Control method and device of cleaning robot and photovoltaic cleaning robot

Abstract

The application discloses a cleaning robot control method and device and a photovoltaic cleaning robot, and belongs to the technical field of cleaning robots. The cleaning robot control method comprises the following steps: acquiring a first real-time current value of a cleaning robot when the cleaning robot runs on a photovoltaic module; determining a dynamic threshold value based on the first real-time current value; determining position information of the cleaning robot in a photovoltaic power station based on the dynamic threshold value, a second real-time current value of the cleaning robot, a preset corresponding relationship between a motor current and a rotating speed of the cleaning robot, and a wheel diameter of the cleaning robot; and controlling an operating state of the cleaning robot based on the position information. The cleaning robot control method can improve the safety, stability and use frequency of the cleaning robot.

Description

Technical Field

[0001] This application belongs to the field of cleaning robots, and particularly relates to a control method, device and photovoltaic cleaning robot for a cleaning robot. Background Technology

[0002] Photovoltaic modules are widely used. In the process of cleaning photovoltaic modules, optical sensors (laser photoelectric, camera, etc.) are mainly used for position detection and feature (e.g. cable tray) recognition. However, due to the harsh environment of photovoltaic cleaning scenarios, such as wind, sand, rain, and certain specific pollutants (e.g. coal ash, metal dust, etc.), optical sensors or some magnetic sensors may become contaminated, leading to partial or complete sensor failure. This increases the failure rate of the cleaning robot and significantly reduces the frequency of its use. Summary of the Invention

[0003] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a control method, device, and photovoltaic cleaning robot for a cleaning robot, which can improve the safety, stability, and frequency of use of the cleaning robot.

[0004] In a first aspect, this application provides a control method for a cleaning robot, applied to a photovoltaic power station, the photovoltaic power station including photovoltaic modules and bridges connecting the photovoltaic modules, the method comprising:

[0005] Acquire the first real-time current value when the cleaning robot is running on the photovoltaic module;

[0006] A dynamic threshold is determined based on the first real-time current value;

[0007] Based on the dynamic threshold, the second real-time current value of the cleaning robot, the preset correspondence between the motor current and rotation speed of the cleaning robot, and the wheel diameter of the cleaning robot, the position information of the cleaning robot in the photovoltaic power station is determined.

[0008] Based on the location information, the operating status of the cleaning robot is controlled.

[0009] According to the control method of the cleaning robot in this application, the position information of the cleaning robot is determined by setting a dynamic threshold. The cleaning robot can be accurately positioned without the need for sensors. It is applicable to any harsh environment, has high versatility and high positioning accuracy, and significantly increases the usage frequency of the cleaning robot, solving the technical problem of low usage frequency of cleaning robots in the prior art. Then, the operating state of the cleaning robot is controlled based on the determined position information, which can timely control the cleaning robot to execute the operation or protection logic corresponding to the position information, thereby improving the safety and stability of the cleaning robot operation and solving the technical problem of high failure rate of cleaning robots in the prior art.

[0010] According to one embodiment of this application, determining the dynamic threshold based on the first real-time current value includes:

[0011] Based on the first real-time current value, the average current value of the cleaning robot running on the photovoltaic module is determined;

[0012] The dynamic threshold is determined based on the average current value and the target proportional coefficient, wherein the target proportional coefficient is determined based on the type of the cleaning robot.

[0013] According to one embodiment of this application, determining the position information of the cleaning robot in the photovoltaic power station based on the dynamic threshold, the second real-time current value of the cleaning robot, the preset correspondence between the motor current and rotation speed of the cleaning robot, and the wheel diameter of the cleaning robot includes:

[0014] If the second real-time current value is less than the dynamic threshold, it is determined that the cleaning robot is running on the bridge.

[0015] When the cleaning robot reaches the bridge, the first position information of the cleaning robot is determined based on the first number of bridges that have been passed and the first arrangement information of the photovoltaic modules;

[0016] Based on the preset correspondence between the motor current and rotation speed of the cleaning robot and the wheel diameter of the cleaning robot, the second position information of the cleaning robot is determined;

[0017] The second location information is corrected based on the first location information to determine the location information.

[0018] According to one embodiment of this application, determining the first position information of the cleaning robot based on a first number of bridges already passed and a first arrangement information of the photovoltaic modules includes:

[0019] Based on the arrangement information of the photovoltaic modules, a second number of photovoltaic modules connected to the cable tray and the size of the photovoltaic modules are obtained;

[0020] Based on the second quantity, the size of the photovoltaic module, and the first quantity, the first position information of the cleaning robot is determined.

[0021] According to one embodiment of this application, controlling the operating state of the cleaning robot based on the location information includes:

[0022] Based on the location information and the second arrangement information of the cable tray, the cable tray type of the target cable tray corresponding to the cleaning robot is determined, and the target cable tray is the next cable tray that the cleaning robot will reach;

[0023] The operating status of the cleaning robot is controlled based on the type of cable tray.

[0024] According to one embodiment of this application, when the cable tray type is a movable cable tray, controlling the operating state of the cleaning robot based on the cable tray type includes: controlling the cleaning robot to return when the target cable tray is disconnected.

[0025] According to one embodiment of this application, before controlling the cleaning robot to return in the event that the target cable tray is disconnected, the method further includes:

[0026] If the distance between the current position of the cleaning robot and the target cable tray does not exceed the target threshold and the second real-time current value is greater than the current threshold, it is determined that the target cable tray is disconnected.

[0027] According to one embodiment of this application, controlling the cleaning robot to return includes:

[0028] When the return direction is the exit direction, control the cleaning robot to return to the emergency stop position or the reversing position;

[0029] When the return direction is the same as the return direction, control the cleaning robot to return to the stopping position.

[0030] According to one embodiment of this application, when the cable tray type is a movable cable tray, controlling the operating state of the cleaning robot based on the cable tray type further includes:

[0031] When the weather forecast indicates strong winds, the cleaning robot is controlled to move to the target location, which is the location of the fixed cable tray that is closest to the current position of the cleaning robot.

[0032] Secondly, this application provides a control device for a cleaning robot, applied in a photovoltaic power station, the photovoltaic power station including photovoltaic modules and bridges connecting the photovoltaic modules, the device comprising:

[0033] The first processing module is used to obtain the first real-time current value when the cleaning robot is running on the photovoltaic module;

[0034] The second processing module is used to determine a dynamic threshold based on the first real-time current value;

[0035] The third processing module is used to determine the position information of the cleaning robot in the photovoltaic power station based on the dynamic threshold, the second real-time current value of the cleaning robot, the preset correspondence between the motor current and rotation speed of the cleaning robot, and the wheel diameter of the cleaning robot.

[0036] The fourth processing module is used to control the operating status of the cleaning robot based on the location information.

[0037] The control device for the cleaning robot according to this application determines the robot's position information by setting a dynamic threshold. This allows for accurate positioning of the robot without the need for sensors, making it suitable for any harsh environment. It has high versatility and high positioning accuracy, significantly increasing the robot's usage frequency and solving the technical problem of low usage frequency in existing technologies. Furthermore, based on the determined position information, the device controls the robot's operating state, enabling timely control of the robot to execute corresponding operational or protection logic, thereby improving the robot's safety and stability and solving the technical problem of high failure rate in existing technologies.

[0038] Thirdly, this application provides a photovoltaic cleaning robot, including a walking device and a control device for the cleaning robot as described in the second aspect, wherein the control device for the cleaning robot is electrically connected to the walking device.

[0039] Fourthly, this application provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the control method for the cleaning robot as described in the first aspect above.

[0040] Fifthly, this application provides a chip including a processor and a communication interface, the communication interface being coupled to the processor, the processor being used to run programs or instructions to implement the control method for the cleaning robot as described in the first aspect.

[0041] In a sixth aspect, this application provides a computer program product, including a computer program that, when executed by a processor, implements the control method for the cleaning robot as described in the first aspect above.

[0042] The above-described one or more technical solutions in the embodiments of this application have at least one of the following technical effects:

[0043] By setting dynamic thresholds to determine the location information of the cleaning robot, accurate positioning of the robot can be achieved without the need for sensors. This is applicable to any harsh environment, has high versatility, and high positioning accuracy, significantly increasing the usage frequency of the cleaning robot and solving the technical problem of low usage frequency in existing technologies. Then, based on the determined location information, the operating status of the cleaning robot is controlled, enabling timely control of the robot to execute operation or protection logic corresponding to the location information, thereby improving the safety and stability of the cleaning robot's operation and solving the technical problem of high failure rate in existing technologies.

[0044] Furthermore, by determining the dynamic threshold using the first real-time current value and the target proportional coefficient of the cleaning robot running on the photovoltaic module, the dynamic threshold can be adjusted according to the actual operating state and type of the cleaning robot to obtain the dynamic threshold with the best matching degree. This is highly flexible and improves the accuracy and real-time performance of the dynamic threshold, thereby helping to improve the accuracy of subsequent judgment results.

[0045] Furthermore, by determining the position information of the cleaning robot through multiple different methods and making mutual corrections based on multiple position information to obtain the final position information, random errors can be further reduced, and the accuracy and precision of the determined position information can be improved, thereby helping to improve the accuracy of subsequent control.

[0046] Furthermore, by setting a dynamic threshold, it can determine whether the cleaning robot has reached the cable tray. The threshold can be dynamically adjusted based on the actual situation to obtain the dynamic threshold with the best matching degree, thereby improving the accuracy of the judgment result. After determining that it has reached the cable tray, all the cable trays passed by are counted, and the first position information of the cleaning robot is determined based on the first number of cable trays passed by, the second number of photovoltaic modules connected to a known cable tray, and the size of the photovoltaic modules. The obtained results have high accuracy and precision and are easy to implement. In addition, it can be positioned without relying on sensors, is suitable for any harsh environment, has high positioning stability, and has universality and a wide range of application scenarios.

[0047] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0048] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0049] Figure 1 This is one of the flowcharts illustrating the control method for the cleaning robot provided in the embodiments of this application;

[0050] Figure 2 This is a second schematic flowchart of the control method for the cleaning robot provided in the embodiments of this application;

[0051] Figure 3 This is a schematic diagram illustrating the principle of the control method for the cleaning robot provided in the embodiments of this application;

[0052] Figure 4 This is a schematic diagram of the control device for the cleaning robot provided in the embodiments of this application;

[0053] Figure 5 This is a schematic diagram of the structure of the photovoltaic cleaning robot provided in the embodiments of this application. Detailed Implementation

[0054] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0055] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0056] The control method, control device, photovoltaic cleaning robot, and readable storage medium of the cleaning robot provided in this application will be described in detail below with reference to the accompanying drawings and through specific embodiments and application scenarios.

[0057] The control method for the cleaning robot can be applied to the terminal, and can be executed by the hardware or software in the terminal.

[0058] The control method for a cleaning robot provided in this application embodiment can be executed by a photovoltaic cleaning machine or a functional module or entity within a photovoltaic cleaning machine capable of implementing the control method. The control method for a cleaning robot provided in this application embodiment will be described below using a photovoltaic cleaning machine as an example.

[0059] The control method for the cleaning robot in this application can be applied to the cleaning of photovoltaic modules.

[0060] It should be noted that the control method of the cleaning robot in this application is applied to a photovoltaic power station. The photovoltaic power station may include photovoltaic modules and cable trays connecting the photovoltaic modules. During the cleaning process, the cleaning robot runs on the photovoltaic modules and cable trays to clean the photovoltaic modules and cable trays.

[0061] like Figure 1 As shown, the control method of the cleaning robot includes steps 110, 120, 130 and 140.

[0062] Step 110: Obtain the first real-time current value of the cleaning robot as it runs on the photovoltaic module;

[0063] In this step, the cleaning robot can be a robot used to clean photovoltaic modules.

[0064] The first real-time current value is the real-time current value of the cleaning robot running on the photovoltaic module.

[0065] In actual execution, the first real-time current value can be stored in a local or cloud database and retrieved when needed later.

[0066] Step 120: Determine the dynamic threshold based on the first real-time current value;

[0067] In this step, the dynamic threshold is used to determine whether the cleaning robot is currently on a cable tray or a photovoltaic module.

[0068] It should be noted that during the cleaning process, the real-time current value of the robot operating on the photovoltaic module is different from the real-time current value of the robot operating on the cable tray, and the real-time current value of the robot operating on the photovoltaic module is greater than the real-time current value of the robot operating on the cable tray.

[0069] The dynamic threshold is a dynamically changing critical value that corresponds to the operating state of the cleaning robot.

[0070] The operating states include: climbing slopes, running on flat ground, and slipping.

[0071] During the research and development process, the inventors discovered that the cleaning robot operates in different states under different scenarios. For example, the real-time current value is different when passing a cable tray while climbing an incline versus passing it on flat ground. In this application, by setting a dynamic threshold, the corresponding critical value can be adjusted in real time based on the cleaning robot's operating state, so that the dynamic threshold conforms to the threshold under the current operating state (i.e., the dynamic threshold under climbing an incline is different from the dynamic threshold under flat ground), thereby improving the accuracy of subsequent judgment results.

[0072] The dynamic threshold can be determined based on the real-time current value of the cleaning robot running on the photovoltaic module.

[0073] It is understandable that the real-time current value of the cleaning robot when it is climbing a slope and on flat ground is different. Based on the real-time current value when it is running on the photovoltaic module under different conditions, the dynamic threshold for running on the cable tray under the corresponding condition can be determined with high accuracy and precision.

[0074] The method for determining the dynamic threshold is explained in detail below.

[0075] In some embodiments, step 120 may include:

[0076] Based on the first real-time current value, determine the average current value of the cleaning robot running on the photovoltaic module;

[0077] A dynamic threshold is determined based on the average current value and the target proportional coefficient, which is determined based on the type of cleaning robot.

[0078] In this embodiment, the target proportional coefficient is a preset value, which can be determined based on the type of cleaning robot.

[0079] The target ratio coefficient corresponds one-to-one with the type of cleaning robot.

[0080] It is understandable that different types of cleaning robots have different lengths of cleaning brushes, and therefore different parameter requirements. Based on the parameter requirements corresponding to the target type of cleaning robot, the target ratio coefficient corresponding to that target type can be determined.

[0081] In actual execution, the average current value of the cleaning robot during the target time period can be obtained when it is running on the photovoltaic module in the target state (flat ground or uphill). Based on the product of the average current value and the target proportional coefficient, the dynamic threshold of the cleaning robot in the target state can be determined.

[0082] For example, a dynamic threshold can be determined based on the following formula:

[0083] Dynamic threshold = Average current value * Target scaling factor

[0084] Of course, in other embodiments, the dynamic threshold can also be based on user-defined parameters, such as determining the dynamic threshold based on historical patterns or historical operating data, and this application does not limit it.

[0085] According to the control method of the cleaning robot provided in the embodiments of this application, the dynamic threshold is determined by the first real-time current value of the cleaning robot running on the photovoltaic module and the target proportional coefficient. The dynamic threshold can be adjusted according to the actual operating state of the cleaning robot and the type of the cleaning robot to obtain the dynamic threshold with the best matching degree. It has high flexibility and improves the accuracy and real-time performance of the dynamic threshold, thereby helping to improve the accuracy of subsequent judgment results.

[0086] Step 130: Based on the dynamic threshold, the second real-time current value of the cleaning robot, the preset correspondence between the motor current and speed of the cleaning robot, and the wheel diameter of the cleaning robot, determine the position information of the cleaning robot in the photovoltaic power station.

[0087] In this step, the second real-time current value is the current real-time current value of the cleaning robot, which may be operating on the photovoltaic module or on the cable tray.

[0088] The preset correspondence between the motor current and rotation speed of the cleaning robot is a pre-set correspondence used to characterize the relationship between the motor current and rotation speed of the cleaning robot.

[0089] In some embodiments, the preset correspondence between the motor current and rotation speed of the cleaning robot can be represented by a fitted motor current-rotation speed curve.

[0090] The fitted motor current-speed curve is a preset curve that can be determined through experimental fitting. It is used to characterize the correspondence between the real-time current value of the cleaning robot and the speed of the wheel axle.

[0091] Understandably, based on the second real-time current value and dynamic threshold of the sweeping robot, it is possible to determine whether the sweeping robot is currently operating on the cable tray or on the photovoltaic module. On this basis, the position information of the sweeping robot in the photovoltaic power station can be further determined based on the fitted motor current-speed curve and the wheel diameter of the sweeping robot.

[0092] The implementation of step 130 will be described below through specific embodiments.

[0093] like Figure 2 As shown, in some embodiments, step 130 may include:

[0094] If the second real-time current value is less than the dynamic threshold, it is determined that the cleaning robot is running on the bridge.

[0095] When the cleaning robot reaches the cable tray, the first position information of the cleaning robot is determined based on the first number of cable trays that have been passed and the first arrangement information of the photovoltaic modules.

[0096] Based on the preset correspondence between the motor current and rotation speed of the cleaning robot and the wheel diameter of the cleaning robot, the second position information of the cleaning robot is determined;

[0097] The second location information is corrected based on the first location information to determine the location information.

[0098] In this embodiment, the first quantity is the total number of cable trays that the cleaning robot has passed through since it started running.

[0099] The first arrangement information is used to characterize the size of each photovoltaic module (such as length and width), the number of photovoltaic modules, the connection relationship, and the arrangement direction of the photovoltaic modules.

[0100] Both the first and second position information are used to characterize the current position of the cleaning robot, such as the distance from the starting point or the displacement.

[0101] Furthermore, the methods for determining the first and second location information are different.

[0102] By mutually correcting the first and second location information to obtain the final location information, the accuracy and precision of the determined location information can be improved.

[0103] In actual operation, the second real-time current value of the cleaning robot is obtained and compared with the dynamic threshold. When the second real-time current value is less than the dynamic threshold, it can be approximately considered that the cleaning robot has reached the cable tray.

[0104] Once it is determined that the cleaning robot has reached the cable tray, the first location information can be further determined based on the first number of cable trays that have been passed and the first arrangement information of the photovoltaic modules.

[0105] For example, the cable tray count can be started after the cleaning robot leaves the parking position. When a cable tray is detected, the cable tray count is updated (by incrementing by one) to update the initial quantity.

[0106] It is understandable that the first arrangement information of the photovoltaic modules is fixed and known. In actual execution, the first position information of the cleaning robot can be determined based on the first number of bridges that have passed and the first arrangement information of the photovoltaic modules.

[0107] In some embodiments, determining the first position information of the cleaning robot based on a first number of bridges already passed and a first arrangement information of photovoltaic modules may include:

[0108] Based on the arrangement information of photovoltaic modules, obtain the second number of photovoltaic modules connected to a cable tray and the size of the photovoltaic modules;

[0109] Based on the second quantity, the size of the photovoltaic modules, and the first quantity, the first position information of the cleaning robot is determined.

[0110] In this embodiment, the second quantity is the number of photovoltaic modules connected to a bridge.

[0111] The number of photovoltaic modules connected to each adjacent cable tray is the same, and the arrangement of the photovoltaic modules is also the same.

[0112] The dimensions of photovoltaic modules include at least one of length or width, and the specific dimensions can be selected based on the arrangement direction of the photovoltaic modules.

[0113] For example, in actual execution, the first position information can be determined based on the following formula.

[0114] Real_Dist=Bridge_Count*Board_wide*Board_Bridge_Num;

[0115] Among them, Real_Dist is the first location information, Bridge_Count is the first quantity, Board_wide is the width / length of a photovoltaic module (determined based on the arrangement direction of the photovoltaic module), and Board_Bridge_Num is the second quantity.

[0116] It is understandable that in a single-axis photovoltaic scenario, the size and second quantity of the photovoltaic module are known quantities, applicable to strings of the same length, and the above parameters change accordingly based on the change in string length.

[0117] According to the control method for the cleaning robot provided in this application embodiment, a dynamic threshold is set to determine whether the cleaning robot has run to the cable tray. The threshold can be dynamically adjusted based on the actual situation to obtain the dynamic threshold with the best matching degree, thereby improving the accuracy of the judgment result. After determining that it has run to the cable tray, all the cable trays passed are counted, and the first position information of the cleaning robot is determined based on the first number of the cable trays passed, the second number of photovoltaic modules connected to a known cable tray, and the size of the photovoltaic modules. The obtained results have high accuracy and precision and are easy to implement. In addition, positioning can be performed without the need for sensors, which is applicable to any harsh environment. The positioning stability is high, and it has universality and a wide range of application scenarios.

[0118] In actual execution, by finding the preset correspondence between the motor current and rotation speed of the cleaning robot, the rotation speed of the wheel axle corresponding to the second real-time current value can be obtained; then, by combining the actual linear velocity obtained by the wheel diameter of the cleaning robot, the displacement can be calculated by integration, and the second position information of the cleaning robot can be obtained.

[0119] The second position information is used to characterize the displacement of the cleaning robot from its starting position to the current moment.

[0120] After obtaining the first and second location information, the two values ​​are compared and mutually corrected to obtain the corrected location information. This corrected location information has a relatively small error and higher accuracy.

[0121] According to the control method for the cleaning robot provided in the embodiments of this application, the position information of the cleaning robot is determined in a variety of different ways, and the final position information is obtained by mutual correction based on multiple position information. This can further reduce random errors and improve the accuracy and precision of the determined position information, thereby helping to improve the accuracy of subsequent control.

[0122] Step 140: Control the operating status of the cleaning robot based on the location information.

[0123] In this step, the running status includes returning, stopping, or moving forward.

[0124] Location information is used to characterize the real-time location of the cleaning robot.

[0125] It is understandable that the operation or protection logic of the cleaning robot may be different depending on its location during the cleaning process. By determining the current location information of the cleaning robot, the operation state of the cleaning robot can be adjusted to the corresponding state based on the location information, and the corresponding operation or protection logic can be executed to ensure the safety and stability of the cleaning robot's operation.

[0126] According to the control method for the cleaning robot provided in this application embodiment, the position information of the cleaning robot is determined by setting a dynamic threshold. This allows for accurate positioning of the cleaning robot without the need for sensors, making it suitable for any harsh environment. It has high versatility and high positioning accuracy, significantly increasing the usage frequency of the cleaning robot and solving the technical problem of low usage frequency in existing technologies. Then, based on the determined position information, the operating state of the cleaning robot is controlled, enabling timely control of the cleaning robot to execute operation or protection logic corresponding to the position information. This improves the safety and stability of the cleaning robot's operation and solves the technical problem of high failure rate in existing technologies.

[0127] The implementation process of step 140 will be described below through specific embodiments.

[0128] In some embodiments, step 140 may include:

[0129] Based on the location information and the second row layout information of the cable tray, the cable tray type of the target cable tray corresponding to the cleaning robot is determined. The target cable tray is the next cable tray that the cleaning robot will reach.

[0130] The operating status of the cleaning robot is controlled based on the type of cable tray.

[0131] In this embodiment, the target cable tray is the next cable tray that the cleaning robot will reach.

[0132] Cable tray types include fixed cable trays and movable cable trays.

[0133] The second row information is used to characterize the arrangement pattern of the cable trays, such as several fixed cable trays being associated with a movable cable tray, and the pattern of each row grouping being fixed. Figure 3 As shown.

[0134] Based on the location information and the second row layout information of the cable trays, the cable tray type of the cleaning robot currently in the cable tray can be determined, and based on the cable tray type of the current cable tray and the second row layout information of the cable trays, the type of the next cable tray that the cleaning robot will reach can be determined.

[0135] It is understandable that the control commands for the next cable tray that the cleaning robot will reach may differ depending on the type of cable tray. Generating control commands based on the cable tray type to control the cleaning robot to execute the corresponding operation or protection logic can effectively and timely protect the cleaning robot and improve the safety and stability of its operation.

[0136] For example, in a single-axis flat scenario (components can rotate), the groups are connected by a movable bridge. When the angle difference is too large, the movable bridge will break. When the bridge breaks, the cleaning robot needs to stop and return to the position where the bridge breaks and issue an alarm.

[0137] In this step, the type of the target cable tray corresponding to the cleaning robot is determined by the location information and the second row layout information of the cable tray. Information about the next cable tray that the robot will reach can be obtained in a timely manner. When it is determined that the robot will reach the active cable tray, the corresponding control command can be generated in a timely manner to control the cleaning robot to execute the corresponding protection logic, thereby effectively and timely protecting the cleaning robot and improving the safety and stability of the cleaning robot's operation.

[0138] Continue to refer to Figure 2 In some embodiments, when the cable tray type is a movable cable tray, controlling the operating state of the cleaning robot based on the cable tray type may include:

[0139] If the target cable tray is disconnected, control the cleaning robot to return.

[0140] In this embodiment, the connection status of the target cable tray includes connected and disconnected.

[0141] In actual execution, if the target cable tray is determined to be a movable cable tray, corresponding control commands can be generated based on at least one of the connection status of the target cable tray and weather information to control the operation status of the cleaning robot.

[0142] The following explains how the connection status of the target cable tray is determined.

[0143] In some embodiments, before controlling the cleaning robot to return in the event of a disconnection of the target cable tray, the method may further include: determining that the target cable tray is disconnected if the distance between the current position of the cleaning robot and the target cable tray does not exceed a target threshold and the second real-time current value is greater than a current threshold.

[0144] In this embodiment, the current threshold is used to determine whether the second real-time current value is an abnormally large current.

[0145] The target threshold is used to determine whether the cleaning robot is close to the target cable tray, so as to exclude the influence of other situations (such as the large current generated when a unit drop occurs) on the judgment result.

[0146] It is understandable that when the movable bridge is disconnected, a baffle will be passively lifted by gravity. When the cleaning robot approaches, the baffle will block the cleaning robot, thus generating an abnormally large current.

[0147] In this application, when an abnormally high current occurs on the cable tray, the cleaning robot is controlled to return; and when an abnormally high current occurs on the photovoltaic module, the cleaning robot is controlled to overcome the obstacle and continue moving forward.

[0148] In some embodiments, controlling the cleaning robot to return may include:

[0149] When the return direction is the outbound direction, control the cleaning robot to return to the emergency stop position or the reversing position;

[0150] When the return direction is the same as the return direction to the bin, control the cleaning robot to return to the parking position.

[0151] In this embodiment, the stop position and the reversing position are pre-set positions.

[0152] In actual operation, if the cleaning robot experiences an abnormally high current near the target cable tray, it is assumed that the cable tray ahead is broken and impassable, and the cleaning robot is controlled to move in the opposite direction.

[0153] If the return direction is the exit direction, then return to the emergency stop position / reversal position.

[0154] like Figure 3 As shown, if the cleaning robot detects a designated position (bridge, stop position, or reversing position) during its reverse movement, it will stop. If the program specifies returning to the stop position, it will control the robot to move towards the stop position. The real-time position of the cleaning robot is determined by position estimation and bridge counting. When the displacement is close to 0, it is determined that the robot has recognized the stop position.

[0155] The motor runs for a period of time and then stops, and then the windproof motor is lowered to complete the operation.

[0156] The specific identification method for the parking position is similar to that for the cable tray, and will not be elaborated here.

[0157] The control method for the cleaning robot provided in the embodiments of this application can control the cleaning robot to run to the target position without setting up sensors, and has a wide range of applications.

[0158] In some embodiments, when the cable tray type is a movable cable tray, controlling the operating state of the cleaning robot based on the cable tray type may further include: when the weather information indicates strong winds, controlling the cleaning robot to run to a target position, where the target position is the position of the fixed cable tray closest to the current position of the cleaning robot.

[0159] In this embodiment, the weather information includes strong wind information, heavy rain information, and other weather information.

[0160] In windy weather, the platform can send a "stop in strong wind" command. Based on the "stop in strong wind" command, the cleaning robot can move forward or backward to stop at the nearest fixed cable tray.

[0161] According to the control method for the cleaning robot provided in the embodiments of this application, the operating state of the cleaning robot is controlled based on the type of the cable tray. Corresponding control commands can be generated in a timely manner to control the cleaning robot to execute the corresponding protection logic, thereby effectively and timely protecting the cleaning robot and improving the safety and stability of the cleaning robot's operation.

[0162] The control method for a cleaning robot provided in this application can be executed by a control device for the cleaning robot. This application uses the example of a control device for the cleaning robot executing the control method to illustrate the control device for the cleaning robot provided in this application.

[0163] This application also provides a control device for a cleaning robot.

[0164] like Figure 4As shown, the control device of the cleaning robot is applied to a photovoltaic power station, which includes photovoltaic modules and bridges connecting the photovoltaic modules. The device may include: a first processing module 410, a second processing module 420, a third processing module 430 and a fourth processing module 440.

[0165] The first processing module 410 is used to obtain the first real-time current value of the cleaning robot when it is running on the photovoltaic module;

[0166] The second processing module 420 is used to determine a dynamic threshold based on the first real-time current value;

[0167] The third processing module 430 is used to determine the position information of the cleaning robot in the photovoltaic power station based on the dynamic threshold, the second real-time current value of the cleaning robot, the preset correspondence between the motor current and speed of the cleaning robot, and the wheel diameter of the cleaning robot.

[0168] The fourth processing module 440 is used to control the operating status of the cleaning robot based on location information.

[0169] The control device for the cleaning robot provided in this application determines the robot's position information by setting a dynamic threshold. This eliminates the need for sensors, enabling accurate positioning of the robot in any harsh environment. It boasts high versatility and high positioning accuracy, significantly increasing the robot's usage frequency and solving the problem of low usage frequency in existing technologies. Furthermore, based on the determined position information, the device controls the robot's operating state, enabling timely control of the robot to execute corresponding operational or protection logic. This improves the safety and stability of the robot's operation, addressing the high failure rate problem in existing technologies.

[0170] In some embodiments, the second processing module 420 may also be used for:

[0171] Based on the first real-time current value, determine the average current value of the cleaning robot running on the photovoltaic module;

[0172] A dynamic threshold is determined based on the average current value and the target proportional coefficient, which is determined based on the type of cleaning robot.

[0173] In some embodiments, the third processing module 430 can also be used for:

[0174] If the second real-time current value is less than the dynamic threshold, it is determined that the cleaning robot is running on the bridge.

[0175] When the cleaning robot reaches the cable tray, the first position information of the cleaning robot is determined based on the first number of cable trays that have been passed and the first arrangement information of the photovoltaic modules.

[0176] Based on the preset correspondence between the motor current and rotation speed of the cleaning robot and the wheel diameter of the cleaning robot, the second position information of the cleaning robot is determined;

[0177] The second location information is corrected based on the first location information to determine the location information.

[0178] In some embodiments, the third processing module 430 can also be used for:

[0179] Based on the arrangement information of photovoltaic modules, obtain the second number of photovoltaic modules connected to a cable tray and the size of the photovoltaic modules;

[0180] Based on the second quantity, the size of the photovoltaic modules, and the first quantity, the first position information of the cleaning robot is determined.

[0181] In some embodiments, the fourth processing module 440 can also be used for:

[0182] Based on the location information and the second row layout information of the cable tray, the cable tray type of the target cable tray corresponding to the cleaning robot is determined. The target cable tray is the next cable tray that the cleaning robot will reach.

[0183] The operating status of the cleaning robot is controlled based on the type of cable tray.

[0184] In some embodiments, when the cable tray type is a movable cable tray, the fourth processing module 440 can also be used for:

[0185] If the target cable tray is disconnected, control the cleaning robot to return.

[0186] In some embodiments, the device may further include a fifth processing module, configured to determine that the target cable tray is disconnected before controlling the cleaning robot to return, provided that the distance between the current position of the cleaning robot and the target cable tray does not exceed a target threshold and the second real-time current value is greater than a current threshold.

[0187] In some embodiments, the fourth processing module 440 can also be used for:

[0188] When the return direction is the outbound direction, control the cleaning robot to return to the emergency stop position or the reversing position;

[0189] When the return direction is the same as the return direction to the bin, control the cleaning robot to return to the parking position.

[0190] In some embodiments, when the cable tray type is a movable cable tray, the fourth processing module 440 can also be used for:

[0191] When the weather forecast indicates strong winds, control the cleaning robot to move to the target location, which is the location of the fixed cable tray that is closest to the current position of the cleaning robot.

[0192] The control device for the cleaning robot in this embodiment can be a photovoltaic cleaning robot, or a component within the photovoltaic cleaning robot, such as an integrated circuit or a chip. The photovoltaic cleaning robot can be a robot, or it can be other types of machinery or equipment.

[0193] The control device for the cleaning robot in this application embodiment can be a device with an operating system. This operating system can be Android, iOS, or other possible operating systems; this application embodiment does not specifically limit the specific operating system used.

[0194] The control device for the cleaning robot provided in this application embodiment can achieve... Figures 1 to 3 The various processes implemented in the method implementation examples will not be described again here to avoid repetition.

[0195] In some embodiments, this application also provides a photovoltaic cleaning robot, including: a walking device and a control device for the cleaning robot as described in any of the above embodiments.

[0196] The control device of the cleaning robot is electrically connected to the walking device and is used to execute the control method of the cleaning robot as described in any of the above embodiments to control the operation of the walking device.

[0197] In some embodiments, the walking device may be a roller.

[0198] like Figure 5 As shown, the photovoltaic cleaning robot 500 provided in this application embodiment includes a processor 501, a memory 502, and a computer program stored in the memory 502 and run on the processor 501. When the program is executed by the processor 501, it implements the various processes of the above-described cleaning robot control method embodiment and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0199] This application also provides a non-transitory computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the various processes of the above-described control method embodiment for the cleaning robot and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0200] The processor is the same as the processor in the photovoltaic cleaning robot described in the above embodiments. The readable storage medium includes computer-readable storage media, such as a computer read-only memory (ROM), random access memory (RAM), a magnetic disk, or an optical disk.

[0201] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described control method for a cleaning robot.

[0202] The processor is the same as the processor in the photovoltaic cleaning robot described in the above embodiments. The readable storage medium includes computer-readable storage media, such as a computer read-only memory (ROM), random access memory (RAM), a magnetic disk, or an optical disk.

[0203] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above-described control method embodiment for the cleaning robot, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0204] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0205] It should 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 limitations, 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 that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0206] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. 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 computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0207] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

[0208] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0209] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A control method for a cleaning robot, characterized in that, Applied to a photovoltaic power station, the photovoltaic power station including photovoltaic modules and bridges connecting the photovoltaic modules, the method includes: Acquire the first real-time current value when the cleaning robot is running on the photovoltaic module; A dynamic threshold is determined based on the first real-time current value; Based on the dynamic threshold, the second real-time current value of the cleaning robot, the preset correspondence between the motor current and rotation speed of the cleaning robot, and the wheel diameter of the cleaning robot, the position information of the cleaning robot in the photovoltaic power station is determined. Based on the location information, the operating status of the cleaning robot is controlled; The determination of the cleaning robot's position information within the photovoltaic power station, based on the dynamic threshold, the second real-time current value of the cleaning robot's operation, the preset correspondence between the cleaning robot's motor current and rotational speed, and the cleaning robot's wheel diameter, includes: If the second real-time current value is less than the dynamic threshold, it is determined that the cleaning robot is running on the bridge. When the cleaning robot reaches the bridge, the first position information of the cleaning robot is determined based on the first number of bridges that have been passed and the first arrangement information of the photovoltaic modules; Based on the preset correspondence between the motor current and rotation speed of the cleaning robot and the wheel diameter of the cleaning robot, the second position information of the cleaning robot is determined; The second location information is corrected based on the first location information to determine the location information.

2. The control method for the cleaning robot according to claim 1, characterized in that, The step of determining the dynamic threshold based on the first real-time current value includes: Based on the first real-time current value, the average current value of the cleaning robot running on the photovoltaic module is determined; The dynamic threshold is determined based on the average current value and the target proportional coefficient, wherein the target proportional coefficient is determined based on the type of the cleaning robot.

3. The control method for the cleaning robot according to claim 1, characterized in that, The determination of the first position information of the cleaning robot based on the first number of bridges already passed and the first arrangement information of the photovoltaic modules includes: Based on the arrangement information of the photovoltaic modules, a second number of photovoltaic modules connected to the cable tray and the size of the photovoltaic modules are obtained; Based on the second quantity, the size of the photovoltaic module, and the first quantity, the first position information of the cleaning robot is determined.

4. The control method for the cleaning robot according to any one of claims 1-3, characterized in that, The step of controlling the operating state of the cleaning robot based on the location information includes: Based on the location information and the second arrangement information of the cable tray, the cable tray type of the target cable tray corresponding to the cleaning robot is determined, and the target cable tray is the next cable tray that the cleaning robot will reach; The operating status of the cleaning robot is controlled based on the type of cable tray.

5. The control method for the cleaning robot according to claim 4, characterized in that, When the cable tray type is a movable cable tray, controlling the operating state of the cleaning robot based on the cable tray type includes: controlling the cleaning robot to return when the target cable tray is disconnected.

6. The control method for the cleaning robot according to claim 5, characterized in that, Before controlling the cleaning robot to return after the target cable tray is disconnected, the method further includes: If the distance between the current position of the cleaning robot and the target cable tray does not exceed the target threshold and the second real-time current value is greater than the current threshold, it is determined that the target cable tray is disconnected.

7. The control method for the cleaning robot according to claim 5, characterized in that, The control of the cleaning robot to return includes: When the return direction is the exit direction, control the cleaning robot to return to the emergency stop position or the reversing position; When the return direction is the same as the return direction, control the cleaning robot to return to the stopping position.

8. The control method for the cleaning robot according to claim 4, characterized in that, When the cable tray type is a movable cable tray, controlling the operating state of the cleaning robot based on the cable tray type further includes: When the weather forecast indicates strong winds, the cleaning robot is controlled to move to the target location, which is the location of the fixed cable tray that is closest to the current position of the cleaning robot.

9. A control device for a cleaning robot based on the control method for a cleaning robot as described in any one of claims 1 to 8, characterized in that, Applied to photovoltaic power plants, the photovoltaic power plants include photovoltaic modules and bridges connecting the photovoltaic modules, the device includes: The first processing module is used to obtain the first real-time current value when the cleaning robot is running on the photovoltaic module; The second processing module is used to determine a dynamic threshold based on the first real-time current value; The third processing module is used to determine the position information of the cleaning robot in the photovoltaic power station based on the dynamic threshold, the second real-time current value of the cleaning robot, the preset correspondence between the motor current and rotation speed of the cleaning robot, and the wheel diameter of the cleaning robot. The fourth processing module is used to control the operating status of the cleaning robot based on the location information.

10. A photovoltaic cleaning robot, characterized in that, include: Walking device; The control device for the cleaning robot as described in claim 9 is electrically connected to the walking device.

11. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the control method for the cleaning robot as described in any one of claims 1-8.

12. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the control method for the cleaning robot as described in any one of claims 1-8.

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