Robotic movement method for cleaning a photovoltaic array, robot and storage medium

Abstract

The present application relates to the technical field of cleaning robots, and discloses a robot moving method for cleaning a photovoltaic array, a robot and a storage medium, which are used to solve the technical problem that existing cleaning robots cannot automatically determine a cleaning path according to the characteristics of the photovoltaic array and move and clean automatically. The method comprises the following steps: acquiring array information of the photovoltaic array, wherein the photovoltaic array is composed of multiple groups of photovoltaic panels, and the photovoltaic array has characteristic markers; controlling the robot to move along a first direction on a current group of photovoltaic panels and to clean, while recognizing the characteristic markers passed and recording the number of markers; judging whether the robot has completed the cleaning of the current group of photovoltaic panels according to the array information and the number of markers; if yes, controlling the cleaning robot to turn and move to a next group of photovoltaic panels adjacent to the current group of photovoltaic panels and not cleaned yet, to move along a direction opposite to the first direction and to clean, until all the photovoltaic panels in the photovoltaic array are cleaned.

Description

Technical Field

[0001] This invention relates to the field of cleaning robot technology, and in particular to a robot movement method, robot, and storage medium for cleaning photovoltaic arrays. Background Technology

[0002] Photovoltaic power generation is an important renewable energy source that utilizes the photovoltaic effect of semiconductor materials to convert solar radiation into electrical energy. When photovoltaic panels are installed outdoors, their surfaces accumulate dust. Dust reflects, scatters, and absorbs solar radiation. Since most photovoltaic panels are made of glass, prolonged exposure to moist, acidic, or alkaline substances can corrode the glass surface, reducing the amount of solar radiation received by the panels and consequently decreasing the output power. Therefore, the efficiency of photovoltaic power generation largely depends on the cleanliness of the photovoltaic array panels, making cleaning an essential process for most of the photovoltaic industry.

[0003] In existing technologies, cleaning robots are increasingly being used in the cleaning of photovoltaic arrays. However, they generally require manual setting of cleaning paths or rely on the addition of specific sensing or fixing devices to the photovoltaic array for positioning and to maintain the robot's movement and cleaning on the photovoltaic array. There is no method that can automatically determine the cleaning path based on the characteristics of the photovoltaic array and move and clean it. Summary of the Invention

[0004] The main objective of this invention is to solve the technical problem in the prior art that robots cannot automatically determine the cleaning path based on the characteristics of the photovoltaic array and perform movement and cleaning.

[0005] The first aspect of the present invention provides a robot movement method for cleaning a photovoltaic array, comprising: acquiring array information of the photovoltaic array, wherein the photovoltaic array is composed of multiple groups of photovoltaic panels and the photovoltaic array has feature marks; controlling the robot to move along a first direction and clean on the current group of photovoltaic panels, while identifying the feature marks passed and recording the number of marks; determining whether the robot has completed cleaning the current group of photovoltaic panels based on the array information and the number of marks; if so, controlling the robot to turn and move to the next group of photovoltaic panels adjacent to the current group of photovoltaic panels that has not yet been cleaned, moving along a direction opposite to the first direction and cleaning, until all photovoltaic panels in the photovoltaic array are cleaned.

[0006] Optionally, in a first implementation of the first aspect of the present invention, the number of markers includes a first number of feature markers perpendicular to the first direction passed by the robot; after controlling the robot to turn and move to the next group of photovoltaic panels that is not yet cleaned and adjacent to the current group of photovoltaic panels, the method further includes: clearing the first number of markers to zero; the step of calculating whether the robot has completed cleaning the current group of photovoltaic panels based on the array information and the number of markers includes: calculating a first feature value contained in each group of photovoltaic panels based on the array information; calculating a second feature value based on the first number of markers, and determining whether the second feature value is equal to the first feature value; if the second feature value is equal to the first feature value, then it is considered that the robot has completed cleaning the current group of photovoltaic panels.

[0007] Optionally, in a second implementation of the first aspect of the present invention, the feature markers include the photovoltaic panel frame at the photovoltaic panel seam, the first feature value is the number of photovoltaic panel seams in the current group of photovoltaic panels, and the second feature value is equal to the number of the first markers.

[0008] Optionally, in a third implementation of the first aspect of the present invention, the feature marker further includes photovoltaic grid lines, the first marker quantity further includes the number of photovoltaic grid lines, and the array information further includes the number of grids divided by the photovoltaic grid lines for each photovoltaic panel; the step of calculating the second feature value based on the first marker quantity includes: dividing the first marker quantity by the number of grids to obtain the quotient, and retaining the integer value of the quotient to obtain the second feature value.

[0009] Optionally, in a fourth implementation of the first aspect of the present invention, after controlling the robot to turn and move to the next group of photovoltaic panels that are not yet cleaned and are adjacent to the current group of photovoltaic panels, the method further includes: recording the number of times the robot turns; after moving in the opposite direction to the first direction and cleaning, the method further includes: determining whether the current robot has moved to the last group of the photovoltaic array based on the number of turns; if so, determining whether the robot has completed cleaning the last group of photovoltaic panels based on the array information and the number of markers.

[0010] Optionally, in a fifth implementation of the first aspect of the present invention, the number of markers includes the number of second markers of feature markers parallel to the first direction passed by the robot, and controlling the robot to turn and move to the next group of photovoltaic panels that are not yet cleaned and to move and clean in the opposite direction to the first direction includes: determining the rotation direction of the robot; controlling the robot to rotate 90 degrees in the rotation direction and move forward; determining whether the robot has moved to the next group of photovoltaic panels that are not yet cleaned and to the next group of photovoltaic panels based on the number of second markers passed by the robot; if it has moved to the next group of photovoltaic panels, controlling the robot to rotate 90 degrees again in the rotation direction and to move and clean in the opposite direction to the first direction.

[0011] Optionally, in a sixth implementation of the first aspect of the present invention, determining the rotation direction of the robot includes: obtaining the initial rotation direction of the robot, wherein the initial rotation direction includes a clockwise direction and a counterclockwise direction; determining the current rotation direction of the robot based on the number of turns of the robot, wherein the rotation direction includes the same as or opposite to the initial rotation direction.

[0012] Optionally, in a seventh implementation of the first aspect of the present invention, obtaining the initial rotation direction of the robot includes: obtaining the starting position of the robot; determining the relative position of the photovoltaic panel to be cleaned and the starting position of the robot based on the starting position and the array information; and determining the initial rotation direction of the robot based on the relative position.

[0013] Optionally, in an eighth implementation of the first aspect of the present invention, determining whether the robot has moved to the last group of the photovoltaic array based on the number of turns includes: determining the number of photovoltaic panel groups in the current photovoltaic array based on the array information; calculating a third feature value based on the number of photovoltaic panel groups, wherein the third feature value is the number of photovoltaic panel groups minus 1; determining whether the number of turns is equal to the third feature value, and if so, considering that the robot has moved to the last group of the photovoltaic array.

[0014] A second aspect of the present invention provides a robot for cleaning a photovoltaic array, comprising: an acquisition module for acquiring array information of the photovoltaic array, wherein the photovoltaic array is composed of multiple groups of photovoltaic panels and the photovoltaic array has feature markers; a movement module for controlling the robot to move along a first direction and clean on the current group of photovoltaic panels; a feature recognition module for recognizing the feature markers passed by and recording the number of markers; a first judgment module for judging whether the robot has completed cleaning the current group of photovoltaic panels based on the array information and the number of markers; a turning module for controlling the robot to turn and move to the next group of photovoltaic panels adjacent to the current group of photovoltaic panels that has not yet been cleaned if the robot has completed cleaning; the movement module is further configured to control the robot to move along a direction opposite to the first direction and clean until all photovoltaic panels in the photovoltaic array have been cleaned.

[0015] A third aspect of the present invention provides a robot for cleaning a photovoltaic array, comprising: a memory and at least one processor, wherein the memory stores instructions; the at least one processor invokes the instructions in the memory to cause the robot to perform the steps of the robot movement method for cleaning a photovoltaic array described above.

[0016] A fourth aspect of the present invention provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the steps of the above-described method for moving a robot to clean a photovoltaic array.

[0017] The technical solution provided by this invention involves acquiring array information of a photovoltaic array, wherein the photovoltaic array consists of multiple groups of photovoltaic panels, and the photovoltaic array has characteristic markers; controlling a robot to move and clean the current group of photovoltaic panels along a first direction, while identifying and recording the number of characteristic markers passed; calculating whether the robot has completed cleaning the current group of photovoltaic panels based on the array information and the number of markers; if so, controlling the robot to turn and move to the next group of photovoltaic panels adjacent to the current group that has not yet been cleaned, moving and cleaning along the opposite direction from the first direction until all photovoltaic panels in the photovoltaic array are cleaned. This method can determine the robot's movement path based on the characteristics of the photovoltaic array itself, and clean the photovoltaic array accordingly. Attached Figure Description

[0018] Figure 1 This is a flowchart illustrating the first embodiment of the robot movement method for cleaning photovoltaic arrays according to the present invention. Figure 2 This is a schematic diagram of the structure of the photovoltaic panel in the photovoltaic array according to an embodiment of the present invention; Figure 3This is a schematic diagram of the first cleaning method for cleaning a photovoltaic array according to an embodiment of the present invention; Figure 4 This is a flowchart illustrating a second embodiment of a robot movement method for cleaning photovoltaic arrays according to an embodiment of the present invention; Figure 5 This is a second cleaning schematic diagram of a robot movement method for cleaning photovoltaic arrays in an embodiment of the present invention; Figure 6 This is a flowchart illustrating a third embodiment of a robot movement method for cleaning photovoltaic arrays according to the present invention. Figure 7 This is a third cleaning schematic diagram of a robot movement method for cleaning photovoltaic arrays in an embodiment of the present invention; Figure 8 This is a flowchart illustrating the fourth embodiment of the robot movement method for cleaning photovoltaic arrays in this invention. Figure 9 This is a schematic diagram of one embodiment of a robot used for cleaning photovoltaic arrays according to the present invention; Figure 10 This is a schematic diagram of another embodiment of the robot used for cleaning photovoltaic arrays in this invention; Figure 11 This is a schematic diagram illustrating the principle of a computer-readable medium according to an embodiment of the present invention. Detailed Implementation

[0019] Exemplary embodiments of the invention will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limiting the invention to the embodiments set forth herein. Rather, these exemplary embodiments are provided to make the invention more comprehensive and complete, and to facilitate a full communication of the inventive concept to those skilled in the art. The same reference numerals in the drawings denote the same or similar elements, components, or parts, and therefore repeated descriptions of them will be omitted.

[0020] Subject to the technical concept of this invention, the features, structures, characteristics or other details described in a particular embodiment may be combined in one or more other embodiments in a suitable manner.

[0021] In the description of specific embodiments, the features, structures, characteristics, or other details described in this invention are intended to enable those skilled in the art to fully understand the embodiments. However, it is not excluded that those skilled in the art can practice the technical solutions of this invention without one or more of the specific features, structures, characteristics, or other details.

[0022] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0023] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0024] The terms “and / or” or “and / or” include all combinations of any one or more of the listed items.

[0025] Please see Figures 1-3 The first embodiment of the robot movement method for cleaning photovoltaic arrays in this invention includes: S101. Obtain the array information of the photovoltaic array; It is understood that the executing entity of this invention can be a robot, or a control system contained within a robot; the specific implementation is not limited here. This embodiment of the invention will be described using a control system as the executing entity as an example.

[0026] After receiving a cleaning task for the photovoltaic array, the control system analyzes the cleaning task to obtain the array information of the photovoltaic array. The photovoltaic array refers to an array composed of multiple solar photovoltaic panels connected together. The array information can be pre-generated information or obtained by identifying and analyzing the image information of the photovoltaic array to be cleaned provided in the cleaning task. Cleaning the photovoltaic array refers to cleaning the surface of the solar photovoltaic panels in the photovoltaic array.

[0027] In this embodiment, after receiving a cleaning task, the control system parses the task to obtain the array information of the photovoltaic array to be cleaned. The photovoltaic array consists of multiple photovoltaic panels; please refer to the following documentation. Figure 2 The existing photovoltaic panel 200 includes a photoelectric conversion sheet 210 and a frame 220. The frame 220 is generally light-colored, while the photoelectric conversion sheet 210 is generally dark-colored and has multiple grid lines 211 distributed on it. The grid lines divide the photoelectric conversion sheet 210 into multiple grids. In a specific embodiment, after multiple photovoltaic panels 200 are connected to form a photovoltaic array, the light-colored or white frame at the joint of each photovoltaic panel can be used as a feature mark of the photovoltaic panel.

[0028] by Figure 3Taking the photovoltaic array shown in the figure as an example, the array information is that there are 6 horizontal panels and 3 vertical panels, and the photovoltaic panels are arranged vertically. When the photovoltaic panels are connected together in this embodiment, the border of the photovoltaic panel seam is regarded as a whole feature mark. The specific number of feature marks in the photovoltaic array can be calculated based on the array information. For example, when the array information is 6 horizontal panels and 3 vertical panels, it can be known that there are 5 vertical feature marks (i.e., vertical seams) in each row of photovoltaic panels, and 2 horizontal photovoltaic panel feature marks and horizontal seams in each column.

[0029] S102. Control the robot to move along the first direction on the current group of photovoltaic panels and clean them, while identifying the feature marks it passes through and recording the number of marks. In this embodiment, a row or column of photovoltaic panels is used as a group, and the photovoltaic array is divided into multiple groups of photovoltaic panels. The robot is controlled to move from the initial position along the initial direction and clean each group of photovoltaic panels at a time. At the same time, the robot identifies the feature marks on the photovoltaic array it passes through and records the number of marks.

[0030] by Figure 3 Taking the photovoltaic array shown as an example, a row of photovoltaic panels is taken as a group of photovoltaic panels. The robot's initial position is located at the lower right corner of the photovoltaic array, i.e., the initial position A1. The initial direction of travel is D. The robot is controlled to move from the initial position A1 along the initial direction of travel D while cleaning the photovoltaic panels. At the same time, the feature recognition device on the robot is called to identify the feature marks on the photovoltaic array that the robot passes through and record the number of feature marks that the robot passes through.

[0031] In one possible implementation, the feature recognition device is located directly below the robot's centerline and may include a camera or a vision sensor. The feature recognition device extracts and recognizes feature markers contained in the image information based on the image information acquired by the camera or vision sensor and according to an image recognition algorithm.

[0032] S103. Determine whether the robot has completed cleaning the current group of photovoltaic panels based on the array information and the number of markers; The robot's ability to move and clean the last photovoltaic panel in the current group is determined by comparing the number of markers recorded by the robot with the number of feature markers in the current group calculated from the array information obtained earlier. Specifically, if the number of markers recorded by the robot is less than the number of feature markers in the current group calculated from the array information obtained earlier, the robot is considered not to have completed cleaning the current group of photovoltaic panels and needs to continue moving forward and performing the cleaning task. If the number of markers recorded by the robot is equal to the number of feature markers in the current group of photovoltaic panels calculated from the array information obtained earlier, the robot is considered to have completed cleaning the current group of photovoltaic panels.

[0033] In one possible implementation, when the number of feature markers identified by the feature recognition device on the robot is equal to the number of feature markers in the current group of photovoltaic panels, the robot will continue to move forward a preset distance so that it moves to the top of the last photovoltaic panel in the current group, so that the cleaning device on the robot can clean the last photovoltaic panel. Then, the robot will turn and move to the next group of photovoltaic panels. This ensures that the robot in this embodiment can clean the surface of all the photovoltaic panels it passes through.

[0034] by Figure 3 Taking the photovoltaic array shown as an example, when the robot moves forward along direction D from the initial position A, it increments the mark count by 1 after each time it passes through and identifies the seam between the photovoltaic panels. It then determines whether the mark count is equal to the number of longitudinal feature marks in each group of photovoltaic panels in the current photovoltaic array. If the mark count is less than the number of longitudinal feature marks in each group of photovoltaic panels in the previous photovoltaic array, the robot is controlled to continue moving forward and perform the cleaning task. When the number of marks recorded by the robot is 5, the mark count is equal to the number of longitudinal feature marks in each group of photovoltaic panels in the photovoltaic array. At this point, it can be known that the robot is at position A1', that is, it has moved and cleaned the last photovoltaic panel of the current group of photovoltaic panels, and completed the cleaning of the current group of photovoltaic panels.

[0035] S104. Control the robot to turn and move to the next group of photovoltaic panels that are not yet cleaned and are adjacent to the current group of photovoltaic panels. Move in the opposite direction to the first direction and clean until all photovoltaic panels in the photovoltaic array are cleaned.

[0036] After the robot finishes cleaning the current group of photovoltaic panels, it is controlled to turn and move to the next group of photovoltaic panels that is adjacent to the current group and has not yet been cleaned.

[0037] The turning operation includes rotating once, moving forward to the next set of photovoltaic panels, and then rotating again. In one possible implementation, the turning operation is the robot turning around. Specifically, the robot can rotate 90 degrees counterclockwise or clockwise and then move forward, detecting whether it has passed and identified a feature marker. If identified, it is considered that the robot has reached the next adjacent set of photovoltaic panels. Subsequently, it rotates 90 degrees again in the same direction as the aforementioned rotation direction, moves in the opposite direction to the first direction, and continues cleaning.

[0038] In this embodiment, after the robot moves to the next set of photovoltaic panels, the method further includes: clearing the value of the number of markers recorded by the robot to zero.

[0039] Repeat the steps described above until all the photovoltaic panels in the photovoltaic array have been cleaned.

[0040] In this embodiment, when the robot is at position A1', the next group of uncleaned photovoltaic panels is the middle row of photovoltaic panels in the photovoltaic array. At this time, the robot is controlled to rotate 90 degrees clockwise and move forward. After the robot passes through the horizontal seam of the photovoltaic panels, it can be known that the robot has moved to the middle row of photovoltaic panels, that is, it has reached position A2'. At this time, the robot is controlled to rotate 90 degrees clockwise again and clean the middle group of photovoltaic panels in the opposite direction to direction M until it reaches position A2. Then, it rotates 90 degrees counterclockwise and passes through the horizontal seam of the photovoltaic panels again. Then, it rotates 90 degrees counterclockwise again and moves forward in the opposite direction to the previous row until all the photovoltaic panels in the photovoltaic array are cleaned, thus completing the current photovoltaic array cleaning task.

[0041] The technical solution in this embodiment of the invention can control the robot to automatically perform forward and turning actions based on the information of the photovoltaic array and the identification of the feature marks on the photovoltaic array, and clean the photovoltaic array until all the photovoltaic panels are cleaned. It can automatically determine the cleaning path and complete the cleaning of the photovoltaic array according to the characteristics of the photovoltaic array, which can improve the automation of the robot when cleaning the photovoltaic array.

[0042] Please refer to Figure 4 as well as Figure 5 The second embodiment of the robot movement method for cleaning photovoltaic arrays in this invention includes: S401. Obtain the array information of the photovoltaic array; The photovoltaic array consists of multiple photovoltaic panels and has characteristic markings. In this embodiment, the white border at the seam of the photovoltaic panels is used as the characteristic marking, and the robot's initial position is at the lower right corner of the photovoltaic array, with the initial movement direction being the negative X-axis. Please continue reading. Figure 5In this embodiment, based on the robot's initial movement direction, the photovoltaic array is divided into three groups of photovoltaic panels, each group containing 14 photovoltaic panels, all arranged horizontally. In this embodiment, the relative positions of the subsequent photovoltaic panel groups to be cleaned to the robot's starting position can be obtained based on the robot's starting position and the array information. In this embodiment, the subsequent photovoltaic panel groups to be cleaned are all located to the right of the robot; therefore, based on the relative positions, the robot's initial rotation direction is determined to be clockwise.

[0043] S402. Control the robot to move along the first direction on the first set of photovoltaic panels and clean them, identify the feature marks it passes through and record the number of marks; The robot is controlled to move along a first direction and clean the first set of photovoltaic panels, identify the feature marks it passes by and record the number of marks; in this embodiment, the number of marks includes the first number of longitudinal feature marks passed by the robot.

[0044] S403. Calculate the first characteristic value contained in the first group of photovoltaic panels based on the array information; Among them, the feature markers include the photovoltaic panel border. The first feature value represents the maximum number of photovoltaic panel seams that the robot can pass through when working on a group of photovoltaic panels. Specifically, it is the number of photovoltaic panels contained in each group of photovoltaic panels minus 1.

[0045] S404. Calculate the second feature value based on the number of first marks, and determine whether the second feature value is equal to the first feature value; In this embodiment, the markers identified by the robot are the seams of the photovoltaic panels. Therefore, the number of the second feature values ​​is equal to the number of the first markers. The robot determines whether the second feature value is equal to the first feature value, that is, whether the robot has passed through all the seams of the photovoltaic panels in the current group when cleaning the current group of photovoltaic panels. If the second feature value is equal to the first feature value, it is considered that the robot has completed the cleaning of the first group of photovoltaic panels; if the second feature value is less than the first feature value, it is considered that the robot has not yet completed the cleaning of the first group of photovoltaic panels.

[0046] S405. If the second characteristic value is equal to the first characteristic value, then control the robot to turn and move to the second set of photovoltaic panels that is not yet cleaned and is adjacent to the first set of photovoltaic panels. Specifically, during the robot's movement, the number of turns is recorded to determine the robot's rotation direction; the robot's starting position is obtained; the relative position of the next group of photovoltaic panels to the robot's starting position is determined based on the starting position and array information; the robot's initial rotation direction is determined based on the relative position, where the initial rotation direction includes clockwise and counterclockwise directions; the current rotation direction of the robot is determined based on the number of turns, where the rotation direction includes being the same as or opposite to the initial rotation direction; the robot's initial rotation direction is obtained, where the initial rotation direction includes clockwise and counterclockwise directions; the current rotation direction of the robot is determined based on the number of turns, where the rotation direction includes being the same as or opposite to the initial rotation direction. The robot is controlled to rotate 90 degrees in the rotation direction and move forward; the number of second markers passed by the robot is used to determine whether the robot has moved to a second group of photovoltaic panels adjacent to the first group of photovoltaic panels that has not yet been cleaned; the number of markers includes the number of second markers of the longitudinal feature markers passed by the robot. If the robot has moved to the second group of photovoltaic panels, the robot is controlled to rotate 90 degrees again in the rotation direction, move in the opposite direction to the first direction, and perform cleaning.

[0047] S406. Clear the value of the number of marks recorded by the robot to zero, move the robot in the opposite direction to the first direction and clean, and calculate the second feature value based on the number of marks. S407. Determine again whether the second eigenvalue is equal to the first eigenvalue; If the second characteristic value is equal to the first characteristic value, it is considered that the robot has completed cleaning the second set of photovoltaic panels; if the second characteristic value is less than the first characteristic value, it is considered that the robot has not yet completed cleaning the second set of photovoltaic panels.

[0048] S408. If the second characteristic value is equal to the first characteristic value, control the robot to turn and move to the third group of photovoltaic panels that is not yet cleaned and is adjacent to the second group of photovoltaic panels. The robot moves in the same direction as the first direction and performs cleaning. S409. Determine whether the robot has moved to the last group of the photovoltaic array based on the number of turns; In this embodiment, after each time the robot finishes cleaning its assigned group of photovoltaic panels and turns, it determines whether the robot has moved to the last group of the photovoltaic array. If it has not moved to the last group, the above steps continue until it moves to the last group. In this embodiment, after the robot moves to the third group of the photovoltaic array, the number of turns indicates that it has moved to the last group.

[0049] Specifically, based on the array information, determine the number of photovoltaic panels in the current array to obtain the number of photovoltaic panel groups. Calculate the third characteristic value based on the number of photovoltaic panel groups, where the third characteristic value is the number of photovoltaic panel groups minus 1.

[0050] Obtain the number of turns recorded by the robot, determine whether the number of turns is equal to the third feature value, and if so, consider that the robot has moved to the last group of the photovoltaic array.

[0051] Alternatively, based on the array information, determine the number of horizontal photovoltaic panel seams that the robot can cross when turning, and determine whether the number of times the robot turns is equal to the number of horizontal photovoltaic panel seams. If so, it is considered that the robot has moved to the last group of the photovoltaic array.

[0052] S410. If the robot moves to the last group of photovoltaic arrays, it determines whether the robot has completed cleaning the last group of photovoltaic panels based on the array information and the number of markers. S411. If completed, all photovoltaic panels in the photovoltaic array are now cleaned.

[0053] In this embodiment, after determining that the robot has moved to the last group of photovoltaic arrays, the robot determines whether the number of marks is equal to the aforementioned second characteristic value based on the feature marks it has passed through in the last group and the number of marks recorded. If the number of marks is less than the aforementioned second characteristic value, the cleaning of the last group of photovoltaic panels has not yet been completed, and the robot is controlled to continue moving forward and cleaning. If the number of marks is equal to the aforementioned second characteristic value, the cleaning of the last group of photovoltaic panels is considered to have been completed.

[0054] Further, in another preferred embodiment of this example, step S401 further includes: obtaining the number of grid lines contained in each photovoltaic panel in the photovoltaic array, and calculating the number of grids divided by the grid lines in each photovoltaic panel based on the number of grid lines; step S404, calculating the second feature value based on the number of first markers, further includes dividing the number of first markers by the number of grids to obtain the quotient, and retaining the integer value of the quotient to obtain the second feature value. Step S405, the number of second markers includes the sum of the number of identified seams and the number of grid lines. Determining whether the robot has moved to the second group of photovoltaic panels that is adjacent to the first group of photovoltaic panels and is not yet clean based on the number of second markers passed by the robot specifically includes: dividing the number of second markers by the number of horizontally distributed grid lines that divide the photovoltaic panel into horizontal grids to obtain the quotient, and retaining the integer value of the quotient, and determining whether the obtained value is greater than or equal to 1. If so, the robot has moved to the second group of photovoltaic panels that is adjacent to the first group of photovoltaic panels and is not yet clean.

[0055] The technical solution in this embodiment of the invention can control a robot to automatically perform forward and turning actions based on information about the photovoltaic array and by identifying characteristic marks on the photovoltaic array. It then cleans the photovoltaic array until all photovoltaic panels are cleaned. The robot can automatically determine the cleaning path and complete the cleaning process based on the characteristics of the photovoltaic array, thus improving its automation level. Furthermore, by identifying the grid lines to determine whether the photovoltaic panels are cleaned and automatically determining the next movement plan, the robot's automation level is further improved, and the coverage effect during cleaning is enhanced.

[0056] Please see Figure 5 as well as Figure 6 The third embodiment of the robot movement method for cleaning photovoltaic arrays in this invention includes: The robot's initial position is set on the photovoltaic panel at the lower right corner of the photovoltaic array. The photovoltaic array information is obtained, and the number of horizontal photovoltaic panels (M) and vertical photovoltaic panels (V) in the array are determined based on this information. Specifically, the number of horizontal photovoltaic panels (M) to be cleaned is 14, and the number of vertical photovoltaic panels (V) is 3. A Cartesian coordinate system is established with the lower left corner of the photovoltaic array as the origin, the horizontal direction as the X-axis, and the vertical direction as the Y-axis. Based on the array information, the robot's initial coordinates at its initial position are (14, 1).

[0057] Set the robot's initial direction of motion to the negative X-axis, and control the robot to move forward from the initial position in the initial direction of motion to clean the photovoltaic panel.

[0058] While the robot moves and cleans, the white borders at the joints of the photovoltaic panels are identified by a feature extraction device pre-installed on the robot, and the number of photovoltaic panel joints N passed by the robot is recorded. At the same time, the number of turns of the robot is also recorded. In this embodiment, the number of turns can be the number of times the robot turns around during the cleaning work, where the number of turns C refers to the number of times the robot changes its direction of travel by rotating 90 degrees in the same direction twice. When the robot is in the initial position, both N and C are initial values ​​of 0.

[0059] When the robot detects the white border at the seam of the photovoltaic panel, it determines whether the current value of N is equal to M-1. If the current value of N is not equal to M-1, the robot continues to move forward. If the current value of N is equal to M-1, then check if C is equal to V-1. If C is not equal to V-1, then check if the current value of C is even. If C is even, the robot rotates 90 degrees clockwise and continues to move forward. After detecting N+1, it rotates 90 degrees clockwise again, sets the value of N to 0, increments the value of C by 1, and continues running. If C is not even, the robot rotates 90 degrees counterclockwise and continues to move forward. After detecting N+1, it rotates 90 degrees counterclockwise again, sets the value of N to 0, increments the value of C by 1, and continues running. If the current N value equals M-1 and C equals V-1, then the photovoltaic array is considered to be cleaned.

[0060] According to the embodiments of the present invention, the robot can automatically perform forward and turning actions based on the information of the photovoltaic array and the identification of the feature marks on the photovoltaic array, and clean the photovoltaic array until all the photovoltaic panels are cleaned. It can automatically determine the cleaning path and complete the cleaning of the photovoltaic array based on the characteristics of the photovoltaic array, which can improve the automation of the robot when cleaning the photovoltaic array.

[0061] Please see Figure 7 as well as Figure 8 A fourth embodiment of the robotic movement method for cleaning photovoltaic arrays includes: The robot's initial position is set on the photovoltaic panel at the lower left corner of the photovoltaic array. The photovoltaic array information is obtained, and based on this information, the number of horizontal photovoltaic panels (M), the number of vertical photovoltaic panels (V), and the number of vertical grid lines (K) on each panel are determined. Specifically, the number of horizontal photovoltaic panels (M) to be cleaned is 14, and the number of vertical photovoltaic panels (V) is 3. A Cartesian coordinate system is established with the lower left corner of the photovoltaic array as the origin, the horizontal direction as the X-axis, and the vertical direction as the Y-axis. Based on the array information, the robot's initial coordinates at its initial position are set to (1,1).

[0062] Set the robot's initial direction of motion to the positive direction of the X-axis, and control the robot to move forward from the initial position in the initial direction of motion to clean the photovoltaic panel.

[0063] While the robot moves and cleans, the feature extraction device pre-installed on the robot identifies the feature marks on the photovoltaic panel. In this embodiment, the feature recognition marks include the white border at the joint of the photovoltaic panel and the grid lines on the photovoltaic panel. At the same time, the number of photovoltaic panel joints N and the number of grid lines H passed by the robot are recorded, as well as the number of turns of the robot. In this embodiment, the number of turns can be the number of times the robot turns around during the cleaning work, where the number of turns C refers to the number of times the robot changes its direction of travel by two 90-degree rotations in the same direction. When the robot is in the initial position, N, H and C are all initial values ​​of 0.

[0064] When the robot detects the white border passing through the seam of the photovoltaic panel, it determines the current... Is the value equal to M-1? If the current value is... If the value is not equal to M-1, the robot continues to move forward; If the current If the value is equal to M-1, then check if C is equal to V-1. If C is not equal to V-1, then check if the current C is even. If C is even, the robot rotates 90 degrees counterclockwise and continues moving forward. After detecting N+1, it rotates 90 degrees counterclockwise again, then sets the N and H values ​​to 0, increments the C value by 1, and continues running. If C is not even, the robot rotates 90 degrees clockwise and continues moving forward. After detecting N+1, it rotates 90 degrees clockwise again, sets the N and H values ​​to 0, increments the C value by 1, and continues running. If the current If the value is equal to M-1 and C is equal to V-1, then the photovoltaic array is considered to be cleaned.

[0065] This invention can control a robot to automatically perform forward and turning actions based on information about the photovoltaic array and the identification of feature marks on the photovoltaic array, and clean the photovoltaic array until all photovoltaic panels are cleaned. It can automatically determine the cleaning path and complete the cleaning of the photovoltaic array based on its characteristics, which can improve the automation level of the robot when cleaning the photovoltaic array. Furthermore, by identifying the grid lines to determine whether the photovoltaic panels have been cleaned and automatically determining the next movement plan, the automation level of the robot is improved, and the coverage effect during cleaning can be improved.

[0066] The above describes the robot movement method for cleaning photovoltaic arrays in embodiments of the present invention. The following describes the structure of the robot for cleaning photovoltaic arrays in embodiments of the present invention. Please refer to [link / reference]. Figure 9 One embodiment of the robot for cleaning photovoltaic arrays in this invention includes: The acquisition module 901 is used to acquire array information of a photovoltaic array, wherein the photovoltaic array is composed of multiple sets of photovoltaic panels and has feature markers on the photovoltaic array; The mobile module 902 is used to control the robot to move along a first direction and clean the photovoltaic panels in the current group; Feature recognition module 903 is used to identify the passing feature markers and record the number of markers; The first judgment module 904 is used to determine whether the robot has completed cleaning the current group of photovoltaic panels based on the array information and the number of markers; Steering module 905 is used to control the robot to turn and move to the next group of photovoltaic panels that is not yet cleaned and is adjacent to the current group of photovoltaic panels if the condition is met. The mobile module 902 is also used to control the robot to move in the opposite direction to the first direction and to clean until all the photovoltaic panels in the photovoltaic array are cleaned.

[0067] The technical solution in this embodiment of the invention can control the robot to automatically perform forward and turning actions based on the information of the photovoltaic array and the identification of the feature marks on the photovoltaic array, and clean the photovoltaic array until all the photovoltaic panels are cleaned. It can automatically determine the cleaning path and complete the cleaning of the photovoltaic array according to the characteristics of the photovoltaic array, which can improve the automation of the robot when cleaning the photovoltaic array.

[0068] In another embodiment of this application, the number of markers includes the first number of feature markers perpendicular to the first direction passed by the robot; the robot further includes a second judgment module, which is specifically used to: clear the first number of markers to zero; the step of calculating whether the robot has completed cleaning the current group of photovoltaic panels based on the array information and the number of markers includes: calculating a first feature value contained in each group of photovoltaic panels based on the array information; calculating a second feature value based on the first number of markers, and judging whether the second feature value is equal to the first feature value; if the second feature value is equal to the first feature value, then it is considered that the robot has completed cleaning the current group of photovoltaic panels.

[0069] In another embodiment of this application, the feature markers include the photovoltaic panel frame at the photovoltaic panel seam, the first feature value is the number of photovoltaic panel seams in the current group of photovoltaic panels; the second feature value is equal to the number of the first markers.

[0070] In another embodiment of this application, the feature marker further includes photovoltaic grid lines, the first marker quantity further includes the number of photovoltaic grid lines, and the array information further includes the number of grids divided by the photovoltaic grid lines for each photovoltaic panel; the calculation of the second feature value based on the first marker quantity includes: dividing the first marker quantity by the number of grids to obtain the quotient, and retaining the integer value of the quotient to obtain the second feature value.

[0071] In another embodiment of this application, the robot further includes a third judgment module, which is specifically used to: record the number of times the robot turns; after moving in the opposite direction to the first direction and cleaning, it further includes: judging whether the robot has moved to the last group of the photovoltaic array based on the number of turns; if so, judging whether the robot has completed cleaning the last group of photovoltaic panels based on the array information and the number of markers.

[0072] In another embodiment of this application, the number of markers includes the number of second markers that the robot passes through parallel to the first direction. The steering module is specifically used to: determine the rotation direction of the robot; control the robot to rotate 90 degrees in the rotation direction and move forward; the movement module is further used to: determine whether the robot has moved to the next group of photovoltaic panels that is adjacent to the current group of photovoltaic panels and has not yet been cleaned based on the number of second markers passed by the robot; if it has moved to the next group of photovoltaic panels, control the robot to rotate 90 degrees again in the rotation direction, move in the opposite direction to the first direction and clean.

[0073] In another embodiment of this application, determining the rotation direction of the robot includes: obtaining the initial rotation direction of the robot, wherein the initial rotation direction includes a clockwise direction and a counterclockwise direction; determining the current rotation direction of the robot based on the number of turns of the robot, wherein the rotation direction includes the same as or opposite to the initial rotation direction.

[0074] In another embodiment of this application, obtaining the initial rotation direction of the robot includes: obtaining the starting position of the robot; determining the relative position of the photovoltaic panel to be cleaned and the starting position of the robot based on the starting position and the array information; and determining the initial rotation direction of the robot based on the relative position.

[0075] In another embodiment of this application, determining whether the robot has moved to the last group of the photovoltaic array based on the number of turns includes: determining the number of photovoltaic panel groups in the current photovoltaic array based on the array information; calculating a third feature value based on the number of photovoltaic panel groups, wherein the third feature value is the number of photovoltaic panel groups minus 1; determining whether the number of turns is equal to the third feature value, and if so, considering that the robot has moved to the last group of the photovoltaic array.

[0076] This invention can control a robot to automatically perform forward and turning actions based on information about the photovoltaic array and the identification of feature marks on the photovoltaic array, and clean the photovoltaic array until all photovoltaic panels are cleaned. It can automatically determine the cleaning path and complete the cleaning of the photovoltaic array based on its characteristics, which can improve the automation level of the robot when cleaning the photovoltaic array. Furthermore, by identifying the grid lines to determine whether the photovoltaic panels have been cleaned and automatically determining the next movement plan, the automation level of the robot is improved, and the coverage effect during cleaning can be improved.

[0077] above Figure 9The structure of the robot for cleaning photovoltaic arrays in this embodiment of the invention is described in detail from the perspective of modular functional entities. Based on the same inventive concept, this specification also provides a robot for cleaning photovoltaic arrays. The robot for cleaning photovoltaic arrays in this embodiment of the invention is described in detail below from the perspective of hardware processing.

[0078] Figure 10 This is a schematic diagram of an electronic device provided as an embodiment of this specification. Refer to the following... Figure 10 This invention describes a robot for cleaning photovoltaic arrays according to an embodiment of the present invention. Figure 10 The robot 1000 shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0079] like Figure 10 As shown, the components of robot 1000 may include, but are not limited to: at least one processing unit 1010, at least one storage unit 1020, a bus 1030 connecting different system components (including storage unit 1020 and processing unit 1010), display unit 1040, etc.

[0080] The storage unit stores program code that can be executed by the processing unit 1010, causing the processing unit 1010 to perform the steps described in the processing method section of this specification according to various exemplary embodiments of the present invention. For example, the processing unit 1010 can perform, as follows: Figure 1 , Figure 4 , Figure 6 and Figure 8 The steps are shown.

[0081] The storage unit 1020 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 10201 and / or a cache storage unit 10202, and may further include a read-only memory unit (ROM) 10203.

[0082] The storage unit 1020 may also include a program / utility 10204 having a set (at least one) program module 10205, such program module 10205 including but not limited to: operating system, one or more application programs, other program modules and program data, each or some combination of these examples may include an implementation of a network environment.

[0083] Bus 1030 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the multiple bus structures.

[0084] Robot 1000 can also communicate with one or more external devices 100 (e.g., keyboard, pointing device, Bluetooth device, etc.), and with one or more devices that enable users to interact with the robot 1000, and / or with any device that enables the robot 1000 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 1050. Furthermore, robot 1000 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 1060. Network adapter 1060 can communicate with other modules of robot 1000 via bus 1030. It should be understood that, although... Figure 10 As not shown, other hardware and / or software modules can be used in conjunction with Robot 1000, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0085] Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described in this invention can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this invention can be embodied in the form of a software product, which can be stored in a computer-readable storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, or network device, etc.) to execute the method described above according to this invention. When the computer program is executed by a data processing device, it enables the computer-readable medium to implement the method described above, i.e.: as... Figure 1 , Figure 4 , Figure 6 and Figure 8 The method shown.

[0086] Figure 11 This is a schematic diagram of a computer-readable medium provided for embodiments of this specification.

[0087] accomplish Figure 1 , Figure 4 , Figure 6 and Figure 8The computer program of the method shown can be stored on one or more computer-readable media. A computer-readable medium can be a readable signal medium or a readable storage medium. A readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0088] The computer-readable storage medium may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The readable storage medium may also be any readable medium other than a readable storage medium, capable of transmitting, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0089] Program code for performing the operations of this invention can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0090] In summary, the present invention can be implemented in hardware, or as software modules running on one or more processors, or a combination thereof. Those skilled in the art will understand that in practice, general-purpose data processing devices such as microprocessors or digital signal processors (DSPs) can be used to implement some or all of the functions of some or all of the components according to the embodiments of the present invention. The present invention can also be implemented as a device or apparatus program (e.g., a computer program and computer program product) for performing part or all of the methods described herein. Such programs implementing the present invention can be stored on a computer-readable medium or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, provided on a carrier signal, or provided in any other form.

[0091] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the present invention is not inherently related to any specific computer, virtual device, or electronic device, and various general-purpose devices can also implement the present invention. The above descriptions are merely specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0092] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0093] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A robot movement method for cleaning photovoltaic arrays, characterized in that, include: Obtain array information of a photovoltaic array, wherein the photovoltaic array is composed of multiple sets of photovoltaic panels, and the photovoltaic array has feature marks, including the photovoltaic panel frame at the joint of the photovoltaic panels; The robot is controlled to move and clean the photovoltaic panels in the current group along a first direction, while identifying and recording the number of feature markers it passes; wherein, the number of markers includes the first number of feature markers perpendicular to the first direction that the robot passes; Calculate a first feature value for each group of photovoltaic panels based on the array information. The first feature value is the number of photovoltaic panel seams in the current group of photovoltaic panels. Calculate a second feature value based on the first mark number and determine whether the second feature value is equal to the first feature value. If the second feature value is equal to the first feature value, then the robot has completed cleaning the current group of photovoltaic panels; The robot is controlled to turn and move to the next group of photovoltaic panels that is not yet cleaned and is adjacent to the current group of photovoltaic panels. The first mark is reset to zero, and the robot moves in the opposite direction to the first direction and cleans until all the photovoltaic panels in the photovoltaic array are cleaned.

2. The robot movement method for cleaning photovoltaic arrays according to claim 1, characterized in that, The second feature value is equal to the number of the first markers.

3. The robot movement method for cleaning photovoltaic arrays according to claim 1, characterized in that, The feature markers also include photovoltaic grid lines, the first marker quantity also includes the number of photovoltaic grid lines, and the array information also includes the number of grids that each photovoltaic panel is divided into by the photovoltaic grid lines; The step of calculating the second feature value based on the first number of markers includes: The second feature value is obtained by dividing the number of first marks by the number of grids and retaining the integer value of the quotient.

4. The robot movement method for cleaning photovoltaic arrays according to any one of claims 1-3, characterized in that, After controlling the robot to turn and move to the next, uncleaned group of photovoltaic panels adjacent to the current group, the method further includes: Record the number of times the robot turns; After moving and cleaning in the direction opposite to the first direction, the process further includes: The number of turns determines whether the robot has moved to the last group of the photovoltaic array. If so, determine whether the robot has completed cleaning the last group of photovoltaic panels based on the array information and the number of markers.

5. The robot movement method for cleaning photovoltaic arrays according to claim 4, characterized in that, The number of markers includes the number of second markers of feature markers parallel to the first direction that the robot passes through. Controlling the robot to turn and move to the next, uncleaned group of photovoltaic panels adjacent to the current group, and then moving and cleaning it in the opposite direction to the first direction, includes: Determine the direction of rotation of the robot; Control the robot to rotate 90 degrees in the stated rotation direction and move forward; The number of second markers passed by the robot determines whether the robot has moved to the next group of photovoltaic panels that is not yet clean and is adjacent to the current group of photovoltaic panels; If the robot has moved to the next set of photovoltaic panels, control the robot to rotate 90 degrees again in the rotation direction, move in the opposite direction to the first direction and perform cleaning.

6. The robot movement method for cleaning photovoltaic arrays according to claim 5, characterized in that, Determining the rotation direction of the robot includes: Obtain the initial rotation direction of the robot, wherein the initial rotation direction includes clockwise and counterclockwise directions; The current rotation direction of the robot is determined based on the number of times the robot turns, wherein the rotation direction includes being the same as or opposite to the initial rotation direction.

7. The robot movement method for cleaning photovoltaic arrays according to claim 6, characterized in that, Obtaining the robot's initial rotation direction includes: Obtain the robot's starting position; The relative position of the photovoltaic panel to be cleaned to the robot's starting position is determined based on the starting position and the array information. The initial rotation direction of the robot is determined based on the relative position.

8. The robot movement method for cleaning photovoltaic arrays according to claim 7, characterized in that, The step of determining whether the robot has moved to the last group of the photovoltaic array based on the number of turns includes: The number of photovoltaic panel groups in the current photovoltaic array is determined based on the array information; The third characteristic value is calculated based on the number of photovoltaic panel groups, wherein the third characteristic value is the number of photovoltaic panel groups minus 1; Determine whether the number of turns is equal to the third characteristic value. If so, it is considered that the robot has moved to the last group of the photovoltaic array.

9. A robot for cleaning photovoltaic arrays, characterized in that, The robot includes: An acquisition module is used to acquire array information of a photovoltaic array, wherein the photovoltaic array is composed of multiple sets of photovoltaic panels, and the photovoltaic array has feature marks, including the photovoltaic panel frame at the joint of the photovoltaic panels; A mobile module is used to control the robot to move along a first direction and perform cleaning on the current group of photovoltaic panels; A feature recognition module is used to identify the feature markers that the robot passes through and record the number of markers; wherein, the number of markers includes a first number of feature markers that the robot passes through perpendicular to the first direction; The first judgment module is used to calculate a first feature value contained in each group of photovoltaic panels based on the array information, wherein the first feature value is the number of photovoltaic panel seams in the current group of photovoltaic panels; calculate a second feature value based on the first mark number; and determine whether the second feature value is equal to the first feature value; if the second feature value is equal to the first feature value, then the robot has completed the cleaning of the current group of photovoltaic panels. A steering module is used to control the robot to turn and move to the next group of photovoltaic panels that is not yet cleaned and is adjacent to the current group of photovoltaic panels; The second judgment module is used to clear the number of the first marker to zero; The mobile module is also used to control the robot to move in the opposite direction to the first direction and to clean until all the photovoltaic panels in the photovoltaic array are cleaned.

10. A robot for cleaning photovoltaic arrays, characterized in that, The robot includes: a memory and at least one processor, wherein the memory stores instructions; The at least one processor invokes the instructions in the memory to cause the robotic device to perform the steps of the robotic movement method for cleaning a photovoltaic array as described in any one of claims 1-8.

11. A computer-readable storage medium storing instructions thereon, characterized in that, When the instructions are executed by the processor, they implement the steps of the robot movement method for cleaning photovoltaic arrays as described in any one of claims 1-8.

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