Photovoltaic cleaning system and method with a trolley cooperating with a cleaning machine

Abstract

The application discloses a photovoltaic cleaning system and method cooperating with a transfer trolley and a cleaning machine, wherein the system comprises: a task receiving module, which is used for receiving a cleaning task sent by a background, and the task type comprises: type one: a plurality of cleaning machines are arranged on a transfer trolley to execute cleaning; and type two: a plurality of sets of cleaning devices are used to jointly execute cleaning; wherein one set of cleaning devices is composed of one transfer trolley and one cleaning machine; a device distribution module, which is used for selecting a target transfer trolley and a cleaning machine matched with the target transfer trolley based on the received cleaning task and the task type; an information receiving and sending module, which is used for sending a cleaning task instruction to the target transfer trolley and the cleaning machine; a control processing module, which is used for controlling the target transfer trolley and the corresponding target cleaning machine to execute the cleaning task instruction according to the cleaning task and the task type; and a cleaning state monitoring module, which is used for monitoring the cleaning situation of the target transfer trolley and the corresponding target cleaning machine. The application realizes efficient cleaning of a photovoltaic array.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of photovoltaic cleaning, in particular to a photovoltaic cleaning system and method with a transfer vehicle cooperating with a cleaning machine. BACKGROUND

[0002] With the increasing demand for electricity with industrial development, photovoltaic panel solar power generation technology is also developing, but in the process of photovoltaic power generation, the photovoltaic panel exposed to the environment after accumulating dust, the stains attached to the surface of the photovoltaic glass panel affect the normal power generation of the photovoltaic power generation system. The existing photovoltaic power station generally installs a cleaning machine to automatically clean the photovoltaic module. The cleaning machine is placed on the photovoltaic panel. When the cleaning machine moves back and forth, the stains on the surface of the photovoltaic panel are brushed off by the rolling brush. To some extent, it improves the power generation efficiency and saves manpower.

[0003] Generally, there are two main cleaning methods for photovoltaic power station cleaning machines: one is to set one cleaning machine for each array, and each cleaning machine is responsible for cleaning the corresponding array; this method has high efficiency when cleaning, but the defect is that many cleaning machines need to be equipped, the cost is high, and the operation cost of maintaining the cleaning machine is also high.

[0004] The other is to equip a transfer vehicle with a cleaning machine in a photovoltaic array to be cleaned, which can realize that one cleaning machine is responsible for cleaning multiple arrays; this cleaning method requires low cost in actual application, but the defect is that it takes a very long time to clean and the cleaning efficiency is low. In the cleaning process, the transfer vehicle or the cleaning machine is disconnected, resulting in incomplete cleaning of part of the array. SUMMARY

[0005] In order to solve the above technical problems of the transfer vehicle cooperating with the cleaning machine to clean the photovoltaic array, the present application provides a photovoltaic cleaning system and method with a transfer vehicle cooperating with a cleaning machine, which improves the cleaning method between the transfer vehicle and the cleaning machine, and realizes low-cost and efficient photovoltaic panel cleaning work with the transfer vehicle cooperating with the cleaning machine.

[0006] Specifically, the technical scheme of the present application is as follows:

[0007] In the first aspect, the present application discloses a photovoltaic cleaning system with a transfer vehicle cooperating with a cleaning machine, comprising:

[0008] A task receiving module is configured to receive a cleaning task sent by a background and confirm the task type; the task type includes: type one: cleaning the cleaning area by one transfer vehicle and multiple cleaning machines; type two: cleaning the cleaning area by multiple cleaning devices; wherein one cleaning device is composed of one transfer vehicle and one cleaning machine;

[0009] The device allocation module is configured to select a target transfer vehicle and a target cleaning machine matched with the target transfer vehicle based on the received cleaning task and the task type.

[0010] The information transceiving module is configured to send a cleaning task instruction to the target transfer vehicle and the target cleaning machine selected by the device allocation module, so that the target transfer vehicle carries the target cleaning machine to a target array to be cleaned.

[0011] The control processing module is configured to control the target transfer vehicle and the corresponding target cleaning machine to execute the cleaning task instruction according to the cleaning task and the task type.

[0012] The cleaning state monitoring module is configured to monitor the cleaning state of the target transfer vehicle and the corresponding target cleaning machine, so that the control processing module performs corresponding processing based on the cleaning state.

[0013] In some embodiments, the control processing module includes a first control processing submodule, a cleaning machine condition judgment submodule, and an array condition judgment submodule, wherein:

[0014] The first control processing submodule is configured to control the device allocation module to allocate one target transfer vehicle to a stopping point when the received cleaning task type is type one, and each target cleaning machine is parked at the stopping point.

[0015] The cleaning machine condition judgment submodule is configured to determine whether each target cleaning machine at the stopping point has a cleaning condition, so that the target transfer vehicle carries the target cleaning machine having the cleaning condition to a target array to be cleaned.

[0016] The array condition judgment submodule is configured to sequentially determine whether each target array currently has a cleaning condition, and sequentially allocate the target cleaning machine to the target array having the cleaning condition for cleaning until all target cleaning machines having the cleaning condition are allocated.

[0017] The first control processing submodule is further configured to control the target transfer vehicle to pick up each target cleaning machine to the corresponding stopping point when all target arrays having the cleaning condition in the cleaning area have been cleaned, and control the target transfer vehicle to carry each target cleaning machine at the stopping point to return to the starting point after all target cleaning machines return to the stopping point.

[0018] In some embodiments, the first control processing submodule is further configured to, during the cleaning process, monitor whether all target arrays in the cleaning area have been cleaned when all target cleaning machines with cleaning conditions have been assigned; if not, further determine whether the current stop point has a target cleaning machine with a cleaning condition;

[0019] The first control processing submodule is further configured to, if the current stop point does not have a target cleaning machine with a cleaning condition, monitor whether each target cleaning machine has cleaned the corresponding target array that has been assigned through the cleaning state monitoring module; and further filter the target cleaning machine with a cleaning condition through the cleaning machine condition judging submodule among the target cleaning machines that have completed the cleaning task of the corresponding target array;

[0020] The first control processing submodule is further configured to control the target transfer vehicle to transport the target cleaning machine that has completed the cleaning task and has a cleaning condition to the next target array with a cleaning condition; and control the target transfer vehicle to transport the target cleaning machine that has completed the cleaning task but does not have a cleaning condition to the corresponding stop point.

[0021] In some embodiments, the control processing module further comprises a second control processing submodule and a positioning confirmation submodule, wherein:

[0022] The second control processing submodule is configured to, when the received cleaning task type is type two, divide the cleaning area into a corresponding number of sub-areas based on the number of sets of cleaning devices assigned by the device assignment module; and control the transfer vehicle in each cleaning device to transport the cleaning machine to the corresponding responsible sub-area; each sub-area contains at least two target arrays;

[0023] The positioning confirmation submodule is configured to receive positioning information of each cleaning device and confirm whether each cleaning device reaches the starting target array position of the corresponding sub-area; the transfer vehicle or the cleaning machine in each set of cleaning devices is provided with an RFID inductor, and each target array is provided with an RFID tag;

[0024] The cleaning machine condition judging submodule is further configured to determine whether the cleaning machine in each cleaning device has a cleaning condition;

[0025] The array condition judging submodule is further configured to determine whether there is an obstacle on the cleaning path of each sub-area and whether the target array in each sub-area has a cleaning condition;

[0026] The second control processing submodule is further configured to re-plan a cleaning route or skip a target array that does not have a cleaning condition when an obstacle exists on a cleaning path in the sub-region or the target array does not have a cleaning condition.

[0027] The second control processing submodule is further configured to determine whether a cleaning task of each cleaning device is completed by the cleaning state monitoring module.

[0028] The cleaning state monitoring module is further configured to determine whether a cleaning task of another cleaning device is completed if a cleaning task of the cleaning device corresponding to the sub-region is completed; if not, the cleaning device that has completed the cleaning task is assigned to assist another cleaning device to complete the cleaning task.

[0029] The second control processing submodule is further configured to control the transfer vehicle of the cleaning device to return to the starting point when the cleaning task of the cleaning device is completed.

[0030] In some embodiments, the cleaning machine condition determination submodule specifically includes:

[0031] The power determination submodule is configured to determine whether the power of the cleaning machine is higher than a safety threshold.

[0032] The function determination submodule is configured to determine whether the cleaning function of the cleaning machine is normal.

[0033] The state determination submodule is configured to determine whether the cleaning machine is in an idle state.

[0034] The analysis determination submodule is configured to determine that the cleaning machine has a cleaning condition when the power of the cleaning machine is higher than the safety threshold, the cleaning function of the cleaning machine is normal, and the cleaning machine is in the idle state.

[0035] In some embodiments, the array condition determination submodule includes:

[0036] The support determination submodule is configured to determine whether a photovoltaic support of the target array is a fixed support or a tracking support, and to determine whether the target array is operating normally.

[0037] The angle measurement submodule is configured to measure and determine whether an angle of the tracking support reaches a cleaning angle when the photovoltaic support of the target array is the tracking support and is operating normally; if the angle of the tracking support reaches the cleaning angle, the target array has a cleaning condition; otherwise, the target array does not have a cleaning condition.

[0038] In a second aspect, the present application further discloses a photovoltaic cleaning method using a transfer vehicle and a cleaning machine, comprising the following steps:

[0039] receiving a cleaning task sent by a background and confirming a task type; the task type includes: type one: cleaning an area by using one transfer vehicle and multiple cleaning machines; type two: cleaning an area by using multiple cleaning devices; wherein one cleaning device is composed of one transfer vehicle and one cleaning machine;

[0040] based on the received cleaning task and the task type, selecting a target transfer vehicle and a target cleaning machine matched with the target transfer vehicle to execute the cleaning task;

[0041] sending a cleaning task instruction to the selected target transfer vehicle and the target cleaning machine, so that the target transfer vehicle carries the target cleaning machine to a target array to be cleaned;

[0042] controlling the target transfer vehicle and the corresponding target cleaning machine to execute the cleaning task instruction according to the cleaning task and the task type;

[0043] monitoring the cleaning situation of the target transfer vehicle and the corresponding target cleaning machine, so as to perform corresponding processing based on the cleaning situation.

[0044] In some embodiments, when the received cleaning task type is type one:

[0045] controlling the target transfer vehicle to travel to a parking point; the parking point is parked with each target cleaning machine;

[0046] confirming whether each target cleaning machine at the current parking point has a cleaning condition; so that the target transfer vehicle carries the target cleaning machine having the cleaning condition to the target array to be cleaned;

[0047] sequentially judging whether each target array currently has a cleaning condition, and sequentially allocating the target cleaning machine to clean the target array having the cleaning condition until all the target cleaning machines having the cleaning condition are allocated; wherein each target array having the cleaning condition is allocated one target cleaning machine having the cleaning condition;

[0048] when each target cleaning machine having the cleaning condition is allocated, monitoring whether all target arrays in the cleaning area are cleaned; if not, further judging whether there is a target cleaning machine having the cleaning condition at the current parking point;

[0049] If the target cleaning machine with the cleaning condition does not exist in the current stop point, it is monitored whether the target cleaning machine has completed the corresponding target array assigned; and in the target cleaning machine which has completed the cleaning task of the corresponding target array, the target cleaning machine with the cleaning condition is further screened;

[0050] The target transfer vehicle is controlled to transport the target cleaning machine which has completed the cleaning task and has the cleaning condition to the next target array with the cleaning condition; and the target transfer vehicle is controlled to transport the target cleaning machine which has completed the cleaning task but does not have the cleaning condition to the corresponding stop point;

[0051] When all the target arrays with the cleaning condition in the cleaning area have been cleaned, the target transfer vehicle is controlled to pick up each target cleaning machine to the corresponding stop point; and after all the target cleaning machines return to the stop point, the target transfer vehicle is controlled to return to the starting point with each target cleaning machine of the stop point.

[0052] In some embodiments, when the received cleaning task type is type two:

[0053] Based on the number of sets of cleaning devices, the cleaning area is divided into a corresponding number of sub-areas; and the transfer vehicle in each cleaning device is controlled to transport the equipped cleaning machine to the corresponding responsible sub-area; each sub-area contains at least two target arrays;

[0054] The positioning information of each cleaning device is received, and it is confirmed whether each cleaning device arrives at the starting target array position of the corresponding sub-area; the transfer vehicle or the cleaning machine in each set of cleaning devices is provided with an RFID inductor, and each target array is provided with an RFID tag;

[0055] It is judged whether the cleaning machine in each cleaning device has the cleaning condition;

[0056] It is judged whether there is an obstacle on the cleaning path of each sub-area, and whether the target array in each sub-area has the cleaning condition;

[0057] If there is an obstacle on the cleaning path in the sub-area or there is a target array in the sub-area which does not have the cleaning condition, the cleaning route is re-planned, or the target array which does not have the cleaning condition is skipped when performing the cleaning task;

[0058] It is judged whether the cleaning task of each cleaning device is completed;

[0059] If the cleaning device has completed the cleaning task of the sub-area, it is determined whether the cleaning task of other cleaning devices is completed; if not, the cleaning device that has completed the cleaning task is assigned to assist other cleaning devices to complete the cleaning task;

[0060] When the cleaning task of the cleaning device is completed, the transfer vehicle of the cleaning device is controlled to return to the starting point.

[0061] In some embodiments, the determination of whether the cleaning machine has the cleaning condition specifically includes:

[0062] The power of the cleaning machine is obtained, and it is determined whether the power of the cleaning machine is higher than a safety threshold;

[0063] It is determined whether the cleaning function of the cleaning machine is normal;

[0064] It is determined whether the cleaning machine is currently in an idle state;

[0065] When the power of the cleaning machine is higher than the safety threshold, the cleaning function is normal, and the cleaning machine is in the idle state, it is determined that the cleaning machine has the cleaning condition.

[0066] Compared with the prior art, the present application has at least one of the following beneficial effects:

[0067] 1. The functions of each module of the transfer vehicle are improved, so that the transfer vehicle can adaptively perform two different types of tasks and perform corresponding actions according to different types of tasks. Thus, the cleaning is efficiently completed. The task actions performed under each type of task are improved, and the cleaning efficiency of multiple cleaning machines in a large power station is higher than that of a single cleaning machine, and the cost performance of the transfer vehicle is higher than that of all installed cleaning machines.

[0068] 2. The first control processing module of the device performs a first transfer vehicle cooperating cleaning machine method, which uses one transfer vehicle to cooperate with multiple cleaning machines. The functions of identifying whether the transfer vehicle has the cleaning condition and whether the photovoltaic array has the cleaning condition are added. In the case of a small number of fixed transfer vehicles, the transfer vehicle control system can monitor the cleaning state of all task arrays, the state of the cleaning machine in the parking point, the state of the cleaning machine that has completed the cleaning task in the array, and the intelligent transfer cleaning machine continues to work or returns to the parking point to charge when the cleaning machine is working. It is more intelligent and reduces the amount of manual work.

[0069] 3. The second control processing module of this device executes the second method of cooperating a transfer vehicle with a sweeper, using one transfer vehicle with one sweeper. The transfer vehicle and the sweeper form a set of equipment. This maximizes the working efficiency of the sweepers while maintaining a fixed number of sweepers. The transfer vehicle can detect obstacles in the sweeper's direction of travel. A distance sensor determines the operating mode based on the presence of obstacles. If there are no obstacles, the sweeper proceeds forward to clean the array sequentially. If there are obstacles, it stops moving forward to prevent collisions between the two transfer vehicles. If one sweeper's cleaning progress is slow, other sweepers that have completed their tasks can request new tasks from the backend to complete the cleaning tasks more quickly.

[0070] 4. The transfer vehicle of this invention, in conjunction with the sweeper, completes two types of cleaning tasks. The methods for executing these tasks can be integrated, and the functions of both can be interchangeable. For example, the photovoltaic field can be divided into zones, and sweeper docking points can be set up in each zone. Tasks can be assigned according to the characteristics of the photovoltaic field, making it highly operable.

[0071] 5. Improvements were made to the drive module of the transport vehicle. Guide rails were laid on the ground, and the transport vehicle traveled back and forth on these rails. An RFID tag was installed near the transport vehicle at the end of each array. During commissioning, the array number was sequentially written into the RFID tag using an RFID reader, corresponding one-to-one with each array row. Upon receiving a photovoltaic array cleaning task, the transport vehicle would drive to the corresponding position based on the target array's RFID tag. This reduces the management cost of the transport vehicle, minimizes errors during operation, and ensures that the transport vehicle accurately reaches the target location, allowing the cleaning machine on the transport vehicle to safely operate on the photovoltaic panels. Attached Figure Description

[0072] The preferred embodiments will now be described in a clear and easy-to-understand manner, in conjunction with the accompanying drawings, to further explain the above-mentioned characteristics, technical features, advantages, and implementation methods of the present invention.

[0073] Figure 1 This is a structural block diagram of an embodiment of a photovoltaic cleaning system of a transfer vehicle and a sweeper according to the present invention;

[0074] Figure 2 This is a structural block diagram of another embodiment of the photovoltaic cleaning system of the present invention, which uses a transfer vehicle in conjunction with a cleaning machine;

[0075] Figure 3 This is a schematic diagram of the photovoltaic field layout when the cleaning task is performed in a photovoltaic cleaning system and method of a transfer vehicle and a cleaning machine according to the present invention.

[0076] Figure 4Figure 2 is a schematic diagram of a photovoltaic field layout for a second type of cleaning task performed by the photovoltaic cleaning system and method of the present application;

[0077] Figure 5 Figure 3 is a block diagram of an embodiment of the photovoltaic cleaning system of the present application;

[0078] Figure 6 Figure 4 is a flowchart of another embodiment of the photovoltaic cleaning method of the present application;

[0079] Figure 7 Figure 5 is a flowchart of another embodiment of the photovoltaic cleaning method of the present application;

[0080] Figure 8 Figure 6 is a flowchart of another embodiment of the photovoltaic cleaning method of the present application;

[0081] Figure 9 Figure 7 is a flowchart of another embodiment of the photovoltaic cleaning method of the present application. DETAILED DESCRIPTION

[0082] In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular sequences of steps, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known methods, devices, and circuits are omitted so as not to obscure the description of the present application with unnecessary detail.

[0083] It is to be understood that the terminology "includes", "has", "holds", "contains" and / or "comprising", when used in this specification, including the accompanying claims, includes the presence of stated features, integers, steps, operations, elements, and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0084] In order to make the drawing simple, only the parts related to the application are shown in each drawing, and they do not represent the actual structure of the product. In addition, in order to make the drawing simple and easy to understand, in some drawings, only one of the components with the same structure or function is shown schematically, or only one of them is marked. In this document, "one" not only means "only one", but also means "more than one" in some cases.

[0085] It should also be further understood that the term "and / or" used in the application description and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

[0086] In this document, unless otherwise indicated and limited, the terms "mount", "connected", "connection" should be interpreted broadly, for example, can be fixed connection, can also be detachable connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0087] In a specific implementation, the terminal device described in the embodiments of the present application includes, but is not limited to, other portable devices such as mobile phones, laptop computers, home teaching machines or tablet computers with touch-sensitive surfaces (for example, touch screen displays and / or touchpads). It should also be understood that in some embodiments, the terminal device is not a portable communication device, but a desktop computer with a touch-sensitive surface (for example: touch screen display and / or touchpad).

[0088] In addition, in the description of the present application, the terms "first", "second" and the like are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0089] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the specific embodiments of the present application will be described below with reference to the drawings. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained from these drawings without creative labor, and other embodiments can also be obtained.

[0090] With reference to the drawings accompanying the specification Figure 1 An embodiment of a photovoltaic cleaning system provided by the present application comprises the following steps:

[0091] The task receiving module 10 is used for receiving the cleaning task sent by the background and confirming the task type. The task type includes: type one: cleaning the cleaning area by one transfer vehicle and multiple cleaning machines equipped; type two: cleaning the cleaning area by multiple cleaning devices. One cleaning device is composed of one transfer vehicle and one cleaning machine.

[0092] Specifically, the cleaning task further includes: the serial number of the array to be cleaned, the position of the array, the corresponding array support condition, etc.

[0093] The device allocation module 20 is used for selecting the target transfer vehicle and its corresponding target cleaning machine for executing the cleaning task based on the received cleaning task and task type.

[0094] Specifically, the cleaning task is assigned to a specific transfer vehicle and a corresponding cleaning machine.

[0095] The information transceiving module 30 is configured to send a cleaning task instruction to a target transfer vehicle and a target cleaning machine selected by the device distribution module. The target transfer vehicle carries the target cleaning machine to a target array to be cleaned.

[0096] Specifically, the information transceiving module 30 is configured to send a cleaning instruction to the target cleaning machine carried by the target transfer vehicle after the target transfer vehicle runs to the target array. The target cleaning machine starts to automatically clean the photovoltaic panel in the target array after receiving the cleaning instruction. After the cleaning is completed, the target cleaning machine sends a return instruction to the target transfer vehicle. The target transfer vehicle runs to the array where the target cleaning machine is located after receiving the return instruction, so that the target cleaning machine can return to the target transfer vehicle.

[0097] The control processing module 40 is configured to control the target transfer vehicle and the corresponding target cleaning machine to execute the cleaning task instruction according to the cleaning task and the type of the cleaning task.

[0098] Specifically, the control processing module 40 collects information collected or fed back by other modules, comprehensively processes or judges the information, and thus decides the action of each step of the target transfer vehicle.

[0099] The cleaning state monitoring module 50 is configured to monitor the cleaning state of the target transfer vehicle and the corresponding target cleaning machine, so that the control processing module can perform corresponding processing based on the cleaning state.

[0100] Specifically, the cleaning state monitoring module 50 collects the running state of the target cleaning machine and the cleaning progress of the photovoltaic array, and transmits the information to the control processing module 40. The running state of the target cleaning machine includes the number of cleaning machines in the cleaning state and the array serial number cleaned by the cleaning machines, the time when the cleaning machine in the cleaning state starts to work, the number of cleaning machines not in the cleaning state, the number of fault cleaning machines, etc. The cleaning progress of the photovoltaic array specifically refers to the array serial number that has been cleaned, the array serial number that is being cleaned, the array serial number that has not been cleaned (including the array that is skipped), the serial number of the fault array, etc. The time when the cleaning of the array starts can be used to estimate the time when the cleaning of the array ends. Thus, the control processing module 40 can help to decide the next action of the target transfer vehicle.

[0101] Another embodiment of the photovoltaic cleaning system with a transfer vehicle and a cleaning machine is shown in FIG. 2. Figure 2 As shown in FIG. 2, the control processing module 40 of the system includes a first control processing submodule 41, a cleaning machine condition judging submodule 43, and an array condition judging submodule 44.

[0102] The first control processing submodule 41 is configured to control the device distribution module to distribute one target transfer vehicle to a stopping point when the received cleaning task type is type one. The stopping point is parked with each target cleaning machine.

[0103] Specifically, the photovoltaic field layout diagram is shown in the accompanying drawings of the specification. Figure 3 As shown in the drawings, a track is laid at one end of each row of photovoltaic arrays in the photovoltaic power station. The track has at least one track to support the transfer vehicle to run back and forth on the track.

[0104] The cleaning machine condition judgment submodule 43 is configured to determine whether each target cleaning machine at the current stopping point has cleaning conditions; so that the target transfer vehicle carries the target cleaning machine with cleaning conditions to run to the target array to be cleaned.

[0105] Specifically, it is necessary to determine whether each function of the target cleaning machine is running normally, whether there is an alarm, whether the power is sufficient, and whether all of the above are met to determine whether the target cleaning machine has cleaning conditions. If the target cleaning machine does not have cleaning conditions, it is necessary to further determine whether the target cleaning machine is running failure or needs to be charged. The cleaning machine without cleaning conditions is left in the stopping point for charging or reporting maintenance. The transfer vehicle carries at least one cleaning machine with cleaning conditions to the target cleaning array each time. The number of transfer times can be controlled according to the maximum number of cleaning machines transferred by the transfer vehicle each time.

[0106] The array condition judgment submodule 44 is configured to sequentially determine whether each target array currently has cleaning conditions, and sequentially allocate the target cleaning machine to clean the target array with cleaning conditions until all target cleaning machines with cleaning conditions are allocated. Each target array with cleaning conditions is allocated one target cleaning machine with cleaning conditions.

[0107] Specifically, after the cleaning machine with cleaning conditions in the stopping point is transferred to the target array with cleaning conditions, the cleaning machine starts cleaning.

[0108] The first control processing submodule 41 is further configured to, during the cleaning process, monitor whether all target arrays in the cleaning area are cleaned through the cleaning state monitoring module when each target cleaning machine with cleaning conditions has been allocated.

[0109] Specifically, when all the cleaning machines in the stop point that meet the cleaning condition are transferred, the first control processing submodule 41 acquires the cleaning state monitoring information collected by the cleaning state monitoring module 50. The content of the monitoring information includes: monitoring whether all the target arrays in the cleaning area are completely cleaned or all are in the cleaning state, monitoring whether there is a cleaning machine that meets the cleaning condition (a cleaning machine that completes charging) in the stop point, monitoring whether the cleaning machine in the cleaning state completes cleaning of the current array, etc.

[0110] The first control processing submodule 41 is also used to monitor whether each target cleaning machine has cleaned the corresponding target array allocated to it by the cleaning state monitoring module if there is no target cleaning machine that meets the cleaning condition in the current stop point. And in the target cleaning machine that has completed the cleaning task of the corresponding target array, the cleaning machine condition judgment submodule is further used to screen the target cleaning machine that meets the cleaning condition.

[0111] Specifically, if it is monitored that the cleaning machine in the cleaning state completes cleaning of the current array, the remaining power of the cleaning machine needs to be further acquired to determine whether the remaining power can support the cleaning machine to continue cleaning the next target photovoltaic array.

[0112] The first control processing submodule 41 is also used to control the target transfer vehicle to transport the target cleaning machine that has completed the cleaning task and meets the cleaning condition to the next target array that meets the cleaning condition. And it is also used to control the target transfer vehicle to transport the target cleaning machine that has completed the cleaning task but does not meet the cleaning condition to the corresponding stop point.

[0113] The first control processing submodule 41 is also used to control the target transfer vehicle to pick up each target cleaning machine to the corresponding stop point when all the target arrays in the cleaning area that meet the cleaning condition have been cleaned. And after all the target cleaning machines return to the stop point, the target transfer vehicle is controlled to return to the starting point with each target cleaning machine in the stop point.

[0114] Another embodiment of the photovoltaic cleaning system with a transfer vehicle cooperating with a cleaning machine of the application is shown in FIG. 2. Based on the embodiment of the system described above, the control processing module further includes a second control processing submodule 42 and a positioning confirmation submodule 45. Wherein: Figure 2 The second control processing submodule 42 is used to divide the cleaning area into a corresponding number of sub-areas based on the number of cleaning devices allocated by the device allocation module when the received cleaning task type is type two. And it controls the transfer vehicle in each cleaning device to transport the cleaning machine equipped to the corresponding responsible sub-area; each sub-area contains at least two target arrays.

[0115] The second control processing submodule 42 is used to divide the cleaning area into a corresponding number of sub-areas based on the number of cleaning devices allocated by the device allocation module when the received cleaning task type is type two. And it controls the transfer vehicle in each cleaning device to transport the cleaning machine equipped to the corresponding responsible sub-area; each sub-area contains at least two target arrays.

[0116] Specifically, the photovoltaic field layout diagram is shown in the accompanying drawings of the specification. Figure 4 Each set of cleaning equipment is responsible for an array in a sub-area.

[0117] The positioning confirmation sub-module 45 is configured to receive positioning information of each cleaning device and confirm whether each cleaning device reaches a starting target array position of the corresponding sub-area; the transfer vehicle or the cleaning machine in each set of cleaning devices is provided with an RFID sensor, and each target array is provided with an RFID tag.

[0118] Specifically, an RFID tag is installed near the end of each row of arrays, and the array serial number is sequentially written into the RFID tag by the RFID card reader during the debugging of the transfer vehicle, which corresponds to each row of arrays.

[0119] Preferably, the positioning confirmation sub-module 45 is further configured to confirm whether the cleaning device moves to the target array position; specifically including:

[0120] 1: further configured to obtain the array serial number of the target array, obtain its own position, and calculate the target distance to be run. 2: further configured to record the travel distance of the transfer vehicle during driving. 3: further configured to identify the RFID tag installed on the corresponding track of each row of arrays by the RFID card reader installed on the transfer vehicle when the travel distance is close to the target distance, and confirm the arrival of the target array.

[0121] The cleaning machine condition judgment sub-module 43 is further configured to judge whether the cleaning machine in each cleaning device has cleaning conditions.

[0122] The array condition judgment sub-module 44 is further configured to judge whether there is an obstacle on the cleaning path of each sub-area and whether the target array in each sub-area has cleaning conditions.

[0123] The second control processing sub-module 42 is further configured to re-plan the cleaning route or skip the target array that does not have cleaning conditions when performing the cleaning task if there is an obstacle on the cleaning path in the sub-area or there is a target array in the sub-area that does not have cleaning conditions.

[0124] Specifically, the running mode is determined by the distance measuring sensor to judge whether there is an obstacle in front. There is no obstacle to clean the array in sequence. There is an obstacle to stop moving to prevent the collision of two transfer vehicles. The track installed on one side of the array can have multiple tracks to support multiple sets of cleaning devices to run back and forth on the track and re-plan the route when there is an obstacle.

[0125] The second control processing submodule 42 is further used for judging whether the cleaning task of each cleaning device is completed through the cleaning state monitoring module.

[0126] Specifically, if the cleaning task of the device is not completed, the next task is continued to be executed until all cleaning tasks are completed.

[0127] The cleaning state monitoring module 50 is further used for judging whether the cleaning task of other cleaning devices is completed if the cleaning task of the corresponding sub-area of the cleaning device has been completed. If not, the cleaning device that has completed the cleaning task is assigned to assist other cleaning devices to complete the cleaning task.

[0128] Specifically, after the cleaning task of the current cleaning device is completed, the other cleaning devices are communicated with each other, and the background is applied to help other cleaning devices to complete the cleaning task, so that the cleaning task in the whole cleaning area can be completed more quickly. The cleaning is started after the new task is obtained.

[0129] The second control processing submodule 42 is further used for controlling the transfer car of the cleaning device to carry the matched cleaning machine back to the starting point when the cleaning task of the cleaning device is completed.

[0130] Another embodiment of the system of the application is based on any of the above embodiments, and the cleaning machine condition judging submodule specifically comprises:

[0131] The power judging submodule 431 is used for obtaining the power of the cleaning machine and judging whether the power of the cleaning machine is higher than a safety threshold.

[0132] The function judging submodule 432 is used for judging whether the cleaning function of the cleaning machine is normal.

[0133] The state judging submodule 433 is used for judging whether the cleaning machine is in an idle state.

[0134] The analysis judging submodule 434 is used for judging that the cleaning machine has the cleaning condition when the power of the cleaning machine is higher than the safety threshold, the cleaning function is normal, and the cleaning machine is in the idle state.

[0135] Specifically, if the power is insufficient, the charging is continued. If the cleaning machine is faulty, the maintenance is reported.

[0136] Another embodiment of the system of the application is based on any of the above embodiments, and the array condition judging submodule comprises:

[0137] The support judging submodule 441 is used for judging whether the photovoltaic support of the target array is a fixed support or a tracking support, and is further used for judging whether the target array is in normal operation.

[0138] The angle measurement submodule 442 is configured to measure and determine whether the angle of the current tracking support reaches a cleaning angle if the photovoltaic support of the current target array is a tracking support and is in normal operation. If the angle of the tracking support reaches the cleaning angle, the target array has a cleaning condition. Otherwise, the target array does not have a cleaning condition.

[0139] Based on the same technical concept, the application further discloses a photovoltaic cleaning method using a transfer vehicle and a cleaning machine. The method can be implemented by using any one of the photovoltaic cleaning systems using a transfer vehicle and a cleaning machine. Specifically, a photovoltaic cleaning method using a transfer vehicle and a cleaning machine according to the application includes the following steps, as shown in the accompanying drawings. Figure 5 The photovoltaic cleaning method using a transfer vehicle and a cleaning machine according to the application includes the following steps, as shown in the accompanying drawings.

[0140] S010, receiving a cleaning task sent by a background, and confirming a task type. The task type includes: type one, cleaning a cleaning area by using one transfer vehicle and multiple cleaning machines. Type two, cleaning the cleaning area by using multiple cleaning devices. One cleaning device is composed of one transfer vehicle and one cleaning machine.

[0141] Specifically, the cleaning task further includes: a serial number of an array to be cleaned, a position of the array, a corresponding array support condition, and the like.

[0142] S020, selecting a target transfer vehicle and a target cleaning machine corresponding to the target transfer vehicle based on the received cleaning task and the task type.

[0143] Specifically, the cleaning task is assigned to a specific transfer vehicle and a corresponding cleaning machine.

[0144] S030, sending a cleaning task instruction to the selected target transfer vehicle and the target cleaning machine, so that the target transfer vehicle carries the target cleaning machine to a target array to be cleaned.

[0145] Specifically, the information transceiving module 30 is configured to send a cleaning instruction from the transfer vehicle to the target cleaning machine after the target transfer vehicle runs to the target array. After receiving the cleaning instruction, the target cleaning machine starts to automatically clean the photovoltaic panel of the target array. After the cleaning is completed, the target cleaning machine sends a return instruction to the transfer vehicle. After receiving the return instruction, the transfer vehicle runs to the array where the target cleaning machine is located, so that the target cleaning machine can return to the transfer vehicle.

[0146] S040, controlling the target transfer vehicle and the target cleaning machine corresponding to the target transfer vehicle to execute the cleaning task instruction according to the cleaning task and the task type.

[0147] Specifically, the control processing module 40 collects information collected or fed back by other modules, comprehensively processes or judges the information, and thus decides the action performed by the target transfer vehicle at each step.

[0148] S050, monitoring the cleaning situation of the target transfer vehicle and the corresponding target cleaning machine, so as to perform corresponding processing based on the cleaning situation.

[0149] Specifically, the cleaning state monitoring module 50 collects the running state of the cleaning machine and the cleaning progress of the photovoltaic array, and transmits the information to the control processing module 40, wherein the running state of the cleaning machine includes: the cleaning machine number in the cleaning state and the array serial number cleaned by the cleaning machine, the time when the cleaning machine in the cleaning state starts to work, the cleaning machine number in the non-cleaning state, the fault cleaning machine number, etc. The cleaning progress of the photovoltaic array specifically refers to: the array serial number of the completed cleaning, the array serial number of the cleaning in progress, the array serial number of the non-cleaning (skipped cleaning), the serial number of the fault array, and the like. The time when the cleaning of the array starts can be used to estimate the time when the cleaning of the array ends, so as to help the control processing module 40 to decide the next action of the transfer vehicle.

[0150] Another embodiment of the photovoltaic cleaning method provided by the application is provided, as shown in the schematic diagram of the photovoltaic field layout in the accompanying drawings of the specification. Figure 6 The photovoltaic cleaning method provided by the application further comprises:

[0151] When the received cleaning task type is type one:

[0152] S110, controlling the target transfer vehicle to drive to a parking point. The parking point is parked with each target cleaning machine.

[0153] Specifically, the photovoltaic field layout schematic diagram is as shown in the accompanying drawings of the specification. Figure 3 In the photovoltaic power station, a track is laid at one end of each row of photovoltaic arrays, and the guide rail has at least one, supporting the transfer vehicle to run back and forth on the track.

[0154] S120, confirming whether each target cleaning machine at the parking point has cleaning conditions; so that the target transfer vehicle carries the target cleaning machine with cleaning conditions to run to the target array to be cleaned.

[0155] Specifically, it is necessary to determine whether each target cleaning machine is in normal operation, has no alarm, and has sufficient power, and all meet the cleaning conditions. If the target cleaning machine does not have the cleaning conditions, it is necessary to further determine whether the target cleaning machine is running failure or needs to be charged. The cleaning machine without cleaning conditions is left in the docking station for charging or reported for maintenance. The transfer vehicle carries at least one cleaning machine with cleaning conditions to the target cleaning array each time. The number of transfers can be controlled according to the maximum number of cleaning machines transferred by the transfer vehicle each time.

[0156] S130, in turn, determine whether each target array currently has cleaning conditions, and in turn, allocate the target cleaning machine to clean the target array with cleaning conditions until all target cleaning machines with cleaning conditions are allocated. Each target array with cleaning conditions is allocated one target cleaning machine with cleaning conditions.

[0157] Specifically, after the cleaning machine with cleaning conditions in the docking station is transferred to the target array with cleaning conditions, the cleaning machine starts cleaning.

[0158] S140, when each target cleaning machine with cleaning conditions has been allocated, monitor whether all target arrays in the cleaning area have been cleaned. If not, further determine whether the current docking station has a target cleaning machine with cleaning conditions.

[0159] Specifically, after all cleaning machines with cleaning conditions in the docking station are transferred, the first control processing submodule 41 obtains the cleaning state monitoring information collected by the cleaning state monitoring module 50. The content of the monitoring information includes: monitoring whether all target arrays in the cleaning area have been cleaned or are all in the cleaning state, monitoring whether the docking station has a cleaning machine with cleaning conditions (a cleaning machine that has completed charging), monitoring whether the cleaning machine in the cleaning state has completed cleaning of the current array, etc.

[0160] S150, if the current docking station does not have a target cleaning machine with cleaning conditions, monitor whether each target cleaning machine has cleaned the corresponding target array allocated. And in the target cleaning machine that has completed the cleaning task of the corresponding target array, further select the target cleaning machine with cleaning conditions.

[0161] Specifically, if it is monitored that the cleaning machine in the cleaning state has completed cleaning of the current array, it is further necessary to obtain the remaining power of the cleaning machine to determine whether the remaining power can support the cleaning machine to continue cleaning the next target photovoltaic array.

[0162] S160, control the target transfer vehicle to carry the target cleaning machine which has completed the cleaning task and has the cleaning condition to the next target array with the cleaning condition.

[0163] S170, when all the target arrays with the cleaning condition in the cleaning area have been cleaned, control the target transfer vehicle to pick up each target cleaning machine to the corresponding stop point; after all the target cleaning machines return to the stop point, control the target transfer vehicle to return to the starting point with each target cleaning machine of the stop point.

[0164] In another embodiment of the present embodiment, taking the case of a transfer vehicle equipped with two cleaning machines as an example, the operation logic block diagram is as shown in Figure 7

[0165] The transfer vehicle starts from the track starting point in time, and confirms whether the two cleaning machines and the array have the cleaning condition.

[0166] If the first and second cleaning machines both have the cleaning condition, the transfer vehicle first transports one cleaning machine to the cleaning array, returns to the stop station to pick up another cleaning machine, and then transports it to the next cleaning array.

[0167] If the second cleaning machine has the cleaning condition and the first cleaning machine does not have the cleaning condition, the second cleaning machine performs the cleaning task. After the first cleaning machine re-acquires the cleaning condition, it performs cleaning.

[0168] Among them, the judgment condition: the second one has, the first one does not have, which means that the second cleaning machine and the array meet the cleaning requirements, and one or both of the first cleaning machine or the array do not meet the cleaning requirements, and so on.

[0169] The judgment condition: the array does not have, the first cleaning machine has, which means that the arrays at the two stop points do not meet the cleaning requirements, such as the tracking support does not turn to the angle allowed in the cleaning range, such as the background informs the transfer vehicle support or component has a problem, etc. The first cleaning machine meets the cleaning requirements, each function operates normally, there is no alarm, the power is sufficient, etc. Whether the second cleaning machine meets the cleaning requirements is not in the judgment condition.

[0170] The first cleaning machine re-acquires the cleaning condition, which means that the first cleaning machine is at the edge of the array at the end of the laid track and meets the cleaning requirements.

[0171] Another embodiment of the photovoltaic cleaning method provided by the transfer vehicle cooperating with the cleaning machine is shown in the accompanying drawings of the specification. Figure 8 Based on the above method embodiment, the photovoltaic cleaning method of the transfer vehicle cooperating with the cleaning machine further comprises: ​

[0172] When the received cleaning task type is type two:

[0173] S210, based on the number of cleaning devices, the cleaning area is divided into a corresponding number of sub-areas. And control the transfer car in each cleaning device to transport the equipped cleaning machine to the corresponding responsible sub-area; each sub-area contains at least two target arrays.

[0174] Specifically, the photovoltaic field layout diagram is shown in the description Figure 4 Each set of cleaning equipment is responsible for an array in a sub-area.

[0175] S220, receive the positioning information of each cleaning device, and confirm whether each cleaning device reaches the starting target array position of the corresponding sub-area; the transfer car or the cleaning machine in each cleaning device is provided with an RFID inductor, and each target array is provided with an RFID tag.

[0176] Specifically, an RFID mark is installed near the end of each row of arrays, and the array serial number is sequentially written into the RFID mark by the RFID card reader during the debugging of the transfer car, which corresponds to each row of arrays one by one.

[0177] Preferably, the positioning confirmation submodule 45 is also used to confirm whether the cleaning device moves to the target array position; specifically including:

[0178] 1: also used to obtain the array serial number of the target array, obtain its own position, and calculate the target distance to be run. 2: also used to record the travel distance of the transfer car during driving. 3: also used to identify the RFID mark installed on the corresponding track of each row of arrays by the RFID card reader installed on the transfer car when the travel distance is close to the target distance, to confirm the arrival of the target array.

[0179] S230, judge whether the cleaning machine in each cleaning device has cleaning conditions.

[0180] S240, judge whether there is an obstacle on the cleaning path of each sub-area, and whether the target array in each sub-area has cleaning conditions.

[0181] S250, if there is an obstacle on the cleaning path in the sub-area or there is a target array in the sub-area that does not have cleaning conditions, then re-plan the cleaning route, or skip the current target array that does not have cleaning conditions when performing the cleaning task.

[0182] Specifically, the running mode is determined by judging whether there is an obstacle in front of the device through the distance sensor. If there is no obstacle, the array is cleaned in sequence. If there is an obstacle, the forward movement is stopped to prevent the collision of the two transfer vehicles. The track installed on one side of the array can have multiple tracks to support multiple cleaning devices to run back and forth on the track and re-plan the route when an obstacle is encountered.

[0183] S260, judging whether the cleaning task of each cleaning device is completed.

[0184] Specifically, if the cleaning task of the device is not completed, the next task is continued to be executed until all cleaning tasks are completed.

[0185] S270, if the cleaning task of the current cleaning device in the corresponding sub-area is completed, it is judged whether the cleaning task of other cleaning devices is completed. If not, the cleaning device that has completed the cleaning task is assigned to assist other cleaning devices to complete the cleaning task.

[0186] Specifically, after the cleaning of the current cleaning device is completed, the other cleaning devices are communicated with each other, and the background is applied to help other cleaning devices to complete the cleaning task, so that the cleaning task in the whole cleaning area can be completed more quickly. After obtaining the new task, the cleaning is started.

[0187] S280, when the cleaning task of the cleaning device is completed, the transfer vehicle of the cleaning device carries the matching cleaning machine to return to the starting point.

[0188] In another embodiment of the present embodiment, taking two sets of cleaning devices as an example, the running logic block diagram is as shown in Figure 9 , which comprises:

[0189] Two transfer vehicles are started at regular intervals, and the transfer vehicles communicate with each other.

[0190] Among them, the two transfer vehicles communicate with each other to confirm the working state, the current position, and the target array of the transfer vehicle and the cleaning machine.

[0191] The communication is normal or the distance sensor of the transfer vehicle judges whether there is an obstacle in front.

[0192] Among them, when the communication is abnormal, the running mode is determined by judging whether there is an obstacle in front of the device through the distance sensor. If there is no obstacle, the array is cleaned in sequence. If there is an obstacle, the forward movement is stopped to prevent the collision of the two transfer vehicles.

[0193] If there is no obstacle, the two transfer vehicles run to the target array and stop well, the two transfer vehicles send a command to the two cleaning machines to start cleaning, and the two cleaning machines clean the array.

[0194] If there is an obstacle in front of the second cleaning machine and there is no obstacle in front of the first cleaning machine, the first cleaning machine runs normally and the second cleaning machine waits in place.

[0195] If both cleaning machines finish cleaning, the corresponding transfer vehicle is connected to the cleaning machine and returns to the departure point for parking.

[0196] The photovoltaic cleaning system and method of the transfer vehicle cooperating with the cleaning machine have the same technical concept, and the technical details of the embodiments of the two can be mutually applicable. In order to reduce repetition, this time, no longer tedious.

[0197] The present application is described with reference to flowcharts and / or block diagrams of the method, device (system) and computer program product according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram can be realized by computer program instructions, and the combination of the flows and / or blocks in the flowchart and / or block diagram. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device realize the functions specified in the flow Figure 1 one or more flows and / or blocks. Figure 1 the means for performing the functions specified in one or more blocks.

[0198] These computer program instructions can also be stored in a computer readable memory capable of guiding the computer or other programmable data processing device to work in a specific way, so that the instructions stored in the computer readable memory produce a product including instruction means, which realizes the functions specified in the flow Figure 1 one or more flows and / or blocks. Figure 1 the means for performing the functions specified in one or more blocks.

[0199] These computer program instructions can also be loaded into a computer or other programmable data processing device, so that a series of operation steps are performed on the computer or other programmable device to generate a computer implemented process, so that the instructions executed on the computer or other programmable device provide a process for realizing the functions specified in the flow Figure 1 one or more flows and / or blocks. Figure 1 the means for performing the functions specified in one or more blocks.

[0200] Although the preferred embodiments of the present application have been described, those skilled in the art can make additional changes and modifications to the embodiments once they know the basic creative concept. Therefore, the appended claims are intended to include the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0201] Obviously, many modifications and variations of the present application are possible in light of the above teachings. It is, therefore, to be understood that within the scope of the appended claims and their equivalents, the application can be practiced otherwise than as specifically described.

Claims

1. A photovoltaic cleaning system with a transport vehicle cooperating with a cleaning machine, characterized in that Comprise: Task receiving module, for receiving background sent cleaning task, confirm task type; The task type includes: type one: through a transfer car and equipped with multiple cleaning machines to clean the cleaning area; Type two: through multiple cleaning devices to clean the cleaning area; Wherein, a set of cleaning device is composed of a transfer car and a cleaning machine; Device allocation module, for selecting target transfer car and its supporting target cleaning machine based on the received cleaning task and task type to execute the cleaning task; Information transceiver module, for sending cleaning task instructions to the target transfer car and the target cleaning machine selected by the device allocation module; So that the target transfer car carries the target cleaning machine to move to the target array to be cleaned; Control processing module, for controlling the target transfer car and the corresponding target cleaning machine to execute the cleaning task instruction according to the cleaning task and its task type; Cleaning state monitoring module, for monitoring the cleaning situation of the target transfer car and the corresponding target cleaning machine, so that the control processing module processes based on the cleaning situation; Wherein, the control processing module includes first control processing submodule and second control processing submodule; The first control processing submodule is used for controlling the device allocation module to allocate a target transfer car to drive to a stopping point when the received cleaning task type is type one; The stopping point is parked with each target cleaning machine; The first control processing submodule is also used for controlling the target transfer car to pick up each target cleaning machine to the corresponding stopping point when all target arrays with cleaning conditions in the cleaning area have been cleaned; After all the target cleaning machines return to the stopping point, control the target transfer car to carry each target cleaning machine of the stopping point to return to the starting point; The second control processing submodule is used for dividing the cleaning area into corresponding number of subareas based on the number of cleaning devices allocated by the device allocation module when the received cleaning task type is type two; And control the transfer car in each cleaning device to transport the cleaning machine to the corresponding responsible subarea; Each subarea contains at least two target arrays; The second control processing submodule is also used for controlling the transfer car of the cleaning device to carry the supporting cleaning machine to return to the starting point when the cleaning task of the cleaning device is completed.

2. The photovoltaic cleaning system of claim 1, wherein the transfer vehicle is configured to move the cleaning machine along the track. The control processing module also includes cleaning machine condition judgment submodule and array condition judgment submodule; When the received cleaning task type is type one; The cleaning machine condition judgment submodule is used for confirming whether each target cleaning machine of the current stopping point has cleaning condition; So that the target transfer car carries the target cleaning machine with cleaning condition to run to the target array to be cleaned; The array condition judging submodule is configured to judge in sequence whether each target array currently has the cleaning condition, and allocate the target cleaning machine for cleaning for the target array having the cleaning condition in sequence until all the target cleaning machines having the cleaning condition are allocated.

3. The photovoltaic cleaning system of claim 2, wherein the transfer vehicle is configured to move the cleaning machine from the first position to the second position. Further comprising: The first control processing submodule is further configured to, during the cleaning process, monitor whether all target arrays in the cleaning area are cleaned by the cleaning state monitoring submodule when all the target cleaning machines having the cleaning condition are allocated; if not, further judge whether the current stop point has the target cleaning machine having the cleaning condition; The first control processing submodule is further configured to, if the current stop point does not have the target cleaning machine having the cleaning condition, monitor whether the target cleaning machine has cleaned the corresponding target array allocated by the cleaning state monitoring submodule; and further screen the target cleaning machine having the cleaning condition from the target cleaning machine having completed the cleaning task of the corresponding target array by the cleaning machine condition judging submodule; The first control processing submodule is further configured to control the target transfer vehicle to transport the target cleaning machine having completed the cleaning task and having the cleaning condition to the next target array having the cleaning condition, and further control the target transfer vehicle to transport the target cleaning machine having completed the cleaning task but not having the cleaning condition to the corresponding stop point.

4. The photovoltaic cleaning system of claim 2, wherein the transfer vehicle is configured to move the cleaning machine along the track. The control processing module further comprises a positioning confirmation submodule; When the received cleaning task type is type two; The positioning confirmation submodule is configured to receive positioning information of each cleaning device, and confirm whether each cleaning device reaches the starting target array position of the corresponding sub-region; the transfer vehicle or the cleaning machine in each set of cleaning device is provided with an RFID inductor, and each target array is provided with an RFID tag; The cleaning machine condition judging submodule is further configured to judge whether the cleaning machine in each cleaning device has the cleaning condition; The array condition judging submodule is further configured to judge whether there is an obstacle on the cleaning path of each sub-region, and whether the target array in each sub-region has the cleaning condition; The second control processing submodule is further configured to, if there is an obstacle on the cleaning path in the sub-region or there is a target array not having the cleaning condition in the sub-region, re-plan the cleaning route or skip the target array not having the cleaning condition during the execution of the cleaning task; The second control processing submodule is further configured to judge whether the cleaning task of each cleaning device is completed by the cleaning state monitoring submodule; The cleaning state monitoring submodule is further configured to, if the cleaning task of the current cleaning device is completed, judge whether the cleaning task of other cleaning devices is completed; if not, assign the cleaning device having completed the cleaning task to assist other cleaning devices to complete the cleaning task.

5. A photovoltaic cleaning system with a transport vehicle cooperating cleaning machine according to any of claims 2-4, characterized in that, The cleaning machine condition judging submodule specifically comprises: The power determination submodule is configured to acquire the power of the cleaning machine and determine whether the power of the cleaning machine is higher than a safety threshold. The function determination submodule is configured to determine whether the cleaning function of the cleaning machine is normal. The state determination submodule is configured to determine whether the cleaning machine is currently in an idle state. The analysis determination submodule is configured to determine that the cleaning machine has a cleaning condition when the power of the cleaning machine is higher than the safety threshold, the cleaning function is normal, and the cleaning machine is in the idle state.

6. A photovoltaic cleaning system with a transport vehicle cooperating cleaning machine according to any of claims 2-4, characterized in that, The array condition determination submodule includes: The support determination submodule is configured to determine whether the photovoltaic support of the target array is a fixed support or a tracking support, and further determine whether the target array is operating normally. The angle measurement submodule is configured to measure and determine whether the angle of the tracking support reaches a cleaning angle if the photovoltaic support of the current target array is a tracking support and is operating normally. If the angle of the tracking support reaches the cleaning angle, the target array has a cleaning condition. Otherwise, the target array does not have a cleaning condition.

7. A photovoltaic cleaning method with a transfer cart cooperating with a cleaning machine, characterized in that, The method includes the following steps: The cleaning task sent by the background is received, and the task type is confirmed. The task type includes: type one: performing cleaning on a cleaning area by one transfer vehicle and multiple cleaning machines equipped; type two: performing cleaning on a cleaning area by multiple cleaning devices. One cleaning device is composed of one transfer vehicle and one cleaning machine. Based on the received cleaning task and task type, the target transfer vehicle and the target cleaning machine equipped therefor are selected to execute the cleaning task. The target transfer vehicle and the target cleaning machine are sent with a cleaning task instruction so that the target transfer vehicle carrying the target cleaning machine moves to the target array to be cleaned. According to the cleaning task and the task type, the target transfer vehicle and the corresponding target cleaning machine are controlled to execute the cleaning task instruction. The cleaning situation of the target transfer vehicle and the corresponding target cleaning machine is monitored so that corresponding processing is performed based on the cleaning situation.

8. The photovoltaic cleaning method of claim 7, wherein, When the received cleaning task type is type one: The target transfer vehicle is controlled to travel to a stopping point. The stopping point is parked with each target cleaning machine. It is confirmed whether each target cleaning machine at the current stopping point has a cleaning condition so that the target transfer vehicle carrying the target cleaning machine with a cleaning condition runs to the target array to be cleaned. It is sequentially determined whether each target array currently has a cleaning condition, and the target cleaning machine with a cleaning condition is sequentially allocated to clean the target array with a cleaning condition until all target cleaning machines with a cleaning condition are allocated. Each target array with a cleaning condition is allocated one target cleaning machine with a cleaning condition. When each target cleaning machine with a cleaning condition has been allocated, it is monitored whether all target arrays in the cleaning area are cleaned. If not, it is further determined whether there is a target cleaning machine with a cleaning condition at the current stopping point. If the target cleaning machine with the cleaning condition does not exist in the current stop point, it is monitored whether each target cleaning machine has completed the corresponding target array assigned; and in the target cleaning machine that has completed the cleaning task, a target cleaning machine with the cleaning condition is further screened; The target transfer vehicle is controlled to transport the target cleaning machine that has completed the cleaning task and has the cleaning condition to the next target array with the cleaning condition; and the target transfer vehicle is controlled to transport the target cleaning machine that has completed the cleaning task but does not have the cleaning condition to the corresponding stop point; When all the target arrays with the cleaning condition in the cleaning area have been cleaned, the target transfer vehicle is controlled to transport each target cleaning machine to the corresponding stop point; After all the target cleaning machines return to the stop point, the transfer vehicle is controlled to return to the starting point with each target cleaning machine in the stop point.

9. The photovoltaic cleaning method of claim 8, wherein, When the received cleaning task type is type two: Based on the number of sets of cleaning devices, the cleaning area is divided into a corresponding number of sub-areas; and the transfer vehicle in each cleaning device is controlled to transport the equipped cleaning machine to the corresponding responsible sub-area; each sub-area contains at least two target arrays; The positioning information of each cleaning device is received, and it is confirmed whether each cleaning device reaches the starting target array position of the corresponding sub-area; the transfer vehicle or the cleaning machine in each set of cleaning devices is provided with an RFID inductor, and each target array is provided with an RFID tag; It is judged whether the cleaning machine in each cleaning device has the cleaning condition; It is judged whether there is an obstacle on the cleaning path of each sub-area, and whether the target array in each sub-area has the cleaning condition; If there is an obstacle on the cleaning path in the sub-area or there is a target array in the sub-area that does not have the cleaning condition, the cleaning route is re-planned, or the current target array that does not have the cleaning condition is skipped when performing the cleaning task; It is judged whether the cleaning task of each cleaning device is completed; If the current cleaning device has completed the cleaning task of the corresponding sub-area, it is judged whether the cleaning task of other cleaning devices is completed; if not, the cleaning device that has completed the cleaning task is assigned to assist other cleaning devices to complete the cleaning task; When the cleaning task of the cleaning device is completed, the transfer vehicle of the cleaning device is controlled to return to the starting point with the matched cleaning machine.

10. The photovoltaic cleaning method with a transfer cart cooperating cleaning machine according to claim 8 or 9, characterized in that, The "confirmation of whether each target cleaning machine in the current stop point has the cleaning condition"; or the "judgment of whether the cleaning machine in each cleaning device has the cleaning condition" specifically includes: The power of the cleaning machine is obtained, and it is judged whether the power of the cleaning machine is higher than a safety threshold; It is judged whether the cleaning function of the cleaning machine is normal; It is judged whether the cleaning machine is currently in an idle state; When the power of the cleaning machine is higher than the safety threshold, the cleaning function is normal, and the cleaning machine is in the idle state, it is determined that the cleaning machine has the cleaning condition.

Images