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CN-122018503-A - Intelligent cleaning robot for photovoltaic modules and path planning method thereof

CN122018503ACN 122018503 ACN122018503 ACN 122018503ACN-122018503-A

Abstract

The invention relates to the technical field of operation and maintenance of photovoltaic power stations, in particular to an intelligent cleaning robot for a photovoltaic module and a path planning method thereof, comprising a moving mechanism, a cleaning executing mechanism, an environment sensing module, a control unit and a path planning module, wherein the control unit is configured to construct and dynamically update a global pollution situation map based on information acquired by the environment sensing module, the map divides the surface of a photovoltaic array into a plurality of grids, and each grid is endowed with a comprehensive pollution level; the invention discloses a method for cleaning a moving mechanism, which comprises the steps of dynamically dividing a whole operation area into at least two subareas with different cleaning priorities based on comprehensive pollution levels, generating a dynamically-changed area priority queue, controlling a moving mechanism to go to the subarea with the highest current priority according to the area priority queue, and executing a bionic bypass coverage path of a non-preset fixed track in the subarea.

Inventors

  • XU HONGYU
  • Wen Yinghai
  • PU SHIMING
  • LIN CHUNHUI

Assignees

  • 华能海南发电股份有限公司南山电厂

Dates

Publication Date
20260512
Application Date
20260130

Claims (10)

  1. 1. Photovoltaic module intelligence cleans robot, its characterized in that includes: A moving mechanism (1) for moving on the photovoltaic module array; The cleaning execution mechanism (2) is used for removing dirt on the surface of the photovoltaic module; the environment sensing module (3) is used for acquiring surface image information and/or dirt concentration information of the photovoltaic module array in real time; The control unit (4) is in communication connection with the moving mechanism (1), the cleaning executing mechanism (2) and the environment sensing module (3); The control unit (4) is configured to: Based on the information acquired by the environment sensing module (3), constructing and dynamically updating a global pollution situation map, dividing the surface of the photovoltaic array into a plurality of grids, and endowing each grid with a comprehensive pollution level; Dynamically dividing the whole operation area into at least two subareas with different cleaning priorities based on the comprehensive pollution level, and generating a dynamically-changed area priority queue; And the path planning module is used for controlling the moving mechanism (1) to go to the subarea with the highest priority currently according to the area priority queue, and executing a bionic bypass coverage path of a non-preset fixed track in the subarea.
  2. 2. The intelligent cleaning robot for the photovoltaic module according to claim 1, wherein the control unit (4) is configured to, when constructing and dynamically updating the pollution situation map, specifically: according to the initial rapid scanning data of the environment sensing module (3), giving an initial pollution level and initial uncertainty parameters to each grid; in the cleaning process, updating the pollution level of the cleaned grid according to the real-time monitoring data of the environment sensing module (3), and reducing the uncertainty parameter of the cleaned grid; for grids which are not directly observed but are adjacent to the observed area, the pollution level of the grids is calculated and higher uncertainty parameters are given based on the data and the spatial correlation of the adjacent grids.
  3. 3. The intelligent cleaning robot for the photovoltaic module according to claim 1 or 2, wherein the control unit (4) is configured to, when generating a dynamically changing area priority queue, specifically: combining the grids with the pollution level higher than the first threshold and spatially adjacent to each other into a first priority sub-region; Merging the grids with pollution levels lower than the first threshold value but higher than the second threshold value and adjacent in space into a second priority sub-area; Categorizing the remaining grid as a third priority sub-region by default; the queue ordering of the first priority sub-area is always higher than that of the second priority sub-area, and the queue ordering of the second priority sub-area is always higher than that of the third priority sub-area.
  4. 4. The intelligent cleaning robot for a photovoltaic module according to claim 3, wherein the control unit (4) is further configured to: and in the process of operating the current subarea by the environment sensing module (3), if a new pollution event is detected to cause the pollution level of a certain grid to be rapidly increased to exceed the first threshold value, immediately interrupting the current path, inserting a new area containing the grid as a task with the highest priority into the head of the area priority queue, and controlling the moving mechanism (1) to go to execute cleaning.
  5. 5. The intelligent cleaning robot for the photovoltaic assembly, which is disclosed in claim 1, is characterized in that the bionic bypass coverage path is specifically defined in the boundary of the subarea, and the moving mechanism (1) is controlled to perform coverage in a mode of leaning to walk along the boundary of the subarea and combining local random walk.
  6. 6. The intelligent cleaning robot for a photovoltaic module according to claim 1 or 5, wherein the control unit (4) is further configured to: And dynamically adjusting the working parameters of the cleaning executing mechanism (2) and/or the moving speed of the moving mechanism (1) according to the priority or average pollution level of the current sub-area, wherein for the sub-area with high priority or high pollution level, a matching mode of low moving speed and high cleaning strength is adopted, and for the sub-area with low priority or low pollution level, a matching mode of high moving speed and low cleaning strength is adopted.
  7. 7. The intelligent cleaning robot path planning method for the photovoltaic module is characterized by comprising the following steps of: s1, scanning a photovoltaic module array through an environment sensing module (3) to acquire initial pollution data; s2, constructing a global pollution situation map based on the initial pollution data; s3, dynamically dividing subareas with different cleaning priorities according to the pollution situation map, and forming an area priority queue; S4, controlling the robot to move to the subarea with the highest current priority by the path planning module according to the queue; S5, in the subarea with the highest current priority, controlling the robot to execute bionic detour coverage paths of non-preset fixed tracks to clean; S6, dynamically updating the pollution situation map and the area priority queue according to the real-time data of the environment sensing module (3) in the cleaning process; and S7, repeating the steps S4 to S6 until the pollution levels of all the subareas are lower than a preset finishing threshold.
  8. 8. The method for planning the path of the intelligent cleaning robot for the photovoltaic module according to claim 7, wherein the dynamically dividing the subareas in the step S3 comprises the following steps: Identifying one or more grid clusters which are highest in pollution level and are spatially continuous as heavy pollution areas, and giving the highest priority; Identifying one or more grid clusters with medium pollution levels and continuous space as medium pollution areas and giving medium priority; The remaining grids are classified as background sweep areas by default and given the lowest priority.
  9. 9. The method for planning the path of the intelligent cleaning robot for the photovoltaic module according to claim 7, wherein the dynamically updating in the step S6 comprises the following steps: When the robot cleans in a sub-area, if a new high pollution point which does not belong to the current area and has the pollution level exceeding a specific threshold value is found by the environment sensing module (3), immediately performing task re-planning; Suspending the cleaning task of the current subarea, setting the area where the new high pollution point is located as a temporary highest priority target, and controlling the robot to go to cleaning; And after the pollution level of the temporary highest priority target is reduced to the safety threshold, controlling the robot to return to the atomic region to continue executing the interrupted task.
  10. 10. The method for planning the path of the intelligent cleaning robot for the photovoltaic module, which is disclosed in claim 7, is characterized in that in the step S5, the bionic detour coverage path is implemented specifically as follows: After the robot enters a sub-area, the robot firstly moves for one circle along the peripheral boundary of the sub-area to finish boundary cleaning; and then, based on a random walk algorithm, carrying out filling type detour cleaning in the subareas by combining the real-time judgment of the cleaned area and the uncleaned area.

Description

Intelligent cleaning robot for photovoltaic modules and path planning method thereof Technical Field The invention relates to the technical field of operation and maintenance of photovoltaic power stations, in particular to an intelligent cleaning robot for a photovoltaic module and a path planning method thereof. Background Along with the high-speed development of the photovoltaic industry, the scale and the number of photovoltaic power stations are increased sharply, the cleanliness of the surfaces of the photovoltaic modules directly influences the power generation efficiency, periodic cleaning becomes a necessary link for operation and maintenance of the power stations, and the intelligent cleaning robot for the photovoltaic modules is widely applied due to the characteristics of automation and high efficiency. At present, the path planning of the photovoltaic cleaning robot in the market mostly adopts a preset fixed track mode, and most typically, the path planning method is set on the basis of the ideal assumption that the photovoltaic array is regular rectangular and the surface pollution is uniformly distributed, wherein the path is fully covered by the arc shape or the back shape. However, in large photovoltaic power plants, the pollution distribution is often very uneven, local severe pollution areas (such as dense bird droppings) are formed due to bird activities, tree shielding or equipment dripping and other factors, most areas are relatively clean, robots with fixed paths can traverse the whole array at the same speed and cleaning intensity, so that a large amount of time and energy consumption are wasted in the clean areas, residues can be left in the real severe pollution areas due to incomplete single cleaning, the whole operation efficiency is low, meanwhile, for non-rectangular complex array layouts with corners or gaps, a large amount of ineffective coverage and repeated paths are generated by the fixed bow-shaped paths, frequent sharp turns are needed, the cleaning efficiency is reduced, mechanical abrasion and energy consumption of the robots are increased, the conventional robot paths are preset and cannot respond to sudden pollution (such as bird excretion in flight), the capability of dynamic performance based on real-time environment sensing is lacking, the intelligent level is limited, the pollution degree cannot be determined, and the overall performance of cleaning effect is not high due to the fact that the robots cannot be used for distinguishing the fixed whole operation is not efficient. Therefore, aiming at the problems, an intelligent cleaning robot for a photovoltaic module and a path planning method thereof are provided, and the intelligent cleaning robot can realize efficient and high-quality cleaning under complex and uneven pollution scenes by constructing a pollution map, dividing a priority area, executing bionic roundabout cleaning based on queue scheduling, and performing real-time sensing feedback and dynamic re-planning. Disclosure of Invention In order to overcome the problems that when a photovoltaic cleaning robot in the prior art works, the cleaning is not thorough under the complex and uneven pollution scene, so that the efficiency is low, the quality is poor, and meanwhile, for the complex array layout which is not rectangular and has corners or gaps, a large number of invalid coverage and repeated paths are generated, so that the adaptability of the device is poor. The technical scheme of the invention is that the intelligent cleaning robot for the photovoltaic module comprises: The moving mechanism is used for moving on the photovoltaic module array; the cleaning execution mechanism is used for removing dirt on the surface of the photovoltaic module; the environment sensing module is used for acquiring surface image information and/or dirt concentration information of the photovoltaic module array in real time; the control unit is in communication connection with the moving mechanism, the cleaning executing mechanism and the environment sensing module; The control unit is configured to: Based on the information obtained by the environment sensing module, a global pollution situation map is constructed and dynamically updated, the map divides the surface of the photovoltaic array into a plurality of grids, and a comprehensive pollution level is given to each grid; Dynamically dividing the whole operation area into at least two subareas with different cleaning priorities based on the comprehensive pollution level, and generating a dynamically-changed area priority queue; And the path planning module is used for controlling the moving mechanism to go to the subarea with the highest priority currently according to the area priority queue, and executing a bionic bypass coverage path of a non-preset fixed track in the subarea. The method comprises the steps of enabling a device to move on a photovoltaic module array through a moving mechanism, enabling a clean