CN117458980A - High-efficient circulation subassembly cleaning system of large-scale photovoltaic power plant - Google Patents
High-efficient circulation subassembly cleaning system of large-scale photovoltaic power plant Download PDFInfo
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- 238000004140 cleaning Methods 0.000 title claims abstract description 97
- 238000012512 characterization method Methods 0.000 claims description 51
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 40
- 238000002347 injection Methods 0.000 claims description 39
- 239000007924 injection Substances 0.000 claims description 39
- 239000003344 environmental pollutant Substances 0.000 claims description 35
- 231100000719 pollutant Toxicity 0.000 claims description 35
- 238000004458 analytical method Methods 0.000 claims description 31
- 238000005507 spraying Methods 0.000 claims description 30
- 230000001788 irregular Effects 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 6
- 239000007921 spray Substances 0.000 claims description 6
- 238000011109 contamination Methods 0.000 claims description 4
- 230000001154 acute effect Effects 0.000 claims 1
- 238000010248 power generation Methods 0.000 abstract description 6
- 230000000694 effects Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 4
- 239000000428 dust Substances 0.000 description 4
- 239000004519 grease Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000003313 weakening effect Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 239000000701 coagulant Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 238000013499 data model Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/04—Cleaning involving contact with liquid
- B08B3/10—Cleaning involving contact with liquid with additional treatment of the liquid or of the object being cleaned, e.g. by heat, by electricity or by vibration
- B08B3/12—Cleaning involving contact with liquid with additional treatment of the liquid or of the object being cleaned, e.g. by heat, by electricity or by vibration by sonic or ultrasonic vibrations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
- B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/10—Cleaning arrangements
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/30—Electrical components
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S50/00—Monitoring or testing of PV systems, e.g. load balancing or fault identification
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S50/00—Monitoring or testing of PV systems, e.g. load balancing or fault identification
- H02S50/10—Testing of PV devices, e.g. of PV modules or single PV cells
- H02S50/15—Testing of PV devices, e.g. of PV modules or single PV cells using optical means, e.g. using electroluminescence
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/45—UAVs specially adapted for particular uses or applications for releasing liquids or powders in-flight, e.g. crop-dusting
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention relates to the technical field of photovoltaic power generation, in particular to a high-efficiency circulating assembly cleaning system of a large photovoltaic power station.
Description
Technical Field
The invention relates to the technical field of photovoltaic power generation, in particular to a cleaning system for a high-efficiency circulating assembly of a large photovoltaic power station.
Background
Along with the continuous increase of the global demand for clean energy, the photovoltaic power station is increasingly valued as a renewable energy power generation mode, and the appearance of the photovoltaic module cleaning technology provides a more convenient and efficient solution for the operation and maintenance management of the photovoltaic power station, thereby being beneficial to improving the power generation efficiency and economic benefit of the photovoltaic power station.
Chinese patent publication No.: CN108390638A, the invention discloses a cleaning device for a photovoltaic module, which comprises a mounting rack, a motor, a belt wheel, a first pull rope, a water collecting barrel, an active carbon layer, a filter screen, a cover plate, a fixed pulley, a fixing frame, a photovoltaic module, a cooling box, a brush, a connecting frame, a mounting box, a spray pipe, a second pull rope, a rotary drum, a fixed rod, a secondary water guide pipe, a sponge block, a main water guide pipe, a water valve, a drain pipe, a water tank, a water pump, a slide bar and a spring. The photovoltaic module cleaning device has the advantages that through the mutual matching among the pull rope, the brush, the sponge block and the spring, the photovoltaic module can be better cleaned, and the cleaning of workers is avoided, so that the working strength of the workers is reduced, and the cleaning effect and the clear efficiency of the photovoltaic module are enhanced; the water resource can be better recycled, the waste of the water resource is avoided, the water resource is saved, the cost is reduced, and meanwhile, the practicability of the photovoltaic module cleaning device is enhanced.
However, the prior art has the following problems:
in the prior art, the cleaning effect of difficult-to-clean pollutants such as grease, coagulum and the like on the photovoltaic module is poor, so that the cleaning effect of the photovoltaic module is poor, and the power generation capacity of the photovoltaic module is further affected.
Disclosure of Invention
Therefore, the invention provides a high-efficiency circulating assembly cleaning system for a large-scale photovoltaic power station, which is used for solving the problems that in the prior art, the cleaning effect on pollutants which are difficult to clean, such as grease, coagulants and the like, on a photovoltaic assembly is poor, so that the cleaning effect on the photovoltaic assembly is poor, and the power generation capacity of the photovoltaic assembly is affected.
In order to achieve the above object, the present invention provides a cleaning system for efficient circulation components of a large photovoltaic power station, comprising:
the cleaning device comprises an unmanned flying unit, a water spraying unit and an ultrasonic unit, wherein the water spraying unit is arranged on the unmanned flying unit and used for spraying clear water to a component to be cleaned, and the ultrasonic unit is used for emitting ultrasonic waves to the component to be cleaned;
the thermal image acquisition unit is arranged on the unmanned aerial vehicle unit and used for acquiring a thermal image of the component to be cleaned;
the analysis module is used for determining whether a characteristic area exists on the surface of the component to be cleaned or not based on the shape of the pollutant in the thermal image, and calculating a removal difficulty characterization value based on the brightness and the area of the characteristic area in the thermal image so as to divide the pollution state of the component to be cleaned;
the cleaning control module is respectively connected with the cleaning device, the thermal image acquisition unit and the analysis module and comprises a cleaning action control unit, a first adjusting unit and a second adjusting unit,
the cleaning action control unit is used for controlling the unmanned flying unit to fly in a preset mode and controlling the water spraying unit and the cleaning assembly to act;
the first adjusting unit is used for adjusting the flight height of the unmanned aerial vehicle unit based on the acquired area of the characteristic region, and calculating a comprehensive characterization parameter by combining the removal difficulty characterization value so as to adjust the intensity of the ultrasonic wave emitted by the ultrasonic unit;
and adjusting an injection angle of the injection unit based on an area of the photovoltaic module in the thermal image;
or, the second adjusting unit adjusts the injection angle of the injection unit based on the area of the photovoltaic module in the thermal image;
the preset mode is to circularly move above the component to be cleaned for preset times at a preset speed.
Further, the water spraying unit includes a freely rotatable nozzle to change a spraying angle of the water spraying unit.
Further, the analysis module determines irregular block-shaped and strip-shaped areas in the thermal image,
if irregular block-shaped and strip-shaped areas exist in the thermal image, the analysis module determines that characteristic areas exist on the surface of the component to be cleaned.
Further, the analysis module determines the brightness of each pixel point in the characteristic region and the area of the characteristic region, calculates the removal difficulty characterization value Q according to the formula (1),
in the formula (1), L represents an average value of brightness of each pixel point in the characteristic region, L0 represents a preset brightness parameter, S represents an area of the characteristic region, and S0 represents a preset area parameter.
Further, the analysis module compares the removal difficulty characterization value with a preset difficulty threshold value to divide the pollution state of the component to be cleaned,
if the removal difficulty characterization value is greater than or equal to the difficulty threshold, the analysis module divides the pollution state of the component to be cleaned into a difficult-to-remove pollution state;
and if the removal difficulty characterization value is smaller than the difficulty threshold, the analysis module divides the pollution state of the component to be cleaned into a pollution state easy to remove.
Further, the cleaning control module determines to enable the first adjusting unit or the second adjusting unit based on the pollution state of the component to be cleaned,
if the pollution state of the component to be cleaned is a difficult pollution state, the cleaning control module judges that a first adjusting unit is started;
and if the pollution state of the component to be cleaned is the pollution state easy to remove, the cleaning control module judges that the second adjusting unit is started.
Further, the first adjusting unit adjusts the flying height of the unmanned flying unit, and the adjusting amount of the flying height of the unmanned flying unit is determined by the cleaning control module based on the area of the characteristic area.
Further, the first adjusting unit determines the flying height of the unmanned flying unit, calculates the comprehensive characterization parameter E according to the formula (2),
in the formula (2), hi represents an ith flying height value, H0 represents a preset height parameter, Q represents a removal difficulty characterization value, Q0 represents a preset difficulty threshold, i represents an integer greater than 0, and i=1, 2,3.
Further, the first adjusting unit adjusts the intensity of the ultrasonic wave emitted by the ultrasonic unit, and the adjustment amount of the intensity of the ultrasonic wave emitted by the ultrasonic unit is determined by the cleaning control module based on the comprehensive characterization parameter.
Further, the first adjusting unit or the second adjusting unit adjusts the injection angle of the injection unit, the adjustment amount of the injection angle of the injection unit is determined by the control unit based on the area of the photovoltaic module, and the injection angle is an angle formed by the injection direction of the nozzle and the surface of the photovoltaic module.
Compared with the prior art, the cleaning device comprises the unmanned flying unit, the water spraying unit for spraying clear water to the component to be cleaned and the ultrasonic unit for emitting ultrasonic waves to the component to be cleaned, the thermal image collecting unit is used for obtaining the thermal image of the component to be cleaned, the analysis module determines whether a characteristic area exists on the surface of the component to be cleaned or not based on the shape of the pollutant in the thermal image, and calculates the difficulty characterization value based on the brightness and the area of the characteristic area in the thermal image so as to divide the pollution state of the component to be cleaned, the cleaning control module controls the operation of the cleaning device based on the pollution state of the component to be cleaned, and the partial cleaning is carried out on the pollutant which is difficult to remove on the photovoltaic component through the process, so that the removal efficiency of the pollutant which is difficult to remove on the photovoltaic component is improved.
In particular, in the invention, whether a characteristic area exists on the surface of the component to be cleaned is determined based on the shape of the pollutant in the thermal image, in the actual situation, the pollutant which is difficult to remove, such as grease, coagulum and the like, on the surface of the photovoltaic component is in a block shape and a strip shape, while the pollutant which is easy to remove, such as dust, is in a particle shape on the surface of the photovoltaic component, so that the pollutant which is difficult to remove on the surface of the photovoltaic component can be determined based on the shape of the pollutant in the thermal image, and the area where the pollutant which is difficult to remove is located, namely the area which is in the block shape and the strip shape in the thermal image, is taken as the characteristic area, so that the characteristic area can be processed correspondingly, and the cleaning effect of the cleaning system on the characteristic area can be improved.
Particularly, in the invention, the removal difficulty characterization value is calculated based on the brightness and the area of the characteristic region in the thermal image, the removal difficulty characterization value considers the brightness and the area of the characteristic region in the thermal image, in the actual situation, the thermal image can display the temperature distribution condition of the surface of the photovoltaic module, and the pollutant can influence the heat radiation capability of the photovoltaic module, so that the local temperature is increased, the area where the pollutant is located is higher in temperature, the color is brighter in the thermal image, the difficulty degree of pollutant removal of the surface of the photovoltaic module can be primarily judged through the brightness of the characteristic region in the thermal image, and the difficulty degree of pollutant removal is higher through the area of the characteristic region, therefore, the removal difficulty degree of the pollutant of the characteristic region is dataized through the removal difficulty characterization value, and the monitoring is convenient.
In particular, in the invention, the flying height of the unmanned aerial vehicle unit is adjusted based on the acquired area of the characteristic region, in actual conditions, the larger the flying height of the unmanned aerial vehicle unit is, the ultrasonic wave emitted by the ultrasonic unit can be transmitted in a wider region, and the larger the coverage area is, so that the larger the area of the characteristic region is, the larger the flying height of the unmanned aerial vehicle unit is, so as to increase the coverage area of the emitted ultrasonic wave, and improve the cleaning efficiency of the system on the characteristic region.
In particular, in the invention, based on the flying height of the unmanned aerial vehicle unit and the difficulty characterization value removal, the comprehensive characterization parameter is calculated so as to adjust the intensity of the ultrasonic wave emitted by the ultrasonic unit, the comprehensive characterization parameter considers the flying height of the unmanned aerial vehicle unit and the difficulty characterization value removal, in the practical situation, the larger the flying height of the unmanned aerial vehicle unit is, the smaller the intensity of the emitted ultrasonic wave reaching the surface of the photovoltaic module is, the degree of weakening of the intensity of the ultrasonic wave reaching the surface of the photovoltaic module is considered by calculating the comprehensive characterization parameter, if the comprehensive characterization parameter is larger, the larger the degree of weakening of the intensity of the ultrasonic wave reaching the surface of the photovoltaic module is indicated, the greater the difficulty of removing the pollutants in the characteristic area is, the larger the intensity of the ultrasonic wave emitted by the ultrasonic unit is, and the intensity of the ultrasonic wave emitted by the ultrasonic unit is reliably adjusted through the comprehensive characterization parameter, so that the effect of the ultrasonic unit on removing the pollutants in the characteristic area is ensured.
In particular, in the invention, the spray angle of the spray unit is adjusted based on the area of the photovoltaic module in the thermal image, in actual conditions, when the area of the photovoltaic module is larger, the surface area is wider, the whole surface can be better covered by smaller cleaning angle, the smaller cleaning angle can ensure that the cleaning liquid is uniformly distributed on the surface of the photovoltaic module, thereby effectively removing dust and dirt, and conversely, when the area of the photovoltaic module is smaller, the cleaning angle can be properly increased, so that the cleaning task can be completed more quickly, and the cleaning efficiency and effect of the whole photovoltaic module are ensured.
Drawings
FIG. 1 is a schematic diagram of a cleaning system for a high-efficiency circulation assembly of a large photovoltaic power station according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a cleaning control module according to an embodiment of the invention;
FIG. 3 is a flow chart illustrating the division of the contamination status of a component to be cleaned according to an embodiment of the invention;
fig. 4 is a flowchart illustrating a decision process of an enable adjustment unit according to an embodiment of the invention.
Detailed Description
In order that the objects and advantages of the invention will become more apparent, the invention will be further described with reference to the following examples; it should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present invention, and are not intended to limit the scope of the present invention.
It should be noted that, in the description of the present invention, terms such as "upper," "lower," "left," "right," "inner," "outer," and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the apparatus or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to the specific circumstances.
Referring to fig. 1 to 4, a schematic structural diagram of a cleaning system for a high-efficiency circulation component of a large-scale photovoltaic power station, a schematic structural diagram of a cleaning control module, a flow chart for dividing a pollution state of a component to be cleaned, and a flow chart for determining an enabling adjustment unit according to an embodiment of the invention are shown, respectively, and the cleaning system for the high-efficiency circulation component of the large-scale photovoltaic power station of the invention comprises:
the cleaning device comprises an unmanned flying unit, a water spraying unit and an ultrasonic unit, wherein the water spraying unit is arranged on the unmanned flying unit and used for spraying clear water to a component to be cleaned, the ultrasonic unit is used for emitting ultrasonic waves to the component to be cleaned, and the unmanned flying unit is used for carrying the water spraying unit and the ultrasonic unit to move;
the thermal image acquisition unit is arranged on the unmanned aerial vehicle unit and used for acquiring a thermal image of the component to be cleaned;
the analysis module is used for determining whether a characteristic area exists on the surface of the component to be cleaned or not based on the shape of the pollutant in the thermal image, and calculating a removal difficulty characterization value based on the brightness and the area of the characteristic area in the thermal image so as to divide the pollution state of the component to be cleaned;
the cleaning control module is respectively connected with the cleaning device, the thermal image acquisition unit and the analysis module and comprises a cleaning action control unit, a first adjusting unit and a second adjusting unit,
the cleaning action control unit is used for controlling the unmanned flying unit to fly in a preset mode and controlling the water spraying unit and the cleaning assembly to act;
the first adjusting unit is used for adjusting the flight height of the unmanned aerial vehicle unit based on the acquired area of the characteristic region, and calculating a comprehensive characterization parameter by combining the removal difficulty characterization value so as to adjust the intensity of the ultrasonic wave emitted by the ultrasonic unit;
and adjusting an injection angle of the injection unit based on an area of the photovoltaic module in the thermal image;
or, the second adjusting unit adjusts the injection angle of the injection unit based on the area of the photovoltaic module in the thermal image;
the preset mode is to circularly move above the component to be cleaned for a preset number of times n0 at a preset speed v 0.
Specifically, the invention does not limit the specific structure of the unmanned flying unit, and the unmanned flying unit can be an unmanned plane, and only needs to carry the water spraying unit and the ultrasonic unit to move.
Specifically, the specific structure of the water spraying unit is not limited, the water spraying unit can be a combined structure of a water tank, a water pump and a nozzle, clear water of the water tank is lifted to be sprayed out of the nozzle through the water pump, the function of spraying clear water to a component to be cleaned can be achieved, and the water spraying unit is the prior art and is not repeated.
Specifically, the specific structure of the ultrasonic unit is not limited, and the ultrasonic unit can be an ultrasonic transmitter, and the ultrasonic unit can only perform the function of transmitting ultrasonic waves to the component to be cleaned, and is not repeated.
Specifically, the invention does not limit the specific structure of the thermal image acquisition unit, and the thermal image acquisition unit can be a thermal infrared imager which can only take thermal images.
Specifically, the specific forms of the analysis module and the cleaning control module are not limited, and the analysis module and the cleaning control module can be external computers, and each unit in the module is a different functional program in the computer, so that the corresponding functions of data exchange and data processing can be completed, and the detailed description is omitted.
Specifically, the specific manner of determining the irregular block and strip-shaped region in the thermal image by the analysis module is not limited, and the data model capable of identifying the irregular block and strip-shaped region can be led into the analysis module through pre-training, so that the function of determining the irregular block and strip-shaped region in the thermal image can be completed only, which is the prior art and is not repeated herein.
Specifically, the specific manner of determining the brightness and the area of the feature area in the thermal image by the analysis module is not limited, and the method can be realized by presetting an image processing algorithm in the analysis module, which only needs to complete the function of determining the brightness and the area of the feature area in the thermal image, and is a mature technology and is not repeated here.
Specifically, in the present embodiment, v0 is selected from the interval [0.5,2] in meters per second.
Specifically, in this embodiment, n0 is selected from the interval [5, 10] and the interval unit is a sub-interval.
Specifically, the water spraying unit includes a freely rotatable nozzle to change the spraying angle of the water spraying unit.
In particular, the analysis module determines irregular blocky and striped areas in the thermal image,
if irregular block-shaped and strip-shaped areas exist in the thermal image, the analysis module determines that characteristic areas exist on the surface of the component to be cleaned.
Specifically, in the invention, whether a characteristic area exists on the surface of the component to be cleaned is determined based on the shape of the pollutant in the thermal image, in the actual situation, the pollutant which is difficult to remove, such as grease, coagulum and the like, on the surface of the photovoltaic component is in a block shape and a strip shape, while the pollutant which is easy to remove, such as dust, is in a particle shape on the surface of the photovoltaic component, so that the pollutant which is difficult to remove on the surface of the photovoltaic component can be determined based on the shape of the pollutant in the thermal image, and the area where the pollutant which is difficult to remove is located, namely the area which is in the block shape and the strip shape in the thermal image, is taken as the characteristic area, so that the characteristic area can be processed correspondingly, and the cleaning effect of the cleaning system on the characteristic area can be improved.
Specifically, the analysis module determines the brightness of each pixel point in the characteristic region and the area of the characteristic region, calculates the removal difficulty characterization value Q according to the formula (1),
in the formula (1), L represents an average value of brightness of each pixel point in the characteristic region, L0 represents a preset brightness parameter, S represents an area of the characteristic region, and S0 represents a preset area parameter.
Specifically, in the present embodiment, L0 is selected from the interval [5, 10] in degrees celsius.
Specifically, in this embodiment, S0 is calculated based on the area a of the photovoltaic module, and 0.1A < S0 < 0.3A is set.
Specifically, in the invention, the removal difficulty characterization value is calculated based on the brightness and the area of the characteristic region in the thermal image, the removal difficulty characterization value considers the brightness and the area of the characteristic region in the thermal image, in the actual situation, the thermal image can display the temperature distribution condition of the surface of the photovoltaic module, and the pollutant can influence the heat radiation capability of the photovoltaic module, so that the local temperature is increased, the pollutant is more difficult to remove, the temperature of the region where the pollutant is located is higher, the color is brighter in the thermal image, so that the difficulty degree of pollutant removal of the surface of the photovoltaic module can be primarily judged through the brightness of the characteristic region in the thermal image, and the greater the area of the characteristic region is, the greater the difficulty degree of pollutant removal is, so that the removal difficulty degree of the pollutant of the characteristic region is dataized through the removal difficulty characterization value, and the monitoring is convenient.
Specifically, referring to fig. 3, the analysis module compares the removal difficulty characterization value Q with a preset difficulty threshold value Q0 to divide the pollution state of the component to be cleaned,
if Q is more than or equal to Q0, the analysis module divides the pollution state of the component to be cleaned into a pollution state difficult to remove;
if Q is less than Q0, the analysis module divides the pollution state of the component to be cleaned into a pollution state easy to remove.
Specifically, in the present embodiment, Q0 is calculated based on the removal difficulty characterization value Qe calculated by l=l0 and s=s0, and 0.9Qe < Q0 < 1.1Qe is set.
In particular, with continued reference to fig. 4, the cleaning control module determines whether to enable the first adjustment unit or the second adjustment unit based on the contamination status of the component to be cleaned,
if the pollution state of the component to be cleaned is a difficult pollution state, the cleaning control module judges that a first adjusting unit is started;
and if the pollution state of the component to be cleaned is the pollution state easy to remove, the cleaning control module judges that the second adjusting unit is started.
Specifically, the first adjusting unit adjusts the flying height of the unmanned flying unit, and the adjusting amount of the flying height of the unmanned flying unit is determined by the cleaning control module based on the area of the characteristic region;
the cleaning control module compares the area S of the characteristic area with a preset first area threshold S1 and a second area threshold S2 so as to adjust the flying height of the unmanned flying unit,
if S is more than or equal to S2, the cleaning control module adjusts the flight height of the unmanned flight unit to a first flight height value H1;
if S1 is less than or equal to S2, the cleaning control module adjusts the flight height of the unmanned flight unit to a second flight height value H2;
if S is less than S1, the cleaning control module adjusts the flying height of the unmanned flying unit to a third flying height value H3;
wherein, 20m is more than H1 and more than H2 is more than H3.
Specifically, in this embodiment, S1 and S2 are calculated based on S0, and 1.1S0 < S1 < 1.2S0 < S2 < 1.3S0 is set.
Specifically, in the invention, the flying height of the unmanned aerial vehicle unit is adjusted based on the acquired area of the characteristic region, in the actual situation, the larger the flying height of the unmanned aerial vehicle unit is, the ultrasonic wave emitted by the ultrasonic unit can be transmitted in a wider region, and the larger the coverage area is, so that the larger the area of the characteristic region is, the larger the flying height of the unmanned aerial vehicle unit is, so that the coverage area of the emitted ultrasonic wave is increased, and the cleaning efficiency of the system on the characteristic region is improved.
Specifically, the first adjusting unit determines the flying height of the unmanned flying unit, calculates the comprehensive characterization parameter E according to the formula (2),
in the formula (2), hi represents an ith flying height value, H0 represents a preset height parameter, Q represents a removal difficulty characterization value, Q0 represents a preset difficulty threshold, i represents an integer greater than 0, and i=1, 2,3.
Specifically, in this embodiment, H0 is selected from the interval [10, 15] in meters.
Specifically, the first adjusting unit adjusts the intensity of the ultrasonic wave emitted by the ultrasonic unit, and the adjustment amount of the intensity of the ultrasonic wave emitted by the ultrasonic unit is determined by the cleaning control module based on the comprehensive characterization parameter;
the cleaning control module compares the comprehensive characterization parameter E with a preset first comprehensive threshold E1 and a second comprehensive threshold E2 to adjust the intensity of the ultrasonic wave emitted by the ultrasonic unit,
if E is more than or equal to E2, the control unit adjusts the intensity of the ultrasonic wave emitted by the ultrasonic unit to a first intensity value M1;
if E1 is less than or equal to E2, the control unit adjusts the intensity of the ultrasonic wave emitted by the ultrasonic unit to a second intensity value M2;
if E is less than E1, the control unit adjusts the intensity of the ultrasonic wave emitted by the ultrasonic unit to a third intensity value M3;
wherein 100kHz > M1 > M2 > M3.
Specifically, in this embodiment, E1 and E2 are calculated based on E0 calculated by hi=h0 and q=q0, and 1.1E0 < E1 < 1.2E0 < E2 < 1.3E0 is set.
Specifically, in the method, the comprehensive characterization parameter is calculated based on the flying height of the unmanned aerial vehicle unit and the removal difficulty characterization value so as to adjust the intensity of the ultrasonic wave emitted by the ultrasonic unit, the comprehensive characterization parameter considers the flying height of the unmanned aerial vehicle unit and the removal difficulty characterization value, in the practical situation, the larger the flying height of the unmanned aerial vehicle unit is, the smaller the intensity of the emitted ultrasonic wave reaching the surface of the photovoltaic module is, the degree of weakening of the intensity of the ultrasonic wave reaching the surface of the photovoltaic module by the flying height of the unmanned aerial vehicle unit is considered through calculating the comprehensive characterization parameter, if the larger the comprehensive characterization parameter is, the larger the degree of weakening of the intensity of the ultrasonic wave reaching the surface of the photovoltaic module is, the larger the removal difficulty of the characteristic area pollutant is, the larger the intensity of the ultrasonic wave emitted by the ultrasonic unit is, and the effect of the ultrasonic unit on the removal of the characteristic area pollutant is ensured through the comprehensive characterization parameter.
Specifically, the first adjusting unit or the second adjusting unit adjusts the injection angle of the injection unit, and the adjustment amount of the injection angle of the injection unit is determined by the control unit based on the area of the photovoltaic module;
the cleaning control module determines the area A of the photovoltaic module in the thermal image, compares the area A of the photovoltaic module with a preset first module area threshold A1 and a preset second module area threshold A2 to adjust the injection angle of the injection unit,
if A is more than or equal to A2, the cleaning control module adjusts the injection angle of the injection unit to a first injection angle value An1;
if A1 is less than or equal to A2, the cleaning control module adjusts the injection angle of the injection unit to a second injection angle value An2;
if A is less than A1, the cleaning control module adjusts the injection angle of the injection unit to a third injection angle value An3;
wherein An1 is more than An2 is more than An3 and is more than 90 degrees, and the spraying angle is An angle formed by the spraying direction of the nozzle and the surface of the photovoltaic module.
Specifically, in this example, A1 and A2 are calculated based on the area a of the photovoltaic module, and 1.1A0 < A1 < 1.2A0 < A2 < 1.3A0 is set.
Specifically, in the invention, the spraying angle of the spraying unit is adjusted based on the area of the photovoltaic module in the thermal image, in the actual situation, when the area of the photovoltaic module is larger, the surface area is wider, the whole surface can be better covered by smaller cleaning angle, the smaller cleaning angle can ensure that the cleaning liquid is uniformly distributed on the surface of the photovoltaic module, thereby effectively removing dust and dirt, and conversely, when the area of the photovoltaic module is smaller, the cleaning angle can be properly increased, so that the cleaning task can be completed more quickly, and the cleaning efficiency and effect of the whole photovoltaic module are ensured.
Thus far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will be within the scope of the present invention.
Claims (10)
1. High-efficient circulation subassembly cleaning system of large-scale photovoltaic power plant, its characterized in that includes:
the cleaning device comprises an unmanned flying unit, a water spraying unit and an ultrasonic unit, wherein the water spraying unit is arranged on the unmanned flying unit and used for spraying clear water to a component to be cleaned, and the ultrasonic unit is used for emitting ultrasonic waves to the component to be cleaned;
the thermal image acquisition unit is arranged on the unmanned aerial vehicle unit and used for acquiring a thermal image of the component to be cleaned;
the analysis module is used for determining whether a characteristic area exists on the surface of the component to be cleaned or not based on the shape of the pollutant in the thermal image, and calculating a removal difficulty characterization value based on the brightness and the area of the characteristic area in the thermal image so as to divide the pollution state of the component to be cleaned;
the cleaning control module is respectively connected with the cleaning device, the thermal image acquisition unit and the analysis module and comprises a cleaning action control unit, a first adjusting unit and a second adjusting unit,
the cleaning action control unit is used for controlling the unmanned flying unit to fly in a preset mode and controlling the water spraying unit and the cleaning assembly to act;
the first adjusting unit is used for adjusting the flight height of the unmanned aerial vehicle unit based on the acquired area of the characteristic region, and calculating a comprehensive characterization parameter by combining the removal difficulty characterization value so as to adjust the intensity of the ultrasonic wave emitted by the ultrasonic unit;
and adjusting an injection angle of the injection unit based on an area of the photovoltaic module in the thermal image;
or, the second adjusting unit adjusts the injection angle of the injection unit based on the area of the photovoltaic module in the thermal image;
the preset mode is to circularly move above the component to be cleaned for preset times at a preset speed.
2. The high efficiency circulation assembly cleaning system of claim 1, wherein the water spray unit includes a freely rotatable nozzle to vary the spray angle of the water spray unit.
3. The high efficiency cycle assembly cleaning system of a large photovoltaic power plant of claim 1, wherein said analysis module determines irregular blocky and striped areas in said thermal image,
if irregular block-shaped and strip-shaped areas exist in the thermal image, the analysis module determines that characteristic areas exist on the surface of the component to be cleaned.
4. The efficient circulating assembly cleaning system of a large photovoltaic power plant of claim 1, wherein the analysis module determines the brightness of each pixel point in the characteristic region and the area of the characteristic region, calculates the removal difficulty characterization value Q according to formula (1),
in the formula (1), L represents an average value of brightness of each pixel point in the characteristic region, L0 represents a preset brightness parameter, S represents an area of the characteristic region, and S0 represents a preset area parameter.
5. The efficient circulating assembly cleaning system of a large photovoltaic power plant of claim 1, wherein the analysis module compares the removal difficulty characterization value with a preset difficulty threshold to divide the contamination status of the assembly to be cleaned,
if the removal difficulty characterization value is greater than or equal to the difficulty threshold, the analysis module divides the pollution state of the component to be cleaned into a difficult-to-remove pollution state;
and if the removal difficulty characterization value is smaller than the difficulty threshold, the analysis module divides the pollution state of the component to be cleaned into a pollution state easy to remove.
6. The high efficiency cycle component cleaning system of claim 1, wherein the cleaning control module determines whether to enable a first adjustment unit or a second adjustment unit based on a contamination status of the component to be cleaned,
if the pollution state of the component to be cleaned is a difficult pollution state, the cleaning control module judges that a first adjusting unit is started;
and if the pollution state of the component to be cleaned is the pollution state easy to remove, the cleaning control module judges that the second adjusting unit is started.
7. The high efficiency circulation assembly cleaning system of claim 1, wherein the first adjustment unit adjusts the flying height of the unmanned aerial vehicle by an amount determined by the cleaning control module based on the area of the characteristic region.
8. The efficient circulating assembly cleaning system of a large-scale photovoltaic power plant of claim 1, wherein the first adjusting unit determines the flying height of the unmanned flying unit, calculates the comprehensive characterization parameter E according to formula (2),
in the formula (2), hi represents an ith flying height value, H0 represents a preset height parameter, Q represents a removal difficulty characterization value, Q0 represents a preset difficulty threshold, i represents an integer greater than 0, and i=1, 2,3.
9. The efficient circulating assembly cleaning system of a large photovoltaic power plant of claim 1, wherein the first adjusting unit adjusts the intensity of the ultrasonic waves emitted by the ultrasonic unit, and the amount of adjustment of the intensity of the ultrasonic waves emitted by the ultrasonic unit is determined by the cleaning control module based on the comprehensive characterization parameter.
10. The high-efficiency circulating assembly cleaning system of a large photovoltaic power station according to claim 1, wherein the first adjusting unit or the second adjusting unit adjusts the injection angle of the injection unit, the adjustment amount of the injection angle of the injection unit is determined by the control unit based on the area of the photovoltaic assembly, and the injection angle is an angle of an acute angle formed by the injection direction of the nozzle and the surface of the photovoltaic assembly.
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