Spot and action combined cleaning device and control method thereof

Abstract

This invention discloses a cleaning device and its control method that combine fixed-point and motion-based cleaning, relating to the field of photovoltaic panel cleaning technology. It solves the technical problems of existing cleaning devices that use telescopic transition frames for adjustment, resulting in high costs and time-consuming processes. The device includes a data acquisition module, and connected motion execution and storage modules. By determining the cleaning device's travel status to understand whether it is about to move onto the next photovoltaic panel, and based on the travel status and the end-face height difference between two adjacent photovoltaic panels stored in the storage module, the device's motor speeds can be adjusted to change its posture. This addresses the problems of time-consuming cleaning due to the end-face height difference between the two photovoltaic panels, and the complex design and numerous structures of the cleaning device.

Description

Technical Field

[0001] This invention belongs to the field of photovoltaic panel cleaning technology, specifically a cleaning device and its control method that combines fixed-point and motion cleaning. Background Technology

[0002] Photovoltaics is short for solar photovoltaic power generation system. It is a new type of power generation system that uses the photovoltaic effect of solar cell semiconductor materials to directly convert solar radiation energy into electrical energy. Existing photovoltaic power stations are generally located in remote areas with complex terrain, such as deserts, coal mine subsidence areas, and mountains. Due to the presence of dust in the air, dust can easily accumulate on the power generation panels over a long period of time, thus blocking sunlight and reducing power generation efficiency. In addition, there are often complex scenarios such as height difference, front-back deviation, and offset angle between photovoltaic strings.

[0003] Because of the modular installation of photovoltaic modules, there is a risk of module slippage, resulting in misalignment and height differences between adjacent modules. The bolted connection method of photovoltaic modules also has processing and installation deviations, causing deviations in the end faces of adjacent modules. Therefore, cleaning the surface of photovoltaic panels requires navigating various obstacles, climbing slopes, and descending slopes. Currently, the method of adjusting the position of the cleaning device using a telescopic transition bridge area is not only costly but also takes too long. Summary of the Invention

[0004] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a cleaning device and its control method that combine fixed-point and motion control. This addresses the problem that existing cleaning devices use telescopic transition bridges for adjustment, resulting in high costs and time-consuming and labor-intensive processes. This invention, through its control system, can obtain the position information of the cleaning device and make corresponding attitude adjustments and obstacle-crossing strategies in advance before the cleaning device reaches the gaps between some photovoltaic modules, thereby solving the above-mentioned problems.

[0005] This invention uses a shuttle vehicle system with an actuator to perform height, extension length, and angle adjustment tasks at a specific row position, thereby adapting to the problem of deviations in different rows and solving the above-mentioned problems by replacing telescopic cable trays.

[0006] To achieve the above objectives, a first aspect of the present invention provides a control method for a cleaning device that combines fixed-point and motion control, comprising: a data acquisition module, and a motion execution module and a storage module connected thereto;

[0007] The data acquisition module is used to acquire the input current that drives the cleaning device and the image texture on the photovoltaic panel captured by the camera on the cleaning device; it obtains the position information of the cleaning device based on the sensors and image texture on the cleaning device; the position information includes the actual distance traveled by the cleaning device and the number of times it passes through the photovoltaic panel;

[0008] Storage module: Used to store the length of the photovoltaic panel, the height of several photovoltaic panels, the end face drop and spacing between two adjacent photovoltaic panels;

[0009] Action execution module: used to determine the driving status of the sweeping device based on the position information and the length of the panel; and to adjust the speed of the motors driving the sweeping device on both sides according to the driving status and installation information; and to adjust the posture of the sweeping device according to the driving status and the end face height difference between two adjacent photovoltaic panels; wherein, the driving status includes crossing status and walking status.

[0010] It should be noted that the image texture information is located on the photovoltaic panel; an auxiliary mechanism is set between two photovoltaic panels of different heights to ensure the movement of the cleaning device. This auxiliary mechanism can be a bridge between the two photovoltaic panels. The panel length stored in the storage module can be measured during installation, while the panel height, the end face drop of two adjacent photovoltaic panels and the spacing distance can also be measured and obtained during installation or obtained through other methods such as sensor measurement and calculation.

[0011] Preferably, obtaining the position information of the cleaning device based on the sensors and image texture on the cleaning device includes:

[0012] A1: The walking information of the sweeping device is obtained through a speed sensor; the walking information includes the walking speed of the wheels on the sweeping device, the walking time, and the rotational speed of the motor on the sweeping device;

[0013] A2: Obtain the input current of the sweeping device during its movement; determine whether the sweeping device has a slippage stroke during its movement based on the input current; if no, obtain the actual mileage by integrating the walking speed within the walking time; if yes, extract the slippage time corresponding to the slippage stroke, remove the slippage time from the walking time to obtain the normal time, and obtain the actual mileage by integrating the walking speed within the normal time.

[0014] A3: Count the number of textures in the images captured by the camera on the cleaning device to obtain the number of passes.

[0015] Preferably, the method of determining whether the cleaning device slips during movement based on the input current includes:

[0016] Extract the input current of the motor on the sweeping device; compare the input current with the threshold current. If the input current is greater than the threshold current, mark the sweeping device's movement within the corresponding time period as slipping; otherwise, mark the sweeping device's movement within the corresponding time period as non-slipping.

[0017] Preferably, determining the driving status of the sweeping device based on location information and plate length includes:

[0018] Extract the actual travel distance, number of passes, and plate length, and label them as S, X, and d, respectively;

[0019] The span D is obtained by formula D=S / d, and the difference between the span D and the number of passes X is marked as a single movement amount;

[0020] Determine whether a single movement amount is greater than the edge threshold; if yes, mark the sweeping device's travel state as walking state; if no, mark the sweeping device's travel state as crossing state.

[0021] It should be noted that when the length of the photovoltaic panel is an integer, the integer part of the span represents the number of photovoltaic panels that the cleaning device moves across, and the decimal part of the span, i.e. the amount of movement per unit, represents the distance of the cleaning device from the current starting point of the photovoltaic panel.

[0022] Preferably, adjusting the motor speed of the two-sided sweeping device based on the driving status and installation information includes:

[0023] B1: Obtain the driving status of the sweeping device; determine whether the current driving status of the sweeping device is a crossing state; if yes, jump to B2; if no, continue to obtain the driving status of the sweeping device;

[0024] B2: Extract the height of the two photovoltaic panels that the cleaning device passes through in succession, and mark them as h1 and h2 respectively. Calculate the height difference hc between the two adjacent photovoltaic panels using the formula hc=h2-h1.

[0025] B3: Determine whether the height difference hc between two adjacent photovoltaic panels is greater than 0;

[0026] Yes, the adjustment speed is obtained based on the height difference hc between the plates, and the lifting speed is obtained based on the initial speed and the adjustment speed. The speed of the motors on both sides of the sweeping device is adjusted to the lifting speed.

[0027] No, the adjustment speed is obtained based on the height difference hc between the plate surfaces, and the reduction speed is obtained based on the initial speed and the adjustment speed. The speed of the motors on both sides of the cleaning device is adjusted to the reduction speed.

[0028] Preferably, obtaining the adjustment speed based on the plate height difference hc includes:

[0029] Extract the panel height hc and panel distance l of two adjacent photovoltaic panels, and calculate the travel tilt angle α using the formula α=arcsin(l / hc); where α∈(-π / 2,π / 2);

[0030] The adjustment speed Δn is calculated using the formula Δn=60mgsinα / (2π×k×V); where k is the torque coefficient of the motor on the sweeping device, m is the mass of the sweeping device, g is the acceleration due to gravity, and V is the travel speed of the sweeping device.

[0031] Preferably, adjusting the attitude of the sweeping device according to the driving state and the end face height difference between two adjacent photovoltaic panels includes:

[0032] Extract the end face height difference between two adjacent photovoltaic panels; determine whether the end face height difference between two adjacent photovoltaic panels is greater than the misalignment threshold; if not, maintain the speed of the motor on the sweeping device; if yes, adjust the speed of the motor on the sweeping device to change the driving posture of the sweeping device.

[0033] Preferably, adjusting the speed of the motor on the sweeping device to change the driving posture of the sweeping device includes:

[0034] S1: Obtain the driving status of the sweeping device; determine whether the current driving status of the sweeping device is a crossing state; if yes, jump to B2; if no, continue to obtain the driving status of the sweeping device;

[0035] S2: Adjust the speed of the motor on one side of the sweeping device to the threshold speed one and maintain the adjustment time; reduce the speed of the motor on that side of the sweeping device to the threshold speed two and maintain the adjustment time; restore the speed of the motor on that side to the walking speed.

[0036] It should be noted that the threshold speed 1, threshold speed 2, and adjustment time are all manually set in advance. The different travel speeds on both sides of the cleaning device allow the cleaning device to tilt, thus enabling it to cross two photovoltaic panels with a large drop at the end face. Furthermore, the threshold speed 1 is greater than the initial speed, which is greater than the threshold speed 2.

[0037] After completing the crossing, by reducing the speed of the motor on that side, the cleaning device can be restored to a state parallel to the photovoltaic panel.

[0038] The present invention also discloses a cleaning device that combines fixed-point and motion cleaning, comprising: a frame and a cleaning brush located at the bottom of the frame, wherein a plurality of support wheels that travel on the surface of the photovoltaic panel are vertically installed on both sides of the inner wall of the frame, and a plurality of rollers that travel on the side of the photovoltaic panel are horizontally installed at the bottom of both ends of the frame.

[0039] It should be noted that the optimal state for photovoltaics to receive sunlight is when they are tilted. In order to ensure that when the cleaning device tilts across the surfaces of two adjacent photovoltaic panels, the roller on one side contacts the side of the photovoltaic panel, while the roller on the other side does not contact the side of the photovoltaic panel when traveling horizontally, and the support wheels on both sides contact the surface of the photovoltaic panel.

[0040] Preferably, support frames are fixedly connected to both sides of the end of the frame, and an auxiliary arm capable of swinging is provided on one side of the support frame. The auxiliary arm is used to span the interval between two adjacent photovoltaic panels, and a servo motor for changing the swing position of the auxiliary arm is installed on one side of the support frame.

[0041] It should be noted that the auxiliary arm can travel on tracks, and the rotation of the surface tracks provides support for movement during sweeping and crossing.

[0042] Compared with the prior art, the beneficial effects of the present invention are:

[0043] 1. In this invention, the position information of the current cleaning device relative to the photovoltaic panel can be obtained by acquiring the image texture on the photovoltaic panel through the sensor. This position information can reflect the workload and specific position of the cleaning device. Then, by judging the driving state of the cleaning device, it can be understood whether the current cleaning device is about to move to the surface of the next photovoltaic panel. Based on the driving state and the end face difference between two adjacent photovoltaic panels stored in the storage module, the speed of the motors on both sides of the cleaning device that drive the cleaning device can be adjusted to change the posture of the cleaning device. In this way, it can solve the problem that the end face difference between the two photovoltaic panels makes it time-consuming to continue cleaning and the cleaning device design is more complicated and the structure is more complicated, resulting in higher cost.

[0044] 2. In this invention, when obtaining the actual mileage of the sweeping device, the input current and the threshold current are compared to determine whether the sweeping device has slipped. When calculating the actual mileage, the corresponding time of slippage can be eliminated to ensure the accuracy of the actual mileage and further ensure the accuracy of subsequent judgment of the sweeping device's driving status. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 This is a schematic diagram of the process of the present invention;

[0047] Figure 2 This is a schematic diagram of the system connections in this invention;

[0048] Figure 3 This is a logic block diagram for determining the motor speed in this invention;

[0049] Figure 4This is a schematic diagram of the cleaning device in this invention;

[0050] Figure 5 This is a schematic diagram of the process for adjusting the posture of the cleaning device in this invention;

[0051] Figure 6 This is an example diagram of photovoltaic panel installation in this invention;

[0052] Figure 7 This is a schematic diagram of the installation connection of photovoltaic panels with height differences in this invention.

[0053] In the diagram, 1 is the frame; 2 is the cleaning brush; 3 is the support wheel; 4 is the roller; 5 is the support frame; 6 is the auxiliary arm; and 7 is the servo motor. Detailed Implementation

[0054] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0055] Please see Figures 1-7 The first aspect of the present invention provides a control method for a cleaning device that combines fixed-point and motion cleaning, comprising:

[0056] Includes: a data acquisition module, and an action execution module and a storage module connected to it;

[0057] The data acquisition module is used to acquire the input current that drives the cleaning device and the image texture on the photovoltaic panel captured by the camera on the cleaning device; it obtains the position information of the cleaning device based on the sensors and image texture on the cleaning device; the position information includes the actual distance traveled by the cleaning device and the number of times it passes through the photovoltaic panel;

[0058] Storage module: Used to store the length of the photovoltaic panel, the height of several photovoltaic panels, the end face drop and spacing between two adjacent photovoltaic panels;

[0059] Action execution module: used to determine the driving status of the sweeping device based on the position information and the length of the panel; and to adjust the speed of the motors driving the sweeping device on both sides according to the driving status and installation information; and to adjust the posture of the sweeping device according to the driving status and the end face height difference between two adjacent photovoltaic panels; wherein, the driving status includes crossing status and walking status.

[0060] Among them, the image texture is a specific representation and is easy to identify. The number of image textures captured by the camera on the cleaning device can reflect how many photovoltaic panels the cleaning device has passed over. However, when the cleaning device is performing operations such as resetting, the camera may not capture image textures.

[0061] The length of the photovoltaic panel can be obtained by acquiring the specifications of the photovoltaic panel. The height of the photovoltaic panel can be obtained by installing a position sensor at the bottom of the photovoltaic panel. The end face drop and the spacing distance are calculated using the data acquired by the position sensor and can be stored in the storage module.

[0062] In this embodiment, the position information of the cleaning device is obtained based on the sensors and image textures on the cleaning device, including:

[0063] A1: The walking information of the sweeping device is obtained through a speed sensor; the walking information includes the walking speed of the wheels on the sweeping device, the walking time, and the rotational speed of the motor on the sweeping device;

[0064] A2: Obtain the input current of the sweeping device during its movement; determine whether the sweeping device has a slippage stroke during its movement based on the input current; if no, obtain the actual mileage by integrating the walking speed within the walking time; if yes, extract the slippage time corresponding to the slippage stroke, remove the slippage time from the walking time to obtain the normal time, and obtain the actual mileage by integrating the walking speed within the normal time.

[0065] A3: Count the number of textures in the images captured by the camera on the cleaning device to obtain the number of passes.

[0066] Because the surface of photovoltaic panels is relatively smooth, the cleaning device may slip when walking on the photovoltaic panel surface. Removing the mileage collected when slipping can improve the accuracy of the calculated actual mileage, and the actual mileage can reflect the workload of the cleaning device.

[0067] Furthermore, determining whether the cleaning device slips during its movement based on the input current includes:

[0068] Extract the input current of the motor on the sweeping device; compare the input current with the threshold current. If the input current is greater than the threshold current, mark the sweeping device's movement within the corresponding time period as slipping; otherwise, mark the sweeping device's movement within the corresponding time period as non-slipping. The threshold current is 4 times the rated current.

[0069] When the tires suddenly lose traction and begin to slip, the motor will increase the current output in order to restore driving force. Therefore, by detecting the change in the electrical input current, it is possible to accurately determine whether the sweeping device is slipping.

[0070] In this embodiment, determining the driving status of the sweeping device based on location information and plate length includes:

[0071] Extract the actual travel distance S, the number of passes X, and the plate length d;

[0072] The span D is obtained by formula D=S / d, and the difference between the span D and the number of passes X is marked as a single movement amount;

[0073] Determine whether a single movement amount is greater than the edge threshold; if yes, mark the sweeping device's travel state as walking state; if no, mark the sweeping device's travel state as crossing state.

[0074] Specifically, when the actual travel distance of the cleaning device is 19.3m and the length of each photovoltaic panel is 1.5m, the sweep distance D is 12.867 when the cleaning device passes through 12 photovoltaic panels. 0.867 represents the completion rate of cleaning the photovoltaic panel where the cleaning device is located, and also indicates the position of the cleaning device on the photovoltaic panel. When the edge threshold is 0.9, the cleaning device is in the walking state.

[0075] In this embodiment, adjusting the motor speed of the sweeping device driven by both sides according to the driving status and installation information includes:

[0076] B1: Obtain the driving status of the sweeping device; determine whether the current driving status of the sweeping device is a crossing state; if yes, jump to B2; if no, continue to obtain the driving status of the sweeping device;

[0077] B2: The cleaning device passes over the heights of two photovoltaic panels, h1=1.6m and h2=1.8m. The height difference between the two adjacent photovoltaic panels is calculated as hc=h2-h1, which is 0.2m.

[0078] B3: Since the height difference hc between two adjacent photovoltaic panels is greater than 0, the height hc and the distance l between the two adjacent photovoltaic panels are extracted, and the travel tilt angle α is calculated by the formula α=arcsin(l / hc); where α∈(-π / 2,π / 2);

[0079] The adjustment speed Δn is calculated using the formula Δn=60mgsinα / (2π×k×V); where k is the torque coefficient of the motor on the sweeping device, m is the mass of the sweeping device, g is the acceleration due to gravity, and V is the travel speed of the sweeping device.

[0080] At this time, the adjustment speed Δn is a positive number. Based on the initial speed and the adjustment speed, the boost speed is obtained, and the speed of the motors on both sides of the sweeping device is adjusted to the boost speed.

[0081] The above method can be used to adjust the walking speed of the sweeping device, thereby enabling the sweeping device to complete the sweeping requirements of climbing and descending slopes.

[0082] It should be noted that if the height difference hc between two adjacent photovoltaic panels is greater than 0, the adjustment speed is obtained based on the height difference hc. At this time, the calculated adjustment speed Δn is negative. The speed reduction is obtained based on the initial speed and the adjustment speed, and the speed of the motors on both sides of the cleaning device is adjusted to the reduced speed.

[0083] In this embodiment, adjusting the posture of the cleaning device based on the driving status and the end-face height difference between two adjacent photovoltaic panels includes:

[0084] Extract the end face height difference between two adjacent photovoltaic panels; determine whether the end face height difference between two adjacent photovoltaic panels is greater than the misalignment threshold; if not, maintain the speed of the motor on the sweeping device; if yes, adjust the speed of the motor on the sweeping device to change the driving posture of the sweeping device.

[0085] The end face drop is the distance between the two ends of two adjacent photovoltaic panels that are misaligned, and the misalignment threshold is set according to the diameter of the roller 4 on the cleaning device.

[0086] Furthermore, adjusting the speed of the motor on the sweeping device changes the sweeping device's driving posture, including:

[0087] S1: Obtain the driving status of the sweeping device; determine whether the current driving status of the sweeping device is a crossing state; if yes, jump to B2; if no, continue to obtain the driving status of the sweeping device;

[0088] S2: Adjust the speed of the motor on one side of the sweeping device to the threshold speed one and maintain the adjustment time; reduce the speed of the motor on that side of the sweeping device to the threshold speed two and maintain the adjustment time; restore the speed of the motor on that side to the walking speed.

[0089] Please see Figure 4 As shown, the present invention also discloses a cleaning device that combines fixed-point and motion cleaning, including: a frame 1 and a cleaning brush 2 located at the bottom of the frame 1. Several support wheels 3 that travel on the surface of the photovoltaic panel are vertically installed on both sides of the inner wall of the frame 1. Several rollers 4 that travel on the side of the photovoltaic panel are horizontally installed at the bottom of both ends of the frame 1. The support wheels 3 and rollers 4 can be driven by a drive motor.

[0090] When the motor driving the lower roller 4 and support wheel 3 is set to a threshold speed of one, the cleaning device tilts due to the friction between the lower support wheel 3 and the photovoltaic panel surface. The lower roller 4 then contacts the side of the photovoltaic panel and remains in adjustment for a period of time. During this process, the cleaning device crosses two photovoltaic panels with a difference in end face height. Then, the motor speed driving the lower roller 4 is adjusted to a threshold speed of two and maintained for adjustment time, thereby restoring the cleaning device to a state parallel to the photovoltaic panel.

[0091] In order to enable the cleaning device to cross between two photovoltaic panels with a large distance difference, support frames 5 can be fixedly connected to both sides of the end of the frame 1, and an auxiliary arm 6 that can swing can be set on one side of the support frame 5. The auxiliary arm 6 is used to cross the gap between two adjacent photovoltaic panels. A servo motor 7 is installed on one side of the support frame 5 to change the swing position of the auxiliary arm 6. When the servo motor 7 drives the auxiliary arm 6 to rotate to a suitable position, it can play a supporting role, thereby completing the crossing.

[0092] Some of the data in the above formula are calculated by removing dimensions and taking their numerical values. The formula is the closest to the real situation obtained by software simulation of a large amount of collected data. The preset parameters and preset thresholds in the formula are set by those skilled in the art according to the actual situation or obtained through simulation of a large amount of data.

[0093] The working principle of this invention is as follows: The input current and image texture located on the photovoltaic panel are acquired through the acquisition module. The actual mileage traveled by the cleaning device and the number of photovoltaic panels passed are obtained through the speed sensor on the cleaning device and the image texture. The driving state of the cleaning device is determined based on the actual mileage traveled by the cleaning device, the number of photovoltaic panels passed, and the length of the photovoltaic panel stored in the storage module. The speed of the motors driving the cleaning device on both sides is adjusted according to the driving state and installation information. If the current driving state of the cleaning device is a crossing state, the adjustment speed is obtained based on the height difference hc between the panels. The speed of the motors driving the cleaning device is adjusted according to the initial speed and the adjustment speed. The posture of the cleaning device is adjusted according to the driving state and the end face height difference between two adjacent photovoltaic panels.

[0094] The above embodiments are only used to illustrate the technical methods of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical methods of the present invention without departing from the spirit and scope of the technical methods of the present invention.

Claims

1. A control system for a cleaning device that combines fixed-point and motion cleaning, characterized in that, include: The data acquisition module, and the action execution module and storage module connected to it; The data acquisition module is used to acquire the input current that drives the cleaning device and the image texture on the photovoltaic panel captured by the camera on the cleaning device; it obtains the position information of the cleaning device based on the sensors and image texture on the cleaning device; the position information includes the actual distance traveled by the cleaning device and the number of times it passes through the photovoltaic panel; The step of obtaining the position information of the cleaning device based on the sensors and image textures on the cleaning device includes: A1: The walking information of the sweeping device is obtained through a speed sensor; the walking information includes the walking speed of the wheels on the sweeping device, the walking time, and the rotational speed of the motor on the sweeping device; A2: Obtain the input current of the sweeping device during its movement; determine whether the sweeping device has a slippage stroke during its movement based on the input current; if no, obtain the actual mileage by integrating the walking speed within the walking time; if yes, extract the slippage time corresponding to the slippage stroke, remove the slippage time from the walking time to obtain the normal time, and obtain the actual mileage by integrating the walking speed within the normal time. A3: Count the number of textures in the images captured by the camera on the cleaning device to obtain the number of passes; Storage module: Used to store the length of the photovoltaic panel, the height of several photovoltaic panels, the end face drop and spacing between two adjacent photovoltaic panels; Action execution module: used to determine the driving status of the sweeping device based on the position information and the length of the panel; and to adjust the speed of the motors driving the sweeping device on both sides according to the driving status and installation information; and to adjust the posture of the sweeping device according to the driving status and the end face height difference between two adjacent photovoltaic panels; wherein, the driving status includes crossing status and walking status.

2. The control system of the cleaning device combining fixed-point and motion cleaning according to claim 1, characterized in that, The method of determining whether the cleaning device slips during its movement based on the input current includes: Extract the input current of the motor on the sweeping device; compare the input current with the threshold current. If the input current is greater than the threshold current, mark the sweeping device's movement within the corresponding time period as slipping; otherwise, mark the sweeping device's movement within the corresponding time period as non-slipping.

3. The control system of the cleaning device combining fixed-point and motion cleaning according to claim 1, characterized in that, The step of determining the driving status of the sweeping device based on location information and plate length includes: Extract the actual travel distance, number of passes, and plate length, and label them as S, X, and d, respectively; The span D is obtained by formula D=S / d, and the difference between the span D and the number of passes X is marked as a single movement amount; Determine whether a single movement amount is greater than the edge threshold; if yes, mark the sweeping device's travel state as walking state; if no, mark the sweeping device's travel state as crossing state.

4. The control system of the cleaning device combining fixed-point and motion cleaning according to claim 1, characterized in that, The method of adjusting the motor speed of the sweeping device driven by both sides according to the driving status and installation information includes: B1: Obtain the driving status of the sweeping device; determine whether the current driving status of the sweeping device is a crossing state; if yes, jump to B2; if no, continue to obtain the driving status of the sweeping device; B2: Extract the height of the two photovoltaic panels that the cleaning device passes through in succession, and mark them as h1 and h2 respectively. Calculate the height difference hc between the two adjacent photovoltaic panels using the formula hc=h2-h1. B3: Determine whether the height difference hc between two adjacent photovoltaic panels is greater than 0; Yes, the adjustment speed is obtained based on the height difference hc between the plates, and the lifting speed is obtained based on the initial speed and the adjustment speed. The speed of the motors on both sides of the sweeping device is adjusted to the lifting speed. No, the adjustment speed is obtained based on the height difference hc between the plate surfaces, and the reduction speed is obtained based on the initial speed and the adjustment speed. The speed of the motors on both sides of the cleaning device is adjusted to the reduction speed.

5. The control system of the cleaning device combining fixed-point and motion cleaning according to claim 4, characterized in that, The method of obtaining the adjustment speed based on the plate height difference hc includes: Extract the panel height hc and panel distance l of two adjacent photovoltaic panels, and calculate the travel tilt angle α using the formula α=arcsin(l / hc); where α∈(-π / 2,π / 2); The adjustment speed Δn is calculated using the formula Δn=60mgsinα / (2π×k×V); where k is the torque coefficient of the motor on the sweeping device, m is the mass of the sweeping device, g is the acceleration due to gravity, and V is the travel speed of the sweeping device.

6. The control system of the cleaning device combining fixed-point and motion cleaning according to claim 1, characterized in that, The method of adjusting the attitude of the sweeping device according to the driving status and the end face height difference between two adjacent photovoltaic panels includes: Extract the end face height difference between two adjacent photovoltaic panels; determine whether the end face height difference between two adjacent photovoltaic panels is greater than the misalignment threshold; if not, maintain the speed of the motor on the sweeping device; if yes, adjust the speed of the motor on the sweeping device to change the driving posture of the sweeping device.

7. The control system of the cleaning device combining fixed-point and motion cleaning according to claim 6, characterized in that, The method of adjusting the speed of the motor on the sweeping device to change the driving posture of the sweeping device includes: S1: Obtain the driving status of the sweeping device; determine whether the current driving status of the sweeping device is a crossing state; if yes, jump to B2; if no, continue to obtain the driving status of the sweeping device; S2: Adjust the speed of the motor on one side of the sweeping device to the threshold speed one and maintain the adjustment time; reduce the speed of the motor on that side of the sweeping device to the threshold speed two and maintain the adjustment time; restore the speed of the motor on that side to the walking speed.

8. A cleaning device combining fixed-point and motion operation, applied to the control system of the cleaning device combining fixed-point and motion operation as described in claim 1, characterized in that, include: The frame (1) and the cleaning brush (2) located at the bottom of the frame (1) are provided. Several support wheels (3) that walk on the surface of the photovoltaic panel are vertically installed on both sides of the inner wall of the frame (1). Several rollers (4) that walk on the side of the photovoltaic panel are horizontally installed at the bottom of both ends of the frame (1).

9. The cleaning device combining fixed-point and motion cleaning according to claim 8, characterized in that, Support frames (5) are fixedly connected to both sides of the end of the frame (1). An auxiliary arm (6) capable of swinging is provided on one side of the support frame (5). The auxiliary arm (6) is used to span the interval between two adjacent photovoltaic panels. A servo motor (7) for changing the swing position of the auxiliary arm (6) is installed on one side of the support frame (5).

Images