention. Figure 2 This is a schematic diagram of the cleaning system of the present invention. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0025] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0026] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0027] In the description of the embodiments of the present invention, it should be noted that if terms such as "upper," "lower," "horizontal," or "inner" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, terms such as "first" and "second" are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0028] Example 1 refer to Figure 1This invention provides a high-pressure automated cleaning intelligent drone for photovoltaic panels, comprising: The drone fuselage, which serves as the main carrier for cleaning, can be a quadcopter, hexacopter, or octacopter drone. The flight system, installed on the fuselage of the UAV, provides flight power and attitude control to the UAV fuselage in order to meet the flight requirements of the actual flight environment and the cleaning process; A cleaning system, located below or at the front of the drone fuselage, is used to clean the surface of the photovoltaic panels; Machine vision and positioning systems are used to identify and locate target photovoltaic panel arrays, facilitating the determination of the overall cleaning range; they are also used to detect the cleanliness of the photovoltaic panel surface and the photovoltaic panel boundaries in real time, facilitating the determination of the cleaning degree and the cleaning range of individual photovoltaic panels. The central control system is connected in communication with the flight system, cleaning system and machine vision and positioning system, and is used to integrate and process environmental information and plan the global cleaning path and local cleaning trajectory. The energy system is electrically connected to the drone fuselage, flight system, cleaning system, machine vision and positioning system, and central control system, respectively. Additionally, an onboard liquid storage and recovery compartment is located inside or below the fuselage of the UAV and connected to the cleaning system, for storing cleaning fluid and recovering waste liquid generated during cleaning.

[0029] refer to Figure 2 The cleaning system includes: The cleaning fluid spraying module is connected to the onboard liquid storage and recovery bin. It is used to spray the cleaning fluid in the onboard liquid storage and recovery bin onto the surface of the photovoltaic panel after atomization. This can reduce the use of cleaning fluid and save costs, as well as increase the coverage of the cleaning fluid and increase cleaning efficiency. The rotary brushing module includes at least one motor-driven roller brush for rotary brushing the surface of a photovoltaic panel sprayed with cleaning liquid to remove floating dust and highly adhesive stains from the photovoltaic panel surface. The vacuum water absorption and recovery module is used to absorb and recover waste liquid and dirt from the surface of photovoltaic panels to the onboard liquid storage and recovery bin, effectively preventing secondary pollution caused by sewage flowing downhill.

[0030] Optionally, the roller brush is provided with variable stiffness bristles, which consist of an inner rigid support part and an outer flexible cleaning part. The rigid support part can ensure that the roller brush can effectively clean stubborn stains and provide reliable support, while the flexible cleaning part can avoid damage to the surface of the photovoltaic panel during cleaning and ensure the service life of the photovoltaic panel.

[0031] To further explain, machine vision and positioning systems include: The image boundary processing module is used to acquire images of the photovoltaic panel array captured by the wide-angle camera. The wide-angle camera is mounted on the drone body. The image boundary processing module is used to obtain the boundary and position of the target photovoltaic panel array based on the photovoltaic panel array image, which is convenient for determining the range and location that needs to be cleaned. Its positioning information can be displayed through latitude and longitude, which makes it convenient to determine the cleaning order of each photovoltaic panel in the photovoltaic panel array later. The image cleanliness processing module is used to acquire images of the photovoltaic panel surface and determine the type, thickness, distribution and cleanliness of stains on the photovoltaic panel surface based on the images. For stubborn stains, thick stains and photovoltaic panels with low cleanliness, the cleaning force of the roller brush needs to be increased to ensure the cleaning effect. LiDAR or ultrasonic sensors are used to obtain the drone's attitude and the relative distance between the drone and the photovoltaic panel surface, enabling the drone to maintain a safe flight attitude and distance during the cleaning process, ensuring the cleaning operation is safe and reliable. The image boundary processing module, image cleanliness processing module, and lidar or ultrasonic sensor are all communicatively connected to the central control system.

[0032] To further explain, the central control system is connected to the rotary brush cleaning module. The central control system can adjust the rotation speed of the roller brush and the pressure of the roller brush on the photovoltaic panel surface based on the type and thickness of the stains fed back by the machine vision and positioning system, so as to ensure the cleaning effect.

[0033] To further explain, the onboard liquid storage and recovery chamber is equipped with a flexible diaphragm, which separates the interior of the onboard liquid storage and recovery chamber into an independent cleaning liquid chamber and a waste liquid recovery chamber. The cleaning liquid chamber is connected to the cleaning liquid spraying module to provide the cleaning liquid required for cleaning; the waste liquid recovery chamber is connected to the vacuum water absorption and recovery module to suck up the wastewater generated during the cleaning process and cleaning impurities together, so as to avoid polluting the bottom environment, reduce water stains, and reduce corrosion of the photovoltaic panel support.

[0034] To further explain, the central control system has a built-in intelligent path planning algorithm, which is configured as follows: The location and boundaries of the photovoltaic panel array are obtained based on machine vision and positioning system, and a "bow"-shaped global cleaning path covering the entire photovoltaic panel array is generated to complete the sequential cleaning of all photovoltaic panels. For a single photovoltaic panel, based on the identification of the boundary and surface stain distribution of the target photovoltaic panel, a local cleaning trajectory matching the stain distribution on the surface of the photovoltaic panel is generated, which can effectively clean the stain distribution location.

[0035] The central control system is used to autonomously plan a return path and return to replenish supplies when the cleaning task is completed, when there is insufficient energy, insufficient cleaning fluid, and / or when the onboard storage and recovery bins are full of waste fluid.

[0036] In another embodiment, a ground base station is provided for providing parking, charging and data transmission services for the aforementioned intelligent drone for high-pressure automated cleaning of photovoltaic panels, and for replenishing cleaning fluid and recycling waste liquid in the airborne storage and recovery bins.

[0037] At this point, the return path planned by the central control system is to return to the ground base station, and the ground base station establishes a connection with the intelligent drone for high-pressure automated cleaning of photovoltaic panels through wireless communication.

[0038] Example 2 Based on Example 1, this example provides a high-pressure automated cleaning method for photovoltaic panels using a smart drone, comprising the following steps: S1. Mission initiated: The intelligent drone for high-pressure automated cleaning of photovoltaic panels takes off autonomously from ground base station 6 and flies to the preset photovoltaic panel array area. S2. The machine vision and positioning system scans and constructs a global map of the photovoltaic panel array to determine its location, and the central control system generates a global cleaning path. S3. The high-pressure automated cleaning drone flies along the global path to the top of the first photovoltaic panel and accurately identifies the boundary and surface cleanliness of the photovoltaic panel through the machine vision system. S4. The intelligent drone for high-pressure automated cleaning of photovoltaic panels adjusts its attitude based on the identified boundary information, so that its cleaning system is parallel to the surface of the photovoltaic panel and at a preset distance. The central control system generates a local cleaning trajectory and starts the cleaning system. S5, a high-pressure automated cleaning drone for photovoltaic panels moves along a planned local cleaning trajectory and sequentially performs the cleaning process of spraying cleaning liquid, driving the roller brush to rotate and scrub, and vacuum water absorption and recovery. S6. After completing the cleaning of the current photovoltaic panel, fly to the next photovoltaic panel according to the global cleaning path and repeat steps S3~S5 until the cleaning of the entire photovoltaic panel array is completed. S7. After the cleaning mission is completed, the drone autonomously returns to the ground base station for resupply and data upload.

[0039] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the scope of the invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0040] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can be appropriately combined to form other embodiments that can be understood by those skilled in the art. The above content is only for illustrating the technical concept of the present invention and should not be construed as limiting the scope of protection of the present invention. Any modifications made based on the technical concept proposed in this invention shall fall within the scope of protection of the claims of this invention.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A high-pressure automated cleaning drone for photovoltaic panels, characterized in that, include: The fuselage of the drone; The flight system, mounted on the fuselage of the UAV, provides flight power and attitude control for the UAV. A cleaning system, located below or at the front of the drone fuselage, is used to clean the surface of the photovoltaic panels; Machine vision and positioning systems are used to identify and locate target photovoltaic panel arrays, and to detect the cleanliness of the photovoltaic panel surface and the photovoltaic panel boundaries in real time. The central control system is connected in communication with the flight system, cleaning system and machine vision and positioning system, and is used to integrate and process environmental information and plan the global cleaning path and local cleaning trajectory. The energy system is electrically connected to the drone fuselage, flight system, cleaning system, machine vision and positioning system, and central control system, respectively. Additionally, an onboard liquid storage and recovery compartment is located inside or below the fuselage of the UAV and connected to the cleaning system, for storing cleaning fluid and recovering waste liquid generated during cleaning.

2. The intelligent drone for high-pressure automated cleaning of photovoltaic panels according to claim 1, characterized in that, The cleaning system includes: The cleaning fluid spraying module is connected to the onboard liquid storage and recovery bin, and is used to atomize the cleaning fluid in the onboard liquid storage and recovery bin and spray it onto the surface of the photovoltaic panel. A rotary scrubbing module includes at least one motor-driven roller brush for scrubbing the surface of a photovoltaic panel that has been sprayed with cleaning fluid. The vacuum water absorption and recovery module is used to absorb and recover waste liquid and dirt from the surface of photovoltaic panels to the onboard liquid storage and recovery bin.

3. The intelligent drone for high-pressure automated cleaning of photovoltaic panels according to claim 2, characterized in that, The roller brush is provided with variable stiffness bristles, which are composed of an inner rigid support part and an outer flexible cleaning part.

4. The intelligent drone for high-pressure automated cleaning of photovoltaic panels according to claim 3, characterized in that, The machine vision and positioning system includes: The image boundary processing module is used to acquire images of the photovoltaic panel array captured by the wide-angle camera, and to obtain the boundary and position of the target photovoltaic panel array based on the photovoltaic panel array images; The image cleanliness processing module is used to acquire images of the photovoltaic panel surface and determine the type, thickness, distribution and cleanliness of the stains on the photovoltaic panel surface based on the images. LiDAR or ultrasonic sensors are used to obtain the drone's attitude and the relative distance between the drone and the photovoltaic panel surface; The image boundary processing module, image cleanliness processing module, and lidar or ultrasonic sensor are all communicatively connected to the central control system.

5. The intelligent drone for high-pressure automated cleaning of photovoltaic panels according to claim 4, characterized in that, The central control system is communicatively connected to the rotary brush cleaning module. The central control system can adjust the rotation speed of the roller brush and the pressure of the roller brush on the surface of the photovoltaic panel based on the type and thickness of the stains fed back by the machine vision and positioning system.

6. The intelligent drone for high-pressure automated cleaning of photovoltaic panels according to claim 5, characterized in that, The airborne liquid storage and recovery chamber is equipped with a flexible diaphragm, which separates the airborne liquid storage and recovery chamber into an independent cleaning liquid chamber and a waste liquid recovery chamber. The cleaning liquid chamber is connected to the cleaning liquid spraying module, and the waste liquid recovery chamber is connected to the vacuum water absorption and recovery module.

7. The intelligent drone for high-pressure automated cleaning of photovoltaic panels according to claim 4, characterized in that, The central control system has a built-in intelligent path planning algorithm, which is configured as follows: The location and boundaries of the photovoltaic panel array are obtained based on machine vision and positioning system, and a "bow"-shaped global cleaning path covering the entire photovoltaic panel array is generated. For a single photovoltaic panel, a local cleaning trajectory that matches the surface stain distribution of the target photovoltaic panel is generated based on the identification of the boundary and surface stain distribution of the target photovoltaic panel.

8. The intelligent drone for high-pressure automated cleaning of photovoltaic panels according to claim 1, characterized in that, The central control system is used to autonomously plan a return path when the cleaning task is completed, when there is insufficient energy, insufficient cleaning fluid, and / or when the onboard storage and recovery tanks are full of waste liquid.

9. A ground base station, characterized in that, It is used to provide parking, charging and data transmission services for the intelligent drone for high-pressure automated cleaning of photovoltaic panels as described in any one of claims 1 to 8, and is also used to replenish cleaning fluid and recycle waste liquid in the airborne storage and recovery bin; The airborne liquid storage and recovery chamber are automatically replenished with cleaning fluid and automatically discharged and purified with waste liquid.

10. The ground base station according to claim 9, characterized in that, The ground base station and the intelligent drone for high-pressure automated cleaning of photovoltaic panels establish a connection through wireless communication.

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