A cleaning method for a photovoltaic cleaning robot and a photovoltaic cleaning system

Abstract

The present invention discloses a cleaning method for a photovoltaic cleaning robot and a photovoltaic cleaning system. The method includes: collecting real-time meteorological data; obtaining a cleaning angle range according to the real-time meteorological data; determining whether the real-time meteorological data and the angle of the photovoltaic tracker where the current photovoltaic panel to be cleaned is located are within the cleaning angle range. If so, execute the cleaning task; when it is determined to start executing the cleaning task, the photovoltaic cleaning robot cleans the current photovoltaic panel to be cleaned and communicates with the photovoltaic tracker of the next group of photovoltaic panels to be cleaned, and rotates the photovoltaic tracker of the next group of photovoltaic panels to be cleaned to the cleaning angle. The present invention can formulate corresponding strategies for the photovoltaic cleaning robot and the photovoltaic tracker to execute the cleaning task according to various real-time climates, avoid executing the cleaning task in extreme weather and environments where it is not suitable to execute the cleaning task, and ensure that adjacent photovoltaic panels can maintain the same cleaning angle for the safe passage of the cleaning robot.

Description

Technical Field

[0001] The present invention relates to the field of cleaning of photovoltaic cleaning robots, and particularly to a cleaning method for a photovoltaic cleaning robot. Background Art

[0002] At present, the photovoltaic cleaning robot is one of the mainstream methods for cleaning photovoltaic power stations. Since photovoltaic power stations are built outdoors, they need to face various possible bad weather conditions, such as heavy rain, heavy snow, and strong winds. Moreover, the photovoltaic modules to be cleaned on different photovoltaic brackets in the same row may also be controlled by different trackers to rotate at different angles, resulting in the photovoltaic cleaning robot being unable to pass smoothly. When the photovoltaic cleaning robot cleans the photovoltaic modules in such a relatively complex cleaning environment, it is necessary to formulate an optimal cleaning strategy that takes into account multiple factors affecting cleaning safety. Summary of the Invention

[0003] In order to solve the above technical problems, the present invention provides a cleaning method for a photovoltaic cleaning robot and a photovoltaic cleaning system.

[0004] Specifically, the technical solution of the present invention is as follows:

[0005] In a first aspect, the present invention provides a cleaning method for a photovoltaic cleaning robot, including:

[0006] Collecting real-time meteorological data;

[0007] Obtaining a cleaning angle range according to the real-time meteorological data;

[0008] Judging whether the real-time meteorological data and the angle of the photovoltaic tracker where the current photovoltaic panel to be cleaned is located are within the cleaning angle range. If so, performing a cleaning task;

[0009] When it is judged that the cleaning task starts to be executed, the photovoltaic cleaning robot cleans the current photovoltaic panel to be cleaned, communicates with the photovoltaic tracker of the next group of photovoltaic panels to be cleaned, and rotates the photovoltaic tracker of the next group of photovoltaic panels to be cleaned to the cleaning angle; the cleaning angle is an angle within the cleaning angle range.

[0010] This implementation method determines whether the photovoltaic tracker where the photovoltaic panel that the current photovoltaic cleaning robot is about to clean is within the cleaning angle range, and uses this as a judgment condition for the photovoltaic cleaning robot to start performing the cleaning task, avoiding damage to the photovoltaic panel or the photovoltaic cleaning robot caused by cleaning on a photovoltaic panel with too large an inclination when the wind speed is too high; then, the numerical magnitude of the real-time meteorological data collected is used as another judgment condition, avoiding damage to the photovoltaic panel or the photovoltaic cleaning robot in extreme weather and environments where it is not suitable to perform the cleaning task, and improving the safety of the photovoltaic cleaning robot when performing the cleaning task. Moreover, the next set of photovoltaic panels that need to be cleaned after a set of photovoltaic panels being cleaned is rotated to within the cleaning angle range in advance, avoiding an angular difference between the photovoltaic panels and preventing the photovoltaic cleaning robot from passing through normally.

[0011] In an implementation method of the cleaning method of some photovoltaic cleaning robots, obtaining the cleaning angle range according to the real-time meteorological data includes:

[0012] The real-time meteorological data includes: real-time wind speed data;

[0013] According to the real-time wind speed data, obtain the cleaning angle range; different real-time wind speed data correspond to different cleaning angle ranges.

[0014] This implementation method provides a solution for calculating the cleaning angle range according to the real-time wind speed data in the real-time meteorological data.

[0015] In an implementation method of the cleaning method of some photovoltaic cleaning robots, determining whether the real-time meteorological data and the angle of the photovoltaic tracker where the current photovoltaic panel to be cleaned is located are within the cleaning angle range, and if so, performing the cleaning task, includes:

[0016] The real-time meteorological data further includes: real-time rainfall data;

[0017] When the real-time wind speed data exceeds the preset wind speed value, the photovoltaic cleaning robot does not perform the cleaning task;

[0018] When the real-time rainfall data exceeds the preset rainfall range and the real-time wind speed data does not exceed the preset wind speed value, the photovoltaic cleaning robot performs the cleaning task.

[0019] This implementation method provides judgment conditions for determining whether the photovoltaic cleaning robot can perform the cleaning task by analyzing the real-time wind speed data and real-time rainfall data.

[0020] In an implementation method of a cleaning method for some photovoltaic cleaning robots, the method of determining whether the real-time meteorological data and the angle of the photovoltaic tracker where the current photovoltaic panel to be cleaned is located are within the cleaning angle range, and if so, performing the cleaning task, further includes:

[0021] When the real-time wind speed data is lower than the preset wind speed value and the current photovoltaic panel to be cleaned is not within the corresponding cleaning angle range, the photovoltaic tracker where the current photovoltaic panel to be cleaned is located is used to rotate the current photovoltaic panel to be cleaned into the cleaning angle range.

[0022] This implementation method provides that when the real-time wind speed data meets the preset conditions, if the photovoltaic tracker where the current photovoltaic panel to be cleaned is located has not been rotated to the cleaning angle range, the photovoltaic tracker where the current photovoltaic panel to be cleaned is located is first rotated into the cleaning angle range, and then the cleaning task is started, avoiding the photovoltaic cleaning robot from cleaning on a photovoltaic panel with too large an inclination angle and falling from the photovoltaic panel, resulting in losses.

[0023] In an implementation method of a cleaning method for some photovoltaic cleaning robots, the method of determining whether to start performing the cleaning task according to the real-time meteorological data and whether the current photovoltaic panel to be cleaned is within the cleaning angle range includes:

[0024] When the real-time wind speed data is lower than the preset wind speed value, the real-time rainfall data is within the preset rainfall range, and the photovoltaic tracker where the current photovoltaic panel to be cleaned is located is within the cleaning angle range, the photovoltaic cleaning robot starts to perform the cleaning task.

[0025] This implementation method provides that when the real-time meteorological data meets the preset cleaning conditions and the photovoltaic tracker where the current photovoltaic panel to be cleaned is located has been rotated to the cleaning angle, the photovoltaic cleaning robot can immediately start to perform the cleaning task.

[0026] In an implementation method of a cleaning method for some photovoltaic cleaning robots, before performing the cleaning task, it further includes:

[0027] The real-time meteorological data further includes: real-time snow accumulation data;

[0028] When the real-time snow accumulation data exceeds the preset snow amount value, the photovoltaic tracker where the current photovoltaic panel to be cleaned is located is rotated to dump the snow on the current photovoltaic panel to be cleaned. After the real-time snow accumulation data is lower than the preset snow amount value, the photovoltaic cleaning robot starts to perform the cleaning task.

[0029] This implementation method provides that when the real-time snow accumulation data in the real-time meteorological data does not meet the preset cleaning requirements, the photovoltaic panel to be cleaned is rotated to dump the snow on the photovoltaic panel to be cleaned before starting to perform the cleaning task.

[0030] In an implementation method of the cleaning method of some photovoltaic cleaning robots, when it is determined to start executing the cleaning task, the photovoltaic cleaning robot cleans the currently to-be-cleaned photovoltaic panel and communicates with the photovoltaic tracker of the next group of to-be-cleaned photovoltaic panels, and rotates the photovoltaic tracker of the next group of to-be-cleaned photovoltaic panels to the cleaning angle; the cleaning angle is an angle within the cleaning angle range, including:

[0031] When it is determined to start executing the cleaning task, the photovoltaic cleaning robot cleans the currently to-be-cleaned photovoltaic panel, and the photovoltaic cleaning robot obtains the distance between the photovoltaic cleaning robot and the photovoltaic tracker where the next group of to-be-cleaned photovoltaic panels are located according to the real-time calculated cleaning distance and the preset photovoltaic tracker support length;

[0032] When the distance between the photovoltaic cleaning robot and the photovoltaic tracker where the next group of to-be-cleaned photovoltaic panels are located is lower than the preset distance, the photovoltaic cleaning robot sends a request signal to the photovoltaic tracker where the next group of to-be-cleaned photovoltaic panels are located, requesting the photovoltaic tracker where the next group of to-be-cleaned photovoltaic panels are located to rotate to the cleaning angle range;

[0033] The photovoltaic tracker where the next group of to-be-cleaned photovoltaic panels are located rotates to the cleaning angle range according to the request signal and rotates the next group of to-be-cleaned photovoltaic panels to the cleaning angle.

[0034] In this implementation method, before the photovoltaic cleaning robot is about to reach the photovoltaic tracker where the next group of to-be-cleaned photovoltaic panels are located, it performs signal interaction with the photovoltaic tracker where the next group of to-be-cleaned photovoltaic panels are located, and rotates the photovoltaic tracker where the next group of to-be-cleaned photovoltaic panels are located to the cleaning angle range in advance, ensuring that the photovoltaic cleaning robot can safely pass through the bridge between two adjacent photovoltaic panels on adjacent photovoltaic trackers during the cleaning process.

[0035] In a second aspect, the present invention provides a photovoltaic cleaning system, including:

[0036] An acquisition unit, configured to acquire real-time meteorological data; and send the real-time meteorological data to the central control unit;

[0037] The central control unit is installed on the photovoltaic cleaning robot and is connected to the acquisition unit, and is configured to obtain the cleaning angle range according to the real-time meteorological data;

[0038] A photovoltaic tracker, connected to the central control unit, configured to rotate the currently to-be-cleaned photovoltaic panel to the cleaning angle range and send the cleaning angle to the central control unit;

[0039] The central control unit is further configured to determine whether to start executing the cleaning task according to the real-time meteorological data and whether the cleaning angle of the currently to-be-cleaned photovoltaic panel is within the cleaning angle range;

[0040] The central control unit is further configured to, when it is determined by the central control unit to start executing the cleaning task, control the photovoltaic cleaning robot to clean the currently to-be-cleaned photovoltaic panel, and communicate with the photovoltaic tracker of the next group of to-be-cleaned photovoltaic panels to rotate the photovoltaic tracker of the next group of to-be-cleaned photovoltaic panels to the cleaning angle range.

[0041] In this implementation method, the central control unit determines whether the photovoltaic panel that the current photovoltaic cleaning robot is about to clean is within the cleaning angle range, and uses this as a judgment condition for the photovoltaic cleaning robot to start executing the cleaning task, avoiding damage to the photovoltaic panel or the photovoltaic cleaning robot caused by cleaning on a photovoltaic panel with too large an inclination when the wind speed is too high; then, taking the numerical value of the collected real-time meteorological data as another judgment condition, it avoids damage to the photovoltaic panel or the photovoltaic cleaning robot in extreme weather and environments where it is not suitable to execute the cleaning task, improving the safety of the photovoltaic cleaning robot when executing the cleaning task. And the photovoltaic tracker of the next group of photovoltaic panels that need to be cleaned after the group of photovoltaic panels being cleaned is rotated to the cleaning angle range in advance, avoiding an angular difference between photovoltaic panels and preventing the photovoltaic cleaning robot from passing through normally.

[0042] In some implementation methods of a photovoltaic cleaning system,

[0043] The acquisition unit includes a wind sensor, and the wind sensor is configured to acquire real-time wind speed data;

[0044] The central control unit is configured to obtain the cleaning angle range according to the real-time wind speed data; different real-time wind speed data correspond to different cleaning angle ranges.

[0045] This implementation method provides a solution for calculating the cleaning angle range according to the real-time wind speed data in the real-time meteorological data.

[0046] In some implementation methods of a photovoltaic cleaning system,

[0047] The acquisition unit further includes a rain sensor and a snow sensor. The rain sensor is configured to acquire real-time rainfall data, and the snow sensor is configured to acquire real-time snow accumulation data;

[0048] The central control unit is further configured to control the photovoltaic cleaning robot to start executing the cleaning task when the real-time wind speed data is lower than a preset wind speed value, the real-time rainfall data is within a preset rainfall range, the real-time snow accumulation data is lower than a preset snow accumulation value, and the photovoltaic tracker where the current photovoltaic panel to be cleaned is located is within the cleaning angle range.

[0049] This implementation method provides a judgment that the photovoltaic cleaning robot can start executing the cleaning task when the real-time wind speed data, real-time rainfall data, and real-time snow accumulation data meet the preset cleaning conditions, and the photovoltaic tracker where the current photovoltaic panel to be cleaned is located has rotated to the cleaning angle.

[0050] In some implementation methods of a photovoltaic cleaning system

[0051] The central control unit is further configured to control the photovoltaic tracker to rotate the current photovoltaic panel to be cleaned to the cleaning angle, and then the photovoltaic cleaning robot starts to execute the cleaning task when the real-time wind speed data is lower than a preset wind speed value, the real-time rainfall data is within a preset rainfall range, the real-time snow accumulation data is lower than a preset snow accumulation value, and the current photovoltaic panel to be cleaned is not within the cleaning angle range.

[0052] This implementation method provides that when the real-time meteorological data meets the preset cleaning conditions, if the current photovoltaic panel to be cleaned has not been rotated to the cleaning angle, the current photovoltaic panel to be cleaned is first rotated to the cleaning angle, and then the cleaning task is started, avoiding the photovoltaic cleaning robot from cleaning on a photovoltaic panel with too large an inclination angle and falling from the photovoltaic panel, resulting in losses.

[0053] In some implementation methods of a photovoltaic cleaning system

[0054] The central control unit is further configured to obtain the distance between the photovoltaic cleaning robot and the photovoltaic tracker where the next group of photovoltaic panels to be cleaned is located according to the calculated cleaning distance of the photovoltaic cleaning robot and the preset bracket length;

[0055] The central control unit is further configured to, when the distance between the photovoltaic cleaning robot and the photovoltaic tracker where the next group of photovoltaic panels to be cleaned is located is lower than a preset distance, the photovoltaic cleaning robot sends a request signal to the photovoltaic tracker where the next group of photovoltaic panels to be cleaned is located, requesting the photovoltaic tracker where the next group of photovoltaic panels to be cleaned is located to rotate to the cleaning angle range;

[0056] The photovoltaic tracker is further configured to rotate the current photovoltaic panel to be cleaned to the cleaning angle range according to the request signal.

[0057] In this implementation method, before the photovoltaic cleaning robot reaches the photovoltaic tracker where the next group of photovoltaic panels to be cleaned is located, it performs signal interaction with the photovoltaic tracker where the next group of photovoltaic panels to be cleaned, and rotates the photovoltaic tracker where the next group of photovoltaic panels to be cleaned to the cleaning angle range in advance, ensuring that the photovoltaic cleaning robot can safely pass through the bridge between two adjacent photovoltaic panels on the adjacent photovoltaic tracker brackets during the cleaning process.

[0058] Compared with the prior art, the present invention has at least one of the following beneficial effects:

[0059] 1. The present invention determines whether the photovoltaic tracker where the photovoltaic panel currently being cleaned by the photovoltaic cleaning robot is located is within the cleaning angle range, and uses this as a judgment condition for the photovoltaic cleaning robot to start executing the cleaning task, avoiding damage to the photovoltaic panel or the photovoltaic cleaning robot caused by cleaning on a photovoltaic panel with too large an inclination when the wind speed is too high; then uses the numerical value of the real-time meteorological data collected as another judgment condition, avoiding damage to the photovoltaic panel or the photovoltaic cleaning robot in extreme weather and environments not suitable for executing the cleaning task, and improving the safety of the photovoltaic cleaning robot when executing the cleaning task. The present invention also rotates the next group of photovoltaic panels to be cleaned after the group of photovoltaic panels being cleaned to the cleaning angle range in advance, avoiding the situation where there is an angle difference between photovoltaic panels and the photovoltaic cleaning robot cannot pass normally.

[0060] 2. When the real-time meteorological data meets the preset cleaning conditions, if the current photovoltaic panel to be cleaned has not been rotated to the cleaning angle range, the present invention first rotates the current photovoltaic panel to be cleaned to the cleaning angle range, and then starts to execute the cleaning task, avoiding the photovoltaic cleaning robot from falling from the photovoltaic panel due to cleaning on a photovoltaic panel with too large an inclination and causing losses.

[0061] 3. The present invention provides that when the photovoltaic cleaning robot is about to reach the photovoltaic tracker where the next group of photovoltaic panels to be cleaned is located, it performs signal interaction with the photovoltaic tracker where the next group of photovoltaic panels to be cleaned, and rotates the photovoltaic tracker where the next group of photovoltaic panels to be cleaned to the cleaning angle range in advance, ensuring that the photovoltaic cleaning robot can safely pass through the bridge between two adjacent photovoltaic panels on the adjacent photovoltaic tracker during the cleaning process. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] The above characteristics, technical features, advantages and their implementation manners of the present invention will be further described below in a clear and understandable manner in conjunction with the drawings in the preferred implementation manners.

[0063] Figure 1 is a flowchart of an embodiment of a cleaning method for a photovoltaic cleaning robot of the present invention;

[0064] Figure 2 It is a flowchart of an embodiment of a cleaning method of a photovoltaic cleaning robot of the present invention;

[0065] Figure 3 It is a system block diagram of an embodiment of a photovoltaic cleaning system of the present invention.

[0066] Explanation of the reference numerals in the drawings: 10 - acquisition unit; 11 - wind sensor; 12 - rain sensor; 13 - snow sensor; 20 - central control unit; 30 - photovoltaic tracker. Specific embodiments

[0067] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the specific embodiments of the present invention will be described below with reference to the drawings. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings, and other embodiments can be obtained.

[0068] To make the drawings concise, only the parts related to the invention are schematically shown in each drawing, and they do not represent the actual structure of the product. In addition, to make the drawings concise and easy to understand, in some drawings, components with the same structure or function are only schematically shown as one of them, or only one of them is marked. In this article, "one" not only means "only this one", but also means "more than one" situation.

[0069] It should be further understood that the term "and / or" used in the specification and appended claims of the present application refers to any combination and all possible combinations of one or more of the related listed items, and includes these combinations.

[0070] In this article, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0071] In addition, in the description of the present application, the terms "first", "second", etc. are only used for distinguishing descriptions, and cannot be understood as indicating or implying relative importance.

[0072] In one embodiment, referring to the attached drawings of the specification Figure 1 , a cleaning method of a photovoltaic cleaning robot provided by the present invention includes:

[0073] S110, Collect real-time meteorological data.

[0074] In step S110, the real-time meteorological data includes: real-time wind speed data, real-time snow accumulation data, and real-time rainfall data. The real-time wind speed data can be collected by a wind sensor, the real-time snow accumulation data can be collected by a snow sensor, and the real-time rainfall data can be collected by a rain sensor.

[0075] S120, Obtain the cleaning angle range based on the real-time meteorological data.

[0076] In step S120, the corresponding real-time wind speed level can be obtained through the real-time wind speed data in the real-time meteorological data. Different real-time wind speed data correspond to different cleaning angle ranges. According to the mapping relationship between the preset real-time wind speed level and the cleaning angle range in Table 1, the corresponding cleaning angle range can be obtained. For example, when the real-time wind speed data is 4 m / s, the corresponding real-time wind speed level is level 3 wind, and the cleaning angle range is less than 30 degrees.

[0077] Wind speed level Sweeping angle range 1-8 <30° 9-10 <20° 11-14 <10°

[0078] Table 1

[0079] S130, Determine whether the real-time meteorological data and the angle of the photovoltaic tracker where the current photovoltaic panel to be cleaned is located are within the cleaning angle range. If so, execute the cleaning task.

[0080] In step S130, the judgment result of whether the current photovoltaic panel to be cleaned is within the cleaning angle range is obtained by the photovoltaic tracker identifying the rotation angle of the current photovoltaic panel, and this judgment result is sent to the photovoltaic cleaning robot; among them, when the photovoltaic cleaning robot is in the docking house, the current photovoltaic panel to be cleaned is the first photovoltaic panel after the photovoltaic cleaning robot exits the docking house. When the photovoltaic cleaning robot is on any photovoltaic panel, the current photovoltaic panel to be cleaned is the photovoltaic panel at the position where the photovoltaic cleaning robot is located.

[0081] S140, When the photovoltaic cleaning robot determines to start executing the cleaning task, the photovoltaic cleaning robot cleans the current photovoltaic panel to be cleaned and communicates with the photovoltaic tracker of the next group of photovoltaic panels to be cleaned, and rotates the photovoltaic tracker of the next group of photovoltaic panels to be cleaned to the cleaning angle; the cleaning angle is an angle within the cleaning angle range, and the next group of photovoltaic panels to be cleaned is a group of photovoltaic panels that the photovoltaic cleaning robot is about to reach along the cleaning path.

[0082] In step S140, based on the data interaction between the photovoltaic tracker and the photovoltaic cleaning robot, the photovoltaic cleaning robot rotates the next group of photovoltaic panels that are about to be reached along the cleaning path to within the cleaning angle range, avoiding the situation where there is an angle difference between photovoltaic panels and the photovoltaic cleaning robot cannot pass normally.

[0083] In this embodiment, by analyzing the collected real-time meteorological data, the appropriate cleaning angle range of the photovoltaic panel is obtained. Based on the data interaction between the photovoltaic tracker and the photovoltaic cleaning robot, it is judged whether the photovoltaic tracker where the photovoltaic panel to be currently cleaned by the photovoltaic cleaning robot is located is within this cleaning angle range, and this is used as a judgment condition for the photovoltaic cleaning robot to start executing the cleaning task, avoiding damage to the photovoltaic panel or the photovoltaic cleaning robot caused by too large an inclination angle of the photovoltaic panel when the wind speed is too high; then, the numerical value of the collected real-time meteorological data is used as another judgment condition, avoiding damage to the photovoltaic panel or the photovoltaic cleaning robot in extreme weather and environments where it is not suitable to execute the cleaning task, and improving the safety of the photovoltaic cleaning robot when executing the cleaning task. Moreover, the next set of photovoltaic panels to be cleaned after the currently cleaned set of photovoltaic panels is rotated to the cleaning angle range in advance, avoiding the inability of the photovoltaic cleaning robot to pass normally due to the angle difference between the photovoltaic panels.

[0084] Based on the previous embodiment, this embodiment provides a cleaning method for a photovoltaic cleaning robot. Step S130 includes:

[0085] When the real-time wind speed data exceeds the preset wind speed value, the photovoltaic cleaning robot does not execute the cleaning task.

[0086] When the real-time rainfall data exceeds the preset rainfall range and the real-time wind speed data does not exceed the preset wind speed value, the photovoltaic cleaning robot executes the cleaning task.

[0087] This embodiment provides judgment conditions for determining whether the photovoltaic cleaning robot can execute the cleaning task by analyzing the real-time wind speed data and the real-time rainfall data.

[0088] Based on the foregoing embodiment, this embodiment provides a cleaning method for a photovoltaic cleaning robot. Step S130 includes:

[0089] When the real-time wind speed data is lower than the preset wind speed value and the currently to-be-cleaned photovoltaic panel is not within the corresponding cleaning angle range, the photovoltaic tracker where the currently to-be-cleaned photovoltaic panel is located is used to rotate the currently to-be-cleaned photovoltaic panel to the cleaning angle range.

[0090] This embodiment provides that when the real-time wind speed data meets the preset conditions, if the photovoltaic tracker where the currently to-be-cleaned photovoltaic panel is located has not been rotated to the cleaning angle range, the photovoltaic tracker where the currently to-be-cleaned photovoltaic panel is located is first rotated to the cleaning angle range, and then the cleaning task is started, avoiding the photovoltaic cleaning robot from cleaning the photovoltaic panel with too large an inclination angle and falling from the photovoltaic panel, causing losses.

[0091] Based on the foregoing embodiments, this embodiment provides a cleaning method for a photovoltaic cleaning robot. Before the photovoltaic cleaning robot starts to execute the cleaning task, it further includes:

[0092] The real-time meteorological data further includes: real-time snow accumulation data;

[0093] When the real-time snow accumulation data exceeds the preset snow volume value, the photovoltaic tracker where the current photovoltaic panel to be cleaned is located is rotated to dump the snow on the current photovoltaic panel to be cleaned. After the real-time snow accumulation data is lower than the preset snow volume value, the photovoltaic cleaning robot starts to execute the cleaning task.

[0094] This embodiment provides that when the real-time snow accumulation data in the real-time meteorological data does not meet the preset cleaning requirements, the photovoltaic panel to be cleaned is rotated to dump the snow on the photovoltaic panel to be cleaned before starting to execute the cleaning task.

[0095] Based on any of the foregoing embodiments, with reference to the attached drawings of the specification Figure 2 , this embodiment provides a cleaning method for a photovoltaic cleaning robot. Step S140 includes:

[0096] The current photovoltaic panel to be cleaned is rotated by the photovoltaic tracker corresponding to the first bracket; the next photovoltaic panel to be cleaned is rotated by the photovoltaic tracker corresponding to the second bracket; several photovoltaic panels on each bracket are set as a group of photovoltaic panels;

[0097] S141, when it is determined that the cleaning task starts, the photovoltaic cleaning robot cleans the current photovoltaic panel to be cleaned. The photovoltaic cleaning robot calculates the distance between the photovoltaic cleaning robot and the photovoltaic tracker where the next photovoltaic panel to be cleaned is located according to the real-time calculated cleaning distance and the preset length of the photovoltaic tracker bracket;

[0098] S142, when the distance between the photovoltaic cleaning robot and the photovoltaic tracker where the next photovoltaic panel to be cleaned is located is lower than the preset distance, the photovoltaic cleaning robot sends a request signal to the photovoltaic tracker where the next photovoltaic panel to be cleaned is located, requesting the photovoltaic tracker where the next photovoltaic panel to be cleaned is located to rotate to the cleaning angle range;

[0099] S143, the photovoltaic tracker where the next photovoltaic panel to be cleaned is located rotates to the cleaning angle range according to the request signal, and rotates the next photovoltaic panel to be cleaned to the cleaning angle.

[0100] In this embodiment, before the photovoltaic cleaning robot is about to clean the next group of photovoltaic panels to be cleaned, it conducts signal interaction with the photovoltaic tracker where the next group of photovoltaic panels to be cleaned is located, and rotates the photovoltaic tracker where the next group of photovoltaic panels to be cleaned to the cleaning angle in advance, ensuring that the photovoltaic cleaning robot can safely pass through the bridge between two adjacent photovoltaic panels on the adjacent photovoltaic tracker during the cleaning process. Specifically, the photovoltaic tracker of the currently to-be-cleaned photovoltaic panel is regarded as the No. 1 photovoltaic tracker, and the photovoltaic tracker of the next group of photovoltaic panels to be cleaned is regarded as the No. 2 photovoltaic tracker. After the photovoltaic cleaning robot departs, it communicates with the No. 1 photovoltaic tracker at a fixed communication frequency, for example: communicating with the No. 1 photovoltaic tracker once every 2 minutes to ensure that the No. 1 photovoltaic tracker is within the cleaning angle range. The photovoltaic cleaning robot calculates the cleaning distance in real time and compares it with the length of the photovoltaic tracker bracket pre-entered. When the cleaning reaches a position less than 4 m from the end of the photovoltaic tracker bracket of the No. 1 photovoltaic tracker, it starts to communicate with the two photovoltaic trackers, such as: communicating once every minute, and alternately communicating with the No. 1 photovoltaic tracker and the No. 2 photovoltaic tracker; until it can communicate with the No. 2 photovoltaic tracker, it judges whether the No. 2 photovoltaic tracker is within the cleaning angle range. If it is not within the cleaning angle range, it can communicate to make the No. 2 photovoltaic tracker rotate to the cleaning angle so that the photovoltaic cleaning robot can smoothly transition to the No. 2 photovoltaic tracker; and controls the subsequent tracker to adjust the bracket angle in this way until the photovoltaic panels on the last preset photovoltaic tracker bracket are cleaned up.

[0101] In one embodiment, referring to the accompanying drawings of the specification Figure 3 , a photovoltaic cleaning system provided by the present invention includes:

[0102] The acquisition unit 10 is used to acquire real-time meteorological data; and send the real-time meteorological data to the central control unit 20;

[0103] The central control unit 20 is installed on the photovoltaic cleaning robot and is connected to the acquisition unit 10, and is used to obtain the cleaning angle range according to the real-time meteorological data;

[0104] The photovoltaic tracker 30 is connected to the central control unit 20, and is used to rotate the photovoltaic panel to be cleaned to the cleaning angle range and send the cleaning angle to the central control unit 20;

[0105] The central control unit 20 is further used to judge whether to start executing the cleaning task according to the real-time meteorological data and whether the cleaning angle of the currently to-be-cleaned photovoltaic panel is within the cleaning angle range;

[0106] The central control unit 20 is further configured to, when it determines to start executing the cleaning task, control the photovoltaic cleaning robot to clean the currently to-be-cleaned photovoltaic panel, and communicate with the photovoltaic tracker 30 of the next group of to-be-cleaned photovoltaic panels, and rotate the photovoltaic tracker 30 of the next group of to-be-cleaned photovoltaic panels to the cleaning angle; the cleaning angle is an angle within the cleaning angle range.

[0107] In this embodiment, the central control unit 20 analyzes the real-time meteorological data collected by the acquisition unit 10 to obtain the appropriate cleaning angle range of the photovoltaic panel. Based on the data interaction between the photovoltaic tracker 30 and the photovoltaic cleaning robot, it is determined whether the photovoltaic tracker where the photovoltaic panel currently being cleaned by the photovoltaic cleaning robot is located is within this cleaning angle range, and this is used as a judgment condition for the photovoltaic cleaning robot to start executing the cleaning task, avoiding damage to the photovoltaic panel or the photovoltaic cleaning robot caused by too large an inclination angle of the photovoltaic panel when the wind speed is too high; then, the numerical value of the real-time meteorological data collected is used as another judgment condition, avoiding damage to the photovoltaic panel or the photovoltaic cleaning robot in extreme weather and environments where it is not suitable to execute the cleaning task, and improving the safety of the photovoltaic cleaning robot when executing the cleaning task. And the next group of photovoltaic panels to be cleaned after the group of photovoltaic panels being cleaned is rotated to within the cleaning angle range in advance, avoiding the inability of the photovoltaic cleaning robot to pass normally due to the angle difference between the photovoltaic panels. The central control unit 20 of this embodiment can also be set on other control terminals with computing capabilities, and the obtained judgment results and calculation results are transmitted back to the photovoltaic cleaning robot and the photovoltaic tracker through the communication device, saving the computing power of the photovoltaic cleaning robot; similarly, the acquisition unit 10 can also be set on the photovoltaic cleaning robot; or, it can be set at any position in the photovoltaic power station, such as: the tracker at the center of the photovoltaic sub-array where the to-be-cleaned photovoltaic modules are located, and there is no limitation on this.

[0108] Based on the previous embodiment, this embodiment provides a photovoltaic cleaning system.

[0109] The acquisition unit 10 includes a wind sensor 11, and the wind sensor 11 is configured to collect real-time wind speed data.

[0110] The central control unit 20 is configured to obtain the cleaning angle range according to the real-time wind speed data; different real-time wind speed data correspond to different cleaning angle ranges.

[0111] This embodiment provides a solution for calculating the cleaning angle range according to the real-time wind speed data in the real-time meteorological data.

[0112] Based on the previous embodiment, this embodiment provides a photovoltaic cleaning system.

[0113] The acquisition unit 10 further includes a rain sensor 12 and a snow sensor 13. The rain sensor 12 is used to collect real-time rainfall data, and the snow sensor 13 is used to collect real-time snow accumulation data;

[0114] The central control unit 20 is further configured to control the photovoltaic cleaning robot to start executing a cleaning task when the real-time wind speed data is lower than a preset wind speed value, the real-time rainfall data is within a preset rainfall range, the real-time snow accumulation data is lower than a preset snow volume value, and the photovoltaic tracker where the photovoltaic panel to be cleaned is located is within the cleaning angle range.

[0115] In this embodiment, when the real-time wind speed data, real-time rainfall data, and real-time snow volume data meet the preset cleaning conditions, and the photovoltaic panel to be cleaned has been rotated to within the cleaning angle range, the central control unit 20 determines that the photovoltaic cleaning robot can start executing the cleaning task.

[0116] Based on the foregoing embodiment, this embodiment provides a photovoltaic cleaning system.

[0117] The central control unit 20 is further configured to, when the real-time wind speed data is lower than a preset wind speed value, the real-time rainfall data is within a preset rainfall range, the real-time snow accumulation data is lower than a preset snow volume value, and the photovoltaic tracker where the photovoltaic panel to be cleaned is located is not within the cleaning angle range, control the photovoltaic tracker to rotate the photovoltaic tracker where the photovoltaic panel to be cleaned is located to the cleaning angle, and then the photovoltaic cleaning robot starts executing the cleaning task.

[0118] In this embodiment, when the real-time meteorological data meets the preset cleaning conditions, if the photovoltaic tracker where the photovoltaic panel to be cleaned is located has not been rotated to the cleaning angle, the photovoltaic tracker where the photovoltaic panel to be cleaned is located is first rotated to within the cleaning angle range, and then the cleaning task is started, avoiding the photovoltaic cleaning robot from cleaning the photovoltaic panel with too large an inclination angle and falling from the photovoltaic panel, causing losses.

[0119] Based on the foregoing embodiment, this embodiment provides a photovoltaic cleaning system.

[0120] The central control unit 20 is further configured to obtain the distance between the photovoltaic cleaning robot and the photovoltaic tracker 30 where the next group of photovoltaic panels to be cleaned is located according to the cleaning distance of the photovoltaic cleaning robot calculated in real time and the preset bracket length;

[0121] The central control unit 20 is further configured to, when the distance between the photovoltaic cleaning robot and the photovoltaic tracker 30 where the next group of photovoltaic panels to be cleaned is located is lower than a preset distance, the photovoltaic cleaning robot sends a request signal to the photovoltaic tracker 30 where the next group of photovoltaic panels to be cleaned is located, requesting the photovoltaic tracker 30 where the next group of photovoltaic panels to be cleaned is located to rotate to the cleaning angle range;

[0122] The photovoltaic tracker 30 is also used to rotate the photovoltaic panel to be cleaned to the cleaning angle range according to the request signal.

[0123] In this embodiment, before the photovoltaic cleaning robot reaches the photovoltaic tracker 30 where the next group of photovoltaic panels to be cleaned is located, signal interaction is carried out with the photovoltaic tracker 30 where the next group of photovoltaic panels to be cleaned is located, and the photovoltaic tracker 30 where the next group of photovoltaic panels to be cleaned is located is rotated to the cleaning angle in advance, ensuring that the photovoltaic cleaning robot can safely pass through the bridge between two adjacent photovoltaic panels on adjacent photovoltaic trackers during the cleaning process. If the acquisition unit 10 is at a relatively long distance from the photovoltaic cleaning robot, the acquisition unit 10 and the photovoltaic cleaning robot can use a communication channel for long-distance communication, while the signal interaction between the photovoltaic cleaning robot and the photovoltaic tracker 30 can use different communication channels for short-distance communication to save the power consumption of the photovoltaic cleaning robot.

[0124] It should be noted that the above embodiments can be freely combined according to needs. The above is only the preferred embodiment of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A cleaning method for a photovoltaic cleaning robot, characterized in that, Including: Collecting real-time meteorological data; Obtaining a cleaning angle range based on the real-time meteorological data; Judging whether the real-time meteorological data and the angle of the photovoltaic tracker where the current photovoltaic panel to be cleaned is located are within the cleaning angle range. If so, execute the cleaning task; When it is judged to start executing the cleaning task, the photovoltaic cleaning robot cleans the current photovoltaic panel to be cleaned, communicates with the photovoltaic tracker of the next group of photovoltaic panels to be cleaned, and rotates the photovoltaic tracker of the next group of photovoltaic panels to the cleaning angle; the cleaning angle is an angle within the cleaning angle range.

2. The cleaning method of a photovoltaic cleaning robot according to claim 1, characterized in that, The obtaining the cleaning angle range according to the real-time meteorological data includes: The real-time meteorological data includes: real-time wind speed data; Obtaining the cleaning angle range according to the real-time wind speed data; different real-time wind speed data correspond to different cleaning angle ranges.

3. The cleaning method of a photovoltaic cleaning robot according to claim 2, wherein The judging whether the real-time meteorological data and the angle of the photovoltaic tracker where the current photovoltaic panel to be cleaned is located are within the cleaning angle range. If so, execute the cleaning task includes: The real-time meteorological data further includes: real-time rainfall data; When the real-time wind speed data exceeds the preset wind speed value, the photovoltaic cleaning robot does not execute the cleaning task; When the real-time rainfall data exceeds the preset rainfall range and the real-time wind speed data does not exceed the preset wind speed value, the photovoltaic cleaning robot executes the cleaning task.

4. The cleaning method of a photovoltaic cleaning robot according to claim 2, characterized in that, The judging whether the real-time meteorological data and the angle of the photovoltaic tracker where the current photovoltaic panel to be cleaned is located are within the cleaning angle range. If so, execute the cleaning task further includes: When the real-time wind speed data is lower than the preset wind speed value and the current photovoltaic panel to be cleaned is not within the corresponding cleaning angle range, use the photovoltaic tracker where the current photovoltaic panel to be cleaned is located to rotate the current photovoltaic panel to the cleaning angle range.

5. The cleaning method of a photovoltaic cleaning robot according to claim 4, characterized in that, Before executing the cleaning task, it further includes: The real-time meteorological data further includes: real-time snow accumulation data; When the real-time snow accumulation data exceeds the preset snow amount value, use the rotation of the photovoltaic tracker where the current photovoltaic panel to be cleaned is located to dump the snow on the current photovoltaic panel to be cleaned. When the real-time snow accumulation data is lower than the preset snow amount value, the photovoltaic cleaning robot starts to execute the cleaning task.

6. A cleaning method for a photovoltaic cleaning robot according to any one of claims 1-5, characterized in that, The when it is judged to start executing the cleaning task, the photovoltaic cleaning robot cleans the current photovoltaic panel to be cleaned, communicates with the photovoltaic tracker of the next group of photovoltaic panels to be cleaned, and rotates the photovoltaic tracker of the next group of photovoltaic panels to the cleaning angle; the cleaning angle is an angle within the cleaning angle range includes: When it is judged to start executing the cleaning task, the photovoltaic cleaning robot cleans the current photovoltaic panel to be cleaned. The photovoltaic cleaning robot calculates the cleaning distance in real time and the preset length of the photovoltaic tracker bracket to obtain the distance between the photovoltaic cleaning robot and the photovoltaic tracker where the next group of photovoltaic panels to be cleaned is located; When the distance between the photovoltaic cleaning robot and the photovoltaic tracker where the next group of photovoltaic panels to be cleaned is located is lower than a preset distance, the photovoltaic cleaning robot sends a request signal to the photovoltaic tracker where the next group of photovoltaic panels to be cleaned is located, requesting the photovoltaic tracker where the next group of photovoltaic panels to be cleaned is located to rotate to the cleaning angle range; The photovoltaic tracker where the next group of photovoltaic panels to be cleaned is located rotates to the cleaning angle range according to the request signal, and rotates the next group of photovoltaic panels to be cleaned to the cleaning angle.

7. A photovoltaic cleaning system, characterized in that, Comprising: An acquisition unit, configured to acquire real-time meteorological data; Send the real-time meteorological data to the central control unit; The central control unit is installed on the photovoltaic cleaning robot and is connected to the acquisition unit, and is configured to obtain a cleaning angle range according to the real-time meteorological data; A photovoltaic tracker, connected to the central control unit, configured to rotate the currently to-be-cleaned photovoltaic panel to the cleaning angle range and send the cleaning angle to the central control unit; The central control unit is further configured to determine whether to start executing a cleaning task according to whether the real-time meteorological data and the cleaning angle of the currently to-be-cleaned photovoltaic panel are within the cleaning angle range; The central control unit is further configured to, when the central control unit determines to start executing the cleaning task, control the photovoltaic cleaning robot to clean the currently to-be-cleaned photovoltaic panel, and communicate with the photovoltaic tracker of the next group of photovoltaic panels to be cleaned, and rotate the photovoltaic tracker of the next group of photovoltaic panels to be cleaned to the cleaning angle range.

8. A photovoltaic cleaning system according to claim 7, wherein The acquisition unit includes a wind sensor, and the wind sensor is configured to acquire real-time wind speed data; The central control unit is configured to obtain the cleaning angle range according to the real-time wind speed data; different real-time wind speed data correspond to different cleaning angle ranges.

9. A photovoltaic cleaning system according to claim 8, wherein The acquisition unit further includes a rain sensor and a snow sensor, the rain sensor is configured to acquire real-time rainfall data, and the snow sensor is configured to acquire real-time snow accumulation data; The central control unit is further configured to, when the real-time wind speed data is lower than a preset wind speed value, the real-time rainfall data is within a preset rainfall range, the real-time snow accumulation data is lower than a preset snow amount value, and the photovoltaic tracker where the currently to-be-cleaned photovoltaic panel is located is within the cleaning angle range, the central control unit controls the photovoltaic cleaning robot to start executing the cleaning task.

10. A photovoltaic cleaning system according to any one of claims 7-9, wherein The central control unit is further configured to obtain the distance between the photovoltaic cleaning robot and the photovoltaic tracker where the next group of photovoltaic panels to be cleaned is located according to the cleaning distance of the photovoltaic cleaning robot calculated in real time and the preset bracket length; The central control unit is further configured to, when the distance between the photovoltaic cleaning robot and the photovoltaic tracker where the next group of photovoltaic panels to be cleaned is located is lower than a preset distance, the photovoltaic cleaning robot sends a request signal to the photovoltaic tracker where the next group of photovoltaic panels to be cleaned, requesting the photovoltaic tracker where the next group of photovoltaic panels to be cleaned to rotate to the cleaning angle range; The photovoltaic tracker is further configured to rotate the current photovoltaic panel to be cleaned to the cleaning angle range according to the request signal.

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