A photovoltaic power station cleaning method and system based on a transfer vehicle

Abstract

This invention discloses a photovoltaic power station cleaning method and system based on a transport vehicle. The method includes: receiving a cleaning task sent from a backend; driving a transport vehicle carrying a cleaning machine to a target array location based on the cleaning task; sending a cleaning command to the cleaning machine and determining whether the wireless communication connection between the transport vehicle and the cleaning machine is normal; if the wireless communication connection is abnormal, adjusting a first sensing structure on the transport vehicle so that a first proximity unit on the cleaning machine receives a cleaning signal, and the cleaning machine leaves the transport vehicle to begin cleaning; after the cleaning machine finishes cleaning, sensing whether the cleaning machine has returned to the transport vehicle through a second proximity unit on the transport vehicle; wherein the cleaning machine is equipped with a second sensing structure; after confirming that the cleaning machine has returned, driving the transport vehicle to the next target array. This invention allows the system to function normally even when communication between the transport vehicle and the cleaning machine is disrupted.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic cleaning, and more specifically, to a method and system for cleaning photovoltaic power plants based on a transport vehicle. Background Technology

[0002] During photovoltaic (PV) power generation, dirt adhering to the surface of PV glass panels affects the normal power generation of the PV system. Existing large-scale PV power plants generally install cleaning machines to automatically clean the PV modules. The cleaning machine is placed on the PV panels, and as the cleaning machine moves back and forth, it uses brushes to remove dirt from the surface of the PV panels.

[0003] In existing technologies, there are two main cleaning methods for photovoltaic power plant cleaning machines: one is to set up one cleaning machine for each row of arrays, with each row of arrays responsible for cleaning its corresponding array; this method is highly efficient, but requires many cleaning machines, which is very expensive.

[0004] Another approach is to equip a photovoltaic array to be cleaned with a transfer vehicle to work with a cleaning machine, which allows one cleaning machine to be responsible for cleaning multiple rows of arrays; this method is less expensive, but less efficient.

[0005] Furthermore, when the transport vehicle works in conjunction with the sweeper, the wireless communication signal between the two is prone to poor or interruption. When the wireless communication connection is interrupted, the transport vehicle cannot accurately send and receive action commands to the sweeper; it cannot confirm the sweeper's working status; or it cannot retract the sweeper. This will affect the overall cleaning operation. Summary of the Invention

[0006] To address the technical problem of easy interruption of wireless communication connection when the transfer vehicle works in conjunction with the sweeper, the present invention provides a photovoltaic power station cleaning method and system based on the transfer vehicle. By installing a sensing structure for transmitting signals and a proximity unit for sensing the other party on both the transfer vehicle and the sweeper, normal operation can be achieved even when communication between the transfer vehicle and the sweeper is not smooth.

[0007] Specifically, the technical solution of the present invention is as follows:

[0008] In a first aspect, the present invention discloses a photovoltaic power station cleaning method based on a transport vehicle, wherein the cleaning system controlled by the transport vehicle performs the following steps:

[0009] Receive cleaning tasks sent from the background; the cleaning tasks include: the target array to be cleaned and its location;

[0010] Based on the cleaning task, the transport vehicle is driven to carry the cleaning machine to the target array position;

[0011] Send a cleaning command to the sweeper to clean the target array, and determine whether the wireless communication connection between the transport vehicle and the sweeper is normal;

[0012] If the wireless communication connection is abnormal, the first sensing structure installed on the transfer vehicle is adjusted so that the first proximity unit installed on the sweeper for sensing the first sensing structure receives the first change signal, so that the sweeper leaves the transfer vehicle and starts sweeping after recognizing the first change signal as a sweeping signal.

[0013] After the sweeper finishes cleaning, a second proximity unit installed on the transfer vehicle senses whether the sweeper has returned to the transfer vehicle; wherein, the sweeper is equipped with a second sensing structure;

[0014] Once it is determined that the sweeper has returned to the transfer vehicle, the transfer vehicle is driven to the next target array.

[0015] In some embodiments, adjusting the first sensing structure mounted on the transfer vehicle causes the first proximity unit mounted on the sweeper for sensing the first sensing structure to receive a first change signal; specifically, this includes the following steps:

[0016] The first sensing structure on the transfer vehicle is retracted so that the first proximity unit can no longer sense the transfer vehicle, causing the level signal fed back to the sweeper by the first proximity unit to change, generating a first change signal.

[0017] In some embodiments, after retrieving the first sensing structure from the transfer vehicle, the step further includes:

[0018] The second proximity unit, which is installed on the transfer vehicle, senses whether the sweeper, which is equipped with a second sensing structure, has left the transfer vehicle to perform the sweeping task.

[0019] Once it is sensed that the sweeper has left the transfer vehicle to perform the sweeping task, the first sensing structure on the transfer vehicle is released.

[0020] In some embodiments, adjusting the first sensing structure mounted on the transfer vehicle causes the first proximity unit mounted on the sweeper for sensing the first sensing structure to receive a first change signal; specifically, this includes:

[0021] According to preset rules, the first sensing structure on the transfer vehicle is retracted and released a set number of times within a set time period; the preset rules limit the number of times the first sensing structure on the transfer vehicle is retracted and released, as well as the time for each retraction and each release.

[0022] When the first proximity unit senses the first sensing structure, it sends a first level to the sweeper; when it does not sense the first sensing structure, it sends a second level to the sweeper, so that the sweeper receives a first change signal composed of the first level and the second level; the first level is opposite to the second level.

[0023] In some embodiments, driving the transfer vehicle to move the sweeper to the target array position includes the following steps:

[0024] Obtain the RFID tag information of the target array;

[0025] Locate the current position of the transport vehicle, and calculate the target distance that the transport vehicle needs to travel to reach the target array based on the position of the target array;

[0026] The transport vehicle is driven to carry the sweeper to the target array position, and the travel distance of the transport vehicle is obtained by the odometer located on the transport vehicle;

[0027] When the difference between the target distance and the travel distance reaches a set threshold, the arrival of the transfer vehicle in the target array is confirmed by identifying the RFID tag installed on the corresponding track of each row of arrays.

[0028] In some embodiments, the process of moving the drive transport vehicle carrying the sweeper to the target array location further includes the following steps:

[0029] After confirming arrival at the target array, a first distance from the transport vehicle to the photovoltaic module frame of the target array is measured using a first ranging sensor mounted on the transport vehicle; a second distance from the transport vehicle to the photovoltaic module frame of the target array is measured using a second ranging sensor mounted on the transport vehicle.

[0030] Determine whether both the first distance and the second distance are less than a preset target distance;

[0031] If so, the transfer vehicle stops moving so that the cleaning machine on the transfer vehicle can leave the transfer vehicle and move to the photovoltaic module of the target array to perform the cleaning task after receiving the cleaning instruction or the cleaning signal;

[0032] If not, adjust the position of the transfer vehicle until both the first distance and the second distance are less than the preset target distance.

[0033] In some implementations, the following steps are included before sending the cleaning command to the sweeper to clean the target array:

[0034] Determine whether the photovoltaic support for the target array is a fixed support or a tracking support;

[0035] If the photovoltaic bracket is a tracking bracket, the transport vehicle measures and determines whether the angle of the photovoltaic bracket of the current target array has reached the set cleaning angle;

[0036] If the photovoltaic support of the current target array does not reach the set cleaning angle, the transport vehicle reports the angle of the photovoltaic support of the current target array to the background and skips the current array to the next target array.

[0037] Secondly, the present invention also discloses a photovoltaic power station cleaning method based on a transfer vehicle, executed by a cleaning machine system, comprising the following steps:

[0038] Determine whether the wireless communication connection between the sweeper and the transfer vehicle is normal;

[0039] If the wireless communication connection is normal, the cleaning machine receives the cleaning instruction sent by the transport vehicle and cleans the photovoltaic panels of the target array according to the cleaning instruction; after cleaning is completed, it sends a cleaning end signal to the transport vehicle; after receiving the return instruction sent by the transport vehicle, it drives the cleaning machine to return to the transport vehicle.

[0040] If the wireless communication connection is abnormal, a first change signal is received through a first proximity unit installed on the sweeper for sensing the first sensing structure; wherein, the first sensing structure is installed on the transfer vehicle, and the transfer vehicle generates the first change signal by adjusting the first sensing structure to cause a change in the signal received by the first proximity unit.

[0041] Identify whether the first change signal is a cleaning signal;

[0042] Once the first change signal is identified as a cleaning signal, the cleaning machine is controlled to leave the transfer vehicle and begin cleaning.

[0043] After the sweeper finishes cleaning, it arrives at the designated receiving position and senses the position of the transfer vehicle through the first proximity unit. When the transfer vehicle is sensed, the sweeper is driven back to the transfer vehicle so that the transfer vehicle can carry the sweeper to the next target array.

[0044] Thirdly, the present invention also discloses a transfer vehicle control cleaning system, comprising:

[0045] The cleaning task receiving module is used to receive cleaning tasks sent from the background; the cleaning task includes: the target array to be cleaned and its location;

[0046] A driving module is used to drive the transfer vehicle to carry the sweeper to the target array position based on the cleaning task;

[0047] The first instruction transceiver module is used to send a cleaning instruction to the sweeper to clean the target array, and to determine whether the wireless communication connection between the transport vehicle and the sweeper is normal.

[0048] The first sensing adjustment module is used to adjust the first sensing structure set on the transfer vehicle if the wireless communication connection is abnormal, so that the first proximity unit set on the sweeper for sensing the first sensing structure receives the first change signal, so that the sweeper leaves the transfer vehicle and starts sweeping after recognizing the first change signal as a sweeping signal.

[0049] The second detection module is used to sense whether the sweeper has returned to the transfer vehicle by means of a second proximity unit installed on the transfer vehicle after the sweeper has finished sweeping; wherein the sweeper is equipped with a second sensing structure;

[0050] The driving module is also used to drive the transfer vehicle to the next target array after determining that the sweeper has returned to the transfer vehicle.

[0051] In some embodiments, the first sensing adjustment module is further configured to retract the first sensing structure on the transfer vehicle so that the first proximity unit can no longer sense the transfer vehicle, thereby causing a change in the level signal fed back to the sweeper by the first proximity unit and generating a first change signal.

[0052] The second detection module is also used to sense, via a second proximity unit mounted on the transfer vehicle, whether the sweeper equipped with the second sensing structure has left the transfer vehicle to perform the cleaning task;

[0053] The first sensing adjustment module is also used to release the first sensing structure on the transfer vehicle after sensing that the sweeper has left the transfer vehicle to perform the sweeping task.

[0054] In some embodiments, the driving drive module includes:

[0055] The tag acquisition submodule is used to acquire the RFID tag information of the target array;

[0056] The target distance calculation submodule is used to locate the current position of the transfer vehicle and, based on the position of the target array, calculate the target distance that the transfer vehicle needs to travel to reach the target array.

[0057] The actual distance acquisition submodule is used to drive the transfer vehicle to carry the sweeper to the target array position, and to acquire the travel distance of the transfer vehicle through the odometer located on the transfer vehicle;

[0058] The tag identification submodule is used to confirm that the transfer vehicle has arrived at the target array by identifying the RFID tags installed on the corresponding tracks of each row of arrays when the difference between the target distance and the travel distance reaches a set threshold.

[0059] The sensor ranging submodule is used to measure a first distance from the transport vehicle to the photovoltaic module frame of the target array using a first ranging sensor installed on the transport vehicle after confirming arrival at the target array; and to measure a second distance from the transport vehicle to the photovoltaic module frame of the target array using a second ranging sensor installed on the transport vehicle.

[0060] The distance determination submodule is used to determine whether both the first distance and the second distance are less than a preset target distance;

[0061] The drive submodule is configured to, if both the first distance and the second distance are less than a preset target distance, stop the transport vehicle from moving, so that the sweeper on the transport vehicle, upon receiving the cleaning instruction or the cleaning signal, leaves the transport vehicle and moves to the photovoltaic module of the target array to perform the cleaning task; if neither the first distance nor the second distance is less than the preset target distance, adjust the position of the transport vehicle until both the first distance and the second distance are less than the preset target distance.

[0062] Fourthly, the present invention also discloses a sweeper system, comprising:

[0063] The second command transceiver module is used to determine whether the wireless communication connection between the sweeper and the transfer vehicle is normal.

[0064] The second instruction transceiver module is further configured to receive a cleaning instruction sent by the transport vehicle if the wireless communication connection is normal; send a cleaning end signal to the transport vehicle after cleaning is completed; and receive a return instruction sent by the transport vehicle.

[0065] The photovoltaic cleaning module is used to clean the photovoltaic panels of the target array according to the cleaning instructions; it is also used to drive the cleaning machine to return to the transfer vehicle after receiving the return instruction sent by the transfer vehicle.

[0066] The first detection module is used to receive a first change signal through a first proximity unit installed on the sweeper to sense the first sensing structure if the wireless communication connection is abnormal; wherein the first sensing structure is installed on the transfer vehicle, and the transfer vehicle generates the first change signal by adjusting the first sensing structure to cause the signal received by the first proximity unit to change.

[0067] The first detection module is also used to identify whether the first change signal is a cleaning signal;

[0068] The photovoltaic cleaning module is also used to control the cleaning machine to leave the transfer vehicle and start cleaning after recognizing the first change signal as a cleaning signal;

[0069] The second sensing module corresponds to the second detection module in the transfer vehicle control cleaning system. Through the second sensing structure set on the sweeper, the transfer vehicle can sense whether the sweeper has left or returned to the transfer vehicle.

[0070] The photovoltaic cleaning module is also used to drive the cleaning machine to the set receiving position after cleaning is completed;

[0071] The first detection module is also used to sense the position of the transfer vehicle through the first proximity unit;

[0072] The photovoltaic cleaning module is also used to drive the cleaning machine back to the transfer vehicle after sensing the transfer vehicle, so that the transfer vehicle can carry the cleaning machine to the next target array.

[0073] Compared with the prior art, the present invention has at least one of the following beneficial effects:

[0074] 1. This invention provides a novel method for cleaning photovoltaic power plants: a transport vehicle combined with a cleaning machine. The transport vehicle, based on multiple sensors, works in conjunction with the cleaning machine to clean the photovoltaic modules. This achieves high-efficiency cleaning and reduces cleaning costs.

[0075] 2. Multiple communication devices are installed on the transport vehicle and the sweeper. Under normal wireless communication conditions, the transport vehicle controls the sweeping system and the sweeper to exchange information wirelessly. After the transport vehicle arrives at the target array and comes to a stop, it sends a start command to the sweeper. Upon receiving the command, the sweeper leaves the transport vehicle and begins cleaning the photovoltaic modules. If the wireless communication connection is abnormal, induction structures for signal transmission and proximity units for sensing the other party can be installed on both the transport vehicle and the sweeper to issue and detect commands, enabling normal operation even when communication between the transport vehicle and the sweeper is unreliable.

[0076] 3. An RFID tag is installed on the track corresponding to each row of arrays; the transport vehicle is equipped with an odometer (absolute encoder), which accurately records the travel distance of the transport vehicle via a motor or wheels; two laser range sensors are installed on the transport vehicle near the module frame to measure the distance between the transport vehicle and the module frame. After the transport vehicle reaches the target array via the RFID tag and absolute encoder, it makes fine adjustments based on the distance values ​​fed back by the two laser range sensors to ensure that the sweeper can effectively run on the module. The addition of multiple sensors to the transport vehicle ensures the transport efficiency of the transport vehicle and avoids damage to the sweeper due to misalignment of the transport vehicle. This allows the sweeper to accurately and successfully reach the photovoltaic module panel to begin cleaning. Attached Figure Description

[0077] 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.

[0078] Figure 1 This is a flowchart of an embodiment of a photovoltaic power station cleaning method based on a transfer vehicle, which is executed by a transfer vehicle-controlled cleaning system according to the present invention;

[0079] Figure 2 This is a detailed flowchart of step S120 in another embodiment of a photovoltaic power station cleaning method based on a transfer vehicle, which is executed by a transfer vehicle-controlled cleaning system according to the present invention.

[0080] Figure 3 This is a detailed flowchart of step S120 in another embodiment of a photovoltaic power station cleaning method based on a transfer vehicle, which is executed by a transfer vehicle-controlled cleaning system according to the present invention.

[0081] Figure 4 This is a flowchart of an embodiment of a photovoltaic power station cleaning method based on a transfer vehicle, executed by a cleaning machine system according to the present invention;

[0082] Figure 5 This is a structural block diagram of an embodiment of a transfer vehicle control and cleaning system of the present invention;

[0083] Figure 6 This is a substructure block diagram of the driving drive module 120 in a transfer vehicle control and cleaning system of the present invention;

[0084] Figure 7 This is a structural block diagram of an embodiment of a sweeper system according to the present invention. Detailed Implementation

[0085] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application can also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0086] It should be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or sets.

[0087] To keep the drawings concise, each figure only schematically shows the parts relevant to the invention, and these do not represent the actual structure of the product. Furthermore, to facilitate understanding, in some figures, only one of components with the same structure or function is schematically depicted, or only one is labeled. In this document, "one" not only means "only one," but can also mean "more than one."

[0088] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0089] In this document, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0090] In specific implementations, the terminal devices described in the embodiments of this application include, but are not limited to, other portable devices such as mobile phones, laptops, educational computers, or tablet computers with touch-sensitive surfaces (e.g., touchscreen 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 touch-sensitive surfaces (e.g., touchscreen displays and / or touchpads).

[0091] Furthermore, in the description of this application, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0092] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without any creative effort.

[0093] Reference manual attached Figure 1 This invention provides an embodiment of a photovoltaic power station cleaning method based on a transport vehicle, wherein the cleaning system is controlled by the transport vehicle and includes the following steps:

[0094] S110, receive a cleaning task sent from the background; the cleaning task includes: the target array to be cleaned and its location.

[0095] S120, based on the cleaning task, drive the transfer vehicle to carry the cleaning machine to the target array position.

[0096] Specifically, in photovoltaic power plants, a track is laid at one end of each row of photovoltaic arrays, and a transport vehicle runs back and forth on the track to pick up and drop off the cleaning machine.

[0097] S130, send a cleaning command to the sweeper to clean the target array, and determine whether the wireless communication connection between the transport vehicle and the sweeper is normal.

[0098] Specifically, if the bidirectional communication connection is normal, after the sweeper leaves the transfer vehicle to start sweeping, the system receives the sweeping end signal sent by the sweeper, controls the transfer vehicle to run to the target receiving position, and sends a return command to the sweeper so that the sweeper can return to the transfer vehicle.

[0099] S140, if the wireless communication connection is abnormal, the first sensing structure installed on the transfer vehicle is adjusted so that the first proximity unit installed on the sweeper for sensing the first sensing structure receives the first change signal, so that the sweeper leaves the transfer vehicle and starts sweeping after recognizing the first change signal as a sweeping signal.

[0100] Specifically, a proximity switch is installed near the transport vehicle to allow the sweeper to confirm the transport vehicle's information. In the event of a wireless communication failure between the sweeper and the transport vehicle, if the sweeper is on the transport vehicle, its proximity switch will detect the transport vehicle, and vice versa. If the transport vehicle requires the sweeper to start cleaning, it will retract the proximity switch's sensing mechanism, the sweeper's proximity switch will change its feedback signal, and the sweeper will begin cleaning. If the transport vehicle does not require the sweeper to start cleaning, the mechanism will remain unchanged. If the sweeper is not on the transport vehicle, it can move onto the transport vehicle if its proximity switch detects it; otherwise, it will stop in place.

[0101] S150, after the sweeper finishes sweeping, it senses whether the sweeper has returned to the transfer vehicle through a second proximity unit installed on the transfer vehicle; wherein, the sweeper is equipped with a second sensing structure.

[0102] Specifically, the first sensing structure on the transport vehicle corresponds to the first proximity unit on the sweeper; the two are in a sensing-received relationship. The second proximity unit on the transport vehicle corresponds to the second sensing structure on the sweeper; the two are in a sensing-received relationship. Even if the wireless communication connection is interrupted, these two communication structures can still ensure that the transport vehicle and sweeper work normally.

[0103] S160, after determining that the sweeper has returned to the transfer vehicle, drive the transfer vehicle to the next target array.

[0104] Specifically, it can be further divided into the following sub-steps: S161, determine whether the cleaning task has been completed.

[0105] S162, if the task is completed, control the transfer vehicle to carry the sweeper back to the starting point along the fixed guide rail.

[0106] S163, if the task is not completed, control the transfer vehicle to carry the cleaning machine to the next target array position and execute the next task.

[0107] Another embodiment of the photovoltaic power station cleaning method based on a transport vehicle of the present invention, in one embodiment of the above method, step S140, if the wireless communication connection is abnormal, adjusts the first sensing structure set on the transport vehicle so that the first proximity unit set on the cleaning machine for sensing the first sensing structure receives a first change signal; specifically including the following sub-steps:

[0108] S141, retract the first sensing structure on the transfer vehicle so that the first proximity unit can no longer sense the transfer vehicle, causing the level signal fed back to the sweeper by the first proximity unit to change, generating a first change signal.

[0109] Specifically, when the first sensing structure on the transfer vehicle is in its normal position, the first proximity unit on the sweeper can sense the first sensing structure on the transfer vehicle, i.e., the sweeper receives a high-level signal. After the transfer vehicle retracts the first sensing structure, the first proximity unit on the sweeper can no longer sense the first sensing structure on the transfer vehicle, i.e., the sweeper receives a low-level signal. When the level signal received by the sweeper changes, it is necessary to identify whether this changed signal contains command information.

[0110] S142, by means of a second proximity unit provided on the transfer vehicle, it is sensed whether the sweeper equipped with a second sensing structure has left the transfer vehicle to perform the sweeping task.

[0111] Specifically, once the sweeper has moved out of the detection range of the second proximity unit of the transfer vehicle during normal operation, it is considered that the sweeper has left the transfer vehicle and started to perform the sweeping task.

[0112] S143, after sensing that the sweeper has left the transfer vehicle to perform the sweeping task, the first sensing structure on the transfer vehicle is released.

[0113] Specifically, after the sweeper leaves the transfer vehicle, the transfer vehicle releases the first sensing structure so that the sweeper can sense the location of the transfer vehicle after finishing cleaning and returning to the designated location, and thus return to the transfer vehicle.

[0114] In another embodiment of this example, S141 specifically includes: performing a set number of operations to retract and release the first sensing structure on the transfer vehicle within a set time period according to preset rules; the preset rules limit the number of times to retract and release the first sensing structure on the transfer vehicle, as well as the time for each retraction and the time for each release.

[0115] Specifically, the level change signal corresponding to the cleaning command can be set to be more complex. For example, when the first proximity unit of the sweeper detects that the level change emitted by the first sensing structure of the transfer vehicle is 10110111, it determines that this signal is a cleaning command, thereby controlling the sweeper to leave the transfer vehicle and start cleaning.

[0116] When the first proximity unit senses the first sensing structure, it sends a first level to the sweeper; when it does not sense the first sensing structure, it sends a second level to the sweeper, so that the sweeper receives a first change signal composed of the first level and the second level; the first level is opposite to the second level.

[0117] Specifically, the first level can be set to high and the second level to low. Alternatively, the first level can be set to low and the second level to high. The purpose of identifying instruction information in the first change signal is to make instruction transmission more accurate and prevent the mis-transmission of level signals.

[0118] Another embodiment of the photovoltaic power station cleaning method based on a transport vehicle according to the present invention is shown in the appendix to the specification. Figure 2 As shown, in one embodiment of the above method, step S120 involves driving the transfer vehicle to carry the sweeper to the target array position based on the cleaning task; this includes the following sub-steps:

[0119] S121, Obtain the RFID tag information of the target array.

[0120] Specifically, an RFID tag is installed on each row of arrays on the track, and the transport vehicle obtains the RFID tag of the target array through the RFID reader at the bottom.

[0121] RFID (Radio Frequency Identification) is a non-contact automatic identification technology that uses radio frequency signals to automatically identify target objects and acquire relevant data. It enables rapid item tracking and data exchange, and its identification work does not require human intervention.

[0122] S122, locate the current position of the transfer vehicle, and calculate the target distance that the transfer vehicle needs to travel to reach the target array based on the position of the target array.

[0123] S123, drive the transfer vehicle to carry the sweeper to the target array position, and obtain the travel distance of the transfer vehicle through the odometer located on the transfer vehicle.

[0124] Specifically, the transport vehicle's odometer, also known as an absolute encoder, accurately records the travel distance of the transport vehicle via a motor or wheels. During commissioning, the distance between photovoltaic arrays is recorded and stored in the transport vehicle according to the array sequence number. During normal operation, the transport vehicle can calculate the required travel distance based on its current position and the pre-stored target array sequence number, and the absolute encoder can accurately calculate the distance to reach the target array position.

[0125] S124, when the difference between the target distance and the travel distance reaches a set threshold, the transfer vehicle is confirmed to have arrived at the target array by identifying the RFID tag installed on the corresponding track of each row of arrays.

[0126] Another embodiment of the photovoltaic power station cleaning method based on a transport vehicle according to the present invention is shown in the appendix to the specification. Figure 3As shown, based on one embodiment of the above method, step S120, which involves driving the transfer vehicle to carry the sweeper to the target array position based on the cleaning task, further includes the following steps:

[0127] S125, after confirming arrival at the target array, a first distance from the transport vehicle to the photovoltaic module frame of the target array is measured by a first ranging sensor installed on the transport vehicle; a second distance from the transport vehicle to the photovoltaic module frame of the target array is measured by a second ranging sensor installed on the transport vehicle.

[0128] Specifically, two laser rangefinders are installed on the transport vehicle near the component's edge to measure the distance between the transport vehicle and the edge. After the transport vehicle reaches the target array by identifying the RFID tag and absolute encoder, it makes minor adjustments based on the distance values ​​fed back by the two laser rangefinders to ensure the sweeper can effectively operate on the component. When both laser sensor values ​​are less than a threshold, the transport vehicle can stop and the sweeper can start running. If one or both laser sensor values ​​are greater than the threshold, the transport vehicle needs to make small adjustments to its forward and backward position until both laser sensor values ​​are less than the threshold.

[0129] S126, determine whether both the first distance and the second distance are less than the preset target distance.

[0130] Specifically, the first step is to set the target distance to an appropriate size. A target distance that is too large or too small will hinder the movement of the sweeper.

[0131] S127, if both the first distance and the second distance are less than the preset target distance, the transfer vehicle stops moving so that the cleaning machine on the transfer vehicle can leave the transfer vehicle and move to the photovoltaic module of the target array to perform the cleaning task after receiving the cleaning instruction or the cleaning signal.

[0132] S128, if neither the first distance nor the second distance is less than the preset target distance, then adjust the position of the transfer vehicle until both the first distance and the second distance are less than the preset target distance.

[0133] Another embodiment of the photovoltaic power station cleaning method based on a transfer vehicle of the present invention, based on any of the above embodiments, includes the following steps before step S130, which sends a cleaning instruction to the cleaning machine to clean the target array:

[0134] S129, determine whether the photovoltaic support of the target array is a fixed support or a tracking support.

[0135] Specifically, fixed photovoltaic (PV) brackets, as the name suggests, refer to bracket systems whose orientation and angle remain unchanged after installation. They are mainly used in centralized PV scenarios. Based on different lighting environments and geographical locations, the height and angle are adjusted during installation, requiring minimal adjustments and maintenance later. Tracking brackets, on the other hand, are based on intelligent tracking algorithms and can automatically adjust their height and angle according to different lighting environments and geographical locations, improving solar power generation efficiency.

[0136] S1210, if the photovoltaic bracket is a tracking bracket, the transport vehicle measures and determines whether the angle of the photovoltaic bracket of the current target array has reached the set cleaning angle.

[0137] Specifically, if the angle between the tracking bracket and the ground is too large at the current cleaning moment, the sweeper may not be able to stop steadily on the photovoltaic panel, which may cause the sweeper to slip and be damaged. Therefore, it is not suitable to continue cleaning when the angle has not reached the preset cleaning angle.

[0138] S1211, if the photovoltaic support of the current target array has not reached the set cleaning angle, the transfer vehicle reports the angle of the photovoltaic support of the current target array to the background and skips the current array to the next target array.

[0139] Specifically, the system can report the un-cleaned array numbers and reasons to the backend, which can then reassign cleaning tasks based on the reports. The transfer vehicle, acting as the processing terminal for the sweeper's information, centrally processes the information and sends it to the backend, which then controls the sweeper's operation based on instructions.

[0140] Based on the same technical concept, this invention also discloses a photovoltaic power station cleaning method based on a transport vehicle, as shown in the appendix to the specification. Figure 4 As shown: This process, performed by the sweeper system, includes the following steps:

[0141] S210, determine whether the wireless communication connection between the sweeper and the transfer vehicle is normal.

[0142] Specifically, the sweeper determines whether the wireless communication connection is normal by the type of command received. If a wireless communication command is received, it indicates that the communication connection is normal. If a signal generated by a change in the sensing unit on the sweeper is received, it indicates that the wireless communication connection is interrupted and the sensing unit and proximity unit need to work together.

[0143] S220, if the wireless communication connection is normal, the cleaning instruction sent by the transport vehicle is received, and the photovoltaic panels of the target array are cleaned according to the cleaning instruction.

[0144] S230, after cleaning is completed, a cleaning end signal is sent to the transfer vehicle.

[0145] S240: After receiving the return command sent by the transfer vehicle, drive the sweeper to return to the transfer vehicle.

[0146] S250, if the wireless communication connection is abnormal, a first change signal is received through a first proximity unit installed on the sweeper for sensing the first sensing structure; wherein, the first sensing structure is installed on the transfer vehicle, and the transfer vehicle generates the first change signal by adjusting the first sensing structure to cause a change in the signal received by the first proximity unit.

[0147] S260, identify whether the first change signal is a cleaning signal.

[0148] Specifically, the cleaning signal is first set to the retraction of the first sensing structure on the transfer vehicle. If the signal of the retraction of the first sensing structure on the transfer vehicle is detected, it indicates that the cleaning machine needs to leave the transfer vehicle to start cleaning.

[0149] S270, when the first change signal is identified as a cleaning signal, the cleaning machine is controlled to leave the transfer vehicle to start cleaning.

[0150] Specifically, we can also perform the retraction and release of the first sensing structure on the transfer vehicle a set number of times within a set time period according to preset rules; the preset rules limit the number of times the retraction and release of the first sensing structure on the transfer vehicle is performed, as well as the time for each retraction and the time for each release;

[0151] When the first proximity unit senses the first sensing structure, it sends a first level to the sweeper; when it does not sense the first sensing structure, it sends a second level to the sweeper, so that the sweeper receives a first change signal composed of the first level and the second level; the first level is opposite to the second level.

[0152] The first and second voltage levels are either high or low, respectively. Setting a more complex cleanup signal can, to some extent, prevent signal transmission errors.

[0153] S280, after the sweeper finishes sweeping, it arrives at the set receiving position and senses the position of the transfer vehicle through the first proximity unit. When the transfer vehicle is sensed, the sweeper is driven back to the transfer vehicle so that the transfer vehicle can carry the sweeper to the next target array.

[0154] Specifically, after the sweeper finishes cleaning, it returns to the designated location. When the sweeper's proximity switch detects the transfer vehicle, the sweeper can move onto the transfer vehicle; otherwise, it stops in place.

[0155] Based on the same technical concept, this invention also discloses a transfer vehicle control cleaning system. This system can be implemented using any of the above-mentioned method embodiments executed by the transfer vehicle control cleaning system. Specifically, an embodiment of the transfer vehicle control cleaning system of this application is shown in the appendix to the specification. Figure 5 As shown, it includes:

[0156] The task receiving module 110 is used to receive cleaning tasks sent from the background; the cleaning task includes: the target array to be cleaned and its location.

[0157] The driving module 120 is used to drive the transfer vehicle to carry the sweeper to the target array position based on the sweeping task.

[0158] Specifically, in photovoltaic power plants, a track is laid at one end of each row of photovoltaic arrays, and a transport vehicle runs back and forth on the track to pick up and drop off the cleaning machine.

[0159] The first instruction transceiver module 130 is used to send a cleaning instruction to the sweeper to clean the target array, and to determine whether the wireless communication connection between the transport vehicle and the sweeper is normal.

[0160] Specifically, if the bidirectional communication connection is normal, after the sweeper leaves the transfer vehicle to start sweeping, the system receives the sweeping end signal sent by the sweeper, controls the transfer vehicle to run to the target receiving position, and sends a return command to the sweeper so that the sweeper can return to the transfer vehicle.

[0161] The first sensing adjustment module 140 is used to adjust the first sensing structure set on the transfer vehicle if the wireless communication connection is abnormal, so that the first proximity unit set on the sweeper for sensing the first sensing structure receives the first change signal, so that the sweeper leaves the transfer vehicle and starts sweeping after recognizing the first change signal as a sweeping signal.

[0162] Specifically, a proximity switch is installed near the transport vehicle to allow the sweeper to confirm the transport vehicle's information. In the event of a wireless communication failure between the sweeper and the transport vehicle, if the sweeper is on the transport vehicle, its proximity switch will detect the transport vehicle, and vice versa. If the transport vehicle requires the sweeper to start cleaning, it will retract the proximity switch's sensing mechanism, the sweeper's proximity switch will change its feedback signal, and the sweeper will begin cleaning. If the transport vehicle does not require the sweeper to start cleaning, the mechanism will remain unchanged. If the sweeper is not on the transport vehicle, it can move onto the transport vehicle if its proximity switch detects it; otherwise, it will stop in place.

[0163] The second detection module 150 is used to sense whether the sweeper has returned to the transfer vehicle after the sweeper has finished cleaning, via a second proximity unit installed on the transfer vehicle; wherein, the sweeper is equipped with a second sensing structure.

[0164] Specifically, the first sensing structure on the transport vehicle corresponds to the first proximity unit on the sweeper; the two are in a sensing-received relationship. The second proximity unit on the transport vehicle corresponds to the second sensing structure on the sweeper; the two are in a sensing-received relationship. Even if the wireless communication connection is interrupted, these two communication structures can still ensure that the transport vehicle and sweeper work normally.

[0165] The driving module 120 is also used to drive the transfer vehicle to the next target array after determining that the sweeper has returned to the transfer vehicle.

[0166] Specifically, it is also used to determine whether the cleaning task has been completed; if the task is completed, the transfer vehicle is controlled to carry the cleaning machine back to the starting point along the fixed guide rail; if the task is not completed, the transfer vehicle is controlled to carry the cleaning machine to the next target array position to execute the next task.

[0167] Another implementation of this embodiment:

[0168] The first sensing adjustment module 140 is also used to retract the first sensing structure on the transfer vehicle so that the first proximity unit can no longer sense the transfer vehicle, thereby causing the level signal fed back to the sweeper by the first proximity unit to change and generate a first change signal.

[0169] Specifically, a proximity switch is installed near the transport vehicle to allow the sweeper to confirm the transport vehicle's information. In the event of a wireless communication failure between the sweeper and the transport vehicle, if the sweeper is on the transport vehicle, its proximity switch will detect the transport vehicle, and vice versa. If the transport vehicle requires the sweeper to start cleaning, it will retract the proximity switch's sensing mechanism, the sweeper's proximity switch will change its feedback signal, and the sweeper will begin cleaning. If the transport vehicle does not require the sweeper to start cleaning, the mechanism will remain unchanged. If the sweeper is not on the transport vehicle, it can move onto the transport vehicle if its proximity switch detects it; otherwise, it will stop in place.

[0170] The second detection module 150 is also used to sense, via a second proximity unit mounted on the transfer vehicle, whether the sweeper equipped with the second sensing structure has left the transfer vehicle to perform the sweeping task.

[0171] The first sensing adjustment module 140 is also used to release the first sensing structure on the transfer vehicle after sensing that the sweeper has left the transfer vehicle to perform the sweeping task.

[0172] Another embodiment of the transfer vehicle control cleaning system provided by the present invention, based on the above system embodiment, as shown in the appendix to the specification. Figure 6 As shown, the driving drive module 120 includes:

[0173] The tag acquisition submodule 121 is used to acquire the RFID tag information of the target array.

[0174] Specifically, an RFID tag is installed on each row of arrays on the track, and the transport vehicle obtains the RFID tag of the target array through the RFID reader at the bottom.

[0175] RFID (Radio Frequency Identification) is a non-contact automatic identification technology that uses radio frequency signals to automatically identify target objects and acquire relevant data. It enables rapid item tracking and data exchange, and its identification work does not require human intervention.

[0176] The target distance calculation submodule 122 is used to locate the current position of the transfer vehicle and, based on the position of the target array, calculate the target distance that the transfer vehicle needs to travel to reach the target array.

[0177] The actual distance acquisition submodule 123 is used to drive the transfer vehicle to carry the sweeper to the target array position, and to acquire the travel distance of the transfer vehicle through the odometer located on the transfer vehicle.

[0178] Specifically, the transport vehicle is equipped with an odometer, also known as an absolute encoder, which accurately records the travel distance of the transport vehicle via a motor or wheels. During commissioning, the distance between photovoltaic arrays is recorded and saved sequentially according to the array number. During normal operation, the transport vehicle can calculate the required travel distance based on its current position and the target array number, and the absolute encoder can accurately calculate the distance to reach the target array position.

[0179] The tag identification submodule 124 is used to confirm that the transfer vehicle has arrived at the target array by identifying the RFID tags installed on the corresponding tracks of each row array when the difference between the target distance and the travel distance reaches a set threshold.

[0180] The sensor ranging submodule 125 is used to measure a first distance from the transport vehicle to the photovoltaic module frame of the target array using a first ranging sensor installed on the transport vehicle after confirming arrival at the target array; and to measure a second distance from the transport vehicle to the photovoltaic module frame of the target array using a second ranging sensor installed on the transport vehicle.

[0181] Specifically, two laser rangefinders are installed on the transport vehicle near the component edge to measure the distance between the transport vehicle and the component edge. After the transport vehicle reaches the target array via RFID tags and an absolute encoder, it makes minor adjustments based on the distance values ​​fed back by the two laser rangefinders to ensure that the sweeper can effectively operate on the component. When both laser sensor values ​​are less than a threshold, the transport vehicle can stop operating, and the sweeper can start running. If one or both laser sensor values ​​are greater than the threshold, the transport vehicle needs to make small adjustments to its forward and backward position until both laser sensor values ​​are less than the threshold.

[0182] The distance determination submodule 126 is used to determine whether both the first distance and the second distance are less than a preset target distance.

[0183] Specifically, the first step is to set the target distance to an appropriate size. A target distance that is too large or too small will hinder the movement of the sweeper.

[0184] The drive submodule 127 is configured to, if both the first distance and the second distance are less than a preset target distance, stop the transport vehicle from moving, so that the sweeper on the transport vehicle can leave the transport vehicle and move to the photovoltaic module of the target array to perform the cleaning task after receiving the cleaning instruction or the cleaning signal; if neither the first distance nor the second distance is less than the preset target distance, adjust the position of the transport vehicle until both the first distance and the second distance are less than the preset target distance.

[0185] In another embodiment of this invention, the driving drive module 120 further includes:

[0186] The bracket determination submodule 128 is used to determine whether the photovoltaic bracket of the target array is a fixed bracket or a tracking bracket.

[0187] Specifically, fixed photovoltaic (PV) brackets, as the name suggests, refer to bracket systems whose orientation and angle remain unchanged after installation. They are mainly used in centralized PV scenarios. Based on different lighting environments and geographical locations, the height and angle are adjusted during installation, requiring minimal adjustments and maintenance afterward. Tracking brackets, on the other hand, are mainly used in distributed PV scenarios. Based on intelligent tracking algorithms, they can automatically adjust their height and angle according to different lighting environments and geographical locations, improving solar power generation efficiency.

[0188] Angle measurement submodule 129 is used to measure and determine whether the angle of the photovoltaic bracket of the current target array has reached the set cleaning angle if the photovoltaic bracket is a tracking bracket.

[0189] Specifically, if the angle between the tracking bracket and the ground is too large at the current cleaning moment, the sweeper may not be able to stop steadily on the photovoltaic panel, which may cause the sweeper to slip and be damaged. Therefore, it is not suitable to continue cleaning when the angle has not reached the preset cleaning angle.

[0190] The anomaly reporting submodule 1210 is used to report the angle of the photovoltaic support of the current target array to the background if the photovoltaic support of the current target array does not reach the set cleaning angle, and skip the current array to move to the next target array.

[0191] Specifically, the system can report the un-cleaned array numbers and reasons to the backend, which can then reassign cleaning tasks based on the reports. The transfer vehicle, acting as the processing terminal for the sweeper's information, centrally processes the information and sends it to the backend, which then controls the sweeper's operation based on instructions.

[0192] Based on the same technical concept, this invention also discloses a sweeper system, which can be implemented using the above-described method embodiments executed by the sweeper system. Specifically, one embodiment of the sweeper system of this application is shown in the appendix to the specification. Figure 7 As shown, it includes:

[0193] The second command transceiver module 21 is used to determine whether the wireless communication connection between the sweeper and the transfer vehicle is normal.

[0194] Specifically, the sweeper determines whether the wireless communication connection is normal by the type of command received. If a wireless communication command is received, it indicates that the communication connection is normal. If a signal generated by a change in the sensing unit on the sweeper is received, it indicates that the wireless communication connection is interrupted and the sensing unit and proximity unit need to work together.

[0195] The second instruction transceiver module 21 is further configured to receive a cleaning instruction sent by the transfer vehicle if the wireless communication connection is normal; send a cleaning end signal to the transfer vehicle after cleaning is completed; and receive a return instruction sent by the transfer vehicle.

[0196] The photovoltaic cleaning module 22 is used to clean the photovoltaic panels of the target array according to the cleaning instructions; it is also used to drive the cleaning machine to return to the transfer vehicle after receiving the return instruction sent by the transfer vehicle.

[0197] The first detection module 23 is used to receive a first change signal through a first proximity unit installed on the sweeper to sense the first sensing structure if the wireless communication connection is abnormal; wherein the first sensing structure is installed on the transfer vehicle, and the transfer vehicle generates the first change signal by adjusting the first sensing structure to cause the signal received by the first proximity unit to change.

[0198] The first detection module 23 is also used to identify whether the first change signal is a cleaning signal.

[0199] Specifically, the cleaning signal is first set to the retraction of the first sensing structure on the transfer vehicle. If the signal of the retraction of the first sensing structure on the transfer vehicle is detected, it indicates that the cleaning machine needs to leave the transfer vehicle to start cleaning.

[0200] The photovoltaic cleaning module 22 is also used to control the cleaning machine to leave the transfer vehicle and start cleaning after recognizing the first change signal as a cleaning signal.

[0201] Specifically, we can also perform the retraction and release of the first sensing structure on the transfer vehicle a set number of times within a set time period according to preset rules; the preset rules limit the number of times the retraction and release of the first sensing structure on the transfer vehicle is performed, as well as the time for each retraction and the time for each release;

[0202] When the first proximity unit senses the first sensing structure, it sends a first level to the sweeper; when it does not sense the first sensing structure, it sends a second level to the sweeper, so that the sweeper receives a first change signal composed of the first level and the second level; the first level is opposite to the second level.

[0203] The first and second voltage levels are either high or low, respectively. Setting a more complex cleanup signal can, to some extent, prevent signal transmission errors.

[0204] The second sensing module 24 corresponds to the second detection module in the transfer vehicle control cleaning system. Through the second sensing structure set on the sweeper, the transfer vehicle can sense whether the sweeper has left or returned to the transfer vehicle.

[0205] The photovoltaic cleaning module 22 is also used to drive the cleaning machine to the set receiving position after the cleaning is completed.

[0206] The first detection module 23 is also used to sense the position of the transfer vehicle through the first proximity unit.

[0207] Specifically, after the sweeper finishes cleaning, it returns to the designated location. When the sweeper's proximity switch detects the transfer vehicle, the sweeper can move onto the transfer vehicle; otherwise, it stops in place.

[0208] The photovoltaic cleaning module 22 is also used to drive the cleaning machine back to the transfer vehicle after sensing the transfer vehicle, so that the transfer vehicle can carry the cleaning machine to the next target array.

[0209] The photovoltaic power station cleaning method based on a transfer vehicle, which is executed by a transfer vehicle-controlled cleaning system, the photovoltaic power station cleaning method based on a transfer vehicle, which is executed by a cleaning machine system, and the transfer vehicle-controlled cleaning system and the cleaning machine system of the present invention have the same technical concept. The technical details of the embodiments of the four are mutually applicable, and will not be repeated here to reduce repetition.

[0210] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, as well as combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0211] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0212] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0213] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the invention.

[0214] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A photovoltaic power plant cleaning method based on a transfer vehicle, which is executed by a transfer vehicle controlled cleaning system, characterized in that, The method comprises the following steps: receiving a cleaning task sent by a background; the cleaning task comprises: a target array to be cleaned and a position thereof; driving the transfer vehicle to carry the cleaning machine to the position of the target array based on the cleaning task; sending a cleaning instruction to the cleaning machine to clean the target array, and determining whether a wireless communication connection between the transfer vehicle and the cleaning machine is normal; if the wireless communication connection is not normal, adjusting a first sensing structure arranged on the transfer vehicle, so that a first proximity unit arranged on the cleaning machine for sensing the first sensing structure receives a first change signal, so that the cleaning machine leaves the transfer vehicle to start cleaning after identifying that the first change signal is a cleaning signal; when the cleaning machine finishes cleaning, sensing whether the cleaning machine has returned to the transfer vehicle through a second proximity unit arranged on the transfer vehicle; wherein the cleaning machine is provided with a second sensing structure; after determining that the cleaning machine has returned to the transfer vehicle, driving the transfer vehicle to travel to a next target array; wherein the first proximity unit arranged on the cleaning machine for sensing the first sensing structure receives a first change signal by adjusting the first sensing structure arranged on the transfer vehicle; specifically comprising: retracting the first sensing structure on the transfer vehicle, so that the first proximity unit cannot sense the transfer vehicle, so that the level signal fed back to the cleaning machine by the first proximity unit changes; according to a preset rule, retracting and releasing the first sensing structure on the transfer vehicle for a set number of times within a set time period; the preset rule limits the number of times of retracting and releasing the first sensing structure on the transfer vehicle, and the time of each retraction and the time of each release; the first proximity unit sends a first level to the cleaning machine when sensing the first sensing structure, and sends a second level to the cleaning machine when not sensing the first sensing structure, so that the cleaning machine receives a first change signal composed of the first level and the second level; the first level is opposite to the second level.

2. The photovoltaic power plant cleaning method based on a transport vehicle according to claim 1, characterized in that, after retracting the first sensing structure on the transfer vehicle, further comprising the steps of: sensing, through a second proximity unit arranged on the transfer vehicle, whether the cleaning machine provided with a second sensing structure has left the transfer vehicle to perform the cleaning task; when it is sensed that the cleaning machine has left the transfer vehicle to perform the cleaning task, releasing the first sensing structure on the transfer vehicle.

3. The photovoltaic power plant cleaning method based on a transfer car according to claim 1, characterized in that, the driving of the transfer vehicle to carry the cleaning machine to the position of the target array comprises the following steps: acquiring RFID marker information of the target array; positioning a current position of the transfer vehicle, and calculating a target distance to be run by the transfer vehicle to reach the target array based on the position of the target array; driving the transfer vehicle to carry the cleaning machine to move to the position of the target array, and acquiring a travel distance of the transfer vehicle through an odometer arranged on the transfer vehicle; When the difference between the target distance and the travel distance reaches a set threshold, the transfer vehicle is confirmed to reach the target array by identifying the RFID markers installed on the corresponding tracks of each array.

4. The photovoltaic power plant cleaning method based on a transfer car according to claim 3, characterized in that, The driving the transfer vehicle to carry the cleaning machine to the target array position further comprises the following steps: After confirming the arrival at the target array, a first distance from the transfer vehicle to the frame of the photovoltaic module of the target array is measured by a first distance measuring sensor installed on the transfer vehicle, and a second distance from the transfer vehicle to the frame of the photovoltaic module of the target array is measured by a second distance measuring sensor installed on the transfer vehicle; It is determined whether the first distance and the second distance are both less than a preset target distance; If yes, the transfer vehicle stops moving, so that the cleaning machine on the transfer vehicle leaves the transfer vehicle after receiving the cleaning instruction or the cleaning signal, moves to the photovoltaic module of the target array, and performs the cleaning task; If no, the position of the transfer vehicle is adjusted until the first distance and the second distance are both less than the preset target distance.

5. The method according to any of claims 1 to 4, characterized in that, Before sending the cleaning instruction to the cleaning machine to clean the target array, the following steps are further included: It is determined whether the current photovoltaic support of the target array is a fixed support or a tracking support; If the photovoltaic support is a tracking support, the transfer vehicle measures and determines whether the angle of the current photovoltaic support of the target array reaches a set cleaning angle; If the current photovoltaic support of the target array does not reach the set cleaning angle, the transfer vehicle reports the angle of the current photovoltaic support of the target array to the background, and skips the current array to go to the next target array.

6. A method for cleaning a photovoltaic power plant based on a transport vehicle, wherein a cleaning machine system located on the transport vehicle performs the cleaning task, characterized in that, The following steps are included: It is determined whether the wireless communication connection between the cleaning machine and the transfer vehicle is normal; If the wireless communication connection is normal, the cleaning instruction sent by the transfer vehicle is received, the photovoltaic panel of the target array is cleaned according to the cleaning instruction, a cleaning end signal is sent to the transfer vehicle after the cleaning is completed, and the cleaning machine is driven to return to the transfer vehicle after receiving the return instruction sent by the transfer vehicle; If the wireless communication connection is not normal, a first change signal is received by a first proximity unit installed on the cleaning machine for sensing a first sensing structure; wherein the first sensing structure is installed on the transfer vehicle, the transfer vehicle adjusts the first sensing structure so that the signal received by the first proximity unit changes, and the first change signal is generated; It is determined whether the first change signal is a cleaning signal; When it is determined that the first change signal is a cleaning signal, the cleaning machine is controlled to leave the transfer vehicle and start cleaning; When the cleaning machine finishes cleaning, it reaches a set receiving position and senses the position of the transfer vehicle through the first proximity unit, and drives the cleaning machine to return to the transfer vehicle after sensing the transfer vehicle, so that the transfer vehicle carries the cleaning machine to the next target array; The first proximity unit installed on the cleaning machine for sensing the first sensing structure receives the first change signal, which specifically comprises: According to a preset rule, a set number of operations of retracting and releasing the first sensing structure on the transfer trolley are performed within a set time period; the preset rule defines the number of operations of retracting and releasing the first sensing structure on the transfer trolley, and the time of each retraction and the time of each release; The first proximity unit sends a first level to the cleaning machine when the first sensing structure is sensed, and sends a second level to the cleaning machine when the first sensing structure is not sensed, so that the cleaning machine receives a first change signal composed of the first level and the second level; the first level is opposite to the second level.

7. A transfer cart control cleaning system characterized by, The transfer trolley control cleaning system is used to perform the photovoltaic power station cleaning method based on the transfer trolley according to any one of claims 1-5, comprising: A task receiving module is configured to receive a cleaning task sent by a background; the cleaning task includes a target array to be cleaned and a position of the target array; A driving driving module is configured to drive the transfer trolley to carry the cleaning machine to move to the position of the target array based on the cleaning task; A first instruction receiving and sending module is configured to send a cleaning instruction to clean the target array to the cleaning machine, and determine whether a wireless communication connection between the transfer trolley and the cleaning machine is normal; A first sensing adjustment module is configured to, if the wireless communication connection is not normal, adjust a first sensing structure arranged on the transfer trolley, so that a first proximity unit arranged on the cleaning machine for sensing the first sensing structure receives a first change signal, so that the cleaning machine leaves the transfer trolley to start cleaning after identifying that the first change signal is a cleaning signal; A second detection module is configured to, when the cleaning machine finishes cleaning, sense whether the cleaning machine has returned to the transfer trolley through a second proximity unit arranged on the transfer trolley; the cleaning machine is installed with a second sensing structure; The driving driving module is further configured to, when it is determined that the cleaning machine has returned to the transfer trolley, drive the transfer trolley to travel to a next target array.

8. The transfer trolley control cleaning system according to claim 7, wherein: The first sensing adjustment module is further configured to retract the first sensing structure on the transfer trolley, so that the first proximity unit cannot sense the transfer trolley, so that a level signal fed back to the cleaning machine by the first proximity unit changes, generating a first change signal; The second detection module is further configured to sense whether the cleaning machine installed with a second sensing structure has left the transfer trolley to perform the cleaning task through a second proximity unit arranged on the transfer trolley; The first sensing adjustment module is further configured to release the first sensing structure on the transfer trolley when it is sensed that the cleaning machine has left the transfer trolley to perform the cleaning task.

9. The cart control cleaning system of claim 7, wherein, The driving driving module comprises: A marker obtaining submodule is configured to obtain RFID marker information of the target array; A target distance calculation submodule is configured to locate a current position of the transfer trolley, and calculate a target distance to be run by the transfer trolley to reach the target array based on the position of the target array; The actual distance obtaining submodule is configured to drive the transfer vehicle to carry the cleaning machine to move to the target array position, and to obtain a travel distance of the transfer vehicle through a mileage counter of the transfer vehicle. The marker identification submodule is configured to identify an RFID marker installed on a corresponding track of each row of arrays when a difference between the target distance and the travel distance reaches a set threshold, to confirm that the transfer vehicle reaches the target array. The sensor distance measuring submodule is configured to measure a first distance from the transfer vehicle to a frame of a photovoltaic module of the target array through a first distance measuring sensor installed on the transfer vehicle after confirming that the transfer vehicle reaches the target array, and to measure a second distance from the transfer vehicle to the frame of the photovoltaic module of the target array through a second distance measuring sensor installed on the transfer vehicle. The distance judgment submodule is configured to judge whether the first distance and the second distance are both less than a preset target distance. The driving submodule is configured to stop the movement of the transfer vehicle if the first distance and the second distance are both less than the preset target distance, so that the cleaning machine on the transfer vehicle moves to the photovoltaic module of the target array to perform a cleaning task after receiving a cleaning instruction or a cleaning signal, and to adjust the position of the transfer vehicle until the first distance and the second distance are both less than the preset target distance if the first distance and the second distance are not both less than the preset target distance.

10. A sweeper system characterized by, The cleaning machine system is configured to perform the photovoltaic power station cleaning method based on a transfer vehicle according to claim 6, and includes: The second instruction transceiver module is configured to judge whether a wireless communication connection between the cleaning machine and the transfer vehicle is normal. The second instruction transceiver module is further configured to receive a cleaning instruction sent by the transfer vehicle if the wireless communication connection is normal, to send a cleaning end signal to the transfer vehicle after cleaning is completed, and to receive a return instruction sent by the transfer vehicle. The photovoltaic cleaning module is configured to clean the photovoltaic panel of the target array according to the cleaning instruction, and to drive the cleaning machine to return to the transfer vehicle after receiving the return instruction sent by the transfer vehicle. The first detection module is configured to receive a first change signal through a first proximity unit installed on the cleaning machine to sense a first sensing structure if the wireless communication connection is not normal, wherein the first sensing structure is installed on the transfer vehicle, the transfer vehicle adjusts the first sensing structure to change the signal received by the first proximity unit, and the first change signal is generated. The first detection module is further configured to identify whether the first change signal is a cleaning signal. The photovoltaic cleaning module is further configured to control the cleaning machine to leave the transfer vehicle to start cleaning when it is identified that the first change signal is a cleaning signal. A second induction module includes a second induction structure arranged on the cleaning machine; the second induction module corresponds to a second detection module, the second detection module is used for sensing the second induction structure of the cleaning machine through a second proximity unit arranged on the transfer trolley, so that the transfer trolley senses whether the cleaning machine leaves or returns to the transfer trolley; The photovoltaic cleaning module is further used for driving the cleaning machine to reach a set receiving position when the cleaning is completed. The first detection module is further used for sensing the position of the transfer trolley through the first proximity unit; The photovoltaic cleaning module is further used for driving the cleaning machine to return to the transfer trolley after the transfer trolley is sensed, so that the transfer trolley carries the cleaning machine to drive to a next target array.

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