Photovoltaic array cleaning method and cleaning robot

Abstract

The invention discloses a photovoltaic array cleaning method and a cleaning robot, and belongs to the technical field of photovoltaic cleaning. The method comprises the steps that the cleaning robot is controlled to advance according to a preset cleaning route and clean the photovoltaic array; in the advancing process of the cleaning robot, the following steps are executed: acquiring environment information, collected by the collecting part, in front of the advancing direction of the cleaning robot, and determining target garbage with the size larger than the preset size on the photovoltaic array and the position of the target garbage according to the environment information; when the cleaning robot moves to the position where the picking range of the picking component covers at least one piece of target garbage, the picking component is controlled to pick up the target garbage and throw the target garbage into a first garbage can; and when the garbage amount in the first garbage can reaches the first preset garbage amount, the cleaning robot is controlled to clean the garbage in the first garbage can out of the photovoltaic array at the edge of the photovoltaic array. The operation safety and reliability of the cleaning robot can be effectively improved, and the cleaning effect of the photovoltaic array is improved.

Description

Technical Field

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

[0002] Photovoltaic arrays are formed by many photovoltaic panels arranged in a certain way. Photovoltaic panels use the sun to generate electricity. Sunlight enters the photovoltaic modules of the photovoltaic panels through the glass layer of the photovoltaic panels. The photovoltaic effect of the semiconductor interface is used in the photovoltaic modules to directly convert light energy into electrical energy. If there is dirt on the surface of the photovoltaic panel (i.e. the glass layer), it will affect the penetration of sunlight into the photovoltaic modules, thereby affecting the power generation efficiency of the photovoltaic panel; and if the dirt on the photovoltaic panel exists for a long time, it may cause defects such as hot spots on the photovoltaic panel, affecting the service life of the photovoltaic panel. Therefore, the cleaning of the photovoltaic panel is crucial to the power generation efficiency of the photovoltaic panel.

[0003] In the related art, cleaning robots are often used to clean the photovoltaic panels in the photovoltaic array. However, there is a lot of garbage on the photovoltaic array, and the cleaning robot cannot effectively clean some larger garbage, or cleaning larger garbage will have a bad impact on the cleaning robot. Summary of the invention

[0004] The present invention provides a photovoltaic array cleaning method and a cleaning robot to solve one of the above technical problems.

[0005] In a first aspect, an embodiment of the present invention provides a photovoltaic array cleaning method, which is applied to a cleaning robot, wherein the cleaning robot comprises: a body, and a picking component, a collecting component and a first trash can arranged on the body; the method comprises:

[0006] Control the cleaning robot to move along a preset cleaning route and clean the photovoltaic array; and during the movement of the cleaning robot, perform the following steps:

[0007] Acquire environmental information in front of the cleaning robot collected by the collecting component, and determine target garbage with a size larger than a preset size and its location on the photovoltaic array according to the environmental information;

[0008] When the cleaning robot moves to a position where the picking range of the picking component covers at least one of the target garbage, the picking component is controlled to pick up the target garbage and put it into the first garbage bin;

[0009] When the amount of garbage in the first garbage bin reaches a first preset amount of garbage, the cleaning robot is controlled to clean the garbage in the first garbage bin to outside the photovoltaic array at the edge of the photovoltaic array.

[0010] Optionally, a moving part and a cleaning part are further provided on the fuselage; controlling the cleaning robot to move along a preset cleaning route and clean the photovoltaic array comprises:

[0011] The moving component is controlled to drive the cleaning robot to move along the preset cleaning route, and during the movement of the cleaning robot, the cleaning component is controlled to clean the surface of the photovoltaic array.

[0012] Optionally, before controlling the picking component to pick up the target garbage and put it into the first garbage bin, the method further includes: controlling the moving component to slow down or stop moving;

[0013] and / or,

[0014] When the amount of target garbage within the picking range of the picking component is greater than a preset amount, before controlling the picking component to pick up the target garbage and put it into the first garbage bin, the method further includes: controlling the cleaning component to stop cleaning;

[0015] and / or,

[0016] When the picking range of the picking component covers a plurality of the target garbage, controlling the picking component to pick up the target garbage and put it into the first garbage bin includes: controlling the picking component to pick up each of the target garbage in sequence and put it into the first garbage bin.

[0017] Optionally, the collection component includes: a camera, which is arranged at the front end of the fuselage; obtaining environmental information collected by the collection component in front of the cleaning robot, and determining the target garbage with a size larger than a preset size and its position on the photovoltaic array according to the environmental information, including:

[0018] An image of the cleaning robot ahead of the cleaning robot taken by the camera is obtained, and target garbage with a size larger than a preset size and its position on the photovoltaic array are determined according to the image.

[0019] Optionally, the collection component includes: a camera and a radar, both of which are arranged at the front end of the fuselage; obtaining the environmental information in front of the cleaning robot collected by the collection component, and determining the target garbage with a size larger than a preset size and its position on the photovoltaic array according to the environmental information, including:

[0020] Acquire an image of the front of the cleaning robot taken by the camera, and preliminarily determine a target object on the photovoltaic array whose size is larger than a preset size and its position according to the image;

[0021] A three-dimensional point cloud obtained by scanning each of the target objects by the radar is obtained, and whether each of the target objects is target garbage is determined according to the three-dimensional point cloud.

[0022] Optionally, when the amount of garbage in the first garbage bin reaches a first preset amount of garbage, controlling the cleaning robot to clean the garbage in the first garbage bin to outside the photovoltaic array at the edge of the photovoltaic array includes:

[0023] When the amount of garbage in the first garbage bin is between the first preset amount of garbage and the second preset amount of garbage, the cleaning robot is waiting to move from the current position according to the preset cleaning route to the edge position of the photovoltaic array next time, and then the garbage in the first garbage bin is cleaned out of the photovoltaic array; wherein the second preset amount of garbage is greater than the first preset amount of garbage;

[0024] When the amount of garbage in the first trash bin exceeds the second preset amount of garbage, the cleaning robot is controlled to retreat from the current position to the edge position of the photovoltaic array last reached according to the preset cleaning route, and clean the garbage in the first trash bin outside the photovoltaic array.

[0025] Optionally, after cleaning the garbage in the first garbage bin out of the photovoltaic array, the method further includes:

[0026] The cleaning robot is controlled to clean the garbage in the first garbage bin, and then continue to move along the preset cleaning route and clean the photovoltaic array.

[0027] Optionally, a capacity detection sensor is provided in the first trash bin, and a detection result of the capacity detection sensor is used to characterize the amount of trash in the first trash bin;

[0028] And / or, a weight detection sensor is arranged in the first trash bin, and a detection result of the weight detection sensor is used to represent the amount of trash in the first trash bin.

[0029] Optionally, the picking component includes: a mechanical arm movably connected to the fuselage;

[0030] Controlling the picking component to pick up the target garbage and put it into the first garbage bin includes:

[0031] Controlling the robotic arm to pick up the target garbage and put it into the first garbage bin;

[0032] Cleaning the garbage in the first garbage bin out of the photovoltaic array includes:

[0033] The robotic arm is controlled to take out the garbage in the first garbage bin and throw it outside the photovoltaic array.

[0034] Optionally, the mechanical arm is provided with a gripper and a fan; before controlling the picking component to pick up the target garbage and put it into the first garbage bin, the method further includes:

[0035] Determine the type of target garbage within the pickup range of the pickup component;

[0036] When the target garbage within the picking range of the picking component is a plastic bag or paper, controlling the picking component to pick up the target garbage includes: controlling the mechanical arm to move to the position of the target garbage, and controlling the fan to suck air to absorb the target garbage;

[0037] When the target garbage within the picking range of the picking component is not a plastic bag or paper, controlling the picking component to pick up the target garbage includes: controlling the mechanical arm to move to the position of the target garbage, and controlling the clamp to clamp the target garbage.

[0038] Optionally, when the target garbage within the picking range of the picking component is a plastic bag or paper, before controlling the picking component to pick up the target garbage, the method further includes:

[0039] Determining whether the target garbage is located at the edge of the photovoltaic array;

[0040] If so, controlling the robot arm to move to the location of the target garbage, and controlling the fan to blow air to blow the target garbage out of the photovoltaic array;

[0041] If not, the picking component is controlled to pick up the target garbage and put it into the first garbage bin.

[0042] Optionally, the first trash bin is provided with a bin cover;

[0043] Before controlling the picking component to pick up the target garbage and put it into the first garbage bin, and before cleaning the garbage in the first garbage bin out of the photovoltaic array, the method further includes: controlling the bin cover to open;

[0044] After controlling the picking component to pick up the target garbage and put it into the first garbage bin, and after cleaning the garbage in the first garbage bin out of the photovoltaic array, the method further includes: controlling the bin cover to close.

[0045] In the second aspect, an embodiment of the present invention further provides a cleaning robot, comprising: a body, and a picking component, a collecting component, a first trash can and a controller arranged on the body; the controller is used to execute the photovoltaic array cleaning method provided by any embodiment of the present invention.

[0046] The photovoltaic array cleaning method provided by the embodiment of the present invention determines the target garbage on the photovoltaic array that is larger than the preset size through the environmental information collected by the collection component, and when the cleaning robot moves to the position where the target garbage enters the picking range according to the preset cleaning route, the picking component is controlled to put the target garbage into the first garbage bin, which can achieve effective cleaning of larger garbage on the photovoltaic array, can prevent larger garbage from affecting the cleaning progress of the cleaning robot, and can prevent the cleaning robot from damaging the cleaning components when using the basic cleaning method to clean larger garbage. In addition, the embodiment of the present invention also provides a cleaning measure for the first garbage bin. When the amount of garbage in the first garbage bin reaches the first preset amount of garbage, the cleaning robot is controlled to clean garbage at the edge of the photovoltaic array; this can prevent the first garbage bin from affecting the endurance of the cleaning robot due to heavy garbage, crushing the photovoltaic panel or causing garbage overflow, and ensure that the larger garbage in the cleaning process of the entire photovoltaic array can be reliably handled. In summary, the embodiment of the present invention provides a reliable cleaning solution for larger garbage on the photovoltaic array, which can effectively improve the operating safety and reliability of the cleaning robot and improve the cleaning effect of the photovoltaic array.

[0047] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0049] Figure 1 A schematic diagram of a photovoltaic array provided by an embodiment of the present invention;

[0050] Figure 2 A three-dimensional diagram of a cleaning robot provided by an embodiment of the present invention;

[0051] Figure 3 Another stereoscopic diagram of the cleaning robot provided by the embodiment of the present invention;

[0052] Figure 4 A flow chart of a photovoltaic array cleaning method provided by an embodiment of the present invention;

[0053] Figure 5 A schematic diagram of a preset cleaning route provided by an embodiment of the present invention;

[0054] Figure 6A schematic diagram of a process for planning a garbage cleaning route provided by an embodiment of the present invention;

[0055] Figure 7 A schematic diagram of a garbage cleaning route provided by an embodiment of the present invention;

[0056] Figure 8 Another schematic diagram of a garbage cleaning route provided by an embodiment of the present invention;

[0057] Fig. 9 Another flow chart of the photovoltaic array cleaning method provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0058] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme 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 only 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 ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0059] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0060] The embodiment of the present invention provides a photovoltaic array cleaning method for improving the cleaning effect of the photovoltaic array. The photovoltaic array cleaning method can be applied to a cleaning robot. For ease of explanation, the basic structure of the photovoltaic array and the photovoltaic robot is briefly described below.

[0061] Figure 1 For a schematic diagram of a photovoltaic array provided by an embodiment of the present invention, see Figure 1 The photovoltaic array 10 may include a plurality of photovoltaic panels 11 arranged in an array, and the photovoltaic panel 11 converts solar energy into electrical energy by using the photovoltaic effect of semiconductor materials under illumination. The cleaning robot 20 may work on the photovoltaic panel 11 to clean the photovoltaic panel 11.

[0062] Cleaning robots refer to automated equipment used to clean the surface of photovoltaic panels, which can effectively remove dust, scale and dirt on photovoltaic panels without or with reduced human intervention. Figure 2 and Figure 3 The cleaning robot 20 may include: a body 21, and a picking component 22, a collecting component 23 and a first trash can 24 arranged on the body 21. Among them, the accommodation space on the body 21 can be used to accommodate various control and power devices required by the cleaning robot 20, and to accommodate the first trash can 24. The picking component 22 can be movably connected to the top or side wall of the body 21. The picking component 22 may include a motion mechanism such as a mechanical arm and a driving mechanism (such as a motor). The driving mechanism is connected to the motion mechanism to drive the motion mechanism to extend, contract and rotate, etc., so as to provide a certain picking range, so that the picking component 22 can pick up garbage within its picking range. The collecting component 23 can be arranged on the top or front side of the body 21. The collecting range of the collecting component 23 covers the environment in front of the cleaning robot 20, so as to judge whether there is large garbage in front of the cleaning robot 20 through the collected environmental information. The environmental information may include pictures or point cloud data, etc. The specific type and setting position of the collecting component 23 are not limited here. The first trash bin 24 can be set at a suitable position on the fuselage 21 according to actual conditions, for example, it can be set at the rear side of the fuselage 21; the first trash bin 24 is set within the picking range of the picking component 22, so that the picking component 22 can accurately put the picked up garbage into the first trash bin 24.

[0063] In addition, a controller is also provided in the body 21 of the cleaning robot 20, which serves as the control core of the cleaning robot 20 and is used to control the operation process of the cleaning robot 20, and can also analyze and process relevant parameters during the operation of the cleaning robot 20. The photovoltaic array cleaning method provided in the embodiment of the present invention can be executed by the controller. The photovoltaic array cleaning method is described in detail below.

[0064] Figure 4 The photovoltaic array cleaning method provided by the embodiment of the present invention comprises: controlling a cleaning robot to move along a preset cleaning route and clean the photovoltaic array; and during the movement of the cleaning robot, performing the following steps: Figure 4 The steps shown.

[0065] The preset cleaning route can be specifically understood as a cleaning path that is stored and planned in advance by the cleaning robot before performing a cleaning task. Figure 5 , Figure 5The black solid line with an arrow indicates the preset cleaning route, the arrow indicates the direction of travel, and the circle indicates the cleaning robot 20. When the cleaning robot 20 cleans the photovoltaic array 10, it can clean the entire photovoltaic array 10 according to the preset route from top to bottom, which can effectively avoid secondary contamination of the lower area by dust, dirt or other pollutants in the higher area during the cleaning process, ensuring that the entire cleaning process is more thorough and avoiding repeated work.

[0066] Specifically, the contour edge of the photovoltaic array 10 may include an upper edge and a lower edge parallel to the ground, and a left edge and a right edge at a certain angle to the ground. The preset cleaning route may be an N-shaped route covering the entire surface of the photovoltaic array 10, and the route may start from the junction of the upper edge and the right edge, or from the junction of the upper edge and the left edge. Figure 5 , for example, the preset cleaning route can be: starting from the junction of the upper edge and the right edge, first control the cleaning robot 20 to move horizontally to the left to the junction of the upper edge and the left edge; then control the cleaning robot 20 to move downward along the left edge for a preset distance, and then control the cleaning robot 20 to move horizontally to the right to the right edge; then control the cleaning robot 20 to move downward along the right edge for a preset distance, and then control the cleaning robot 20 to move horizontally to the left edge; and so on, in the above-mentioned travel mode until the surface of the photovoltaic array 10 is cleaned. It can be understood that the horizontal direction is parallel to the ground, and the preset distance can be determined according to the cleaning range of the cleaning robot 20 to ensure that there is no part that is not cleaned by the cleaning robot 20 during the cleaning process.

[0067] Exemplarily, the cleaning robot itself may include a cleaning component for performing basic cleaning on the surface of the photovoltaic array during the movement of the cleaning robot, such as sweeping and sucking up garbage. For larger garbage that cannot be handled or is difficult to handle by the cleaning component, it can be handled by a collection component in cooperation with a picking component. Examples of larger garbage include: relatively large pieces of wood, which can easily clog the cleaning component; or garbage bags, which can easily get entangled at the bottom of the body, posing a risk of causing the cleaning robot to fall off the photovoltaic array; the above-mentioned larger garbage is difficult to clean based on the basic cleaning structure of the cleaning robot, and affects the operational safety of the cleaning robot.

[0068] Then, for the larger debris that may appear on the surface of the photovoltaic array, see Figure 4 , during the movement of the cleaning robot, the following steps can be performed:

[0069] S101, obtaining environmental information in front of the cleaning robot collected by a collecting component, and determining target garbage with a size larger than a preset size and its position on the photovoltaic array according to the environmental information.

[0070] The preset size can be understood as the size of garbage that is difficult for the cleaning robot to clean through basic cleaning of the cleaning parts, or the size of garbage that will cause adverse effects (such as entanglement, blockage, etc.) on the cleaning robot when cleaning garbage. When the size of the garbage on the photovoltaic array is larger than the preset size, the garbage is determined to be the target garbage. It can be understood that the photovoltaic array can specifically be on the surface of the photovoltaic array.

[0071] For example, the collection component collects the environmental information in front of the cleaning robot in real time, which may include the distribution, degree, size and location of dirt, dust and other pollutants on the photovoltaic array. The size of the pollutant can be used to determine whether it is the target garbage; the location information of the pollutant may include the distance between it and the cleaning robot, and the location of the target garbage can be determined based on the distance between the pollutant and the cleaning robot and the current location of the cleaning robot.

[0072] S102: When the cleaning robot moves to a position where the picking range of the picking component covers at least one target garbage, control the picking component to pick up the target garbage and put it into a first garbage bin.

[0073] Specifically, when there is no target garbage within the pickup range of the pickup component, the cleaning robot continues to move along the preset cleaning route until the target garbage enters the pickup range of the pickup component, and the pickup component can be controlled to pick up the target garbage and put it into the first garbage bin. When the pickup component picks up the target garbage, the cleaning robot can be controlled to continue moving or stop moving according to actual needs, which is not specifically limited here.

[0074] S103: When the amount of garbage in the first garbage bin reaches a first preset amount of garbage, control the cleaning robot to clean the garbage in the first garbage bin to outside the photovoltaic array at the edge of the photovoltaic array.

[0075] Among them, the first trash bin contains larger garbage on the photovoltaic array. When there is too much garbage in the first trash bin, the cleaning robot will be too heavy, affecting the endurance of the cleaning robot, and may exceed the carrying capacity of the photovoltaic panel and damage the photovoltaic panel; and the capacity of the first trash bin is limited. When there is too much garbage in the first trash bin, it may cause garbage overflow during the subsequent picking process, causing secondary pollution to the photovoltaic panel. The first preset garbage volume is the lower limit of the garbage volume that reminds the cleaning robot to clean up the garbage in the first trash bin. When the garbage volume exceeds the first preset garbage volume, the above risk will exist. By controlling the cleaning robot to clean up the garbage in the first trash bin at the edge of the photovoltaic array, it can be ensured that the garbage is cleared out of the photovoltaic array. Exemplarily, the first trash bin can be cleaned at the left edge or right edge of the photovoltaic array. The photovoltaic robot can dump all the garbage in the first trash bin out of the photovoltaic array by dumping, or throw the garbage in the first trash bin out of the photovoltaic array one by one by picking up the components. The specific cleaning method is not limited here.

[0076] The photovoltaic array cleaning method provided by the embodiment of the present invention determines the target garbage on the photovoltaic array that is larger than the preset size through the environmental information collected by the collection component, and when the cleaning robot moves to the position where the target garbage enters the picking range according to the preset cleaning route, the picking component is controlled to put the target garbage into the first garbage bin, which can achieve effective cleaning of larger garbage on the photovoltaic array, can prevent larger garbage from affecting the cleaning progress of the cleaning robot, and can prevent the cleaning robot from damaging the cleaning components when using the basic cleaning method to clean larger garbage. In addition, the embodiment of the present invention also provides a cleaning measure for the first garbage bin. When the amount of garbage in the first garbage bin reaches the first preset amount of garbage, the cleaning robot is controlled to clean garbage at the edge of the photovoltaic array; this can prevent the first garbage bin from affecting the endurance of the cleaning robot due to heavy garbage, crushing the photovoltaic panel or causing garbage overflow, and ensure that the larger garbage in the cleaning process of the entire photovoltaic array can be reliably handled. In summary, the embodiment of the present invention provides a reliable cleaning solution for larger garbage on the photovoltaic array, which can effectively improve the operating safety and reliability of the cleaning robot and improve the cleaning effect of the photovoltaic array.

[0077] Continue to see Figure 2 and Figure 3 Based on the above embodiment, optionally, a moving component 25 and a cleaning component 26 are further provided on the body 21. Controlling the cleaning robot to move along a preset cleaning route and clean the photovoltaic array specifically includes: controlling the moving component to drive the cleaning robot to move along the preset cleaning route, and controlling the cleaning component to clean the surface of the photovoltaic array during the movement of the cleaning robot.

[0078] Specifically, the moving part 25 may include a track wheel, for example, arranged at the bottom of the fuselage 21, and the track wheel as a moving part can support the entire robot and provide power. Exemplarily, the track wheel includes a driving wheel 251, a driven wheel 252, and a track 253 sleeved on the driving wheel 251 and the driven wheel 252, and the driving wheel 251 is connected to the driving end of the driving motor, thereby driving the track 253 to rotate and drive the cleaning robot 20 to move. The cleaning part 26, as a basic cleaning part on the cleaning robot 20, can be used to clean garbage on the photovoltaic array that is less than or equal to a preset size, such as dust, scale and dirt. For example, the cleaning part 26 can continue to work during the movement of the cleaning robot 20, and can also be controlled to stop cleaning when necessary. The cleaning part 26 mainly includes a shell, a roller brush, a motor, a fan and a second trash can. The roller brush is partially exposed under the shell so that it can contact the surface of the photovoltaic panel during the movement of the cleaning robot and clean the surface of the photovoltaic panel; the driving end of the motor is connected to the roller brush to drive the roller brush to roll and achieve a better cleaning effect; a garbage inlet can be set at the bottom of the shell, and the garbage in the cleaning process can be sucked into the second garbage bin through the garbage inlet through the fan; the second garbage bin can be set in the shell or in the fuselage 21, which is not specifically limited here. Among them, the cleaning component 26 can be set at the front end or the middle part of the cleaning robot 20. Figure 2 and Figure 3 It is exemplarily shown in the figure that the cleaning component 26 is arranged at the front end of the body 21; correspondingly, the collecting component 23 can be arranged at the front end of the cleaning component 26.

[0079] On the basis of the above embodiments, optionally, when the picking range of the picking component covers multiple target garbage, controlling the picking component to pick up the target garbage and put it into the first garbage bin includes: controlling the picking component to pick up each target garbage in turn and put it into the first garbage bin. Exemplarily, when the picking range of the picking component covers multiple target garbage, each target garbage can be picked up in turn from near to far according to the location information of each target garbage and put into the first garbage bin.

[0080] Based on the above embodiments, optionally, before controlling the picking component to pick up the target garbage and put it into the first garbage bin, the method further includes: controlling the moving component to slow down or stop moving.

[0081] Among them, when the cleaning robot moves to a position where the picking range of the picking component covers at least one target garbage, the picking component can be helped to accurately pick up the target garbage by controlling the moving component to slow down or stop moving. Specifically, when it is determined according to environmental information that the amount of target garbage ahead is small, the moving component can be controlled to slow down so that the picking component can complete the picking of the target garbage during the moving process; when it is determined according to environmental information that the amount of target garbage ahead is large, in order to avoid the picking component missing the target garbage, the moving component can be controlled to stop moving. After the picking component completes picking up the target garbage within the picking range, the moving component can be controlled to resume the preset speed and continue to move along the preset cleaning route.

[0082] Based on the above embodiments, optionally, when the amount of target garbage within the picking range of the picking component is greater than a preset amount, before controlling the picking component to pick up the target garbage and put it into the first garbage bin, the method further includes: controlling the cleaning component to stop cleaning.

[0083] Specifically, when the number of target garbage within the picking range is large, it takes a certain amount of time for the picking component to pick up each target garbage. At this time, controlling the cleaning component to stop cleaning can effectively avoid accidents such as blockage or entanglement caused by the cleaning component cleaning the target garbage before the picking component completes the picking, thereby ensuring the safety of the cleaning robot.

[0084] On the basis of the above-mentioned implementation modes, optionally, there are multiple implementation modes of the above-mentioned S101, several of which are described below, but are not intended to limit the present invention.

[0085] In one embodiment, optionally, the collection component 23 includes: a camera 231, which is arranged at the front end of the body 21. Then, the above S101 specifically includes: obtaining an image of the cleaning robot in front of the cleaning robot taken by the camera, and determining the target garbage with a size larger than a preset size and its position on the photovoltaic array according to the image.

[0086] Among them, by setting the camera at the front end of the body, a sufficiently large shooting angle can be provided, so that the camera can capture the image in front of the cleaning robot. The number of cameras can be set according to actual needs. Figure 2 and Figure 3 A camera 231 is provided as an example, but it is not intended to limit the present invention. The camera can be connected to a controller in the cleaning robot, and the controller determines the target garbage and its location based on the image captured by the camera. For example, the camera can capture the image in front of the cleaning robot in real time, that is, the dirt and garbage on the surface of the photovoltaic array in front of the cleaning robot in real time, so as to determine the target garbage and its location during the movement of the cleaning robot.

[0087] In another embodiment, optionally, the acquisition component 23 includes: a camera 231 and a radar 232, both of which are arranged at the front end of the fuselage 21; then, the above S101 specifically includes:

[0088] 1) Obtain an image of the cleaning robot ahead of the robot captured by a camera, and preliminarily determine the target object on the photovoltaic array whose size is larger than a preset size and its position based on the image.

[0089] Specifically, the image captured by the camera can provide two-dimensional information, based on which the garbage situation in front of the cleaning robot can be judged. Target objects whose sizes are larger than preset sizes determined by the image are regarded as possible large garbage, and further confirmation is needed to determine whether they are the target garbage.

[0090] 2) Obtain the three-dimensional point cloud obtained by radar scanning each target object, and determine whether each target object is target garbage based on the three-dimensional point cloud.

[0091] Among them, when it is determined that there is a target object based on the image taken by the camera, the radar can be turned on to scan each target object to obtain the three-dimensional point cloud data of each target object. Compared with the two-dimensional image, the three-dimensional point cloud can obtain more accurate shape and thickness characteristics of each target object, so as to determine whether the target object is target garbage, and finally determine each target garbage and its location. Specifically, the radar can be connected to the controller in the cleaning robot, and the controller determines the target garbage and its location based on the three-dimensional point cloud.

[0092] The embodiment of the present invention sets up a camera and a radar, first determines the target object and its position through the two-dimensional information included in the image taken by the camera, then scans the target object through the radar to obtain a three-dimensional point cloud of the target object, and finally determines whether the target object is target garbage, thereby improving the accuracy of target garbage determination.

[0093] On the basis of the above-mentioned embodiments, optionally, when the amount of garbage in the first garbage bin is different, the cleaning routes adopted for cleaning the garbage in the first garbage bin are different, which is described in detail below but is not intended to limit the present invention.

[0094] Figure 6 A schematic diagram of a garbage cleaning route planning process provided by an embodiment of the present invention, referring to Figure 6 , the above S103 may specifically include:

[0095] S201, obtaining the amount of garbage in the first garbage bin.

[0096] Wherein, in one embodiment, optionally, a capacity detection sensor is provided in the first trash bin, and the detection result of the capacity detection sensor is used to characterize the amount of trash in the first trash bin. Wherein, the capacity detection sensor is used to monitor the trash filling state of the first trash bin in real time, and the capacity detection sensor can be connected to the controller so that the controller can obtain the usage of the first trash bin in real time. Exemplarily, the capacity detection sensor may include an ultrasonic sensor or an infrared sensor. Specifically, the ultrasonic sensor determines the filling height inside the first trash bin by emitting an ultrasonic signal into the first trash bin and measuring the returned echo time. The infrared sensor detects the filling state of the first trash bin by emitting an infrared light beam and receiving the reflected light signal. The detection result of the capacity detection sensor is the capacity occupied by the trash. The larger the capacity occupied by the trash, the larger the amount of trash in the first trash bin.

[0097] In another embodiment, optionally, a weight detection sensor is provided in the first trash bin, and the detection result of the weight detection sensor is used to characterize the amount of garbage in the first trash bin. The weight detection sensor is used to monitor the weight change of the first trash bin in real time, and the weight detection sensor can be connected to the controller in the cleaning robot. The controller can know the current weight of the first trash bin in real time and perform corresponding control. Exemplarily, the weight sensor can use piezoelectric or strain gauge technology to measure the weight of an object. When the garbage accumulation in the first trash bin increases, the pressure or strain on the bottom of the first trash bin increases, and the weight detection sensor will capture these changes and convert them into electrical signals. The detection result of the weight detection sensor is the weight of the garbage. The greater the weight of the garbage, the greater the amount of garbage in the first trash bin.

[0098] In another embodiment, optionally, a capacity detection sensor and a weight detection sensor may be simultaneously provided in the first trash bin, and the amount of trash in the first trash bin may be characterized based on the detection results of the capacity detection sensor and the weight detection sensor, so that the amount of trash obtained may be more accurate. Exemplarily, the target trash may be paper or a plastic bag. When paper and / or a plastic bag is put into the first trash bin, it may affect the detection result of the capacity detection sensor. The weight detection sensor may make the detection result more accurate.

[0099] S202, determining whether the amount of garbage in the first garbage bin reaches a first preset amount of garbage; if so, executing S203; if not, returning to executing S201.

[0100] The judgment process may be performed in real time or at a certain frequency during the movement of the cleaning robot. When the amount of garbage in the first garbage bin does not reach the first preset amount of garbage, the cleaning robot may continue to move along the preset cleaning route and clean the photovoltaic array.

[0101] S203, determining whether the amount of garbage in the first garbage bin exceeds a second preset amount of garbage; if so, executing S204; if not, executing S205.

[0102] The second preset garbage amount is greater than the first preset garbage amount. When the garbage amount in the first garbage bin reaches the second preset garbage amount, the cleaning robot may continue to operate, which may cause damage to the photovoltaic panel or significantly shorten the endurance of the cleaning robot. For example, the first preset garbage amount may be between 50% and 70% of the full load of garbage, and the second preset garbage amount may be greater than 90% of the full load of garbage.

[0103] S204, controlling the cleaning robot to retreat from the current position to the edge position of the photovoltaic array reached last time according to a preset cleaning route, and cleaning the garbage in the first garbage bin to outside the photovoltaic array.

[0104] Specifically, when the amount of garbage in the first garbage bin exceeds the second preset amount of garbage, it indicates that there is too much garbage in the first garbage bin. At this time, basically no new target garbage can be put into the first garbage bin, and the garbage in the first garbage bin needs to be cleaned immediately. At this time, the route of the cleaning robot needs to be adjusted to clean the garbage in the first garbage bin first, so as to avoid the problem of being unable to handle the larger garbage in front of the robot when continuing to move along the preset cleaning route.

[0105] Specifically, see Figure 7 , the solid circle indicates the current position of the cleaning robot 20. When the amount of garbage in the first garbage bin exceeds the second preset amount of garbage, the cleaning robot 20 can return (e.g., move backward or turn around) from the current position to the edge position of the photovoltaic array 10 reached last time (see the dotted circle) in the direction of the dotted arrow and in the opposite direction of the preset cleaning route to clean the first garbage bin. For example, during the return process, the cleaning component can be controlled to stop cleaning.

[0106] After cleaning the first trash bin, the cleaning robot can continue to move along the preset cleaning route (as shown by the solid arrow) and clean from the edge position of the photovoltaic array where it was when cleaning the first trash bin (i.e., the position of the dotted circle). In this way, it is equivalent to being able to perform a second cleaning on the return route (as shown by the dotted arrow), ensuring that the cleaning effect of this section of the route is not affected by the return of the cleaning robot. Moreover, by controlling the cleaning robot to return to the last edge position to clean the first trash bin, compared to controlling the cleaning robot to move to any edge position to clean the first trash bin, there is no need to re-plan the cleaning route of the cleaning robot. After the garbage is cleaned, it can directly move along the original preset cleaning route, which can simplify the control logic and effectively avoid positioning deviations when the cleaning robot returns from the garbage cleaning position to the current position.

[0107] S205, waiting for the cleaning robot to move from the current position according to the preset cleaning route to the edge position of the photovoltaic array next time, and then cleaning the garbage in the first garbage bin to the outside of the photovoltaic array.

[0108] In this case, the amount of garbage in the first garbage bin is between the first preset amount of garbage and the second preset amount of garbage, indicating that the garbage in the first garbage bin needs to be cleaned up, but because it has not reached the second preset amount of garbage, the cleaning demand is not urgent. Figure 8 , the cleaning robot can move from the current position (indicated by the solid circle) to the edge position of the photovoltaic array next time (indicated by the dotted circle) according to the preset cleaning route, and then clean the first trash bin. It is understandable that during the process of the cleaning robot moving from the current position to the next edge position, if there is still target garbage in front of the cleaning robot, it can still be picked up by the picking component and put into the first trash bin, and the amount of garbage in the first trash bin can be continuously determined.

[0109] The embodiment of the present invention provides a cleaning route to be adopted when the first garbage bin has different amounts of garbage through steps S201-S205, thereby avoiding problems such as overfilling of the first garbage bin or over-frequent cleaning, and can ensure the operating reliability of the cleaning robot, the cleaning quality of the photovoltaic panel, and further ensure the operating reliability and stability of the photovoltaic array.

[0110] Based on the above embodiments, optionally, after cleaning the garbage in the first trash bin to outside the photovoltaic array, the method also includes: controlling the cleaning robot to continue moving along a preset cleaning route from the position where the garbage in the first trash bin is cleaned and to clean the photovoltaic array.

[0111] Specifically, no matter the cleaning robot cleans the garbage in the first trash bin to outside the photovoltaic array when it moves to the edge of the photovoltaic array next time, or cleans the garbage in the first trash bin to outside the photovoltaic array when it returns to the edge of the photovoltaic array last time, after completing the cleaning of the first trash bin, the cleaning robot is controlled to continue moving along the preset cleaning route from the edge position where the garbage is cleaned and clean the photovoltaic array, which can effectively ensure the cleaning effect of the photovoltaic array.

[0112] Continue to see Figure 2 and 3 On the basis of the above embodiments, optionally, the picking component 22 includes: a mechanical arm, movably connected to the fuselage 21. Accordingly, controlling the picking component to pick up the target garbage and put it into the first garbage bin may specifically include: controlling the mechanical arm to pick up the target garbage and put it into the first garbage bin. And, cleaning the garbage in the first garbage bin to outside the photovoltaic array may specifically include: controlling the mechanical arm to take out the garbage in the first garbage bin and throw it outside the photovoltaic array.

[0113] Specifically, the robot arm may include a cantilever assembly 221, a connecting rod assembly 222 and a clamping assembly 223, wherein the cantilever assembly 221 is rotatably connected to the body 21 of the cleaning robot, the connecting rod assembly 222 is rotatably connected to the cantilever assembly 221, and the clamping assembly 223 is rotatably connected to the connecting rod assembly 222. Wherein, the cantilever assembly 221 may include a cantilever body, a cantilever base and a first servo motor, wherein the cantilever body is rotatably connected to the cantilever base, and the cantilever base is fixed to the body 21; the first servo motor may be fixed in the cantilever base, and its driving end is connected to the cantilever body, and is used to drive the cantilever body to rotate. The connecting rod assembly 222 may include a connecting rod body, a connecting rod base and a second servo motor, wherein the connecting rod body is rotatably connected to the connecting rod base, and the connecting rod base is fixed to the cantilever assembly 221; the second servo motor may be fixed in the connecting rod seat, and its driving end is connected to the connecting rod body, and is used to drive the connecting rod body to rotate. The clamping assembly 223 may include a clamping jaw, a third servo motor, a fourth servo motor and a clamping jaw base; the driving end of the third servo motor may be connected to the clamping jaw, and is used to drive the clamping jaw to clamp and loosen, so as to grasp and release the target garbage; the clamping jaw base is fixed to the connecting rod assembly 222, and the clamping jaw is rotatably connected to the clamping jaw base. The driving end of the fourth servo motor may be connected to the clamping jaw, and is used to drive the clamping jaw to rotate along the clamping jaw base, for example, the clamping jaw may be driven to rotate 360° along the clamping jaw base, so as to grasp and place the target garbage.

[0114] Specifically, for any target garbage on the photovoltaic array, the target garbage can be picked up by the clamping assembly 223. After successfully picking up the target garbage, the cantilever assembly 221 and the connecting rod assembly 222 can be rotated to rotate the clamping assembly 223 to the entrance position of the first garbage bin 24, and then the clamping assembly 223 can be controlled to loosen, thereby putting the target garbage into the first garbage bin 24.

[0115] When the garbage in the first garbage bin needs to be cleaned, the cantilever assembly 221 and the connecting rod assembly 222 can be rotated to rotate the clamping assembly 223 to the entrance position of the first garbage bin 24, and the garbage in the first garbage bin can be picked up by the clamping assembly 223, and then the cantilever assembly 221 and the connecting rod assembly 222 can be rotated to control the clamping assembly 223 to loosen and throw the garbage outside the photovoltaic array. Repeat the above steps until the garbage in the first garbage bin 24 is cleaned.

[0116] Fig. 9 Another flow chart of the photovoltaic array cleaning method provided by the embodiment of the present invention, based on the above embodiments, the robot arm is equipped with a clamp and a fan; Fig. 9 , during the movement of the cleaning robot, the following steps can be performed:

[0117] S301, obtaining environmental information collected by a collecting component in front of the cleaning robot, and determining target garbage with a size larger than a preset size and its position on the photovoltaic array according to the environmental information.

[0118] S302: When the cleaning robot moves to a position where the picking range of the picking component covers at least one target garbage, determine the type of the target garbage within the picking range of the picking component.

[0119] Specifically, when the type of target garbage is different, the way of picking up the garbage by the robot arm is also different. For example, when the target garbage is heavy or hard (such as wood), the target garbage can be picked up by gripping with a claw; when the target garbage is light or soft, the claw is not easy to grip, and the target garbage can be picked up by suction with a fan.

[0120] S303, determining whether the target garbage within the picking range of the picking component is a plastic bag or paper; if so, executing S304; if not, executing S307.

[0121] Specifically, when the target garbage is a plastic bag or paper, a fan is required for processing; otherwise, a clamp is required for processing.

[0122] S304, determining whether the target garbage is located at the edge of the photovoltaic array; if so, executing S305; if not, executing S306.

[0123] Among them, when the target garbage is a plastic bag or paper, if the target garbage is at the edge of the photovoltaic array, the wind can be controlled to blow the target garbage directly out of the photovoltaic array without having to put the target garbage into the first garbage bin. By executing this judgment step, duplication of work can be avoided and the efficiency of the cleaning robot can be improved.

[0124] S305, controlling the robot arm to move to the location of the target garbage, and controlling the fan to blow air to blow the target garbage out of the photovoltaic array.

[0125] S306, controlling the robot arm to move to the location of the target garbage, and controlling the fan to suck air to absorb the target garbage and put it into the first garbage bin.

[0126] Specifically, the fan is rotated to the position of the target garbage by rotating the cantilever assembly and the connecting rod assembly, and then the fan is controlled to inhale air to absorb the target garbage.

[0127] S307, controlling the robot arm to move to the location of the target garbage, and controlling the gripper to grip the target garbage and put it into the first garbage bin.

[0128] Specifically, the cantilever part and the connecting rod part are rotated to rotate the clamping claw to the position of the target garbage, and then the clamping claw is controlled to grab the target garbage.

[0129] S308: When the amount of garbage in the first garbage bin reaches a first preset amount of garbage, the robotic arm is controlled to take out the garbage in the first garbage bin and throw it outside the photovoltaic array.

[0130] The embodiment of the present invention selects a suitable treatment method according to the target garbage type and location, which can improve the cleaning efficiency of the cleaning robot and ensure the cleaning effect of the photovoltaic array.

[0131] Continue to see Figure 2 and 3 On the basis of the above embodiments, optionally, the first trash bin 24 is provided with a box body 241 and a box cover 242. The box body 241 can be embedded in the fuselage 21 and partially expose the top of the fuselage 21; the box cover 242 can be above the fuselage 21 and movably connected to the box body 241.

[0132] Accordingly, before controlling the picking component to pick up the target garbage and put it into the first garbage bin, and before cleaning the garbage in the first garbage bin out of the photovoltaic array, the method further includes: controlling the box cover to open.

[0133] Exemplarily, the lid of the first trash bin may be linked to the picking component so that when the picking component picks up target trash or cleans the first trash bin, the lid is controlled to open automatically.

[0134] After controlling the picking component to pick up the target garbage and put it into the first garbage bin, and after cleaning the garbage in the first garbage bin out of the photovoltaic array, the method further includes: controlling the bin cover to close. This arrangement allows the first garbage bin to be closed when there is no need to process large garbage, preventing the cleaning robot from shaking out the garbage in the bin during the cleaning process, and further ensuring the cleaning effect.

[0135] The embodiment of the present invention further provides a cleaning robot, which can use the photovoltaic array cleaning method provided in any embodiment of the present invention to clean the surface of the photovoltaic array, and has corresponding beneficial effects. Exemplarily, the cleaning robot includes: a body, and a picking component, a collecting component, a first trash can and a controller arranged on the body; the controller is used to execute the photovoltaic array cleaning method provided in any of the above embodiments.

[0136] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0137] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A photovoltaic array cleaning method, characterized in that: Applied to a cleaning robot, the cleaning robot comprises: a body, and a picking component, a collecting component and a first trash can arranged on the body; the method comprises: Control the cleaning robot to move along a preset cleaning route and clean the photovoltaic array; and during the movement of the cleaning robot, perform the following steps: Acquire environmental information in front of the cleaning robot collected by the collecting component, and determine target garbage with a size larger than a preset size and its location on the photovoltaic array according to the environmental information; When the cleaning robot moves to a position where the picking range of the picking component covers at least one of the target garbage, the picking component is controlled to pick up the target garbage and put it into the first garbage bin; When the amount of garbage in the first garbage bin reaches a first preset amount of garbage, the cleaning robot is controlled to clean the garbage in the first garbage bin to outside the photovoltaic array at the edge of the photovoltaic array.

2. The photovoltaic array cleaning method according to claim 1, characterized in that: The body is also provided with a moving part and a cleaning part; the cleaning robot is controlled to move along a preset cleaning route and clean the photovoltaic array, including: The moving component is controlled to drive the cleaning robot to move along the preset cleaning route, and during the movement of the cleaning robot, the cleaning component is controlled to clean the surface of the photovoltaic array.

3. The photovoltaic array cleaning method according to claim 2, characterized in that: Before controlling the picking component to pick up the target garbage and put it into the first garbage bin, the method further includes: controlling the moving component to slow down or stop moving; and / or, When the amount of target garbage within the picking range of the picking component is greater than a preset amount, before controlling the picking component to pick up the target garbage and put it into the first garbage bin, the method further includes: controlling the cleaning component to stop cleaning; and / or, When the picking range of the picking component covers a plurality of the target garbage, controlling the picking component to pick up the target garbage and put it into the first garbage bin includes: controlling the picking component to pick up each of the target garbage in sequence and put it into the first garbage bin.

4. The photovoltaic array cleaning method according to claim 1, characterized in that: The collection component includes: a camera, which is arranged at the front end of the fuselage; obtaining the environmental information in front of the cleaning robot collected by the collection component, and determining the target garbage with a size larger than a preset size and its position on the photovoltaic array according to the environmental information, including: An image of the cleaning robot ahead of the cleaning robot taken by the camera is obtained, and target garbage with a size larger than a preset size and its position on the photovoltaic array are determined according to the image.

5. The photovoltaic array cleaning method according to claim 1, characterized in that: The collection component includes: a camera and a radar, both of which are arranged at the front end of the fuselage; obtaining the environmental information in front of the cleaning robot collected by the collection component, and determining the target garbage with a size larger than a preset size and its position on the photovoltaic array according to the environmental information, including: Acquire an image of the front of the cleaning robot taken by the camera, and preliminarily determine a target object on the photovoltaic array whose size is larger than a preset size and its position according to the image; A three-dimensional point cloud obtained by scanning each of the target objects by the radar is obtained, and whether each of the target objects is target garbage is determined according to the three-dimensional point cloud.

6. The photovoltaic array cleaning method according to claim 1, characterized in that: When the amount of garbage in the first garbage bin reaches a first preset amount of garbage, controlling the cleaning robot to clean the garbage in the first garbage bin to outside the photovoltaic array at the edge of the photovoltaic array includes: When the amount of garbage in the first garbage bin is between the first preset amount of garbage and the second preset amount of garbage, the cleaning robot is waiting to move from the current position according to the preset cleaning route to the edge position of the photovoltaic array next time, and then the garbage in the first garbage bin is cleaned out of the photovoltaic array; wherein the second preset amount of garbage is greater than the first preset amount of garbage; When the amount of garbage in the first trash bin exceeds the second preset amount of garbage, the cleaning robot is controlled to retreat from the current position to the edge position of the photovoltaic array last reached according to the preset cleaning route, and clean the garbage in the first trash bin outside the photovoltaic array.

7. The photovoltaic array cleaning method according to claim 6, characterized in that: After cleaning the garbage in the first garbage bin out of the photovoltaic array, the method further includes: The cleaning robot is controlled to clean the garbage in the first garbage bin, and then continue to move along the preset cleaning route and clean the photovoltaic array.

8. The photovoltaic array cleaning method according to claim 1, 6 or 7, characterized in that: A capacity detection sensor is provided in the first trash bin, and a detection result of the capacity detection sensor is used to characterize the amount of trash in the first trash bin; And / or, a weight detection sensor is arranged in the first trash bin, and a detection result of the weight detection sensor is used to represent the amount of trash in the first trash bin.

9. The photovoltaic array cleaning method according to claim 1, characterized in that: The picking component includes: a mechanical arm movably connected to the body; Controlling the picking component to pick up the target garbage and put it into the first garbage bin includes: Controlling the robotic arm to pick up the target garbage and put it into the first garbage bin; Cleaning the garbage in the first garbage bin out of the photovoltaic array includes: The robotic arm is controlled to take out the garbage in the first garbage bin and throw it outside the photovoltaic array.

10. The photovoltaic array cleaning method according to claim 9, characterized in that: The mechanical arm is provided with a gripper and a fan; before controlling the picking component to pick up the target garbage and put it into the first garbage bin, the method further includes: Determine the type of target garbage within the pickup range of the pickup component; When the target garbage within the picking range of the picking component is a plastic bag or paper, controlling the picking component to pick up the target garbage includes: controlling the mechanical arm to move to the position of the target garbage, and controlling the fan to suck air to absorb the target garbage; When the target garbage within the picking range of the picking component is not a plastic bag or paper, controlling the picking component to pick up the target garbage includes: controlling the mechanical arm to move to the position of the target garbage, and controlling the clamp to clamp the target garbage.

11. The photovoltaic array cleaning method according to claim 10, characterized in that: When the target garbage within the picking range of the picking component is a plastic bag or paper, before controlling the picking component to pick up the target garbage, the method further includes: Determining whether the target garbage is located at the edge of the photovoltaic array; If so, the robot arm is controlled to move to the location of the target garbage, and the fan is controlled to blow air to blow the target garbage out of the photovoltaic array; If not, the picking component is controlled to pick up the target garbage and put it into the first garbage bin.

12. The photovoltaic array cleaning method according to claim 1 or 9, characterized in that: The first trash bin is provided with a bin cover; Before controlling the picking component to pick up the target garbage and put it into the first garbage bin, and before cleaning the garbage in the first garbage bin out of the photovoltaic array, the method further includes: controlling the bin cover to open; After controlling the picking component to pick up the target garbage and put it into the first garbage bin, and after cleaning the garbage in the first garbage bin out of the photovoltaic array, the method further includes: controlling the bin cover to close.

13. A cleaning robot, characterized in that: include: A fuselage, and a picking component, a collecting component, a first trash bin and a controller arranged on the fuselage; The controller is used to execute the photovoltaic array cleaning method according to any one of claims 1 to 12.

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