Testing Method and Testing System for Cleaning Effect of Floor Cleaning Robot

Abstract

The present invention discloses a method for testing the cleaning effect of a cleaning robot and a cleaning effect testing system for a cleaning robot. The method for testing the cleaning effect of the cleaning robot includes: obtaining correction coefficients of a reference component and a test component; setting a test environment; step S100, controlling the cleaning robot to move along a preset path to clean the test component on the path; step S200, obtaining the power generation amount of the test component within a preset time period after being cleaned, and the power generation amount of the reference component within the same time period, and calculating the cleaning effect of the cleaning robot according to the power generation amount of the test component within the preset time period after being cleaned, the power generation amount of the reference component within the same time period, and the correction coefficient. The present invention can solve the problem that it is difficult to test the cleaning efficiency of existing cleaning robots.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent devices, and particularly to a method and a system for testing the cleaning effect of a cleaning robot. Background Art

[0002] With the continuous development of photovoltaic technology and the increasing photovoltaic installed capacity in China, the economic benefits of photovoltaic power stations are particularly important. However, since the photovoltaic modules used in photovoltaic power stations are usually installed outdoors, during operation, in addition to being affected by internal factors such as equipment aging, they are also affected by external factors such as dust. Research shows that the power generation performance of photovoltaic modules is negatively correlated with the dust accumulation amount. For every 1-micron increase in the dust accumulation thickness, the power generation efficiency of photovoltaic modules decreases by 25.5%. Therefore, it has great practical significance and economic value to carry out timely and effective cleaning work on photovoltaic modules.

[0003] Currently, the cleaning method of photovoltaic modules mainly uses photovoltaic cleaning robots. Since the photovoltaic modules cannot be cleaned in a timely and effective manner, it will cause a reduction in power generation efficiency and the benefits of the photovoltaic system cannot be maximized. Therefore, higher requirements are imposed on the cleaning effect of photovoltaic cleaning robots. However, for the test scheme of the cleaning effect, one is to observe directly with the naked eye and have an intuitive feeling, and the other is to collect the weights of the dust before and after cleaning for comparative analysis. In the existing technology, the naked-eye observation is greatly affected by personal factors and the data is inaccurate. Secondly, through the comparison before and after collecting the dust, the work is difficult and the error is large. Summary of the Invention

[0004] The main object of the present invention is to propose a method for testing the cleaning effect of a cleaning robot, aiming at solving the problem of difficult testing of the cleaning efficiency of existing cleaning robots.

[0005] To achieve the above object, the method for testing the cleaning effect of a cleaning robot proposed by the present invention includes:

[0006] Obtaining the correction coefficients of the reference component and the test component;

[0007] Setting up a test environment;

[0008] Step S100: Controlling the cleaning robot to move along a preset path to clean the test component on the path;

[0009] Step S200: Obtaining the power generation amount of the test component within a preset time period after being cleaned, and the power generation amount of the reference component within the same time period, and calculating the cleaning effect of the cleaning robot according to the power generation amount of the test component within the preset time period after being cleaned, the power generation amount of the reference component within the same time period, and the correction coefficient.

[0010] Optionally, the method for testing the cleaning effect of the cleaning robot further includes:

[0011] Execute steps S100 and S200 in a loop multiple times;

[0012] Calculate the cleaning effect of the cleaning robot based on the power generation of the test component within a preset time period after being cleaned, the power generation of the reference component within the same time period, and the correction coefficient obtained during multiple loop executions of steps S100 and S200.

[0013] Optionally, the method for testing the cleaning effect of the cleaning robot further includes:

[0014] Control the cleaning robot to move along a preset path at multiple different preset periods to clean the test components on the path;

[0015] Obtain the power generation of the test component within a preset time period after being cleaned and the power generation of the reference component within the same time period during each preset period, and calculate the cleaning effect of the cleaning robot at different preset periods based on the power generation of the test component within a preset time period after being cleaned, the power generation of the reference component within the same time period, and the correction coefficient.

[0016] Optionally, the number of the test components is multiple;

[0017] The specific step S100 is as follows:

[0018] Control the cleaning robot to clean the test components on the path along a preset path; wherein, the number of times each test component is cleaned is different.

[0019] Optionally, the step of obtaining the correction coefficients of the reference component and the test component includes:

[0020] Conduct an initial test on the reference component and the test component after cleaning, and obtain the power generation data of the reference component and the test component in one initial test;

[0021] Repeat the above steps until the preset number of tests is reached;

[0022] Calculate the correction coefficient based on the power generation obtained from multiple tests.

[0023] Optionally, the reference component includes a water-washing component and a non-cleaning component.

[0024] Optionally, the cleaning effect includes cleaning efficiency;

[0025] The specific step S200 is as follows:

[0026] Obtain the power generation of the test component within a preset time period after being cleaned, and the power generation of the water washing component within the same time period, and calculate the cleaning efficiency of the cleaning robot according to the power generation of the test component within the preset time period after being cleaned, the power generation of the water washing component within the same time period, and the correction coefficient.

[0027] Optionally, the cleaning effect further includes a cleaning improvement rate;

[0028] After the step of obtaining the power generation of the test component within a preset time period after being cleaned, and the power generation of the water washing component within the same time period, and calculating the cleaning efficiency of the cleaning robot according to the power generation of the test component within the preset time period after being cleaned, the power generation of the water washing component within the same time period, and the correction coefficient, it further includes:

[0029] Obtain the power generation of the test component within a preset time period after being cleaned, and the power generation of the non-cleaning component within the same time period, and calculate the cleaning improvement rate of the cleaning robot according to the power generation of the test component within the preset time period after being cleaned, the power generation of the non-cleaning component within the same time period, and the correction coefficient.

[0030] The present invention also provides a cleaning effect test system for a cleaning robot, which is used to implement the above-mentioned cleaning effect test method for the cleaning robot, and includes:

[0031] An environmental simulation system for setting a test environment;

[0032] A plurality of photovoltaic modules, at least including a reference module and a test module, and the plurality of photovoltaic modules are arranged side by side in sequence;

[0033] A fixing bracket for placing the plurality of photovoltaic modules and keeping the plurality of photovoltaic modules inclined at a preset angle;

[0034] A plurality of resistors, each resistor is electrically connected to a photovoltaic module, and the resistor is used to consume the electric energy generated by the photovoltaic module;

[0035] A plurality of power analyzers, each power analyzer is serially arranged between a resistor and a photovoltaic module, and the power analyzer is used to collect the power generation of the corresponding photovoltaic module and output the corresponding power generation data;

[0036] A plurality of power optimizers, each power optimizer is serially arranged between a power analyzer and a photovoltaic module, and the power optimizer is used to adjust the power generation efficiency of the corresponding photovoltaic module.

[0037] Optionally, the reference module includes a non-cleaning module and a water washing module;

[0038] The test module includes a component cleaned once and a component cleaned twice;

[0039] The non - cleaning component, the water - washing component, the one - time cleaning component and the two - time cleaning component are arranged side by side in sequence.

[0040] Optionally, the cleaning robot cleaning effect test system further includes:

[0041] A commutation component, which is arranged on the side of the two - time cleaning component away from the one - time cleaning component, and is used to trigger the cleaning robot to change the moving direction;

[0042] A first stop component, which is arranged between the water - washing component and the one - time cleaning component, and is arranged side by side with the water - washing component and the one - time cleaning component;

[0043] A second stop component, which is arranged between the one - time cleaning component and the two - time cleaning component, and is arranged side by side with the one - time cleaning component and the two - time cleaning component;

[0044] The first stop component and the second stop component are used to trigger the cleaning robot to stop moving.

[0045] Optionally, the environment simulation system includes:

[0046] A blower, which is used to simulate outdoor blowing and distribute dust on multiple photovoltaic modules;

[0047] An irradiator, which is used to simulate outdoor light so that multiple photovoltaic modules generate electricity;

[0048] An anemometer, which is used to detect the indoor wind speed;

[0049] An irradiance meter, which is used to detect the indoor light intensity;

[0050] A thermometer - hygrometer, which is used to detect the indoor temperature and humidity.

[0051] In the technical solution of the present invention, the cleaning robot is controlled to move along a preset path to clean the test components on the path, and the power generation amount of the test components within a preset time period after being cleaned and the power generation amount of the reference components within the same time period are obtained. Then, the cleaning effect of the cleaning robot can be calculated according to the power generation amount of the test components within the preset time period after being cleaned and the power generation amount of the reference components within the same time period. The present invention tests the cleaning effect of the cleaning robot by setting reference components and test components, and thus obtains the cleaning effect of the cleaning robot. The testing method is simple and has a high accuracy rate, solving the problem that it is difficult to test the cleaning efficiency of the existing cleaning robots. Description of the Drawings

[0052] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0053] Figure 1 It is a schematic flowchart of an embodiment of the test method for the cleaning effect of the cleaning robot of the present invention;

[0054] Figure 2 It is a refined flowchart of an embodiment of the test method for the cleaning effect of the cleaning robot of the present invention;

[0055] Figure 3 It is a refined flowchart of another embodiment of the test method for the cleaning effect of the cleaning robot of the present invention;

[0056] Figure 4 It is a refined flowchart of yet another embodiment of the test method for the cleaning effect of the cleaning robot of the present invention;

[0057] Figure 5 It is a refined flowchart of still another embodiment of the test method for the cleaning effect of the cleaning robot of the present invention;

[0058] Figure 6 It is a refined flowchart of another embodiment of the test method for the cleaning effect of the cleaning robot of the present invention;

[0059] Figure 7 It is a schematic structural diagram of an embodiment of the test system for the cleaning effect of the cleaning robot of the present invention.

[0060] The realization of the objectives, functional features, and advantages of the present invention will be further described with reference to the embodiments and the accompanying drawings. Specific Embodiments

[0061] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0062] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present invention, the directional indications are only used to explain the relative positional relationships and movement conditions between components in a specific posture (as shown in the drawings). If the specific posture changes, the directional indications will also change accordingly.

[0063] In addition, if the embodiments of the present invention involve descriptions such as "first" and "second", the descriptions of "first", "second", etc. are for descriptive purposes only, and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0064] Currently, for the test scheme of the cleaning effect of a cleaning robot, one is to observe directly with the naked eye and feel intuitively, and the second is to collect the weight of dust before and after cleaning for comparative analysis. In the existing technology, the observation with the naked eye is greatly affected by personal factors and the data is inaccurate. Secondly, through the comparison before and after collecting dust, the work is difficult and the error is large.

[0065] For this reason, the present invention proposes a test method for the cleaning effect of a cleaning robot. In an embodiment of the present invention, referring to Figure 1 , the test method for the cleaning effect of a cleaning robot includes:

[0066] Step S10: Obtain the correction coefficients of the reference component and the test component;

[0067] In this embodiment, the reference component and the test component selected in the present invention can be photovoltaic components. After using the cleaning robot to clean the test component, the cleaning efficiency of the cleaning robot can be calculated through the power generation data of the reference component and the test component after cleaning. It can be understood that although the selected photovoltaic components are from the same manufacturer and batch, there are still slight differences in electrical performance. At the same time, there are also certain differences in the devices for collecting power generation data, such as power analyzers and resistors. Therefore, it is necessary to obtain the correction coefficients of the reference component and the test component to improve the accuracy when calculating the cleaning efficiency of the cleaning robot. Specifically, the reference component and the test component can be washed with water every day, and the daily power generation data of the reference component and the test component after washing can be collected to calculate the daily correction coefficient between the reference component and the test component. Repeat this process multiple times, and the final correction coefficient is the average value of the daily correction coefficients.

[0068] Step S20: Set the test environment;

[0069] In this embodiment, when conducting tests indoors, the outdoor test environment should be simulated. There can be a blower to blow air, so as to evenly distribute dust on each photovoltaic module. It can also be used to reproduce the types of dust under the climatic conditions of different regions, artificially create natural dust deposition to test the cleaning effect of the robot, and there is an irradiance meter to simulate light so that the photovoltaic module generates electricity. At the same time, an environmental temperature and humidity meter, an anemometer, an irradiance meter, etc. can be set to monitor the environmental information during the test, so that the accuracy of the test results can be further improved according to the environmental information. It can be understood that the indoor test method of the present invention can also be applied to outdoor tests, not limited to only indoor tests.

[0070] Step S100: Control the cleaning robot to move along a preset path to clean the test modules on the path.

[0071] It can be understood that when testing the cleaning robot, there needs to be a certain amount of dust on the test module to more obviously reflect the cleaning effect of the cleaning robot. Therefore, before testing the cleaning robot, natural dust deposition can be artificially created according to the types of dust under the climatic conditions of different regions to test the cleaning effect of the robot.

[0072] In this embodiment, the test module can be implemented by selecting a photovoltaic module. The number of photovoltaic modules can be set according to actual test requirements. Multiple photovoltaic modules can be set as control groups with different cleaning times, so as to more comprehensively test the cleaning effect of the cleaning robot. The preset path can be set according to actual test requirements and the number of photovoltaic modules. By setting different preset paths, when the cleaning robot moves along the preset path, the number of times it passes through each photovoltaic module is different, so that the test has multiple control groups with different cleaning times, and more comprehensively tests the cleaning effect of the cleaning robot. For example, the test module includes four photovoltaic modules, namely the first module, the second module, the third module, and the fourth module. The preset path is set to pass through the first module, the second module, the third module, and the fourth module in sequence, and then turn around and pass through the fourth module and the third module and stop cleaning. In this way, the first module and the second module are only cleaned once, while the third module and the fourth module are cleaned twice. Therefore, the test modules cleaned once and the test modules cleaned twice can be used as control groups to compare the cleaning effect.

[0073] Step S200: Obtain the power generation of the test module within a preset time period after being cleaned, and the power generation of the reference module within the same time period, and calculate the cleaning effect of the cleaning robot according to the power generation of the test module within the preset time period after being cleaned, the power generation of the reference module within the same time period, and the correction coefficient.

[0074] It is understandable that when the surface of a photovoltaic module is contaminated with dirt such as dust and sand, the light received by it will be reduced, which will affect the power generation of the photovoltaic module. Therefore, the cleaning efficiency of the cleaning robot can be calculated based on the power generation of the photovoltaic module within a preset time after cleaning. The preset time can be set according to actual test requirements. For example, it can be set to one day after cleaning or several hours after cleaning. Specifically, the power generation data of the test module can be compared with the power generation data of the reference module to obtain the cleaning efficiency of the cleaning robot. Among them, the reference module can be a water-washed module that has been washed with water or an uncleaned module that has not been cleaned. For example, when a water-washed module that has been washed with water is selected as the reference module for testing, the power generation of the test module one day after cleaning is divided by the power generation of the water-washed module in one day, and the obtained result is the cleaning efficiency of the test module after being cleaned by the cleaning robot on the same day. Then, dividing it by the correction coefficient between the test module and the water-washed module gives the cleaning efficiency of the test module after being cleaned by the cleaning robot on the same day. When an uncleaned module that has not been cleaned is selected as the reference module for testing, the power generation of the test module one day after cleaning is subtracted from the power generation of the uncleaned module one day after cleaning, and the difference is then divided by the power generation of the test module one day after cleaning. The obtained result is the cleaning improvement rate of the test module after being cleaned by the cleaning robot on the same day. Then, dividing it by the correction coefficient between the test module and the uncleaned module gives the cleaning improvement rate of the test module after being cleaned by the cleaning robot on the same day.

[0075] In the technical solution of the present invention, the cleaning robot is controlled to move along a preset path to clean the test module on the path, and the power generation of the test module within a preset time after being cleaned and the power generation of the reference module within the same time are obtained. Then, the cleaning effect of the cleaning robot can be calculated based on the power generation of the test module within a preset time after being cleaned and the power generation of the reference module within the same time. In this way, in actual applications, the cleaning effect of the cleaning robot can be tested using photovoltaic modules, and the cleaning effect of the cleaning robot can be obtained. The testing method is simple and has a high accuracy, effectively solving the problem of inaccurate data information caused by large collection errors in cleaning efficiency and cleaning improvement rate. The present invention also obtains a correction coefficient, so that the cleaning effect of the cleaning robot can be calculated based on the power generation and the correction coefficient. In this way, in actual applications, the cleaning robot can be tested using photovoltaic modules, and a more accurate cleaning effect of the cleaning robot can be obtained through the correction system. The testing method is simple and has a high accuracy, improving the accuracy of the calculated cleaning effect.

[0076] In an embodiment of the present invention, referring to Figure 2 , the method for testing the cleaning effect of the cleaning robot further includes:

[0077] Steps S100 and S200 are repeatedly executed multiple times;

[0078] It is understandable that during the test, the cleaning test can be repeated multiple times to obtain multiple groups of test results, and based on the multiple groups of test results, the final cleaning effect can be calculated, thereby reducing accidental errors and improving the accuracy of the test calculation results.

[0079] In this embodiment, steps S100 and S200 can be cyclically executed at regular time intervals. For example, the time interval for each test can be set to once a day, once every two days, or once every three days, so as to obtain multiple groups of test results, calculate the cleaning effects of multiple groups of tests, and then take the average of the cleaning effects of multiple groups of tests, which is the finally determined cleaning effect of the cleaning robot. In this way, the accidental deviation caused by a single group of tests can be reduced, and the accuracy of the test calculation results can be improved. In addition, the number of cyclic tests can also be set according to actual test requirements. It is understandable that the more times the test is carried out, the higher the accuracy of the obtained results. Therefore, the number of tests can be increased, thereby improving the accuracy of the test calculation results.

[0080] Calculate the cleaning effect of the cleaning robot based on the power generation of the test component within the preset duration after being cleaned, the power generation of the reference component within the same duration, and the correction coefficient when steps S100 and S200 are cyclically executed multiple times.

[0081] It is understandable that when dust, sand and other dirt adhere to the surface of the photovoltaic module, the light received by it will be reduced, thus affecting the power generation of the photovoltaic module. Therefore, the cleaning effect of the cleaning robot can be calculated based on the power generation of the photovoltaic module within the preset time after cleaning. The preset time can be set according to actual test requirements or according to the test time interval. For example, if the test time interval is once a day, the preset time can also be set to one day, that is, obtain the power generation one day after cleaning. Then, based on the power generation obtained from multiple tests, the cleaning effect of the cleaning robot can be calculated. Specifically, the cleaning effect of each test can be calculated first, and then the average of the cleaning effects of multiple groups of tests is taken, which is the finally determined cleaning effect of the cleaning robot. It is also possible to first take the average of the power generation of multiple tests, then calculate the cleaning effect of the cleaning robot using the average power generation, and then divide it by the correction coefficient between the test component and the reference component, which is the cleaning effect of the test component after being cleaned by the cleaning robot on the same day.

[0082] In the technical solution of the present invention, the cleaning robot is controlled to move along a preset path to clean the test components on the path, and the power generation amount of the test components within a preset time period after each cleaning is obtained, as well as the power generation amount of the reference components within the same time period. The above steps are repeatedly executed, and the cleaning effect of the cleaning robot can be calculated based on the power generation amount obtained from each test. In this way, by repeatedly performing multiple cleaning effect tests, the number of test groups is increased, thereby improving the accuracy of the finally calculated cleaning efficiency, and effectively solving the problem of inaccurate data information caused by large collection errors in cleaning efficiency and cleaning improvement rate.

[0083] In an embodiment of the present invention, referring to Figure 3 , the test method for the cleaning effect of the cleaning robot further includes:

[0084] Step S500: Control the cleaning robot to move along a preset path at multiple different preset cycles to clean the test components on the path;

[0085] It can be understood that the longer the time without cleaning, the more the dust accumulates, and the accumulated amount of dust may also have a certain impact on the cleaning effect of the cleaning robot. Therefore, by changing the test time interval, that is, setting different time cycles, the accumulated amount of dust can be changed, so as to obtain multiple groups of test results with different time intervals, and further improve the accuracy of the cleaning efficiency obtained from the test. Therefore, in an embodiment, multiple different preset cycles are set, and the multiple different preset cycles can be set according to actual test requirements. For example, it can be once a day, once every two days, or once every three days, etc. When conducting the test, multiple groups can be tested once a day first, then changed to once every two days to test multiple groups, and finally changed to once every three days to test multiple groups, so as to obtain multiple groups of test results with different time intervals, and further improve the accuracy of the cleaning efficiency obtained from the test.

[0086] Step S600: Obtain the power generation amount of the test components within a preset time period after being cleaned and the power generation amount of the reference components within the same time period in each preset cycle, and calculate the cleaning effect of the cleaning robot in different preset cycles according to the power generation amount of the test components within a preset time period after being cleaned, the power generation amount of the reference components within the same time period, and the correction coefficient.

[0087] In one embodiment, the cleaning effect under different preset cycles can be calculated based on the generated power obtained within each preset cycle. For example, if the multiple different preset cycles are once a day, once every two days, and once every three days respectively, then ultimately, based on multiple sets of test results, the cleaning effects of once a day, once every two days, and once every three days can be calculated respectively. In addition, the tests for each time period can also be set according to actual test requirements. For example, the test group with a longer time period accumulates more dust. Therefore, the number of tests for it can be set a little more to improve the accuracy of the calculated cleaning efficiency. In this way, by setting multiple different preset cycles, the cleaning effects of the cleaning robot under different dust amounts can be tested, and the cleaning effect of the cleaning robot can be tested more comprehensively, improving the accuracy of the calculated cleaning effect. In the technical solution of the present invention, by setting multiple different preset cycles, the cumulative amount of dust to be cleaned is changed, so as to obtain multiple sets of test results with different test time intervals, and the number of test groups is increased according to actual test requirements, thereby improving the accuracy of the finally calculated cleaning efficiency, and effectively solving the problem of inaccurate data information caused by large collection errors in cleaning efficiency and cleaning improvement rate.

[0088] In one embodiment of the present invention, referring to Figure 4 , the number of the test components is multiple;

[0089] Step S100 is specifically as follows:

[0090] Step S110, controlling the cleaning robot to clean the test components on the path according to a preset path; wherein, the number of times each test component is cleaned is different.

[0091] In one embodiment, the number of test components can be multiple. In this way, during the test, by setting the preset path of the cleaning robot's movement, controlling the cleaning robot to clean multiple test components on the path according to the preset path, the number of times the cleaning robot moves past each test component is different, that is, the number of times each test component is cleaned is different. The preset path can be set according to actual test requirements. For example, the test components include three test components, namely the first component, the second component, and the third component. The preset path is set to pass through the first component, the second component, and the third component in sequence, then turn around and pass through the third component and the second component, and then turn around again and pass through the second component and then stop cleaning. In this way, the first component is only cleaned once, the third component is cleaned twice, and the second component is cleaned three times. With this setting, the test components with different cleaning times can be used as a control group for comparison to calculate the cleaning effect of repeated cleaning multiple times, and the cleaning effect of the cleaning robot can be tested more comprehensively, improving the accuracy of the calculated cleaning effect.

[0092] In an embodiment of the present invention, referring to Figure 5 , the steps of obtaining the correction coefficients of the reference component and the test component include:

[0093] Step S11: After cleaning the reference component and the test component, perform an initial test, and obtain the power generation data of the first initial test of the reference component and the test component;

[0094] Step S12: Repeat the above steps until the preset number of test times is reached;

[0095] Step S13: Calculate the correction coefficient according to the power generation obtained from multiple tests.

[0096] It can be understood that although the selected photovoltaic modules for testing are from the same manufacturer and batch, there are still slight differences in electrical performance. At the same time, there are also certain differences in the devices for collecting power generation data, such as power analyzers and resistors. Therefore, it is necessary to obtain the correction coefficients of the reference component and the test component to improve the accuracy when calculating the cleaning efficiency of the cleaning robot.

[0097] In this embodiment, after cleaning the reference component and the test component, an initial test is performed, that is, after water washing, it is used for light power generation, and the power generation data of the reference component and the test component for one day after water washing is obtained. The preset number of test times can be set according to actual test requirements, and the number of test times can be as large as possible to improve the accuracy of the calculated correction coefficient. After repeating multiple times, according to the power generation data obtained multiple times, the correction coefficient is calculated. It can be calculated by calculating the average power generation from the daily power generation data and then calculating the final correction coefficient based on the average power generation. For example, first calculate the average value of the power generation of the test component for N days, and then divide it by the average value of the reference component, and the obtained coefficient is the correction coefficient. It can also be calculated by calculating the daily correction coefficient from the daily power generation data and then calculating the average value of the daily correction coefficients to obtain the final correction coefficient. In this way, through the initial test, the correction coefficient of the test component is obtained. When calculating the cleaning efficiency and cleaning improvement rate, dividing by the correction coefficient of this component is the cleaning efficiency and cleaning improvement rate of this component after being cleaned by the cleaning robot on the same day, further improving the accuracy of the calculated cleaning effect and effectively solving the problem of inaccurate data information caused by large collection errors in cleaning efficiency and cleaning improvement rate.

[0098] In an embodiment of the present invention, referring to Figure 6 , the reference component includes a water-washed component and a non-cleaned component.

[0099] Optionally, the cleaning effect includes cleaning efficiency;

[0100] The specific step S200 is:

[0101] Step S201: Obtain the power generation of the test component within a preset time period after being cleaned, and the power generation of the water-washing component within the same time period, and calculate the cleaning efficiency of the cleaning robot based on the power generation of the test component within the preset time period after being cleaned, the power generation of the water-washing component within the same time period, and the correction coefficient.

[0102] In one embodiment, the reference components include a water-washing component and a non-cleaning component. Among them, the water-washing component is a photovoltaic component after being washed with water, which can be regarded as a reference component with a cleaning rate of 100%. The non-cleaning component is a photovoltaic component that will not be cleaned by the cleaning robot, that is, it can be regarded as the state of the test component before cleaning. The cleaning effect includes cleaning efficiency, and the cleaning efficiency of the cleaning robot can be calculated based on the power generation of the water-washing component and the test component within the same time period and the correction coefficient. Specifically, divide the power generation of the test component on the day after cleaning by the power generation of the water-washing component in one day, and the result is the cleaning efficiency of the test component after being cleaned by the cleaning robot before correction on the same day. Then divide it by the correction coefficient of the test component, which is the cleaning efficiency of the component after being cleaned by the cleaning robot on the same day.

[0103] Optionally, the cleaning effect further includes a cleaning improvement rate.

[0104] After the step of obtaining the power generation of the test component within a preset time period after being cleaned, and the power generation of the water-washing component within the same time period, and calculating the cleaning efficiency of the cleaning robot based on the power generation of the test component within the preset time period after being cleaned, the power generation of the water-washing component within the same time period, and the correction coefficient, the following steps are further included:

[0105] Step S202: Obtain the power generation of the test component within a preset time period after being cleaned, and the power generation of the non-cleaning component within the same time period, and calculate the cleaning improvement rate of the cleaning robot based on the power generation of the test component within the preset time period after being cleaned, the power generation of the non-cleaning component within the same time period, and the correction coefficient.

[0106] In another embodiment, the reference components include a water-washing component and a non-sweeping component. Among them, the water-washing component is a photovoltaic component after being washed with water, which can be regarded as a reference component with a cleaning rate reaching 100%. The non-sweeping component is a photovoltaic component that will not be swept by the sweeping robot, that is, it can be regarded as the state of the test component before cleaning. The cleaning effect also includes the cleaning improvement rate. The cleaning efficiency of the sweeping robot can be calculated through the power generation and correction coefficient of the non-sweeping component and the test component within the same time period. When using the non-sweeping component that has not been cleaned as the reference component for testing, subtract the power generation of the non-sweeping component on the day after cleaning from the power generation of the test component on the day after cleaning, and then divide the difference by the power generation of the test component on the day after cleaning. What is obtained is the cleaning improvement rate of the test component after being swept by the sweeping robot before correction on the current day. Then divide it by the correction coefficient of the test component and the non-sweeping component, which is the cleaning improvement rate of the test component after being swept by the sweeping robot on the current day. In the technical solution of the present invention, by setting two reference components, namely the water-washing component and the non-sweeping component, the cleaning efficiency and the cleaning improvement rate can be calculated respectively according to the power generation of the water-washing component and the non-sweeping component, and the cleaning effect of the sweeping robot can be tested more comprehensively, and the cleaning efficiency and the cleaning improvement rate of the sweeping robot can be tested more intuitively.

[0107] The present invention also proposes a test system for the cleaning effect of a sweeping robot, which is used to implement the above-mentioned test method for the cleaning effect of the sweeping robot. In an embodiment of the present invention, the reference Figure 7 , the test system for the cleaning effect of the sweeping robot includes:

[0108] An environmental simulation system for setting a test environment;

[0109] A plurality of photovoltaic components, at least including a reference component and a test component, and the plurality of photovoltaic components are arranged side by side in sequence;

[0110] A fixed bracket, which is used to place the plurality of photovoltaic components and keep the plurality of photovoltaic components inclined at a preset angle;

[0111] A plurality of resistors, each resistor is electrically connected to a photovoltaic component, and the resistor is used to consume the electric energy generated by the photovoltaic component;

[0112] A plurality of power analyzers, each power analyzer is serially arranged between a resistor and a photovoltaic component, and the power analyzer is used to collect the power generation of the corresponding photovoltaic component and output the corresponding power generation data;

[0113] A plurality of power optimizers, each power optimizer is serially arranged between a power analyzer and a photovoltaic component, and the power optimizer is used to adjust the power generation efficiency of the corresponding photovoltaic component.

[0114] In this embodiment, the cleaning effect test system of the cleaning robot includes multiple photovoltaic modules. Among the multiple photovoltaic modules, there are at least a reference module and a test module. The multiple photovoltaic modules are arranged in sequence. In this way, the cleaning robot can move along a preset path and pass through the multiple photovoltaic modules in sequence to clean the multiple photovoltaic modules. Further, the distance between each photovoltaic module can be set according to actual test requirements. For example, if the cleaning robot to be tested is prone to raising dust during cleaning, the distance between each photovoltaic module can be increased at this time to prevent the dust raised during cleaning from falling on adjacent photovoltaic modules, thereby affecting the calculation of the cleaning effect. In addition, before the test starts, the photovoltaic modules should also be subjected to hidden crack detection and visual inspection to prevent damage to the photovoltaic modules, thereby affecting the test results of the cleaning effect. Similarly, after the test ends, the photovoltaic modules should also be subjected to hidden crack detection and visual inspection to check whether the photovoltaic modules are damaged during the test, thereby affecting the test results of the cleaning effect.

[0115] The fixed bracket can be implemented by using an angle-adjustable flat bracket. The multiple photovoltaic modules are arranged on the fixed bracket, and the fixed bracket can adjust the inclination angle of the bracket according to the environmental conditions during the test, so that the multiple photovoltaic modules can fully receive sunlight for power generation.

[0116] The collection of the power generation amount is carried out by high-precision test equipment such as resistors, power analyzers, and power optimizers to collect power generation data. Among them, the resistor is used to consume the electric energy generated by the photovoltaic module, and the power optimizer can track the maximum power point of the photovoltaic module to make the power generation efficiency of the photovoltaic module higher to generate more electric energy. The power analyzer is used to integrate the real-time power of the photovoltaic module to collect the power generation data of the module. In addition, a multi-channel input power analyzer can also be selected to replace the multiple power analyzers in this embodiment.

[0117] Optionally, the reference module includes a non-cleaning module and a water-washing module;

[0118] The test module includes a once-cleaning module and a twice-cleaning module;

[0119] The non-cleaning module, the water-washing module, the once-cleaning module, and the twice-cleaning module are arranged side by side in sequence.

[0120] In this embodiment, the reference components include a non-cleaning component and a water-washing component, and the test components include a component for cleaning once and a component for cleaning twice. The non-cleaning component, the water-washing component, the component for cleaning once, and the component for cleaning twice are arranged in sequence. The preset cleaning path of the cleaning robot can be set to start moving from the middle between the water-washing component and the component for cleaning once towards the component for cleaning once, pass through the component for cleaning once and the component for cleaning twice in sequence, then turn around, and stop moving after passing through the component for cleaning twice again. In this way, the component for cleaning once only cleans once, while the cleaning component cleans twice. In addition, the non-cleaning component and the water-washing component can be used as reference components to calculate the correction coefficient of the test components, that is, the initial deviation. When the water-washing component is used as the reference component and the other cleaning components are used as the test components, first calculate the average value of the initial test power generation of each photovoltaic module N times, and then divide it by the average value of the initial test of the water-washing component N times. The obtained coefficient is the correction coefficient. Similarly, when the non-cleaning component is used as the reference component, the correction coefficient can be obtained according to the same calculation method.

[0121] Optionally, the cleaning effect test system of the cleaning robot further includes:

[0122] A reversing component, which is arranged on the side of the component for cleaning twice away from the component for cleaning once, and is used to trigger the cleaning robot to change the moving direction;

[0123] A first stopping component, which is arranged between the water-washing component and the component for cleaning once and is arranged side by side with the water-washing component and the component for cleaning once;

[0124] A second stopping component, which is arranged between the component for cleaning once and the component for cleaning twice and is arranged side by side with the component for cleaning once and the component for cleaning twice;

[0125] The first stopping component and the second stopping component are used to trigger the cleaning robot to stop moving.

[0126] In this embodiment, there is also a reversing component for enabling the cleaning robot to change the moving direction, and a first stopping component and a second stopping component for enabling the cleaning robot to stop moving, specifically as Figure 7 shown, Figure 7The figure is a schematic structural diagram of an embodiment of the present invention. Among them, the commutation assembly is arranged on one side of the twice-cleaning assembly away from the once-cleaning assembly. The first stop assembly is arranged between the water-washing assembly and the once-cleaning assembly, and the second stop assembly is arranged between the once-cleaning assembly and the twice-cleaning assembly. The number of the first stop assembly and the second stop assembly can also be two or more. By arranging multiple stop assemblies, the distance between photovoltaic modules can be increased, so as to prevent the dust raised during cleaning from falling on adjacent photovoltaic modules and affecting the calculation of the cleaning effect. With such an arrangement, the preset path of the cleaning robot can be set as follows: starting from the first stop assembly, passing through the once-cleaning assembly and the twice-cleaning assembly in sequence, reaching the commutation assembly, and changing the moving direction after being triggered by the commutation assembly, that is, turning around and passing through the twice-cleaning assembly again, and then stopping moving at the second stop assembly. At this time, the cleaning robot passes through the once-cleaning assembly once and the twice-cleaning assembly twice. Similarly, the cleaning robot can return along the original path. Both moving paths pass through the once-cleaning assembly once and the twice-cleaning assembly twice. In this way, the moving path of the cleaning robot can be set to move along the preset path on the first day and return along the path of the first day on the second day, and so on, alternating repeatedly for testing.

[0127] In the technical solution of the present invention, a plurality of photovoltaic modules are arranged side by side in sequence. When testing the cleaning effect, the cleaning robot can, with the assistance of the stop assembly and the commutation assembly, pass through a plurality of photovoltaic modules according to the preset path to clean the plurality of photovoltaic modules, so that the cleaning efficiency and cleaning improvement rate of the cleaning robot can be calculated based on the generated power collected by the resistor, the power analyzer and the power optimizer. The test system of the present invention has a simple method and high accuracy for testing the cleaning robot, and can simulate various test environments according to actual test requirements to achieve the most realistic test effect. At the same time, multiple control groups are set to test the cleaning effect of the cleaning robot most comprehensively, improving the accuracy and comprehensiveness of the cleaning effect test.

[0128] Optionally, the environment simulation system includes:

[0129] A blower, used to simulate outdoor blowing and distribute dust on the plurality of photovoltaic modules;

[0130] An irradiator, used to simulate outdoor light so that the plurality of photovoltaic modules generate electricity;

[0131] An anemometer, used to detect the indoor wind speed;

[0132] An irradiance meter, used to detect the indoor light intensity;

[0133] A thermometer and hygrometer, used to detect the indoor temperature and humidity.

[0134] In this embodiment, when the test system of the present invention is tested indoors, a blower should be provided for blowing to simulate the outdoor wind speed, evenly distribute dust on each photovoltaic module, and can also be used to reproduce the dust types under different regional climate conditions, artificially create natural dust deposition to test the cleaning effect of the robot, and a pyranometer is provided to simulate light so that the photovoltaic module generates electricity. At the same time, an environmental temperature and humidity meter, an anemometer, a pyranometer, etc. can be set to monitor the environmental information during the test, so that the accuracy of the test results can be further improved according to the environmental information. It can be understood that the test system of the present invention can also be used for outdoor testing.

[0135] It should be noted that since the cleaning effect test system of the cleaning robot of the present invention is based on the above-mentioned test method for the cleaning effect of the cleaning robot, the embodiments of the cleaning effect test system of the cleaning robot of the present invention include all the technical solutions of all the embodiments of the above-mentioned test method for the cleaning effect of the cleaning robot, and the achieved technical effects are also exactly the same, which will not be elaborated here.

[0136] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention. Any equivalent structural transformation made by using the specification and drawings of the present invention under the inventive concept of the present invention, or direct / indirect application in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A test method for the cleaning effect of a cleaning robot, characterized in that, Including: Obtaining the correction coefficients of the reference component and the test component; Setting up the test environment; Step S100: Controlling the cleaning robot to move along a preset path to clean the test components on the path; Step S200: Obtaining the power generation of the test component within a preset time period after being cleaned, and the power generation of the reference component within the same time period, and calculating the cleaning effect of the cleaning robot based on the power generation of the test component within the preset time period after being cleaned, the power generation of the reference component within the same time period, and the correction coefficient; Among them, the specific content of the step S100 is: Controlling the cleaning robot to clean the test components on the path along a preset path; wherein, the number of times each test component is cleaned is different; The step of obtaining the correction coefficients of the reference component and the test component includes: Performing an initial test on the reference component and the test component after cleaning, and obtaining the power generation data of the reference component and the test component in one initial test; Repeating the above steps until the preset number of tests is reached; Calculating the correction coefficient based on the power generation obtained from multiple tests; Among them, the reference component includes a non-cleaning component and a water-washing component; the number of test components is multiple; the test components include a component cleaned once and a component cleaned twice.

2. The test method for the cleaning effect of the cleaning robot according to claim 1, wherein The test method for the cleaning effect of the cleaning robot further includes: Repeatedly executing step S100 and step S200 multiple times; Calculating the cleaning effect of the cleaning robot based on the power generation of the test component within a preset time period after being cleaned, the power generation of the reference component within the same time period, and the correction coefficient obtained when repeatedly executing step S100 and step S200 multiple times.

3. The test method for the cleaning effect of the cleaning robot according to claim 1, wherein The test method for the cleaning effect of the cleaning robot further includes: Controlling the cleaning robot to move along a preset path at multiple different preset periods to clean the test components on the path; Obtaining the power generation of the test component within a preset time period after being cleaned, and the power generation of the reference component within the same time period in each preset period, and calculating the cleaning effect of the cleaning robot in different preset periods based on the power generation of the test component within a preset time period after being cleaned, the power generation of the reference component within the same time period, and the correction coefficient.

4. The test method for the cleaning effect of the cleaning robot according to claim 1, characterized in that The reference component includes a water-washing component and a non-cleaning component.

5. The test method for the cleaning effect of the cleaning robot according to claim 4, characterized in that The cleaning effect includes cleaning efficiency; The specific content of the step S200 is: Obtaining the power generation of the test component within a preset time period after being cleaned, and the power generation of the water-washing component within the same time period, and calculating the cleaning efficiency of the cleaning robot based on the power generation of the test component within a preset time period after being cleaned, the power generation of the water-washing component within the same time period, and the correction coefficient.

6. The test method for the cleaning effect of the cleaning robot according to claim 5, characterized in that, The cleaning effect further includes cleaning improvement rate; After the step of obtaining the power generation of the test component within a preset time period after being cleaned, and the power generation of the water-washing component within the same time period, and calculating the cleaning efficiency of the cleaning robot based on the power generation of the test component within a preset time period after being cleaned, the power generation of the water-washing component within the same time period, and the correction coefficient, it further includes: Obtain the power generation of the test component within a preset duration after being cleaned, and the power generation of the non-cleaned component within the same duration, and calculate the cleaning improvement rate of the cleaning robot according to the power generation of the test component within the preset duration after being cleaned, the power generation of the non-cleaned component within the same duration, and the correction coefficient.

7. A cleaning effect test system for a cleaning robot, which is used to implement the test method for the cleaning effect of the cleaning robot described in any one of claims 1-6, characterized in that, Including: An environmental simulation system for setting a test environment; Multiple photovoltaic components, at least including a reference component and a test component, and the multiple photovoltaic components are arranged side by side in sequence; A fixing bracket for placing the multiple photovoltaic components and keeping the multiple photovoltaic components inclined at a preset angle; Multiple resistors, each resistor being electrically connected to a photovoltaic component, and the resistor being used to consume the electric energy generated by the photovoltaic component; Multiple power analyzers, each power analyzer being serially arranged between a resistor and a photovoltaic component, and the power analyzer being used to collect the power generation of the corresponding photovoltaic component and output the corresponding power generation data; Multiple power optimizers, each power optimizer being serially arranged between a power analyzer and a photovoltaic component, and the power optimizer being used to adjust the power generation efficiency of the corresponding photovoltaic component.

8. The cleaning effect testing system of the cleaning robot according to claim 7, wherein The reference component includes a non-cleaned component and a water-washed component; The test component includes a component cleaned once and a component cleaned twice; The non-cleaned component, the water-washed component, the component cleaned once, and the component cleaned twice are arranged side by side in sequence.

9. The cleaning effect testing system for a cleaning robot according to claim 8, characterized in that The cleaning effect test system of the cleaning robot further includes: A commutation component arranged on the side of the component cleaned twice away from the component cleaned once, and the commutation component is used to trigger the cleaning robot to change the moving direction; A first stop component arranged between the water-washed component and the component cleaned once and arranged side by side with the water-washed component and the component cleaned once; A second stop component arranged between the component cleaned once and the component cleaned twice and arranged side by side with the component cleaned once and the component cleaned twice; The first stop component and the second stop component are used to trigger the cleaning robot to stop moving.

10. The cleaning effect test system of the floor cleaning robot according to claim 7, characterized in that The environmental simulation system includes: A blower for simulating outdoor blowing and distributing dust on the multiple photovoltaic components; An irradiator for simulating outdoor light so that the multiple photovoltaic components generate electricity; An anemometer for detecting the indoor wind speed; An irradiance meter for detecting the indoor light intensity; A temperature and humidity meter for detecting the indoor temperature and humidity.

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