A method and system for controlling the balance of a photovoltaic cleaning device based on a photovoltaic panel

Abstract

The application discloses a method and system for controlling balance of a photovoltaic cleaning device based on a photovoltaic panel, and the method comprises the following steps: when the photovoltaic cleaning device works on the photovoltaic panel, real-time monitoring of position information of the photovoltaic cleaning device is performed; according to the position information, it is judged whether the photovoltaic cleaning device is in a preset safety range of the photovoltaic panel; if the photovoltaic cleaning device is not in the preset safety range of the photovoltaic panel, current motion information of the photovoltaic cleaning device is collected, and the current motion information comprises a sliding direction of the photovoltaic cleaning device; based on the collected motion information, high-pressure air guns installed on both sides of the photovoltaic cleaning device are controlled to spray air flow to a set direction, and / or the motion direction of a track provided with the photovoltaic cleaning device is adjusted. Through the application, the photovoltaic cleaning device on the photovoltaic panel can be prevented from sliding off the photovoltaic panel during cleaning work.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic system cleaning, and in particular to a method and system for controlling the balance of a photovoltaic cleaning device based on photovoltaic panels. Background Technology

[0002] As a renewable energy source, photovoltaic panels are increasingly being used in daily life. In order to increase the amount and duration of sunlight in photovoltaic systems, they are usually placed in the open air over a large area in remote fields.

[0003] Photovoltaic panels, due to their long-term exposure to the outdoor environment, accumulate a lot of dirt and grime on their surfaces, such as dust and bird droppings. With advancements in technology, cleaning devices are used to clean the surfaces of photovoltaic panels. However, during cleaning, these devices may inevitably slip off the panels due to various factors, forcing the cleaning process to stop. This improper cleaning can negatively impact the efficiency of the photovoltaic panels in converting solar energy into electricity.

[0004] Therefore, how to prevent the cleaning device from slipping off the photovoltaic panel during cleaning has become an urgent problem to be solved. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a method and system for controlling the balance of a photovoltaic cleaning device based on a photovoltaic panel.

[0006] Specifically, the technical solution of the present invention is as follows:

[0007] On the one hand, a method for controlling the balance of a photovoltaic cleaning device based on photovoltaic panels includes:

[0008] When the photovoltaic cleaning device is working on the photovoltaic panel, the location information of the photovoltaic cleaning device is monitored in real time.

[0009] Based on the location information, determine whether the photovoltaic cleaning device is within the preset safety range of the photovoltaic panel;

[0010] If the photovoltaic cleaning device is not within the preset safety range of the photovoltaic panel, the current motion information of the photovoltaic cleaning device is collected, including the sliding direction of the photovoltaic cleaning device;

[0011] Based on the collected motion information, the high-pressure air guns installed on both sides of the photovoltaic cleaning device are controlled to spray airflow in a set direction, and / or the movement direction of the tracks of the photovoltaic cleaning device is adjusted so that the photovoltaic cleaning device returns to the preset safe range of the photovoltaic panel.

[0012] In some embodiments, the high-pressure air gun includes a fixed central shaft, a movable side shaft, and an airflow injection pipe, wherein the movable side shaft is parallel to the fixed central shaft, and the airflow injection pipe is connected to the movable side shaft and the fixed central shaft;

[0013] The jet direction of the airflow jet pipe is adjusted by changing the relative direction and distance between the movable side axis and the fixed center axis.

[0014] In some embodiments, determining whether the photovoltaic cleaning device is within a preset safety range of the photovoltaic panel based on the location information includes:

[0015] The distance between the photovoltaic cleaning device and the edge of the photovoltaic panel is measured based on the distance sensor installed on the photovoltaic cleaning device;

[0016] Determine whether the distance between the photovoltaic cleaning device and the edge of the photovoltaic panel is greater than a preset distance;

[0017] If the distance between the photovoltaic cleaning device and the edge of the photovoltaic panel is greater than the preset distance, then the photovoltaic cleaning device is determined to be within the preset safety range of the photovoltaic panel;

[0018] If the distance between the photovoltaic cleaning device and the edge of the photovoltaic panel is less than the preset distance, it is determined that the photovoltaic cleaning device is not within the preset safety range of the photovoltaic panel.

[0019] In some embodiments, controlling the high-pressure air guns mounted on both sides of the photovoltaic cleaning device to spray airflow in a set direction, and / or adjusting the movement direction of the tracks of the photovoltaic cleaning device, includes:

[0020] The tilt value of the photovoltaic panel is collected;

[0021] Based on the tilt value, determine whether the tilt value is greater than a preset value;

[0022] If the tilt value is not greater than the preset value, then the running direction of the tracks of the photovoltaic cleaning device is adjusted so that the photovoltaic cleaning device enters the preset safe range of the photovoltaic panel;

[0023] If the tilt value is greater than the preset value, the running direction of the track of the photovoltaic cleaning device is adjusted, and the high-pressure air gun is activated at the same time to spray airflow in the set direction to prevent the photovoltaic cleaning device from slipping and to make the photovoltaic cleaning device drive into the preset safe range of the photovoltaic panel.

[0024] In some embodiments, adjusting the running direction of the photovoltaic cleaning device's tracks to bring the photovoltaic cleaning device into a preset safe range of the photovoltaic panel if the tilt value is not greater than the preset value includes:

[0025] The first direction of motion and the first speed of motion of the photovoltaic cleaning device are obtained;

[0026] Based on the first direction of movement and the first speed of movement of the photovoltaic cleaning device, a first adjustment command is sent to the track.

[0027] The track adjusts its direction of movement according to the first adjustment command, so that the photovoltaic cleaning device moves in the second direction of movement, which is opposite to the first direction of movement.

[0028] In some embodiments, after the track adjusts its direction of movement according to the first adjustment command, causing the photovoltaic cleaning device to move in the second direction of movement, the method further includes:

[0029] Monitor whether the adjusted photovoltaic cleaning device enters the preset safety range of the photovoltaic panel within a preset time.

[0030] If the adjusted photovoltaic cleaning device does not enter the preset safety range of the photovoltaic panel within a preset time, a third adjustment command is sent to the photovoltaic cleaning device.

[0031] The high-pressure air gun of the photovoltaic cleaning device is adjusted according to the third adjustment command to adjust the spray direction and spray intensity so that the photovoltaic cleaning device can work normally within the preset safety range on the photovoltaic panel. The spray direction is the opposite of the sliding direction of the photovoltaic cleaning device.

[0032] In some embodiments, the step of adjusting the running direction of the photovoltaic cleaning device's track and activating the high-pressure air gun to spray airflow in a set direction if the tilt value is greater than the preset value includes:

[0033] Obtain the third direction of motion and the second speed of motion of the photovoltaic cleaning device;

[0034] Based on the third direction of movement and the second speed of movement of the photovoltaic cleaning device, a second adjustment command is sent to the track and the high-pressure air gun;

[0035] Based on the second adjustment command, the movement direction of the track is adjusted, and the high-pressure air gun adjusts the spray direction and spray intensity of the airflow jet pipe, so that the photovoltaic cleaning device moves in the fourth movement direction, which is opposite to the third movement direction.

[0036] On the other hand, the present invention also provides a system for controlling the balance of a cleaning device based on a photovoltaic panel, comprising:

[0037] The monitoring module is used to monitor the location information of the photovoltaic cleaning device in real time when the photovoltaic cleaning device is working on the photovoltaic panel;

[0038] The judgment module is used to determine whether the photovoltaic cleaning device is within the preset safety range of the photovoltaic panel based on the location information.

[0039] The data acquisition module is used to acquire the current motion information of the photovoltaic cleaning device if the photovoltaic cleaning device is not within the preset safety range of the photovoltaic panel. The current motion information includes the sliding direction of the photovoltaic cleaning device.

[0040] The start-up module is used to control the high-pressure air guns installed on both sides of the photovoltaic cleaning device to spray airflow in a set direction based on the collected motion information, and / or to adjust the movement direction of the tracks of the photovoltaic cleaning device so that the photovoltaic cleaning device returns to the preset safety range of the photovoltaic panel.

[0041] In some implementations, the determination module includes:

[0042] The ranging submodule measures the distance between the photovoltaic cleaning device and the edge of the photovoltaic panel based on the ranging sensor installed on the photovoltaic cleaning device;

[0043] The judgment and analysis submodule is used to determine whether the distance between the photovoltaic cleaning device and the edge of the photovoltaic panel is greater than a preset distance;

[0044] The determination submodule is used to determine that if the distance between the photovoltaic cleaning device and the edge of the photovoltaic panel is greater than a preset distance, the photovoltaic cleaning device is within a preset safety range of the photovoltaic panel.

[0045] The determination submodule is further configured to determine that the photovoltaic cleaning device is not within the preset safety range of the photovoltaic panel if the distance between the photovoltaic cleaning device and the edge of the photovoltaic panel is less than a preset distance.

[0046] In some implementations, the startup module includes:

[0047] The acquisition submodule is used to acquire the tilt value of the photovoltaic panel;

[0048] The judgment and analysis submodule is used to determine whether the tilt value is greater than a preset value based on the tilt value;

[0049] An adjustment submodule is used to adjust the running direction of the tracks of the photovoltaic cleaning device so that the photovoltaic cleaning device enters the preset safe range of the photovoltaic panel if the tilt value is not greater than the preset value.

[0050] The adjustment submodule is also used to adjust the running direction of the track of the photovoltaic cleaning device if the tilt value is greater than the preset value, and at the same time activate the high-pressure air gun to spray airflow in the set direction to prevent the photovoltaic cleaning device from slipping and to make the photovoltaic cleaning device drive into the preset safe range of the photovoltaic panel.

[0051] Compared with the prior art, the present invention has the following beneficial effects:

[0052] This invention monitors the position of the photovoltaic cleaning device on the photovoltaic panel and collects its motion information. Based on this motion information, the movement direction of the photovoltaic cleaning device is adjusted by changing the direction of its tracks and activating the high-pressure air guns on both sides of the device. This ensures that the photovoltaic cleaning device operates normally within the preset safety range of the photovoltaic panel. Attached Figure Description

[0053] 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.

[0054] Figure 1 This is a flowchart of an embodiment of a method for controlling the balance of a cleaning device based on a photovoltaic panel according to the present invention;

[0055] Figure 2 This is a flowchart of another embodiment of the method for controlling the balance of a cleaning device based on a photovoltaic panel according to the present invention;

[0056] Figure 3 This is a flowchart of another embodiment of the method for controlling the balance of a cleaning device based on a photovoltaic panel according to the present invention;

[0057] Figure 4 This is a flowchart of another embodiment of the method for controlling the balance of a cleaning device based on a photovoltaic panel according to the present invention;

[0058] Figure 5 This is a flowchart of another embodiment of the method for controlling the balance of a cleaning device based on a photovoltaic panel according to the present invention;

[0059] Figure 6 This is a flowchart of another embodiment of the method for controlling the balance of a cleaning device based on a photovoltaic panel according to the present invention;

[0060] Figure 7This is a high-pressure air gun diagram of another embodiment of the method for controlling a cleaning device based on a photovoltaic panel according to the present invention;

[0061] Figure 8 This is a block diagram of an embodiment of a system for controlling the balance of a cleaning device based on a photovoltaic panel, according to the present invention.

[0062] Figure 9 This is a block diagram of another embodiment of a system for controlling the balance of a cleaning device based on a photovoltaic panel, according to the present invention.

[0063] Explanation of icon numbers:

[0064] Fixed central axis 1, airflow jet pipe 2, movable side axis 3, jet range 4. Detailed Implementation

[0065] 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.

[0066] 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."

[0067] 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.

[0068] 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.

[0069] 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.

[0070] In one embodiment, refer to the appendix to the specification. Figure 1 The present invention provides a method for controlling the balance of a photovoltaic cleaning device using a photovoltaic panel, comprising:

[0071] S100, When the photovoltaic cleaning device is working on the photovoltaic panel, the location information of the photovoltaic cleaning device is monitored in real time;

[0072] Specifically, the photovoltaic cleaning device cleans the surface of the photovoltaic panel using brushes and high-pressure air. The cleaning device moves automatically on the surface of the photovoltaic panel. To prevent the photovoltaic cleaning device from slipping off the photovoltaic panel, it is necessary to monitor the real-time position of the photovoltaic cleaning device. Specifically, multiple cameras can be used to acquire images of the photovoltaic cleaning device to determine its real-time position.

[0073] S200, determine whether the photovoltaic cleaning device is within the preset safety range of the photovoltaic panel based on the location information;

[0074] Specifically, a safety range can be preset, such as a distance of more than 50 centimeters from the edge of the photovoltaic panel. When the location information of the photovoltaic cleaning device is monitored and it is found that the distance between the photovoltaic cleaning device and the edge of the photovoltaic panel is less than 50 centimeters, it can be determined that the photovoltaic cleaning device is not within the preset safety range.

[0075] S300, if the photovoltaic cleaning device is not within the preset safety range of the photovoltaic panel, the current motion information of the photovoltaic cleaning device is collected, including the sliding direction of the photovoltaic cleaning device;

[0076] Specifically, as mentioned above, when it is determined that the photovoltaic cleaning device is not within the preset safety range, and when the photovoltaic cleaning device is cleaning the photovoltaic panel, it is very likely to slip. In this case, it is necessary to collect the slip direction of the photovoltaic cleaning device and make the photovoltaic cleaning device run in the opposite direction to the slip direction to avoid the photovoltaic cleaning device slipping.

[0077] S400, based on the collected motion information, control the high-pressure air guns installed on both sides of the photovoltaic cleaning device to spray airflow in a set direction, and / or adjust the movement direction of the tracks of the photovoltaic cleaning device so that the photovoltaic cleaning device returns to the preset safety range of the photovoltaic panel;

[0078] Specifically, by controlling the spray direction of the high-pressure air gun and the movement direction of the track wheels, the photovoltaic cleaning device can be made to move automatically in any direction, preventing it from slipping off the photovoltaic panels.

[0079] In this embodiment, the real-time position of the photovoltaic cleaning device is first collected to analyze and determine whether the photovoltaic cleaning device is within the safe range of the photovoltaic panel. If it is not within the safe range, the sliding direction of the photovoltaic cleaning device is obtained. Based on the sliding direction, the spray direction of the high-pressure air gun and the movement direction of the track wheel are controlled so that the photovoltaic cleaning device runs in the opposite direction to the sliding direction, thereby preventing the photovoltaic cleaning device from sliding off the photovoltaic panel.

[0080] In one embodiment, refer to the appendix to the specification. Figure 2 Based on the embodiments of the above method, step S200, which involves determining whether the photovoltaic cleaning device is within the preset safety range of the photovoltaic panel based on the location information, specifically includes the following steps:

[0081] S210, based on the distance sensor installed on the photovoltaic cleaning device, the distance between the photovoltaic cleaning device and the edge of the photovoltaic panel is measured;

[0082] S220, determine whether the distance between the photovoltaic cleaning device and the edge of the photovoltaic panel is greater than a preset distance;

[0083] S230, if the distance between the photovoltaic cleaning device and the edge of the photovoltaic panel is greater than a preset distance, then it is determined that the photovoltaic cleaning device is within the preset safety range of the photovoltaic panel;

[0084] S240, if the distance between the photovoltaic cleaning device and the edge of the photovoltaic panel is less than a preset distance, it is determined that the photovoltaic cleaning device is not within the preset safety range of the photovoltaic panel;

[0085] Specifically, in order to determine whether the photovoltaic cleaning device is within the preset safety range of the photovoltaic panel, a distance measuring sensor can be installed on the photovoltaic cleaning device, such as using an ultrasonic sensor to measure the distance between the cleaning device and the edge of the photovoltaic panel.

[0086] In one embodiment, refer to the appendix to the specification. Figure 3 Based on the embodiments of the above method, step S400, which involves controlling the high-pressure air guns installed on both sides of the photovoltaic cleaning device to spray airflow in a set direction, and / or adjusting the movement direction of the tracks of the photovoltaic cleaning device, specifically includes the following steps:

[0087] S410, Collect the tilt value of the photovoltaic panel;

[0088] S420, determine whether the tilt value is greater than a preset value based on the tilt value;

[0089] S430, if the tilt value is not greater than the preset value, then adjust the running direction of the track of the photovoltaic cleaning device so that the photovoltaic cleaning device enters the preset safe range of the photovoltaic panel;

[0090] S440, if the tilt value is greater than the preset value, then adjust the running direction of the track of the photovoltaic cleaning device, and start the high-pressure air gun to spray airflow in the set direction to prevent the photovoltaic cleaning device from slipping and entering the preset safety range of the photovoltaic panel.

[0091] Specifically, in this embodiment, the tilt angle of the photovoltaic panel also affects the slippage of the photovoltaic cleaning device. Therefore, it is necessary to collect the tilt angle of the photovoltaic panel. When the photovoltaic panel is at a small tilt angle, the rubber track can rely on friction to ensure that it does not slip off the photovoltaic panel. When the photovoltaic panel is at a large tilt angle, friction and high-pressure airflow can ensure that the photovoltaic cleaning device can move normally on the photovoltaic panel and does not slip off.

[0092] In one embodiment, refer to the appendix to the specification. Figure 4 Based on the embodiments of the above method, step S430, which involves adjusting the running direction of the photovoltaic cleaning device's tracks so that the photovoltaic cleaning device enters the preset safe range of the photovoltaic panel if the tilt value is not greater than the preset value, specifically includes the following steps:

[0093] S431, Obtain the first direction of motion and the first speed of motion of the photovoltaic cleaning device;

[0094] S432, based on the first direction of movement and the first speed of movement of the photovoltaic cleaning device, a first adjustment command is sent to the track;

[0095] S433, the track adjusts the direction of movement of the track according to the first adjustment command, so that the photovoltaic cleaning device moves in the second direction of movement, which is opposite to the first direction of movement;

[0096] Specifically, in this embodiment, when the photovoltaic panel is at a small tilt angle, the real-time movement direction and speed of the photovoltaic cleaning device are obtained, and an adjustment command is sent to the track of the photovoltaic cleaning device to adjust the movement direction of the track, so that the photovoltaic cleaning device runs in the opposite direction to the sliding direction, so that the photovoltaic cleaning device can work normally on the photovoltaic panel.

[0097] In one embodiment, refer to the appendix to the specification. Figure 5 Based on the embodiments of the above method, after step S433, the following steps are also included:

[0098] S433-1, Monitor whether the adjusted photovoltaic cleaning device enters the preset safety range of the photovoltaic panel within a preset time;

[0099] S433-2, If the adjusted photovoltaic cleaning device does not enter the preset safety range of the photovoltaic panel within a preset time, a third adjustment command is sent to the photovoltaic cleaning device;

[0100] S433-3, Based on the third adjustment command, adjust the spray direction and spray intensity of the high-pressure air gun of the photovoltaic cleaning device so that the photovoltaic cleaning device can work normally within the preset safety range on the photovoltaic panel, wherein the spray direction is towards the photovoltaic panel;

[0101] Specifically, in this embodiment, if the photovoltaic panel is at a small tilt angle, the direction of the track running is changed to prevent the photovoltaic cleaning device from slipping. It is also necessary to monitor whether the photovoltaic cleaning device has entered the safe range. If it has not entered the preset safe range, the high-pressure air gun needs to be activated. By adjusting the spray direction and spray intensity of the high-pressure air gun of the photovoltaic cleaning device, the photovoltaic cleaning device can work normally within the preset safe range on the photovoltaic panel.

[0102] In one embodiment, refer to the appendix to the specification. Figure 6 Based on the embodiments of the above method, in step S440, if the tilt value is greater than the preset value, the running direction of the track of the photovoltaic cleaning device is adjusted, and the high-pressure air gun is activated to spray airflow in the set direction, specifically including the following steps:

[0103] S441, Obtain the third direction of motion and the second speed of motion of the photovoltaic cleaning device;

[0104] S442, based on the third direction of movement and the second speed of movement of the photovoltaic cleaning device, a second adjustment command is sent to the track and the high-pressure air gun;

[0105] S443, based on the second adjustment command, the movement direction of the track is adjusted, the high-pressure air gun is adjusted, and the spray direction and spray intensity are adjusted, so that the photovoltaic cleaning device moves in the fourth movement direction, which is opposite to the third movement direction;

[0106] Specifically, in this embodiment, if changing the direction of the track running is insufficient to prevent the photovoltaic cleaning device from slipping when the photovoltaic panel is at a large angle, it is necessary to directly activate the high-pressure air gun and adjust the spray direction and intensity of the high-pressure air gun of the photovoltaic cleaning device so that the photovoltaic cleaning device can work normally within the preset safety range on the photovoltaic panel.

[0107] Another embodiment of the method for controlling the balance of a cleaning device based on photovoltaic panels according to the present invention is described in the appendix to the specification. Figure 7 Based on any of the above embodiments, the high-pressure air gun includes a fixed central shaft 1, a movable side shaft 3, and an airflow injection pipe 2. The movable side shaft 3 is located below the fixed central shaft 1 and parallel to the fixed central shaft 1. The airflow injection pipe 2 is connected to the movable side shaft 3 and the fixed central shaft 1. The range of the injection range 4 is 0-120 degrees.

[0108] The spray direction and spray range 4 of the airflow jet pipe 1 can be adjusted by changing the relative direction and distance between the movable side shaft 3 and the fixed central shaft 1.

[0109] Specifically, by adjusting the lateral displacement (direction of displacement is X) of the movable side shaft 3 and the fixed center shaft 1, the left and right spray direction of the nozzle can be adjusted; the movable side shaft 3 can be rotated around the fixed center shaft 1 by a certain angle to adjust the front and rear spray angle of the nozzle, and the spray direction of the airflow nozzle 2 can be adjusted at any angle within the 120-degree conical surface according to the adjustment requirements.

[0110] Based on the same technical concept, refer to the appendix of the instruction manual. Figure 8 This invention also discloses an embodiment of a method for controlling the balance of a photovoltaic cleaning device based on a photovoltaic panel. Specifically, this application discloses a system for controlling the balance of a photovoltaic cleaning device based on a photovoltaic panel, comprising:

[0111] Monitoring module 10 is used to monitor the location information of the photovoltaic cleaning device in real time when the photovoltaic cleaning device is working on the photovoltaic panel;

[0112] The judgment module 20 is used to determine whether the photovoltaic cleaning device is within the preset safety range of the photovoltaic panel based on the location information.

[0113] The acquisition module 30 is used to acquire the current motion information of the photovoltaic cleaning device if the photovoltaic cleaning device is not within the preset safety range of the photovoltaic panel. The current motion information includes the sliding direction of the photovoltaic cleaning device.

[0114] The start-up module 40 is used to control the high-pressure air guns installed on both sides of the photovoltaic cleaning device to spray airflow in a set direction based on the collected motion information, and / or to adjust the movement direction of the tracks of the photovoltaic cleaning device so that the photovoltaic cleaning device returns to the preset safety range of the photovoltaic panel.

[0115] Specifically, in this embodiment, the real-time position of the photovoltaic cleaning device is first monitored by the monitoring module 10, and then the judgment module 20 analyzes and judges whether the photovoltaic cleaning device is within the safe range of the photovoltaic panel. If it is not within the safe range, the movement direction of the photovoltaic cleaning device is obtained by the acquisition module 30. Finally, the activation module 40 controls the spray direction of the high-pressure air gun and the movement direction of the track wheel according to the sliding direction, so that the photovoltaic cleaning device moves in the opposite direction of the sliding direction, thus preventing the photovoltaic cleaning device from sliding off the photovoltaic panel.

[0116] In one embodiment, refer to the appendix to the specification. Figure 9 Based on the embodiments of the above method, the determination module 20 further includes:

[0117] The ranging submodule 21 is used to measure the distance between the photovoltaic cleaning device and the edge of the photovoltaic panel based on the ranging sensor installed on the photovoltaic cleaning device;

[0118] The judgment and analysis submodule 22 is used to determine whether the distance between the photovoltaic cleaning device and the edge of the photovoltaic panel is greater than a preset distance;

[0119] The determination submodule 23 is used to determine that the photovoltaic cleaning device is within a preset safety range of the photovoltaic panel if the distance between the photovoltaic cleaning device and the edge of the photovoltaic panel is greater than a preset distance.

[0120] The determination submodule 23 is further configured to determine that the photovoltaic cleaning device is not within the preset safety range of the photovoltaic panel if the distance between the photovoltaic cleaning device and the edge of the photovoltaic panel is less than the preset distance.

[0121] Specifically, in this embodiment, to determine whether the photovoltaic cleaning device is within the preset safety range of the photovoltaic panel, the distance measuring submodule 21 uses a distance measuring sensor to measure the distance between the photovoltaic cleaning device and the edge of the photovoltaic panel. Then, the judgment and analysis submodule 22 uses a judgment and analysis submodule 22 to determine whether the distance between the photovoltaic cleaning device and the edge of the photovoltaic panel is greater than a preset distance. If the distance between the photovoltaic cleaning device and the edge of the photovoltaic panel is greater than the preset distance, it is determined that the photovoltaic cleaning device is not within the preset safety range of the photovoltaic panel; if the distance between the photovoltaic cleaning device and the edge of the photovoltaic panel is less than the preset distance, it is determined that the photovoltaic cleaning device is within the preset safety range of the photovoltaic panel.

[0122] In one embodiment, refer to the appendix to the specification. Figure 9 Based on the embodiments of the above method, the startup module 40 further includes:

[0123] Acquisition submodule 41 is used to acquire the tilt value of the photovoltaic panel;

[0124] The judgment and analysis submodule 42 is used to determine whether the tilt value is greater than a preset value based on the tilt value;

[0125] The adjustment submodule 43 is used to adjust the running direction of the track of the photovoltaic cleaning device so that the photovoltaic cleaning device enters the preset safe range of the photovoltaic panel if the tilt value is not greater than the preset value.

[0126] The adjustment submodule 43 is also used to adjust the running direction of the track of the photovoltaic cleaning device if the tilt value is greater than the preset value, and to activate the high-pressure air gun to spray airflow in the set direction to prevent the photovoltaic cleaning device from slipping and entering the preset safety range of the photovoltaic panel.

[0127] Specifically, in this embodiment, the tilt of the photovoltaic panel will also affect the slippage of the photovoltaic cleaning device. Therefore, the acquisition submodule 41 needs to acquire the tilt of the photovoltaic panel, and the judgment and analysis submodule 42 is used to determine whether the photovoltaic panel is at a small tilt. If the photovoltaic panel is at a small tilt, the rubber track can rely on friction to ensure that it does not slip off the photovoltaic panel. If the photovoltaic panel is determined to be at a large tilt, then the friction of the track and the high-pressure airflow can ensure normal walking on the photovoltaic panel and prevent slippage.

[0128] It should be noted that the above embodiments can be freely combined as needed. The above are merely preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for balancing a photovoltaic cleaning device based on photovoltaic panels, characterized in that, include: When the photovoltaic cleaning device is working on the photovoltaic panel, the location information of the photovoltaic cleaning device is monitored in real time. Based on the location information, determine whether the photovoltaic cleaning device is within the preset safety range of the photovoltaic panel; If the photovoltaic cleaning device is not within the preset safety range of the photovoltaic panel, the current motion information of the photovoltaic cleaning device is collected, including the sliding direction of the photovoltaic cleaning device. Based on the collected motion information, the high-pressure air guns installed on both sides of the photovoltaic cleaning device are controlled to spray airflow in a set direction, and / or the movement direction of the tracks of the photovoltaic cleaning device is adjusted so that the photovoltaic cleaning device returns to the preset safe range of the photovoltaic panel. The control of the high-pressure air guns installed on both sides of the photovoltaic cleaning device to spray airflow in a set direction, and / or adjusting the movement direction of the tracks of the photovoltaic cleaning device, includes: The tilt value of the photovoltaic panel is collected; Based on the tilt value, determine whether the tilt value is greater than a preset value; If the tilt value is not greater than the preset value, then the running direction of the tracks of the photovoltaic cleaning device is adjusted so that the photovoltaic cleaning device enters the preset safe range of the photovoltaic panel; If the tilt value is greater than the preset value, the running direction of the track of the photovoltaic cleaning device is adjusted, and the high-pressure air gun is activated at the same time to spray airflow in the set direction to prevent the photovoltaic cleaning device from slipping and to make the photovoltaic cleaning device drive into the preset safe range of the photovoltaic panel.

2. The method for balancing a photovoltaic cleaning device based on photovoltaic panels according to claim 1, characterized in that, The high-pressure air gun includes a fixed central shaft, a movable side shaft, and an airflow injection pipe. The movable side shaft is parallel to the fixed central shaft, and the airflow injection pipe is connected to the movable side shaft and the fixed central shaft. The jet direction of the airflow jet pipe is adjusted by changing the relative direction and distance between the movable side axis and the fixed center axis.

3. The method for balancing a photovoltaic cleaning device based on photovoltaic panels according to claim 2, characterized in that, The method of determining whether the photovoltaic cleaning device is within the preset safety range of the photovoltaic panel based on the location information includes: The distance between the photovoltaic cleaning device and the edge of the photovoltaic panel is measured using a distance measuring sensor installed on the photovoltaic cleaning device. Determine whether the distance between the photovoltaic cleaning device and the edge of the photovoltaic panel is greater than a preset distance; If the distance between the photovoltaic cleaning device and the edge of the photovoltaic panel is greater than the preset distance, then the photovoltaic cleaning device is determined to be within the preset safety range of the photovoltaic panel; If the distance between the photovoltaic cleaning device and the edge of the photovoltaic panel is less than the preset distance, it is determined that the photovoltaic cleaning device is not within the preset safety range of the photovoltaic panel.

4. The method for balancing a photovoltaic cleaning device based on a photovoltaic panel according to claim 3, characterized in that, If the tilt value is not greater than the preset value, adjusting the running direction of the tracks of the photovoltaic cleaning device to make the photovoltaic cleaning device enter the preset safe range of the photovoltaic panel includes: The first direction of motion and the first speed of motion of the photovoltaic cleaning device are obtained; Based on the first direction of movement and the first speed of movement of the photovoltaic cleaning device, a first adjustment command is sent to the track. The track adjusts its movement direction according to the first adjustment command, so that the photovoltaic cleaning device moves in a second movement direction, which is opposite to the first movement direction.

5. A method for balancing a photovoltaic cleaning device based on a photovoltaic panel according to claim 4, characterized in that, After the track adjusts its direction of movement according to the first adjustment command, causing the photovoltaic cleaning device to move in the second direction of movement, the process further includes: Monitor whether the adjusted photovoltaic cleaning device enters the preset safety range of the photovoltaic panel within a preset time. If the adjusted photovoltaic cleaning device does not enter the preset safety range of the photovoltaic panel within a preset time, a third adjustment command is sent to the photovoltaic cleaning device. The high-pressure air gun of the photovoltaic cleaning device is adjusted according to the third adjustment command to adjust the spray direction and spray intensity so that the photovoltaic cleaning device can work normally within the preset safety range on the photovoltaic panel. The spray direction is the opposite of the sliding direction of the photovoltaic cleaning device.

6. The method for balancing a photovoltaic cleaning device based on a photovoltaic panel according to claim 3, characterized in that, If the tilt value is greater than the preset value, the running direction of the photovoltaic cleaning device's track is adjusted, and the high-pressure air gun is activated to spray airflow in the set direction, including: Obtain the third direction of motion and the second speed of motion of the photovoltaic cleaning device; Based on the third direction of movement and the second speed of movement of the photovoltaic cleaning device, a second adjustment command is sent to the track and the high-pressure air gun; Based on the second adjustment command, the movement direction of the track is adjusted, and the high-pressure air gun adjusts the spray direction and spray intensity of the airflow jet pipe, so that the photovoltaic cleaning device moves in the fourth movement direction, which is opposite to the third movement direction.

7. A system for controlling the balance of a photovoltaic cleaning device based on photovoltaic panels, characterized in that, include: The monitoring module is used to monitor the location information of the photovoltaic cleaning device in real time when the photovoltaic cleaning device is working on the photovoltaic panel; The judgment module is used to determine whether the photovoltaic cleaning device is within the preset safety range of the photovoltaic panel based on the location information. The data acquisition module is used to acquire the current motion information of the photovoltaic cleaning device if the photovoltaic cleaning device is not within the preset safety range of the photovoltaic panel. The current motion information includes the sliding direction of the photovoltaic cleaning device. The start-up module is used to control the high-pressure air guns installed on both sides of the photovoltaic cleaning device to spray airflow in a set direction based on the collected motion information, and / or to adjust the movement direction of the tracks of the photovoltaic cleaning device so that the photovoltaic cleaning device returns to the preset safety range of the photovoltaic panel; The startup module includes: The acquisition submodule is used to acquire the tilt value of the photovoltaic panel; The judgment and analysis submodule is used to determine whether the tilt value is greater than a preset value based on the tilt value; An adjustment submodule is used to adjust the running direction of the tracks of the photovoltaic cleaning device so that the photovoltaic cleaning device enters the preset safe range of the photovoltaic panel if the tilt value is not greater than the preset value. The adjustment submodule is also used to adjust the running direction of the track of the photovoltaic cleaning device if the tilt value is greater than the preset value, and at the same time activate the high-pressure air gun to spray airflow in the set direction to prevent the photovoltaic cleaning device from slipping and to make the photovoltaic cleaning device drive into the preset safe range of the photovoltaic panel.

8. A system for balancing a photovoltaic cleaning device based on a photovoltaic panel, as described in claim 7, characterized in that, The judgment module includes: The ranging submodule is used to measure the distance between the photovoltaic cleaning device and the edge of the photovoltaic panel based on the ranging sensor installed on the photovoltaic cleaning device; The judgment and analysis submodule is used to determine whether the distance between the photovoltaic cleaning device and the edge of the photovoltaic panel is greater than a preset distance; The determination submodule is used to determine that if the distance between the photovoltaic cleaning device and the edge of the photovoltaic panel is greater than a preset distance, the photovoltaic cleaning device is within a preset safety range of the photovoltaic panel. The determination submodule is further configured to determine that the photovoltaic cleaning device is not within the preset safety range of the photovoltaic panel if the distance between the photovoltaic cleaning device and the edge of the photovoltaic panel is less than a preset distance.

Images