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CN-121995950-A - Large-scale cleaning method for ground-air cooperative photovoltaic panel

CN121995950ACN 121995950 ACN121995950 ACN 121995950ACN-121995950-A

Abstract

The invention relates to a large-scale cleaning method for a ground-air cooperative photovoltaic panel, and belongs to the technical field of unmanned plane path planning and photovoltaic cleaning. The method is realized based on a ground-air collaborative cleaning system consisting of a multi-rotor unmanned aerial vehicle, a ground station, a photovoltaic cleaning robot and an unmanned aerial vehicle lifting device, and the core innovation is that the transregional transfer of the cleaning robot carried by the unmanned aerial vehicle is fused with the optimal path planning depth. The unmanned aerial vehicle serves as a transferring main body, the robot is carried by the lifting device and flies along an optimal path planned by an ant colony algorithm, after the unmanned aerial vehicle reaches the center of each photovoltaic panel operation area, the robot is accurately lowered to execute ground cleaning operation, after the operation is completed, the robot is recovered and goes to the next area, and finally, efficient cleaning of the photovoltaic panels in a large range is realized. According to the invention, the heuristic function is optimized aiming at the regular distribution characteristic of the photovoltaic panel array, so that the unmanned aerial vehicle is ensured to cover all target areas in the shortest path, the energy consumption and the operation time are effectively reduced, and the method is suitable for the complex operation environment of a large-scale photovoltaic field.

Inventors

  • YE JINHUA
  • LAI JINTAO
  • FANG YUXI
  • Zheng Jiaxia

Assignees

  • 福州大学

Dates

Publication Date
20260508
Application Date
20260211

Claims (10)

  1. 1. A large-scale cleaning method for a ground-air cooperative photovoltaic panel is characterized by being realized based on a ground-air cooperative photovoltaic panel cleaning system, wherein the cleaning system comprises a multi-rotor unmanned aerial vehicle, a ground station, a photovoltaic cleaning robot and a hoisting device arranged on an unmanned aerial vehicle body, the hoisting device has hoisting, lowering and hovering fixing functions and is used for completing transfer of the unmanned aerial vehicle assisting the photovoltaic cleaning robot in a photovoltaic panel operation area, the cleaning method takes the multi-rotor unmanned aerial vehicle as an execution main body, an unmanned aerial vehicle path optimization model is constructed based on TSP traveling business problems, and an ant colony algorithm is adopted to realize optimal path planning of the unmanned aerial vehicle carrying the photovoltaic cleaning robot in a photovoltaic panel area grid map.
  2. 2. A method for cleaning a large scale of a ground-air cooperative photovoltaic panel according to claim 1, comprising the steps of: Step 1, constructing a two-dimensional grid map of a photovoltaic field, and converting a photovoltaic panel array and a surrounding environment into a two-dimensional grid map comprising passable grids and barrier grids through the actual size of the photovoltaic field and a preset scale factor; Step 2, determining a path planning target point, setting a flying spot, a landing spot and the center of each photovoltaic panel area of the unmanned aerial vehicle as path necessary target points to form a target point coordinate set, and hoisting the cleaning robot by the unmanned aerial vehicle and hovering at the flying spot; step 3, initializing ant colony algorithm parameters including ant number, pheromone volatilization coefficient, pheromone weight factor, distance heuristic factor and maximum iteration times; step 4, executing ant colony algorithm path search, determining a moving direction by ants according to the path pheromone concentration and the target point distance heuristic information, recording accessed target points through a tabu table, and forming a complete path after all the target points are traversed; Step 5, updating the path pheromone, and volatilizing and supplementing the pheromone by combining the optimal path and the global optimal path in the iteration, so as to strengthen the guiding function of the high-quality path; Step 6, judging algorithm convergence, outputting a global optimal path if the iteration number reaches a threshold value or the optimal path length of continuous multiple iterations is stable, otherwise returning to the step 4 to continue iteration; And 7, outputting a global optimal path, starting from a flying point, enabling the unmanned aerial vehicle to reach each target point along the optimal path after the optimal path is obtained, accurately lowering the photovoltaic cleaning robot, keeping a hovering gesture during cleaning operation, lifting the cleaning robot to go to the next target point after the operation is completed, and repeating the same operation flow until reaching a falling point.
  3. 3. The method for cleaning the ground and air collaborative photovoltaic panel in a large range is characterized in that in the step 1, a rectangular coordinate system is established by taking the left lower corner of a photovoltaic field as an origin of coordinates, a scale factor is set to be 1:1, a photovoltaic field area is divided into square grids of 20 multiplied by 20, the side length of each grid corresponds to an actual scene of 1m, grids corresponding to a photovoltaic panel coverage area and peripheral barriers are marked as barrier grids, a unmanned plane flyable area is marked as a passable grid, in the rectangular coordinate method, the center of each grid is marked as rectangular coordinates, the serial number of each grid corresponds to the rectangular coordinates of the grid, and the relation between any point (x, y) and a grid number N is expressed by the following formula: Wherein, the Is the range of the coordinate values of the grid, Is the size of the raster grain, INT is a rounding function.
  4. 4. The method for cleaning the ground and air collaborative photovoltaic panels in a large range according to claim 2 is characterized in that in the step 2, the rule of constructing the coordinate set of the target point is that the flying point of the unmanned aerial vehicle is set to be P 0 (x 0 ,y 0 , the landing point is set to be P n (x n ,y n ), the flying point and the landing point are mutually independent path end points, for the photovoltaic panels arranged in a matrix, each 3X 7 photovoltaic panels and an internal interval channel form a working area, the geometric center of the area is taken as the target point P i (xi, yi), and the coordinate of the target point is calculated through a grid map coordinate and an actual coordinate conversion formula.
  5. 5. The method for cleaning the photovoltaic panel in the large scale by using the ground and air synergetic effect according to claim 2, wherein the ant colony algorithm in the step 3 has the initial parameter value range of m=10 to 30, the pheromone volatilization coefficient ρ=0.2 to 0.95, the pheromone weight factor α=1.0, the distance heuristic factor β=15.0 and the maximum iteration number g=50, and the pheromone concentration of all paths in the initial state (0) =C, c is a constant.
  6. 6. The method for cleaning a large-scale ground-air cooperative photovoltaic panel according to claim 2, wherein the formula of the ant path selection probability in the step 4 is: Wherein, the The probability that the kth ant goes from the target point i to the target point j at the moment t; The pheromone concentration on the path i-j at the time t; the value is the reciprocal of Euclidean distance between the target points i and j, namely =1/ J k (i) is the set of target points that the kth ant has not visited.
  7. 7. The method for cleaning a large-scale ground-air cooperative photovoltaic panel according to claim 2, wherein the pheromone updating formula in step 5 comprises two mechanisms of global updating and local updating: The local pheromone update formula: (t+1)=(1-ρ)· (t)+ρ· Wherein For the pheromone concentration on the path i-j at time t, The initial pheromone concentration is that rho is the pheromone volatilization coefficient; The global pheromone update formula: (t+1)=(1-ρ)· (t)+Δ Wherein delta is Delta as pheromone increment =Q/L best , Q is the pheromone release constant, L best is the global optimal path length for this iteration.
  8. 8. The method for cleaning the photovoltaic panels in the large scale in cooperation with the ground and the air according to claim 2, wherein the rule of dividing the operation area of the photovoltaic panels in step 2 is that each 3×7 photovoltaic panels and the internal interval channels thereof form an operation unit, and the geometric center of each unit is taken as a target point P i (i=1, 2,..n), so that the unmanned aerial vehicle can finish the lowering and recycling of the photovoltaic cleaning robot at the point.
  9. 9. An electronic device comprising a memory, a processor and computer program instructions stored on the memory and executable by the processor, which when executed by the processor, are capable of carrying out the steps of the method as claimed in any one of claims 1 to 8.
  10. 10. A computer readable storage medium, having stored thereon computer program instructions executable by a processor, which when executed by the processor are capable of carrying out the steps of the method according to any one of claims 1-8.

Description

Large-scale cleaning method for ground-air cooperative photovoltaic panel Technical Field The invention belongs to the technical field of unmanned plane path planning and photovoltaic cleaning, and particularly relates to a large-scale cleaning method for a ground-air cooperative photovoltaic panel. Background Along with the large-scale expansion of the photovoltaic energy industry, the daily maintenance requirement of a large-scale photovoltaic field is urgent, and the power generation efficiency can be reduced by 10% -30% due to pollutants such as dust, sand and the like deposited on the surface of a photovoltaic panel, so that regular and efficient cleaning becomes a core link for guaranteeing the stable operation of a photovoltaic system. In the current photovoltaic cleaning equipment, the photovoltaic cleaning robot becomes the mainstream choice due to low operation cost and good cleaning effect, but the equipment has obvious application bottleneck, namely weak area transfer capability. The traditional photovoltaic cleaning robot relies on a ground wheel type or crawler type moving structure, can only operate in a single photovoltaic panel array, and when the robot needs to be cleaned across the array and the region, the robot needs to rely on manual transportation or ground track assistance, and when the robot is transferred across the array, the robot needs to frequently interrupt operation, and has extremely poor flexibility when facing barriers such as telegraph poles, operation and maintenance channels and the like in a photovoltaic field, and in a large photovoltaic field with an area of thousands mu, the regional transfer time of the robot is even longer than the actual cleaning time, so that the overall operation efficiency is seriously restricted. In order to solve the problem of robot regional transfer, the multi-rotor unmanned aerial vehicle carrying and transferring mode is introduced into the photovoltaic cleaning field, and the unmanned aerial vehicle can rapidly realize the obstacle-crossing transfer of the cleaning robot among all operation areas by virtue of the advantages of strong maneuverability and wide coverage range. However, the current unmanned aerial vehicle path planning technology has huge blank in the photovoltaic field application, and more importantly, the prior art does not establish the cooperative association of an unmanned aerial vehicle transfer path and a robot cleaning operation, and the unmanned aerial vehicle transfer path and the robot cleaning operation are designed to be split, so that the unmanned aerial vehicle transfer rhythm and the robot operation rhythm are disjointed, and the overall cleaning efficiency is further reduced. Disclosure of Invention The invention aims to solve the problems in the prior art and provides a large-scale cleaning method for a ground-air cooperative photovoltaic panel. The ground-air cooperative photovoltaic panel cleaning system core on which the invention depends consists of four parts: 1. The multi-rotor unmanned aerial vehicle is used as a mobile carrier and a control core, has long-endurance, high-precision hovering and autonomous navigation capabilities, is provided with a flight control system, a positioning module and a communication module, can receive path planning data and execute flight instructions, and provides an installation platform and power support for the lifting device and the cleaning robot. 2. The ground station is used as a control center of the multi-rotor unmanned aerial vehicle and the photovoltaic cleaning robot, has the functions of movement, operation function control, real-time video monitoring and path planning of the unmanned aerial vehicle and the robot, and can receive and display all equipment state parameters of the unmanned aerial vehicle and the cleaning robot in real time. 3. The photovoltaic cleaning robot is used as a ground cleaning execution unit, adopts a crawler-type moving structure to adapt to the surface of a photovoltaic plate, integrates a rolling brush cleaning mechanism, a power module and the like, can finish cleaning operation of the photovoltaic plate in a designated area, and receives control signals of start, stop, homing and the like of a ground-to-air docking device sent by a ground station. 4. The unmanned aerial vehicle lifting device is fixed below the unmanned aerial vehicle body and comprises an electric winch, a tail end mechanism, a tension monitoring sensor and the like, has lifting, lowering and hovering fixing functions, and can control lifting rope to retract and release to realize lifting of the cleaning robot, and the tail end mechanism ensures that the robot does not fall off in the transferring process. The cleaning idea of the invention takes path optimization, precise transfer and efficient cleaning as the core, wherein a grid map is firstly constructed based on a photovoltaic field environment, the flying point, the landing point and the center of a ph