Method and apparatus for cleaning a photovoltaic module
By using a photovoltaic cleaning robot to identify the metal grid of a photovoltaic panel to generate location information and plan a real-time route for cleaning, the problem of high cost and poor adaptability of high-precision sensors is solved, and low-cost, highly adaptable photovoltaic module cleaning is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SUNPURE TECH CO LTD
- Filing Date
- 2022-11-02
- Publication Date
- 2026-07-31
AI Technical Summary
Existing photovoltaic cleaning robots require high-precision sensors, are costly and have poor applicability, and their fixed route configuration results in poor adaptability to photovoltaic modules.
The photovoltaic cleaning robot generates its current location information by detecting the metal grid of the photovoltaic panel, plans a real-time route for cleaning, and uses low-cost sensors to identify the metal grid and bypass obstacles, simplifying operation.
This reduces the cost of photovoltaic cleaning robots, improves their adaptability to the arrangement shape and position of photovoltaic modules, and enhances their stability and ease of operation.
Smart Images
Figure CN116054719B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of new energy technology, and in particular to a method and apparatus for cleaning photovoltaic modules. Background Technology
[0002] As a clean and green energy source, solar energy has seen continuous development in its utilization technology in recent years. In various existing solar photovoltaic power generation systems, photovoltaic panels are the most important core components. Since photovoltaic panels are exposed to the external environment for a long time during operation, they are easily damaged, polluted, or corroded. Therefore, regular cleaning of photovoltaic panels is necessary.
[0003] Currently, photovoltaic (PV) cleaning robots for cleaning PV modules require fixed route configurations and high-precision sensors, such as cameras, 3D laser sensors, and Real-time Kinematic (RTK) receivers. These high-precision sensors are also expensive and have poor adaptability to complex outdoor environments (such as lighting, weather, and buildings). Fixed routes limit the adaptability of PV cleaning robots to different PV modules, requiring technicians to set specific routes for each module. Therefore, there is an urgent need in the field for a lower-cost, more adaptable PV cleaning robot for cleaning PV modules. Summary of the Invention
[0004] To address the aforementioned technical problems, this application provides a method and apparatus for cleaning photovoltaic modules, which reduces cleaning costs and simplifies operation.
[0005] To achieve the above objectives, the technical solutions provided in this application are as follows:
[0006] This application provides a method for cleaning a photovoltaic module, the photovoltaic module including at least one photovoltaic panel, the method including:
[0007] The photovoltaic cleaning robot receives cleaning instructions and drives into the photovoltaic modules;
[0008] As the photovoltaic cleaning robot moves on the photovoltaic modules, it detects the metal grid of the photovoltaic panels to generate the robot's current position information.
[0009] When the current location information indicates that the photovoltaic cleaning robot has traveled to the edge of the photovoltaic module, the photovoltaic cleaning robot will plan a route to travel on the photovoltaic module and perform cleaning.
[0010] In some possible embodiments, the photovoltaic cleaning robot includes at least two sensors for detecting the metal grid at the location of the photovoltaic cleaning robot.
[0011] In some possible embodiments, the photovoltaic cleaning robot driving into the photovoltaic module includes:
[0012] The photovoltaic cleaning robot travels along the first route on the photovoltaic modules and performs cleaning.
[0013] When the current location information indicates that the photovoltaic cleaning robot has traveled to the edge of the photovoltaic module, the robot will plan a route to travel on the photovoltaic module and perform cleaning, including:
[0014] When the current location information indicates that the photovoltaic cleaning robot has traveled along the first route to the edge of the photovoltaic module, the photovoltaic cleaning robot plans a second route.
[0015] The photovoltaic cleaning robot travels to the starting point of the second route and then travels on the photovoltaic modules and cleans them according to the second route.
[0016] In some possible embodiments, both the first and second routes are straight lines, the second route is parallel to the first route, and the directions of the second and first routes are opposite.
[0017] In some possible embodiments, the photovoltaic cleaning robot travels to the starting point of the second route and travels on the photovoltaic modules according to the second route to clean them, including:
[0018] The photovoltaic cleaning robot rotates at a preset angle and travels a target distance before arriving at the starting point of the second route; the target distance is the distance between the first and second routes.
[0019] The photovoltaic cleaning robot travels along the second route and cleans the photovoltaic modules.
[0020] In some possible embodiments, the target distance is less than or equal to the width of the cleaning robot.
[0021] In some possible embodiments, when the current location information indicates that there is an obstacle area in the target direction of the planned route that prevents the robot from traveling, the photovoltaic cleaning robot will detour around the obstacle area according to a preset direction.
[0022] In some possible embodiments, when the current location information indicates that there is an obstacle area in the target direction of the planned route that prevents the robot from moving, the photovoltaic cleaning robot determines the target route according to the preset direction and preset motion curve, and detours around the obstacle area according to the target route.
[0023] In some possible embodiments, the cleaning command instructs the photovoltaic cleaning robot to clean the target area of the photovoltaic module;
[0024] The photovoltaic cleaning robot plans its route based on its current location information to drive on and clean the photovoltaic modules, including:
[0025] The photovoltaic cleaning robot plans its route based on its current location and target area information, travels on the photovoltaic modules, and cleans the target area.
[0026] In some possible embodiments, when the target region includes multiple regions, the method further includes:
[0027] The photovoltaic cleaning robot merges multiple areas to obtain the actual target area;
[0028] The photovoltaic cleaning robot plans its route based on its current location information to drive on and clean the photovoltaic modules, including:
[0029] The photovoltaic cleaning robot plans its route based on its current location and the actual target area, and then travels on the photovoltaic modules to clean the target area.
[0030] In some possible embodiments, when the area of the target region is larger than a preset area, the method further includes:
[0031] The photovoltaic cleaning robot divides the target area into multiple actual target areas;
[0032] The photovoltaic cleaning robot plans its route based on its current location information to drive on and clean the photovoltaic modules, including:
[0033] The photovoltaic cleaning robot plans its route based on its current location and information about one of the multiple target areas, and then travels on the photovoltaic modules to clean that target area.
[0034] Based on the above-described method for cleaning photovoltaic modules, this application also provides a cleaning device for photovoltaic modules, wherein the photovoltaic module includes at least one photovoltaic panel, and the device is applied to a photovoltaic cleaning robot. The device includes:
[0035] The receiving module is used to receive cleaning instructions and drive into the photovoltaic modules;
[0036] The generation module is used to generate the current position information of the photovoltaic cleaning robot by detecting the metal grid of the photovoltaic panel during the movement on the photovoltaic module;
[0037] The planning module is used to guide the photovoltaic cleaning robot to travel on the photovoltaic module and perform cleaning when the current location information indicates that the robot has traveled to the edge of the photovoltaic module.
[0038] As can be seen from the above technical solution, this application has the following beneficial effects:
[0039] This application provides a method for cleaning photovoltaic modules, which include at least one photovoltaic panel. The method includes: a photovoltaic cleaning robot receiving a cleaning instruction and driving into the photovoltaic module; the photovoltaic cleaning robot generating current position information corresponding to the photovoltaic cleaning robot by detecting the metal grid of the photovoltaic panel during its movement on the photovoltaic module; when the current position information indicates that the photovoltaic cleaning robot has traveled to the edge of the photovoltaic module, the photovoltaic cleaning robot plans a route to travel on the photovoltaic module and performs cleaning.
[0040] Therefore, in the photovoltaic module cleaning method provided in this application, the photovoltaic cleaning robot obtains its current position information by identifying the metal grid of the photovoltaic module. The sensor used to identify the metal grid is low-cost, and its identification of the metal grid is not easily affected by the external environment, resulting in good stability of the photovoltaic cleaning robot. Moreover, the photovoltaic cleaning robot in this application can easily identify the edge of the photovoltaic module through the metal grid. Thus, when the photovoltaic cleaning robot travels to the edge of the photovoltaic module, it can perform real-time route planning based on its current position information, improving the adaptability of the photovoltaic cleaning robot to the arrangement shape and position of the photovoltaic module and simplifying the user's operation. Attached Figure Description
[0041] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0042] Figure 1 A schematic flowchart illustrating a method for cleaning photovoltaic modules provided in an embodiment of this application;
[0043] Figure 2 A schematic diagram of a photovoltaic module provided in an embodiment of this application;
[0044] Figure 3a This application provides a schematic diagram of the route of a photovoltaic cleaning robot.
[0045] Figure 3b A flowchart illustrating a method for cleaning a photovoltaic module as provided in this application embodiment;
[0046] Figure 4 A schematic diagram of the route of another photovoltaic cleaning robot provided in an embodiment of this application;
[0047] Figure 5 This is a schematic diagram of a photovoltaic cleaning robot provided in an embodiment of this application;
[0048] Figure 6 This application provides a schematic diagram of the route of a photovoltaic cleaning robot.
[0049] Figure 7 A schematic diagram of the route of another photovoltaic cleaning robot provided in an embodiment of this application;
[0050] Figure 8 This application provides a schematic diagram of the route of a photovoltaic cleaning robot.
[0051] Figure 9 A schematic diagram of a photovoltaic module provided in an embodiment of this application;
[0052] Figure 10 This application provides a schematic diagram of the route of a photovoltaic cleaning robot.
[0053] Figure 11 A schematic diagram of the route of another photovoltaic cleaning robot provided in an embodiment of this application;
[0054] Figure 12 This is a schematic diagram of a cleaning device for a photovoltaic module provided in an embodiment of this application. Detailed Implementation
[0055] To help better understand the solutions provided in the embodiments of this application, before introducing the methods provided in the embodiments of this application, we will first introduce the application scenarios of the solutions in the embodiments of this application.
[0056] In related technologies, photovoltaic cleaning robots for cleaning photovoltaic modules require fixed route configurations and high-precision sensors, such as cameras, 3D laser sensors, and Real-time Kinematic (RTK) receivers. Fixed routes limit the adaptability of these robots to photovoltaic modules. Furthermore, the high-precision sensors used in these robots are expensive and have poor applicability in complex outdoor environments (such as lighting, weather, and building conditions). Therefore, there is an urgent need in this field for a lower-cost, more adaptable photovoltaic cleaning robot.
[0057] To address the aforementioned technical problems, this application provides a method for cleaning photovoltaic (PV) modules. The method includes: a PV cleaning robot receiving a cleaning command; the PV cleaning robot entering the PV module, the PV cleaning robot including sensors; the PV cleaning robot detecting the metal grid of the PV module through the sensors during its movement on the PV module, generating current position information corresponding to the PV cleaning robot; and the PV cleaning robot planning a route based on the current position information to travel on and clean the PV module. Therefore, in the PV module cleaning method provided by this application, the PV cleaning robot obtains its current position information by identifying the metal grid of the PV module. The sensors used to identify the metal grid are low-cost, and their identification is not easily affected by the external environment, resulting in good stability for the PV cleaning robot. Furthermore, the PV cleaning robot in this application can perform real-time route planning based on its current position information, improving its adaptability to the arrangement and position of PV modules and simplifying user operation.
[0058] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the embodiments of this application will be further described in detail below with reference to the accompanying drawings and specific implementation methods.
[0059] See Figure 1 The figure is a schematic flowchart of a method for cleaning photovoltaic modules provided in an embodiment of this application.
[0060] like Figure 1 As shown in the embodiments of this application, the photovoltaic cleaning method includes:
[0061] S101: The photovoltaic cleaning robot receives the cleaning instruction and drives into the photovoltaic module.
[0062] It should be noted that the method provided in this application embodiment is applied to a photovoltaic cleaning robot. The photovoltaic module in this application embodiment includes one or more photovoltaic panels. When the photovoltaic module includes multiple photovoltaic panels, the photovoltaic panels can be arranged closely together to form a larger area to be cleaned. For a detailed implementation of step S101 in this application embodiment, please refer to steps S301 and S302.
[0063] S102: As the photovoltaic cleaning robot moves on the photovoltaic module, it detects the metal grid of the photovoltaic panel to generate the current position information of the photovoltaic cleaning robot.
[0064] S103: When the current location information indicates that the photovoltaic cleaning robot has traveled to the edge of the photovoltaic module, the photovoltaic cleaning robot will plan a route to travel on the photovoltaic module and perform cleaning.
[0065] See Figure 2This figure is a schematic diagram of a photovoltaic module provided in an embodiment of this application. Figure 2 As shown, multiple photovoltaic modules are assembled to form a photovoltaic module to be cleaned. The starting point of the photovoltaic cleaning robot is the charging station (change station), and the charging pile can be located adjacent to the photovoltaic modules at the four corners of the photovoltaic module. Thus, after receiving a cleaning command, the photovoltaic cleaning robot can drive out of the charging pile and into one corner of the photovoltaic module, and then drive on the photovoltaic module to perform cleaning. For a detailed implementation of step S103, please refer to steps S303 and S304.
[0066] See Figure 3a The figure is a schematic diagram of the route of a photovoltaic cleaning robot provided in an embodiment of this application.
[0067] See Figure 3b The figure is a flowchart of a method for cleaning photovoltaic modules provided in an embodiment of this application.
[0068] S301: The photovoltaic cleaning robot receives cleaning instructions.
[0069] S302: The photovoltaic cleaning robot travels along the first route on the photovoltaic modules and performs cleaning.
[0070] S303: When the current location information indicates that the photovoltaic cleaning robot has traveled along the first route to the edge of the photovoltaic module, the photovoltaic cleaning robot plans a second route.
[0071] As shown in Figure 3, the photovoltaic cleaning robot can enter the photovoltaic module in a straight line. After entering the photovoltaic module, the robot travels and cleans along a first route, which is a straight line. When the sensors on the photovoltaic cleaning robot detect that it is at the edge of the photovoltaic module, that is, when the current position information indicates that the robot has traveled to the edge of the photovoltaic module, the robot plans a second route.
[0072] S304: The photovoltaic cleaning robot travels to the starting point of the second route and travels on the photovoltaic modules and cleans them according to the second route.
[0073] The photovoltaic cleaning robot travels from the end of the first route to the beginning of the second route, and then cleans the photovoltaic modules according to the second route. The second route is parallel to the first route. The direction of travel of the photovoltaic cleaning robot on the second route is opposite to its direction of travel on the first route. The distance between the first and second routes is less than the width of the area cleaned by the photovoltaic cleaning robot. It should be noted that the width of the area cleaned by the photovoltaic cleaning robot when it traverses a certain path is the width of the area it cleans.
[0074] When the photovoltaic cleaning robot reaches the edge of the photovoltaic module along the second route, its current location information indicates that it has moved to the edge of the module again, at which point it plans a third route. The robot then moves from the end of the second route to the beginning of the third route, and cleans the photovoltaic module according to this route. The third route is parallel to the second route, and the second and third routes run in opposite directions. The distance between the second and third routes is less than the width the robot cleans.
[0075] As one possible implementation, the photovoltaic cleaning robot can travel from the end of the previous route to the beginning of the next route according to a preset first rule. The following example illustrates this: traveling from the first route to the beginning of the second route.
[0076] See Figure 4 The figure is a schematic diagram of the route of another photovoltaic cleaning robot provided in an embodiment of this application.
[0077] like Figure 4 As shown, after the photovoltaic cleaning robot reaches the end of the first route (rotation point 1), it can rotate 90 degrees to adjust its direction of travel, then travel a target distance D to the starting point of the second route (rotation point 2), and rotate 90 degrees again. The robot can then travel along the second route. In practical applications, technicians can set the target distance D between rotation points 1 and 2 based on the cleaning width of the photovoltaic cleaning robot. To ensure that the cleaning range of the photovoltaic cleaning robot covers the photovoltaic modules as much as possible, the target distance D should be less than or equal to the cleaning width of the photovoltaic cleaning robot.
[0078] The following example uses a photovoltaic cleaning robot that includes three sensors. Figure 5 As shown, the photovoltaic cleaning robot includes a sensor 2 mounted at the front, and sensors 1 and 3 mounted on the left and right sides respectively. It should be noted that sensor 2, mounted at the front, can detect whether the robot is located at the edge of the photovoltaic module. When sensor 2 moves forward and no longer detects the metal grid on the photovoltaic module, it indicates that the robot has reached the edge of the photovoltaic panel. Sensor 2 can also be used to measure the distance traveled by the robot based on the metal grid on the photovoltaic module. For example, the robot needs to travel a distance D from rotation point 1 to rotation point 2. Assuming the side length of the metal grid on the photovoltaic module is d, the robot can detect the number of metal grids it has passed through using sensor 1. When the number of metal grids passed is equal to D / d, it means the robot has traveled a distance D, and at this point, the robot is at rotation point 2.
[0079] Sensors 1 and 3 assist the photovoltaic cleaning robot in spinning, turning, and route correction. For example, when the photovoltaic cleaning robot spins at rotation point 1, the angle of rotation can be detected by sensors 1 and 3. Furthermore, when the photovoltaic cleaning robot is traveling in a straight line, the photovoltaic panel may be tilted or experience other abnormalities, causing the robot's path to deviate. In this case, the photovoltaic cleaning robot can calibrate its path based on the metal grid data detected by sensors 1 and 3, thus ensuring good cleaning performance.
[0080] It should be noted that in some possible embodiments, the photovoltaic cleaning robot may include only one sensor. This sensor can be used to detect the distance traveled and whether the robot has reached the edge of the photovoltaic module. It should also be noted that in some possible embodiments, the photovoltaic cleaning robot may include only sensor 1 and sensor 2. In this case, the photovoltaic cleaning robot can use the metal grid data from sensor 1 and sensor 2 to calibrate its travel path.
[0081] The photovoltaic cleaning robot can clean the entire photovoltaic module using the method described above. When the robot reaches the end of the Nth path, its surroundings are either the already traveled path or the edge of the photovoltaic module, indicating that the robot has completed a complete cleaning of the photovoltaic module. As one possible implementation, the photovoltaic cleaning robot can return to the charging station. Alternatively, the robot can perform a second cleaning of the photovoltaic module. Figure 6 As shown, when the photovoltaic cleaning robot reaches its destination, it can rotate 90 degrees and then begin a new round of cleaning. Figure 7 and Figure 8 As shown, the photovoltaic cleaning robot can clean photovoltaic modules through a variety of different paths, and the embodiments in this application are not limited to these paths.
[0082] In practical applications, photovoltaic modules may encounter missing photovoltaic panels or other abnormalities. To improve the adaptability of the photovoltaic cleaning robot to missing photovoltaic panels or other abnormalities in photovoltaic modules, in this embodiment of the application, when the target direction indicated by the planned route based on the current position information obtained by the photovoltaic cleaning robot is obstructed and cannot be traversed, the photovoltaic cleaning robot can detour around the obstructed area according to a preset direction.
[0083] See Figure 9 The figure is a schematic diagram of a photovoltaic module provided in an embodiment of this application.
[0084] like Figure 9As shown, there are multiple empty areas in the photovoltaic module, allowing the photovoltaic cleaning robot to navigate around these obstacle areas according to a preset direction. As an example, the preset direction could be the direction of the photovoltaic cleaning robot's historical operating route. Figure 10 for Figure 9 A partial schematic diagram, such as Figure 10 As shown, when the photovoltaic cleaning robot reaches point A and detects an empty area ahead, it rotates 90 degrees in a preset direction, travels a preset distance, and then turns back in the opposite direction to re-detect an empty area. If it detects an empty area, it continues to rotate 90 degrees in the preset direction and travel the preset distance until it returns to the starting point and detects that the area ahead is no longer empty. The robot then saves the target distance traveled in the preset direction, i.e., the distance from point B to point C. At this point, the robot has reached point B. The robot then follows the same logic to point C, rotates 90 degrees, travels the target distance to point D, and then rotates 90 degrees again to follow the planned route. In this way, the photovoltaic cleaning robot completes its detour around the empty area.
[0085] It should be noted that the photovoltaic cleaning robot will experience significant friction on the photovoltaic panel during its rotation, which may damage the panel and reduce its lifespan. Furthermore, the photovoltaic cleaning robot needs to perform multiple detections of the obstacle area while navigating it, resulting in multiple rotations, which may also damage the photovoltaic panel. To reduce the damage to the photovoltaic panel caused by the rotation of the photovoltaic cleaning robot when navigating obstacle areas, this embodiment of the application can plan a target route based on a preset motion curve when the photovoltaic cleaning robot detects an obstacle area, thereby navigating around the obstacle area. Specifically, technicians can construct a Lyapunov stability driving equation based on the characteristics of the nonlinear control system to determine the preset motion curve. Let xe = 0 of the photovoltaic panel coordinates be an equilibrium point. If there exists a continuously differentiable scalar function V(x) satisfying: (1) V(x) is positive definite; (2) (3) If the set {x∈R n∣V˙(x)=0} does not include the system's state trajectory other than the equilibrium point, then the system's equilibrium point xe=0 is Lyapunov asymptotically stable. The parameters in the stability driving equation can be determined based on the photovoltaic cleaning robot's body width, minimum turning radius, and detour distance.
[0086] In this embodiment, the photovoltaic cleaning robot obtains a preset motion curve during its circumduction using a stability-driven equation. Then, a target path is generated based on the preset motion curve and a preset direction. Thus, the photovoltaic cleaning robot can circumnavigate along the target path, centered on the equilibrium point. Figure 11As shown, the empty area is the obstacle area. After the photovoltaic cleaning robot identifies the obstacle area, the cleaning path is the shaded area. This area is an arc-shaped route, which reduces the number of times the photovoltaic cleaning robot spins in place, thereby reducing excessive friction between the photovoltaic cleaning robot and the photovoltaic panel.
[0087] In one possible implementation, a cleaning command instructs a photovoltaic (PV) cleaning robot to clean a target area of the PV module. The PV cleaning robot plans a route based on its current location and the target area information, travels on the PV module, and cleans the target area. In another possible implementation, when the target area comprises multiple areas, the PV cleaning robot can merge the multiple areas to obtain the actual target area. Then, based on its current location and the actual target area information, the PV cleaning robot plans a route on the PV module and cleans the actual target area. In yet another possible implementation, when the target area is larger than a preset area, the PV cleaning robot splits the target area into multiple actual target areas. Then, based on its current location and the information of one of the multiple actual target areas, the PV cleaning robot plans a route on the PV module and cleans that one actual target area.
[0088] In practical applications, when the photovoltaic cleaning robot receives a cleaning task instruction, it leaves its compartment to execute the task. During its journey, the platform generates another cleaning task (with a different start and end point). After receiving the relevant information, the robot merges and optimizes the two cleaning tasks to make the overall cleaning route more reasonable. Based on the principle of the shortest running route, if multiple cleaning tasks have overlapping areas, the cleaning task area is transformed into a cleaning task under the maximum boundary, and the shortest path from the robot's current position to the maximum boundary line is dynamically generated. The cleaning route is then regenerated with the maximum boundary as the cleaning area.
[0089] In this embodiment, if the photovoltaic cleaning robot receives multiple cleaning tasks with no overlapping areas, when the robot completes its current cleaning task, it searches for other cleaning tasks in the queue, executes the corresponding task based on the principle of closest starting point, generates a cleaning route from the current location to the target starting point, and continues the task. When the total task route exceeds the maximum travel distance, a route back to the nearest charging station is added after executing the last cleaning task allowed by battery power. If there is only one charging station, the photovoltaic cleaning robot executes cleaning tasks from farthest to nearest, and adds a route back to the charging station when executing the last cleaning task allowed by battery power.
[0090] When the photovoltaic cleaning robot receives a cleaning task instruction from the platform, it parses the starting and ending points of the cleaning task, performs theoretical calculations, and splits the route when the cleaning area is too large, i.e., the total travel distance is too long. This means breaking down a long-distance task into multiple tasks. Splitting long-distance tasks reduces the number of robots required, and also reduces the battery capacity inside each photovoltaic cleaning robot, lightening the overall weight of the robot and thus reducing pressure on the photovoltaic panels, protecting them. Specifically, the task splitting intelligently inserts a corresponding number of intermediate nodes based on the total task length, thus intelligently dividing the task into multiple parts.
[0091] Based on the photovoltaic module cleaning method provided in the above embodiments, this application also provides a photovoltaic module cleaning device.
[0092] See Figure 12 The figure is a schematic diagram of a cleaning device for photovoltaic modules provided in an embodiment of this application.
[0093] A photovoltaic module includes at least one photovoltaic panel, and a cleaning device for the photovoltaic module is used in a photovoltaic cleaning robot, such as... Figure 12 As shown, the photovoltaic module cleaning device provided in this application embodiment includes:
[0094] Receiver module 100 is used to receive cleaning instructions and drive into the photovoltaic module;
[0095] The generation module 200 is used to generate the current position information of the photovoltaic cleaning robot by detecting the metal grid of the photovoltaic panel during the movement on the photovoltaic module;
[0096] The planning module 300 is used to guide the photovoltaic cleaning robot to travel on the photovoltaic module and perform cleaning when the current location information indicates that the robot has traveled to the edge of the photovoltaic module.
[0097] In summary, the photovoltaic cleaning robot provided in this application can obtain its current position information by identifying the metal grid of the photovoltaic module. The sensor used to identify the metal grid is low-cost and its identification is not easily affected by the external environment, resulting in good stability for the photovoltaic cleaning robot. Furthermore, the photovoltaic cleaning robot in this application can easily identify the edge of the photovoltaic module through the metal grid. Therefore, when the robot travels to the edge of the photovoltaic module, it can perform real-time route planning based on its current position information, improving its adaptability to the arrangement and position of the photovoltaic modules and simplifying user operation.
[0098] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that all or part of the steps in the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, a server, or a network communication device such as a media gateway, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.
[0099] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. Regarding the methods disclosed in the embodiments, since they correspond to the systems disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to the system section description.
[0100] It should also be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.
[0101] The above description of the disclosed embodiments will enable those skilled in the art to make or use various modifications to these embodiments. It will be readily apparent to those skilled in the art that the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims
1. A method of cleaning a photovoltaic module, characterized by, The photovoltaic module includes at least one photovoltaic panel, and the method includes: The photovoltaic cleaning robot receives a cleaning command and drives into the photovoltaic module; As the photovoltaic cleaning robot moves on the photovoltaic module, it generates the current position information of the photovoltaic cleaning robot by detecting the metal grid of the photovoltaic panel. When the current location information indicates that the photovoltaic cleaning robot has traveled along the first route to the edge of the photovoltaic module, the photovoltaic cleaning robot plans a second route; The photovoltaic cleaning robot rotates at a preset angle, and the target distance is determined by detecting the number of metal grids that the photovoltaic cleaning robot has passed. After traveling the target distance, it arrives at the starting point of the second route. The target distance is the distance between the first route and the second route. The photovoltaic cleaning robot travels and cleans the photovoltaic modules according to the second route; Furthermore, when the current location information indicates that there is an obstacle area on the planned route that prevents travel, the photovoltaic cleaning robot detours around the obstacle area according to a preset direction. This detour includes: rotating 90 degrees in the preset direction and traveling a preset distance; turning back in the opposite direction and re-detecting whether there is an obstacle area in the target direction; if there is still an obstacle area, continuing to rotate 90 degrees in the preset direction and travel a preset distance until no obstacle area is detected in the target direction; saving the distance traveled in the preset direction; proceeding to the next position using the same logic, rotating 90 degrees, traveling the saved distance, rotating 90 degrees again, and continuing to travel according to the planned route.
2. The method of claim 1, wherein, The photovoltaic cleaning robot includes at least two sensors, which are used to detect the metal grid at the location of the photovoltaic cleaning robot.
3. The method according to claim 1, characterized in that, The photovoltaic cleaning robot drives into the photovoltaic module, including: The photovoltaic cleaning robot travels along a first route on the photovoltaic module and performs cleaning.
4. The method according to claim 1, characterized in that, Both the first route and the second route are straight lines, the second route is parallel to the first route, and the second route and the first route are in opposite directions.
5. The method according to claim 1, characterized in that, The target distance is less than or equal to the width cleaned by the photovoltaic cleaning robot.
6. The method according to claim 1, characterized in that, When the current location information indicates that the planned route has an obstacle area that prevents the robot from moving, the photovoltaic cleaning robot determines the target route based on the preset direction and preset motion curve, and then detours around the obstacle area according to the target route.
7. The method according to claim 1, characterized in that, The cleaning command instructs the photovoltaic cleaning robot to clean the target area of the photovoltaic module; The photovoltaic cleaning robot plans a route based on the current location information to travel on and clean the photovoltaic modules, including: The photovoltaic cleaning robot plans a route to travel on the photovoltaic modules and clean the target area based on the current location information and the target area information.
8. The method according to claim 7, characterized in that, When the target area includes multiple areas, the method further includes: The photovoltaic cleaning robot merges the multiple areas to obtain the actual target area; The photovoltaic cleaning robot plans a route based on the current location information to travel on and clean the photovoltaic modules, including: The photovoltaic cleaning robot plans a route to travel on the photovoltaic modules and clean the actual target area based on the current location information and the actual target area information.
9. The method according to claim 7, characterized in that, When the area of the target region is greater than a preset area, the method further includes: The photovoltaic cleaning robot divides the target area into multiple actual target areas; The photovoltaic cleaning robot plans a route based on the current location information to travel on and clean the photovoltaic modules, including: The photovoltaic cleaning robot plans a route to travel on the photovoltaic module and clean the target area based on the current location information and the information of one of the multiple target areas.
10. A cleaning device for photovoltaic modules, characterized in that, The photovoltaic module includes at least one photovoltaic panel, and the device is applied to a photovoltaic cleaning robot, the device comprising: A receiving module is used to receive cleaning instructions and drive into the photovoltaic module; The generation module is used to generate the current position information of the photovoltaic cleaning robot by detecting the metal grid of the photovoltaic panel during the movement on the photovoltaic module; The planning module is used to plan a second route when the current location information indicates that the photovoltaic cleaning robot has traveled along the first route to the edge of the photovoltaic module. The photovoltaic cleaning robot is controlled to rotate at a preset angle, and the target distance is determined by detecting the number of metal grids that the photovoltaic cleaning robot has passed. After traveling the target distance, it arrives at the starting point of the second route. The target distance is the distance between the first route and the second route. The photovoltaic cleaning robot is controlled to travel and clean the photovoltaic modules according to the second route. Furthermore, when the current location information indicates that there is an obstacle area on the planned route that prevents travel, the photovoltaic cleaning robot is controlled to detour around the obstacle area according to a preset direction. This detour includes: rotating 90 degrees in the preset direction and traveling a preset distance; turning back in the opposite direction and re-detecting whether there is an obstacle area in the target direction; if there is still an obstacle area, continuing to rotate 90 degrees in the preset direction and traveling a preset distance until no obstacle area is detected in the target direction; saving the distance traveled in the preset direction; proceeding to the next position using the same logic, rotating 90 degrees, traveling the saved distance, rotating 90 degrees again, and continuing to travel according to the planned route.