Photovoltaic cleaning robot operation method and photovoltaic cleaning robot

Abstract

The invention relates to the technical field of photovoltaic power station cleaning, and discloses a photovoltaic cleaning robot operation method and a photovoltaic cleaning robot, the photovoltaic cleaning robot comprises a robot body and a mechanical arm located on the robot body, and the method comprises the steps that when the state of the photovoltaic cleaning robot meets the preset condition, the mechanical arm is started; controlling the photovoltaic cleaning robot to walk to the edge of the photovoltaic panel; and the mechanical arm is controlled to be connected with the edge of the photovoltaic panel so that the photovoltaic cleaning robot can be fixed to the photovoltaic panel. According to the invention, the photovoltaic cleaning robot can be controlled to run to the designated position of the photovoltaic panel when the photovoltaic cleaning robot finishes working and is low in overpower, and after being fixedly connected with the photovoltaic panel, the photovoltaic cleaning robot is powered off to wait for recovery, so that the recovery efficiency of operators is improved, and the risk that the photovoltaic cleaning robot falls and is damaged due to low power is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic power station cleaning, and in particular to a photovoltaic cleaning robot operation method and a photovoltaic cleaning robot. Background Art

[0002] With the rapid development of new energy, especially photovoltaic power generation, the core component of the photovoltaic power generation system is the photovoltaic panel, and its power generation efficiency is closely related to the intensity and duration of the received solar radiation. Photovoltaic panels are exposed to the outdoor environment for a long time, and dust, stains and other pollutants are inevitably accumulated on the surface. Pollutants blocking the photovoltaic panels will not only reduce the output power of the photovoltaic panels, but also reduce the service life of the photovoltaic panels. Therefore, it is necessary to use photovoltaic cleaning robots to clean and maintain the surface of photovoltaic panels in time.

[0003] When the photovoltaic cleaning robot cannot clean the photovoltaic panel or has finished cleaning, the photovoltaic cleaning robot will wait for recycling on the photovoltaic panel. However, recycling may take a long time, and the photovoltaic cleaning robot has limited power. It may run out of power while waiting for recycling, causing accidents to the photovoltaic cleaning robot. Summary of the invention

[0004] Therefore, the present invention aims to solve one of the above-mentioned technical problems, thereby providing a photovoltaic cleaning robot operation method and a photovoltaic cleaning robot.

[0005] In order to achieve the above object, the present invention provides the following technical solutions: In a first aspect, the present invention provides an operation method of a photovoltaic cleaning robot, wherein the photovoltaic cleaning robot comprises a body and a robotic arm located on the body, and the method comprises: when the state of the photovoltaic cleaning robot meets a preset condition, controlling the photovoltaic cleaning robot to walk to the edge of the photovoltaic panel; controlling the robotic arm to connect with the edge of the photovoltaic panel to fix the photovoltaic cleaning robot on the photovoltaic panel.

[0006] The photovoltaic cleaning robot operation method provided by the present invention can automatically drive to the edge of the photovoltaic panel when the photovoltaic cleaning robot meets the preset working state, and be fixedly connected to the photovoltaic panel through a mechanical arm to avoid falling from the photovoltaic panel and being damaged due to low battery, power failure at the end of work or other malfunctions, thereby improving the safety of the photovoltaic cleaning robot and facilitating recovery by the operator.

[0007] In an optional embodiment, the robotic arm includes a slide rail, a rack and a motor, the motor and the slide rail are arranged on the fuselage, the rack is slidably arranged on the slide rail, and the driving end of the motor is connected to the rack to drive the rack to move toward the bottom of the fuselage; the photovoltaic cleaning robot is controlled to walk to the upper edge of the photovoltaic panel; the robotic arm is controlled to be connected to the edge of the photovoltaic panel, including: controlling the driving end of the motor to rotate in a first direction to drive the rack to move toward the bottom of the fuselage, and the bottom of the rack is lower than the upper edge of the photovoltaic panel.

[0008] The photovoltaic cleaning robot operation method provided by the present invention controls the photovoltaic cleaning robot to be uniformly connected to the upper edge of the photovoltaic panel, and the recovery position of the photovoltaic cleaning robot is fixed, which is convenient for operators to recover. In addition, the fixing structure of the photovoltaic cleaning robot is simple and has high stability, which reduces the cost of the photovoltaic cleaning robot while improving the reliability of recovery.

[0009] In an optional embodiment, a pressure sensor is provided on the rack, and a negative pressure device is also provided on the body; the method further comprises: when the pressure sensor detects pressure, controlling the photovoltaic cleaning robot to close the negative pressure device.

[0010] The photovoltaic cleaning robot operation method provided by the present invention, when it is determined that there is pressure on the rack, indicates that the rack has contacted the edge of the photovoltaic panel and the photovoltaic cleaning robot has been stuck on the edge of the photovoltaic panel with the rack under the action of its own gravity, and there is no need for the negative pressure device to continue working to control the photovoltaic cleaning robot to be adsorbed on the photovoltaic panel. Therefore, the negative pressure device can be turned off to fix the photovoltaic cleaning robot on the photovoltaic panel with the rack, thereby reducing the power consumption of the photovoltaic cleaning robot and saving resources.

[0011] In an optional embodiment, after the pressure sensor detects the pressure, the method further includes: after the pressure detected by the pressure sensor disappears, controlling the driving end of the motor to rotate in a second direction to drive the rack to move away from the bottom of the fuselage.

[0012] The photovoltaic cleaning robot operation method provided by the present invention has the following advantages: when the operator starts to recycle the photovoltaic cleaning robot, the rack leaves the edge of the photovoltaic panel so that the pressure on the rack disappears and the rack automatically retracts, thereby improving the automation level of the photovoltaic cleaning robot and reducing the difficulty of the recycling work.

[0013] In an optional embodiment, the robotic arms include two robotic arms, which are arranged on both sides of the front end of the fuselage; when the pressure sensor detects pressure, the photovoltaic cleaning robot is controlled to close the negative pressure device, including: after the driving end of the control motor rotates a preset number of times in the first direction, the photovoltaic cleaning robot is controlled to retreat; when the pressure sensor detects pressure, the photovoltaic cleaning robot is controlled to close the negative pressure device and stop retreating.

[0014] The photovoltaic cleaning robot operation method provided by the present invention controls the photovoltaic cleaning robot to actively retreat after controlling the rack to extend to a preset length when the photovoltaic panel has a small inclination angle or a large surface friction, so that the rack is stuck on the edge of the photovoltaic panel, thereby improving the reliability of the photovoltaic cleaning robot's fixation.

[0015] In an optional embodiment, the fuselage further includes a tilt sensor, and the method further includes: when the tilt sensor detects that the tilt angle of the fuselage changes, controlling the driving end of the motor to rotate in a second direction to drive the rack to move away from the bottom of the fuselage.

[0016] The photovoltaic cleaning robot operation method provided by the present invention has the following advantages: when the operator starts to recycle the photovoltaic cleaning robot, the photovoltaic cleaning robot determines that the tilt angle has changed and the rack automatically retracts, thereby improving the automation level of the photovoltaic cleaning robot and reducing the difficulty of the recycling work.

[0017] In an optional embodiment, a camera and / or a distance measuring sensor is disposed at the front end of the bottom of the fuselage, the camera is used to take pictures of the bottom of the fuselage, and the distance measuring sensor is used to measure the distance between the bottom of the fuselage and below.

[0018] The photovoltaic cleaning robot operation method provided by the present invention obtains the image of the bottom of the fuselage in real time, and uses the ranging sensor to identify whether the photovoltaic cleaning robot has traveled to the edge of the photovoltaic panel, thereby providing double protection for the driving safety of the photovoltaic cleaning robot, preventing the photovoltaic cleaning robot from falling from the photovoltaic panel and being damaged, thereby improving safety.

[0019] In an optional embodiment, the preset condition includes at least one of the power of the photovoltaic cleaning robot being lower than a preset power, cleaning being completed, a malfunction of the photovoltaic cleaning robot, and stopping cleaning in response to an instruction.

[0020] The photovoltaic cleaning robot operation method provided by the present invention can promptly perform fixed recovery when the photovoltaic cleaning robot is low on power, the operation is completed, or a malfunction occurs, thereby avoiding the photovoltaic cleaning robot from falling from the photovoltaic panel and being damaged due to insufficient power or malfunction, and avoiding problems such as high power consumption when waiting for recovery after the operation, thereby improving the reliability and safety of the photovoltaic cleaning robot operation.

[0021] In an optional implementation, after the photovoltaic cleaning robot is fixed on the photovoltaic panel, the method further includes: sending the position information of the photovoltaic cleaning robot to the user terminal.

[0022] The photovoltaic cleaning robot operation method provided by the present invention facilitates the operator to quickly locate by sending position information, thereby improving the recycling efficiency.

[0023] In a second aspect, the present invention provides a photovoltaic cleaning robot, which includes a memory and a processor. The memory and the processor are communicatively connected to each other. Computer instructions are stored in the memory. The processor executes the computer instructions to execute the photovoltaic cleaning robot operation method of the first aspect.

[0024] In a third aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the photovoltaic cleaning robot operation method of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 is a schematic diagram of a photovoltaic cleaning robot working on a photovoltaic panel according to an embodiment of the present invention; Figure 2 is a schematic flow chart of a photovoltaic cleaning robot operation method according to an embodiment of the present invention; Figure 3 is a schematic structural diagram of a photovoltaic cleaning robot from one perspective according to an embodiment of the present invention; Figure 4 is a schematic structural diagram of a photovoltaic cleaning robot from another perspective according to an embodiment of the present invention; Figure 5 is a structural block diagram of a photovoltaic cleaning robot operation device according to an embodiment of the present invention; Figure 6 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0028] According to an embodiment of the present invention, an embodiment of a photovoltaic cleaning robot operation method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0029] In related technologies, such as Figure 1 As shown, the photovoltaic cleaning robot is adsorbed on the photovoltaic panel to clean the photovoltaic panel. Usually, the photovoltaic panel has a certain inclination angle. When the photovoltaic cleaning robot is low on power or fails, the adsorption device of the photovoltaic cleaning robot stops working due to low power or failure, which will cause the photovoltaic cleaning robot to fall from the photovoltaic panel and be damaged; or when the cleaning robot finishes cleaning work, it stays at a random position on the photovoltaic panel waiting to be recovered. During the waiting process, the adsorption device still needs to work, resulting in high power consumption, which is not only inconvenient for operators to recover, but also prone to the risk of power failure and falling off the photovoltaic panel. For this reason, this embodiment provides a photovoltaic cleaning robot operation method, such as Figure 1 As shown, the photovoltaic cleaning robot comprises a body 1 and a mechanical arm 2 located on the body. Figure 1 The schematic diagram of the photovoltaic cleaning robot is shown in FIG. Figure 2 As shown, the volt cleaning robot operation method includes: Step S1: When the state of the photovoltaic cleaning robot meets a preset condition, the photovoltaic cleaning robot is controlled to walk to the edge of the photovoltaic panel.

[0030] Specifically, photovoltaic panels usually have a certain inclination angle, and the photovoltaic cleaning robot relies on the adsorption device on the crawler at the bottom of the fuselage to adsorb and drive on the photovoltaic panel to perform cleaning work. When the photovoltaic cleaning robot performs cleaning work on the photovoltaic panel, it detects in real time whether its own state meets the preset conditions. When it is determined that the preset conditions are met, the photovoltaic cleaning robot is controlled to drive to the edge of the photovoltaic panel, such as the upper edge of the photovoltaic panel.

[0031] Exemplarily, the preset conditions may be: preset remaining power, preset working time, preset work progress, etc. When it is determined that the real-time power of the photovoltaic cleaning robot is reduced to the preset remaining power, or the work can be suspended when the preset working time is reached, or the work can be terminated when the preset work progress is completed, the photovoltaic cleaning robot is controlled to travel to the edge of the photovoltaic panel.

[0032] Step S2: Control the robotic arm to connect with the edge of the photovoltaic panel to fix the photovoltaic cleaning robot on the photovoltaic panel.

[0033] Specifically, when the photovoltaic cleaning robot drives to the edge of the photovoltaic panel, the control robot arm is extended to connect with the edge of the photovoltaic panel, so that the photovoltaic cleaning robot is fixed at the edge of the photovoltaic panel, waiting for the operator to recover it.

[0034] Optionally, when the photovoltaic cleaning robot is fixed at the edge, the photovoltaic cleaning robot can be controlled to turn off the adsorption function or cut off the power to reduce power consumption.

[0035] Optionally, a mechanical arm may be disposed at the front end of the fuselage, so that the photovoltaic cleaning robot can be clamped on the upper edge of the photovoltaic panel by the mechanical arm.

[0036] Optionally, the robotic arm may be a structure such as a metal bar, a metal hook, a metal clamp, etc. that enables the photovoltaic cleaning robot to be fixed on the edge of the photovoltaic panel.

[0037] The photovoltaic cleaning robot operation method provided in this embodiment is that when the photovoltaic cleaning robot is performing photovoltaic panel cleaning work, the photovoltaic cleaning robot can automatically drive to the edge of the photovoltaic panel when it meets the preset working state, and be fixedly connected to the photovoltaic panel through a robotic arm to avoid falling from the photovoltaic panel and being damaged due to low battery, power outage at the end of work or other malfunctions. This improves the safety of the photovoltaic cleaning robot and facilitates recovery by the operator.

[0038] In some optional embodiments, such as Figure 3 As shown, the mechanical arm 2 includes a slide rail 21, a rack 22 and a motor 23. The motor 23 and the slide rail 21 are arranged on the fuselage 1, the rack 22 is slidably arranged on the slide rail 21, and the driving end of the motor 23 is connected to the rack 22 to drive the rack 22 to move toward the bottom of the fuselage 1. The photovoltaic cleaning robot can be controlled to walk to the upper edge of the photovoltaic panel; the process of controlling the mechanical arm to connect with the edge of the photovoltaic panel may include controlling the driving end of the motor 23 to rotate in a first direction to drive the rack 22 to move toward the bottom of the fuselage, and the bottom of the rack 22 is lower than the upper edge of the photovoltaic panel. Since the bottom of the rack 22 is lower than the upper edge of the photovoltaic panel, the rack 22 can abut against the upper edge of the photovoltaic panel. When the photovoltaic cleaning robot slides along the photovoltaic panel due to gravity, the rack 22 can fix the photovoltaic cleaning robot on the photovoltaic panel.

[0039] Specifically, refer to Figure 3 The mechanical arm 2 is arranged on both sides of the front end of the fuselage 1, and the roller brush 3 rotates continuously and cooperates with the fan to sweep the dust on the photovoltaic panel into the dust collection bin inside the fuselage 1. When it is determined that the state of the photovoltaic cleaning robot meets the preset conditions, the track wheel 4 is controlled to rotate so that the photovoltaic cleaning robot walks to the upper edge of the photovoltaic panel, and the driving end of the motor 23 is controlled to rotate in the first direction, so that the rack 22 extends downward along the slide rail 21 and the bottom of the rack 22 is lower than the upper edge of the photovoltaic panel, so that even if the photovoltaic cleaning robot moves backward due to gravity, the rack 22 can still be stuck on the edge of the photovoltaic panel to fix the photovoltaic cleaning robot.

[0040] It should be noted that Figure 2In the figure, only the robotic arms are arranged on both sides of the front end of the fuselage as an example. The specific arrangement position and number of the robotic arms can be designed by technicians in this field as needed. This is only an example and is not intended to be limiting.

[0041] In some optional embodiments, such as Figure 4 As shown, a pressure sensor 5 is provided on the rack 22. When the rack 22 contacts the upper edge of the photovoltaic panel, the rack 22 applies force to the upper edge of the photovoltaic panel due to the tilt of the photovoltaic panel, so that the pressure sensor 5 on the rack 22 detects the force applied by the upper edge of the photovoltaic panel to the pressure sensor 5. A negative pressure device is also provided on the fuselage 1, which can form a negative pressure between the fuselage 1 and the photovoltaic panel, so that the photovoltaic cleaning robot can stabilize the photovoltaic panel; the photovoltaic cleaning robot operation method also includes: when the pressure sensor 5 detects pressure, controlling the photovoltaic cleaning robot to close the negative pressure device.

[0042] Specifically, refer to Figure 4 The negative pressure device is built into any position of the fuselage 1, and the negative pressure device has a built-in fan. The track wheel 4 includes two wheel hubs arranged at intervals and a track sleeved on the outer surface of the wheel hub. The track has a plurality of suction holes 6, and the plurality of suction holes 6 are arranged on the track. Each suction hole 6 is connected to the fan. When the fan is working, air is sucked from the outside through the air holes 6. Since the track wheel 4 is in contact with the photovoltaic panel, when the track wheel 4 rotates so that the air holes 6 on the surface of the track are in contact with the photovoltaic panel, the gas generated by the fan generates negative pressure at the air holes 6 in contact with the photovoltaic panel, so that the photovoltaic cleaning robot can be tightly adsorbed on the photovoltaic panel.

[0043] Specifically, refer to Figure 4 When the pressure sensor 5 detects pressure, it indicates that the photovoltaic cleaning robot has retreated under the action of gravity and the rack 22 has been in close contact with the upper edge of the photovoltaic panel. At this time, the photovoltaic cleaning robot is controlled to turn off the negative pressure device and no longer adsorbs on the photovoltaic panel. Since the rack 22 is stuck on the upper edge of the photovoltaic panel, the photovoltaic cleaning robot is fixed and will not fall due to its own gravity.

[0044] Optionally, refer to Figure 4 , a suction hole can also be set at the bottom of the fuselage and connected to a fan, and the airflow generated by the fan generates negative pressure at the suction hole to make the photovoltaic cleaning robot adsorbed on the photovoltaic panel; or a suction cup connected to the photovoltaic panel is set at the bottom of the fuselage, and the suction cup is connected to the fan, and the fan can suck away part of the gas between the suction cup and the photovoltaic panel so that the photovoltaic cleaning robot is fixed on the photovoltaic panel through the suction cup. The specific positions of the suction hole and the suction cup are not limited here.

[0045] In some optional embodiments, after the pressure sensor detects the pressure, the volt cleaning robot operation method also includes: after the pressure detected by the pressure sensor 5 disappears, controlling the driving end of the motor 23 to rotate in a second direction to drive the rack 22 to move away from the bottom of the fuselage.

[0046] Specifically, refer to Figure 4 When the operator recovers the photovoltaic cleaning robot fixed on the upper edge of the photovoltaic panel, after the operator picks up the photovoltaic cleaning robot, the pressure sensor 5 leaves the upper edge of the photovoltaic panel and no longer outputs a pressure signal, and the driving end of the control motor 23 rotates in the second direction, so that the rack 22 is retracted upward along the slide rail 21.

[0047] In some optional embodiments, the robotic arm 2 includes two robotic arms, which are arranged on both sides of the front end of the fuselage, that is, two slide rails 21 are arranged on both sides of the front end of the fuselage 1, and each slide rail 21 is slidably provided with a rack 22, and each rack 22 is connected to the driving end of a motor 23; when the pressure sensor detects pressure, the photovoltaic cleaning robot is controlled to close the negative pressure device, including: after the driving end of the control motor rotates a preset number of circles in the first direction, the photovoltaic cleaning robot is controlled to retreat; when the pressure sensor detects pressure, the photovoltaic cleaning robot is controlled to close the negative pressure device and stop retreating.

[0048] Specifically, refer to Figure 4 When the photovoltaic panel has a small inclination angle or a rough surface and the negative pressure device is not closed, when the rack 22 is extended, the photovoltaic cleaning robot cannot retreat under its own gravity, and when the rack 22 is stuck on the upper edge of the photovoltaic panel, according to the actual data, the driving end of the motor 23 is controlled to rotate a preset number of circles in the first direction, so that the rack 22 extends downward along the slide rail 21 beyond the preset length of the upper edge of the photovoltaic panel, and then the photovoltaic cleaning robot is controlled to retreat, so that the rack 22 is stuck on the upper edge of the photovoltaic panel. When the rack 22 is stuck on the upper edge of the photovoltaic panel, the pressure sensor 5 detects the pressure, and then controls the photovoltaic cleaning robot to close the negative pressure device and stop retreating, and the photovoltaic cleaning robot is stuck on the upper edge of the photovoltaic panel through the rack 22.

[0049] Optionally, the photovoltaic cleaning robot can be controlled to power off to reduce power consumption while waiting for recycling.

[0050] In some optional embodiments, the fuselage further includes a tilt sensor, and the method further includes: when the tilt sensor detects that the tilt angle of the fuselage changes, controlling the driving end of the motor to rotate in a second direction to drive the rack to move away from the bottom of the fuselage.

[0051] Specifically, refer to Figure 4 When the operator recovers the photovoltaic cleaning robot fixed on the upper edge of the photovoltaic panel, after the operator picks up the photovoltaic cleaning robot, the inclination angle of the fuselage 1 changes, so that the built-in inclination sensor outputs a signal, and the driving end of the motor 23 rotates in the second direction, so that the rack 22 is retracted upward along the slide rail 21.

[0052] In some optional embodiments, a camera and / or a ranging sensor is disposed at the front end of the bottom of the fuselage, the camera is used to take pictures of the bottom of the fuselage, and the ranging sensor is used to measure the distance between the bottom of the fuselage and below.

[0053] Specifically, when the photovoltaic cleaning robot drives towards the edge of the photovoltaic panel, the camera continuously captures images of the bottom of the fuselage, and the ranging sensor measures the distance between the bottom of the fuselage and the bottom in real time; when the image captured by the camera changes from the surface of the photovoltaic panel to the edge of the photovoltaic panel or the ground, or the measurement result of the ranging sensor suddenly increases, it indicates that the front end of the photovoltaic cleaning robot has driven to the edge of the photovoltaic panel or has just exceeded the edge of the photovoltaic panel. At this time, the photovoltaic cleaning robot is controlled to stop moving forward, and the robotic arm is controlled to extend and connect with the edge of the photovoltaic panel.

[0054] In some optional embodiments, the preset condition includes at least one of the power of the photovoltaic cleaning robot being lower than a preset power, cleaning being completed, the photovoltaic cleaning robot malfunctioning, and stopping cleaning in response to an instruction.

[0055] Specifically, when the photovoltaic cleaning robot is low on battery, the job is completed or a fault occurs, the photovoltaic cleaning robot is controlled to walk to the edge of the photovoltaic panel and extend its robotic arm to fix on the edge of the photovoltaic panel. This can prevent the photovoltaic cleaning robot from falling from the photovoltaic panel and being damaged due to insufficient battery or failure, and avoid high power consumption when waiting for recovery after the job is completed, making it convenient for operators to perform fixed recovery in a timely manner.

[0056] In some optional implementations, after the photovoltaic cleaning robot is fixed on the photovoltaic panel, the method further includes: sending the location information of the photovoltaic cleaning robot to the user terminal.

[0057] Specifically, when there are a large number of photovoltaic panels on site and their locations are scattered, there are also a large number of photovoltaic cleaning robots in operation. In order to facilitate operators to promptly recycle photovoltaic cleaning robots that have stopped working and quickly locate the positions of photovoltaic cleaning robots, when the photovoltaic cleaning robots are fixed on the photovoltaic panels, they send location information to the terminal. Operators can view the location, identity information, fault type and other information of the faulty photovoltaic cleaning robots through the terminal, thus realizing efficient recycling of photovoltaic cleaning robots.

[0058] In this embodiment, a photovoltaic cleaning robot operation device is also provided, which is used to implement the above-mentioned embodiments and preferred embodiments, and the descriptions that have been made will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware of a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0059] This embodiment provides a photovoltaic cleaning robot operation device, such as Figure 5 As shown, the photovoltaic cleaning robot device comprises: The walking module 501 is used to control the photovoltaic cleaning robot to walk to the edge of the photovoltaic panel when the state of the photovoltaic cleaning robot meets the preset conditions.

[0060] The driving and fixing module 502 is used to control the mechanical arm to connect with the edge of the photovoltaic panel so as to fix the photovoltaic cleaning robot on the photovoltaic panel.

[0061] The photovoltaic cleaning robot operating device in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0062] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0063] An embodiment of the present invention further provides a computer device having the above-mentioned photovoltaic cleaning robot operation device.

[0064] See also Figure 6 , Figure 6 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Figure 6 As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 6 A processor 10 is taken as an example.

[0065] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0066] The memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the method shown in the above embodiment.

[0067] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created by the use of a computer device based on the presentation of a small program landing page, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0068] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0069] The computer device further comprises a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0070] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0071] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A photovoltaic cleaning robot operation method, characterized in that: The photovoltaic cleaning robot comprises a body and a mechanical arm located on the body, and the method comprises: When the state of the photovoltaic cleaning robot meets a preset condition, controlling the photovoltaic cleaning robot to walk to the edge of the photovoltaic panel; The mechanical arm is controlled to connect with the edge of the photovoltaic panel to fix the photovoltaic cleaning robot on the photovoltaic panel.

2. The method according to claim 1, characterized in that The mechanical arm comprises a slide rail, a rack and a motor, wherein the motor and the slide rail are arranged on the fuselage, the rack is slidably arranged on the slide rail, and the driving end of the motor is connected to the rack to drive the rack to move toward the bottom of the fuselage; the photovoltaic cleaning robot is controlled to walk to the upper edge of the photovoltaic panel; The controlling the mechanical arm to connect with the edge of the photovoltaic panel comprises: The driving end of the motor is controlled to rotate in a first direction to drive the rack to move toward the bottom of the fuselage, and the bottom of the rack is lower than the upper edge of the photovoltaic panel.

3. The method according to claim 2, characterized in that The rack is provided with a pressure sensor, and the body is also provided with a negative pressure device; the method further comprises: When the pressure sensor detects pressure, the photovoltaic cleaning robot is controlled to close the negative pressure device.

4. The method according to claim 3, characterized in that After the pressure sensor detects the pressure, the method further includes: After the pressure detected by the pressure sensor disappears, the driving end of the motor is controlled to rotate in a second direction to drive the rack to move away from the bottom of the fuselage.

5. The method according to claim 3, characterized in that: The mechanical arms include two, and the two mechanical arms are arranged on both sides of the front end of the fuselage; when the pressure sensor detects pressure, the photovoltaic cleaning robot is controlled to close the negative pressure device, including: After controlling the driving end of the motor to rotate a preset number of circles in the first direction, controlling the photovoltaic cleaning robot to move backward; When the pressure sensor detects pressure, the photovoltaic cleaning robot is controlled to close the negative pressure device and stop moving backward.

6. The method according to claim 2, characterized in that The fuselage further includes a tilt sensor, and the method further includes: When the inclination sensor detects that the inclination of the fuselage changes, the driving end of the motor is controlled to rotate in a second direction to drive the rack to move away from the bottom of the fuselage.

7. The method according to any one of claims 1 to 6, characterized in that: A camera and / or a distance measuring sensor is arranged at the front end of the bottom of the fuselage. The camera is used to take pictures of the bottom of the fuselage, and the distance measuring sensor is used to measure the distance between the bottom of the fuselage and below.

8. The method according to any one of claims 1 to 6, characterized in that: The preset conditions include at least one of the power level of the photovoltaic cleaning robot being lower than a preset power level, cleaning being completed, the photovoltaic cleaning robot failing, and stopping cleaning in response to an instruction.

9. The method according to any one of claims 1 to 6, characterized in that: After the photovoltaic cleaning robot is fixed on the photovoltaic panel, the method further comprises: The photovoltaic cleaning robot position information is sent to a user terminal.

10. A photovoltaic cleaning robot, characterized in that: The photovoltaic cleaning robot includes a memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the photovoltaic cleaning robot operation method described in any one of claims 1 to 9 by executing the computer instructions.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the photovoltaic cleaning robot operation method according to any one of claims 1 to 9.

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