Photovoltaic panel cleaning robot and photovoltaic panel cleaning method

Abstract

The invention belongs to the technical field of robot cleaning equipment, and discloses a photovoltaic panel cleaning robot and a photovoltaic panel cleaning method.The photovoltaic panel cleaning robot comprises a robot body, an ultrasonic assembly and a recognition mechanism; the robot body can walk on the photovoltaic panel, and the robot body comprises a controller and a cleaning assembly; the ultrasonic assembly is connected with the controller, the ultrasonic assembly is arranged on the robot body, and the ultrasonic assembly is arranged to emit ultrasonic waves towards dirt on the photovoltaic panel so that the dirt can vibrate and break away from the photovoltaic panel; the recognition mechanism is connected with the controller, and the recognition mechanism is arranged to recognize the humidity of the dirt; wherein the controller adjusts the emission duration of the ultrasonic wave emitter based on the humidity, the duration of the ultrasonic wave emitted by the ultrasonic wave assembly is inversely proportional to the humidity of the dirt, and the cleaning assembly is used for sucking and collecting the dirt treated by the ultrasonic wave. Through the arrangement, the cleaning robot has the advantages of being good in cleaning effect and high in cruising ability.

Description

Technical Field

[0001] The present invention relates to the technical field of robot cleaning equipment, and in particular to a photovoltaic panel cleaning robot and a photovoltaic panel cleaning method. Background Art

[0002] Photovoltaic panels are a type of panel that uses the photovoltaic effect of semiconductor materials under light conditions to directly convert solar energy into electrical energy. When the photovoltaic panel is dirty, it will not only affect the power generation efficiency of the photovoltaic panel, but also may cause defects such as hot spots on the surface of the photovoltaic panel, thereby damaging the service life of the photovoltaic panel. Therefore, a cleaning robot is needed to clean the dirt on the photovoltaic panel.

[0003] The dirt on photovoltaic panels is mostly dirt, bird droppings and other garbage with strong adhesion. Especially when it has not rained for a long time and the temperature is high, dirt and bird droppings will quickly solidify and stick to the photovoltaic panels. The suction force of the cleaning robot is difficult to suck away the solidified garbage, and the cleaning effect is poor. If the suction force is continuously increased, more electricity will be required, which will affect the endurance of the cleaning robot and lead to low cleaning efficiency. Summary of the invention

[0004] The purpose of the present invention is to provide a photovoltaic panel cleaning robot, a photovoltaic panel cleaning method, a computer device and a storage medium to solve one of the above-mentioned technical problems.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] In a first aspect, an embodiment of the present invention provides a photovoltaic panel cleaning robot, comprising:

[0007] A robot body capable of walking on the photovoltaic panel, the robot body comprising a controller and a cleaning component;

[0008] An ultrasonic component connected to the controller, the ultrasonic component is disposed on the robot body, and the ultrasonic component is arranged to emit ultrasonic waves toward the dirt on the photovoltaic panel to make the dirt vibrate and separate from the photovoltaic panel;

[0009] An identification mechanism connected to the controller, the identification mechanism being disposed on the robot body and arranged to identify the humidity of the dirt;

[0010] The controller adjusts the emission duration of the ultrasonic transmitter based on the humidity, and the emission duration of the ultrasonic component is inversely proportional to the humidity of the dirt. The cleaning component is used to inhale and collect the dirt treated by the ultrasonic wave.

[0011] An embodiment of the present invention provides a photovoltaic panel cleaning robot, including a robot body, an ultrasonic component and an identification mechanism. The robot body can walk on the photovoltaic panel, and the robot body includes a controller and a cleaning component. The ultrasonic component is connected to the controller, and the ultrasonic component is arranged on the robot body. The ultrasonic component is arranged to emit ultrasonic waves toward the dirt on the photovoltaic panel so that the dirt vibrates and detaches from the photovoltaic panel. The identification mechanism is connected to the controller and is arranged on the robot body, and the identification mechanism is arranged to identify the humidity of the dirt. Among them, the controller adjusts the emission duration of the ultrasonic transmitter based on the humidity, and the duration of the ultrasonic component emitting ultrasonic waves is inversely proportional to the humidity of the dirt, and the cleaning component is used to inhale and collect the dirt treated with ultrasound. Since the dirt on the photovoltaic panel is usually mud, bird droppings, etc., when it has not rained for a long time and the temperature is high, the dirt will quickly solidify and adhere to the photovoltaic panel. The ultrasonic component emits ultrasonic waves toward the dirt on the photovoltaic panel, causing the dirt to vibrate, destroying the adhesion between the dirt and the photovoltaic panel and causing the dirt to detach from the photovoltaic panel, allowing the cleaning component to easily suck in the dirt, improving the cleaning effect and preventing the dirt from being left on the photovoltaic panel and affecting the power generation efficiency of the photovoltaic panel. In addition, the adhesion between the dirt and the photovoltaic panel is related to the humidity of the dirt. When the humidity of the dirt is high, the adhesion between the uncured dirt and the photovoltaic panel is relatively small, and a relatively short period of ultrasonic vibration can loosen the dirt and make it easy to be sucked in by the cleaning component; when the humidity of the dirt is low, the cured dirt needs a longer period of ultrasonic vibration to loosen and fall off. The recognition mechanism identifies the humidity of the dirt, and the controller adjusts the emission duration of the ultrasonic transmitter according to the recognition result of the recognition mechanism to match the emission duration with the humidity of the dirt, thereby preventing the emission duration of the ultrasonic transmitter from exceeding the loosening requirement of the dirt humidity, or the emission duration from failing to loosen the dirt. While improving the cleaning effect, it saves the power usage of the ultrasonic component, thereby ensuring the endurance of the photovoltaic panel cleaning robot and improving the cleaning efficiency.

[0012] As an optional embodiment of the present invention, the ultrasonic component includes an ultrasonic transmitter and a plurality of ultrasonic transmitting ports, the ultrasonic transmitter is connected to the plurality of ultrasonic transmitting ports, and the ultrasonic transmitting ports are tilted downward along the horizontal direction; the robot body also includes:

[0013] The driving component, the cleaning component is arranged on the front side of the driving component, the identification mechanism is arranged on the front side wall of the cleaning component, and the plurality of ultrasonic emission ports are arranged at intervals on the front side wall of the cleaning component along a direction perpendicular to the moving direction of the driving component.

[0014] As an optional embodiment of the present invention, the ultrasonic component includes an ultrasonic transmitter and a plurality of ultrasonic transmitting ports, and the ultrasonic transmitter is connected to the plurality of ultrasonic transmitting ports; the robot body also includes:

[0015] The driving component, the cleaning component and the identification mechanism are respectively arranged on the bottom side of the driving component, and a plurality of ultrasonic emission ports are arranged at intervals on the bottom side wall of the cleaning component along a direction perpendicular to the moving direction of the driving component, and the identification mechanism, the ultrasonic emission ports and the garbage inlet of the cleaning component are distributed in sequence from front to back on the bottom side wall of the driving component.

[0016] As an optional embodiment of the present invention, the identification mechanism includes a camera.

[0017] As an optional implementation scheme of the present invention, the camera is a multi-spectral camera.

[0018] In a second aspect, an embodiment of the present invention further provides a photovoltaic panel cleaning method, wherein the cleaning robot comprises a robot body and an ultrasonic component, wherein the ultrasonic component is disposed on the robot body, and the robot body comprises a cleaning component; the method comprises:

[0019] When the cleaning robot cleans the photovoltaic panel, obtaining the humidity of the dirt on the photovoltaic panel;

[0020] Based on the humidity, the ultrasonic component is controlled to transmit ultrasonic waves to the dirt; wherein the duration for which the ultrasonic component transmits ultrasonic waves is inversely proportional to the humidity of the dirt;

[0021] Control the cleaning component to suck in and collect the dirt treated by the ultrasonic wave

[0022] As an optional embodiment of the present invention, the step of obtaining the humidity of the dirt on the photovoltaic panel includes:

[0023] Get weather and temperature data from the last cleaning to the current cleaning;

[0024] Based on the weather data and the temperature data, a moisture level of the dirt is determined.

[0025] As an optional embodiment of the present invention, the cleaning robot further includes a camera disposed on the robot body; the step of obtaining the humidity of the dirt on the photovoltaic panel includes:

[0026] Acquire a dirt image captured by the camera;

[0027] The humidity of the dirt in the dirt image is determined using the pre-trained humidity recognition model.

[0028] As an optional embodiment of the present invention, the cleaning robot further includes a multi-spectral camera disposed on the robot body; the step of obtaining the humidity of the dirt on the photovoltaic panel includes:

[0029] Acquire a dirt image captured by the multispectral camera;

[0030] Based on the spectral band information of the dirt image, the humidity of the dirt in the dirt image is determined.

[0031] As an optional embodiment of the present invention, the ultrasonic component includes an ultrasonic transmitter and an ultrasonic transmitting port, the ultrasonic transmitter is connected to the ultrasonic transmitting port, the robot body also includes a driving component, the cleaning component is arranged on the front side of the driving component, and the ultrasonic transmitting port and the camera are respectively arranged on the front side wall of the cleaning component; the method also includes:

[0032] Acquire a dirt image captured by the camera;

[0033] determining a distance between the robot body and the dirt based on the dirt image;

[0034] Based on the distance, the duration of emitting the ultrasonic wave and the range covered by the ultrasonic wave, the position for starting the ultrasonic wave transmitter and the travel speed of the driving component are determined.

[0035] As an optional embodiment of the present invention, the ultrasonic component includes an ultrasonic transmitter and an ultrasonic transmitting port, the ultrasonic transmitter is connected to the ultrasonic transmitting port, the robot body also includes a driving component, the camera, the ultrasonic transmitting port and the garbage inlet of the cleaning component are sequentially distributed on the bottom side wall of the driving component from front to back; the method also includes:

[0036] When the camera determines that there is dirt on the photovoltaic panel, the driving component is controlled to work so that the ultrasonic coverage range of the ultrasonic emission port covers the dirt;

[0037] After the robot body is controlled to stay at the position where the ultrasonic coverage range covers the dirt for the specified period of time, the driving component is controlled to continue working.

[0038] In a third aspect, an embodiment of the present invention further provides a computer device, comprising a memory and a processor, wherein the memory and the processor are communicatively connected to each other, computer instructions are stored in the memory, and the processor executes the above-mentioned photovoltaic panel cleaning method by executing the computer instructions.

[0039] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium storing a computer program, wherein the computer program is executed by a processor to implement the photovoltaic panel cleaning method as described above.

[0040] It should be noted that the above computer instructions can be stored in whole or in part on a computer-readable storage medium. The computer-readable storage medium can be packaged together with the controller of the photovoltaic panel cleaning robot, or can be packaged separately from the controller of the photovoltaic panel cleaning robot, and this application does not limit this.

[0041] The descriptions of the second to fourth aspects in this application can refer to the detailed description of the first aspect; and the beneficial effects of the descriptions of the second to fourth aspects can refer to the beneficial effect analysis of the first aspect, which will not be repeated here.

[0042] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 is a schematic structural diagram of a photovoltaic panel cleaning robot provided in Embodiment 1 of the present invention;

[0044] Figure 2 is a bottom view of the structure of the photovoltaic panel cleaning robot provided in the first embodiment of the present invention;

[0045] Figure 3 This is a structural front view of the photovoltaic panel cleaning robot provided in the first embodiment of the present invention;

[0046] Figure 4 is a schematic structural diagram of a cleaning assembly provided in Embodiment 1 of the present invention;

[0047] Figure 5 This is a schematic diagram of the operation of the photovoltaic panel cleaning robot provided in the first embodiment of the present invention to clean the photovoltaic panel;

[0048] Figure 6 It is a bottom view of the structure of the photovoltaic panel cleaning robot provided in the second embodiment of the present invention.

[0049] In the figure:

[0050] 100, robot body; 101, cleaning component; 1011, garbage inlet; 102, driving component; 200, ultrasonic emission port; 300, camera;

[0051] 10. Photovoltaic panels. DETAILED DESCRIPTION

[0052] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] In the description of the present invention, it should be noted that the orientations or positional relationships indicated by the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions, and the first feature "above", "above" and "above" the second feature include the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. The first feature "below", "below" and "below" the second feature include the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0054] The term "and / or" in this article is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0055] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0056] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0057] Embodiment 1

[0058] like Figures 1 to 5As shown, the first embodiment of the present invention provides a photovoltaic panel cleaning robot, which includes a robot body 100, an ultrasonic component and an identification mechanism. The robot body 100 can walk on the photovoltaic panel 10, and the robot body 100 includes a controller (not shown) and a cleaning component 101. The ultrasonic component is connected to the controller and is arranged on the robot body 100. The ultrasonic component is arranged on the robot body 100. The ultrasonic component is arranged to emit ultrasonic waves toward the dirt on the photovoltaic panel 10 to make the dirt vibrate and detach from the photovoltaic panel 10. The identification mechanism is connected to the controller, and the identification mechanism is arranged to identify the humidity of the dirt. Among them, the controller adjusts the emission duration of the ultrasonic transmitter based on the humidity, and the duration of the ultrasonic component emitting ultrasonic waves is inversely proportional to the humidity of the dirt. The cleaning component 101 is used to inhale and collect the dirt treated with ultrasound.

[0059] The dirt on the photovoltaic panel 10 is usually mud strips, dirt, bird droppings, etc. When it has not rained for a long time and the temperature is high, the dirt will solidify quickly and adhere to the photovoltaic panel 10. The ultrasonic component emits ultrasonic waves toward the dirt on the photovoltaic panel 10, causing the dirt to vibrate, and the adhesion between the dirt and the photovoltaic panel 10 is destroyed and separated from the photovoltaic panel 10, so that the suction force of the cleaning component 101 can easily suck in the dirt, improve the cleaning effect, and prevent the dirt from being left on the photovoltaic panel 10 and affecting the power generation efficiency of the photovoltaic panel 10. In addition, the adhesion between the dirt and the photovoltaic panel 10 is related to the humidity of the dirt. When the humidity of the dirt is high, the adhesion between the uncured dirt and the photovoltaic panel 10 is relatively small, and a relatively short period of ultrasonic vibration can make the dirt loose and fall off, and it is easy to be sucked in by the cleaning component 101; when the humidity of the dirt is low, the solidified dirt needs a longer period of ultrasonic vibration to form a loose and falling state.

[0060] The recognition mechanism identifies the humidity of the dirt, and the controller adjusts the emission duration of the ultrasonic transmitter according to the recognition result of the recognition mechanism to match the emission duration with the humidity of the dirt, thereby preventing the emission duration of the ultrasonic transmitter from exceeding the loosening requirement of the dirt humidity, or the emission duration from failing to loosen the dirt. While improving the cleaning efficiency, it saves the power usage of the ultrasonic component, thereby ensuring the endurance of the photovoltaic panel cleaning robot and improving the cleaning efficiency.

[0061] The specific structure of the ultrasonic component and the principle of generating vibration can be set with reference to the prior art, and will not be described in detail in this embodiment.

[0062] like Figures 1 to 3As shown, the ultrasonic component includes an ultrasonic transmitter (not shown) and a plurality of ultrasonic emission ports 200. The ultrasonic transmitter is connected to the plurality of ultrasonic emission ports 200, and the ultrasonic emission ports 200 are tilted downward from the horizontal direction. Ultrasonic waves are emitted from the ultrasonic emission ports 200 tilted downward from the horizontal direction to form a certain coverage range. Any of the plurality of ultrasonic emission ports 200 can be opened or closed independently, so that the coverage range can be adapted to the coverage area of ​​the dirt.

[0063] The robot body 100 also includes a driving component 102, which has a power source and a crawler structure. The crawler is mounted on a plurality of running wheels. Driven by the power source, the robot body 100 can move on the photovoltaic panel 10. The cleaning component 101 is arranged at the front side of the driving component 102, the identification mechanism is arranged at the front side wall of the cleaning component 101, and a plurality of ultrasonic emission ports 200 are arranged at intervals on the front side wall of the cleaning component 101 along the vertical walking direction of the driving component 102. The cleaning component 101 includes a dust box with a garbage inlet 1011 and a roller brush rotatably arranged at the garbage inlet 1011. A fan is arranged in the dust box, and the loosened dirt is collected in the dust box through the garbage inlet 1011 by the rotation of the roller brush and the suction generated by the fan. The identification mechanism arranged on the front side wall of the cleaning component 101 will not be blocked by other structures of the robot body 100, and the coverage range of the ultrasonic wave is large. When there is still a certain distance between the robot body 100 and the dirt, the emission coverage of the ultrasonic transmitter can cover the dirt, thereby enabling early emission. The walking time of the robot body 100 covers the emission time, and the robot emits while walking, thereby improving the cleaning efficiency.

[0064] The identification mechanism includes a camera 300, which is used to photograph the dirt to form a dirt image, and to identify the humidity of the dirt presented in the dirt image through a variety of methods.

[0065] One of the recognition methods is to use image recognition. The recognition unit obtains the dirt image taken by the camera 300 and uses the humidity recognition model obtained by pre-training to determine the humidity of the dirt in the dirt image.

[0066] Another identification method is to use a multi-spectral camera as the camera 300, which captures the dirt image. The identification mechanism obtains the dirt image captured by the multi-spectral camera and identifies the moisture content of the dirt in the image by identifying the reflection information of the dirt image in different spectral bands. The multi-spectral camera can provide accurate data on the moisture content of the dirt by identifying the reflection or radiation information of different spectral bands.

[0067] The specific structure of the camera 300 and the humidity recognition method can be set with reference to the prior art, and this embodiment does not impose any specific limitations.

[0068] Embodiment 2

[0069] Embodiment 2 of the present invention provides a photovoltaic panel cleaning robot, and the basic structure of the photovoltaic panel cleaning robot provided in this embodiment is the same as that in embodiment 1, with only some differences in settings. This embodiment will no longer repeat the structure that is the same as embodiment 1.

[0070] like Figure 6 As shown, in this embodiment, the ultrasonic component includes an ultrasonic transmitter (not shown) and a plurality of ultrasonic transmitting ports 200, and the ultrasonic transmitter is connected to the plurality of ultrasonic transmitting ports 200. The robot body 100 also includes a driving component 102, a cleaning component 101 and an identification mechanism are respectively arranged on the bottom side of the driving component 102, and a plurality of ultrasonic transmitting ports 200 are arranged at intervals on the bottom side wall of the cleaning component 101 along the vertical walking direction of the driving component 102. The identification mechanism, the ultrasonic transmitting port 200 and the garbage inlet 1011 of the cleaning component 101 are sequentially distributed on the bottom side wall of the driving component 102 from front to back (with the moving direction of the sweeping robot as the front), and this arrangement order conforms to the walking direction of the robot body 100. Moreover, the distance between the ultrasonic transmitting port 200 on the bottom side wall and the photovoltaic panel 10 is small, and ultrasonic transmission can be performed after the robot body 100 moves above the dirt, reducing the diffusion attenuation of ultrasonic waves and further saving energy.

[0071] Any one of the plurality of ultrasonic emission ports 200 can be opened or closed independently, so that the coverage of the ultrasonic wave in the left-right direction can be adapted to the coverage area of ​​the dirt. The left-right direction is also the direction in which the vertical drive assembly 102 moves.

[0072] In this embodiment, when the robot body 100 walks to the point where the ultrasonic emission coverage range covers the dirt, it stops walking, and at the same time the ultrasonic transmitter starts to emit ultrasonic waves until the emission time is reached, at which time the ultrasonic transmitter stops emitting ultrasonic waves and the robot body 100 starts walking again to avoid the emission coverage range being unable to cover the dirt.

[0073] The identification mechanism includes a camera 300, and the camera 300 may be a multi-spectral camera. The multi-spectral camera can provide accurate data on the water content of dirt by identifying the reflection or radiation information of different spectral bands.

[0074] Embodiment 3

[0075] Embodiment 3 of the present invention provides a photovoltaic panel cleaning method, wherein the cleaning robot comprises a robot body 100 and an ultrasonic component, wherein the ultrasonic component is arranged on the robot body 100, and the robot body 100 comprises a cleaning component 101. Other structures of the cleaning robot are arranged with reference to Embodiment 1 and Embodiment 2, and have the same beneficial effects.

[0076] The photovoltaic panel cleaning method of this embodiment includes:

[0077] Step S101, when the cleaning robot cleans the photovoltaic panel 10, the humidity of the dirt on the photovoltaic panel 10 is obtained;

[0078] Step S102, controlling the ultrasonic component to emit ultrasonic waves to the dirt based on humidity; wherein the duration for which the ultrasonic component emits ultrasonic waves is inversely proportional to the humidity of the dirt;

[0079] Step S103, controlling the cleaning component 101 to suck in and collect the dirt treated by ultrasonic waves.

[0080] The photovoltaic panel cleaning method adjusts the ultrasonic emission time of the ultrasonic component based on the humidity of the dirt on the photovoltaic panel 10, so that the emission time matches the humidity of the dirt; when the humidity of the dirt is high, the emission time of the ultrasonic component is shortened, and a shorter ultrasonic vibration can make the dirt loose and fall off, which is easy to be sucked into the cleaning component 101; when the humidity of the dirt is low, the emission time of the ultrasonic component is extended, and a longer ultrasonic vibration ensures that the dirt is loose and falls off, avoiding the emission time of the ultrasonic transmitter exceeding the loosening requirement of the dirt humidity, or the emission time cannot achieve the effect of loosening the dirt, while improving the cleaning efficiency, saving the power use of the ultrasonic component, thereby ensuring the endurance of the photovoltaic panel cleaning robot and improving the cleaning efficiency.

[0081] The cleaning robot also includes a camera 300 disposed on the robot body 100. The method for obtaining the humidity of the dirt on the photovoltaic panel 10 includes the following methods:

[0082] Obtain a dirt image captured by the camera 300. Specifically, the camera 300 is used to capture the original image of the dirt, and then the original image is preprocessed, for example, image sharpening is used to highlight the edge area of ​​the dirt, so that the image contrast is stronger, and the different colors and surface properties caused by different humidity are more obvious, so that it is easier to identify. The image obtained after image preprocessing is used as the dirt image to be detected.

[0083] The humidity of the dirt in the dirt image to be detected is determined by using the pre-trained humidity recognition model. Specifically, an initial recognition model is first constructed based on a neural network, and the initial recognition model is trained based on a pre-labeled sample dirt image. Based on the total number of iterations required for the loss function to converge during the training process, the model parameters in the training process are weighted averaged to obtain the target model parameters, and the model parameters are continuously learned and adjusted during the model training process. Then, based on the target model parameters, the dirt humidity recognition model is determined. Finally, the dirt image to be detected is input into the pre-trained humidity recognition model to obtain the target dirt humidity.

[0084] Specifically, in some embodiments, reference Figures 1 to 5 As shown, the ultrasonic component includes an ultrasonic transmitter (not shown) and an ultrasonic transmitting port 200, the ultrasonic transmitter is connected to the ultrasonic transmitting port 200, the robot body 100 also includes a driving component 102, the cleaning component 101 is arranged on the front side of the driving component 102, and the ultrasonic transmitting port 200 and the camera 300 are respectively arranged on the front side wall of the cleaning component 101. Based on the above configuration, the cleaning method also includes:

[0085] Obtain the dirt image taken by the camera 300; the camera 300 set on the front side wall of the cleaning component 101 will not be blocked by other structures of the robot body 100, so as to take pictures of the dirt on the walking route.

[0086] The distance between the robot body 100 and the dirt is determined based on the dirt image.

[0087] Based on the distance, the duration of emitting ultrasonic waves, and the range covered by ultrasonic waves, the position of starting the ultrasonic transmitter and the speed of the driving component 102 are determined. Since the camera 300 on the front side wall of the cleaning component 101 can capture the dirt in front of the robot body 100, there is still a certain distance between the dirt and the robot body 100. After the humidity is identified based on the dirt image, the distance between the dirt and the robot body 100 is recorded as S1, the range covered by ultrasonic waves is S2, and the emission duration is t, then the distance between the position of starting the ultrasonic transmitter and the current position is S1-S2.

[0088] Between the current position and the start position, the travel speed of the robot body 100 can be increased so that it can quickly move to the start position. After the robot body 100 moves to the start position, the travel speed of the robot body 100 can be adjusted to ensure that the travel speed of the robot body 100 is not greater than S2 / t, so that the dirt is always within the ultrasonic coverage range during the emission time of the ultrasonic transmitter.

[0089] For the photovoltaic panel cleaning robot in the second embodiment, Figure 6As shown, the ultrasonic emission port 200 of the ultrasonic component is disposed on the bottom side wall of the driving component 102, and the camera 300, the ultrasonic emission port 200 and the garbage inlet 1011 of the cleaning component 101 are sequentially distributed on the bottom side wall of the driving component 102 from front to back. The cleaning method also includes:

[0090] When the camera 300 determines that there is dirt on the photovoltaic panel 10, the driving component 102 is controlled to work so that the ultrasonic coverage of the ultrasonic emission port 200 covers the dirt. Since the ultrasonic coverage is relatively small, the driving component 102 needs to be controlled to work so that the robot body 100 moves to the ultrasonic coverage to cover the dirt.

[0091] After the robot body 100 is controlled to stay at the position where the ultrasonic coverage covers the dirt for a certain period of time, the driving component 102 is controlled to continue working. When the robot body 100 moves to the point where the ultrasonic emission coverage covers the dirt, it stops moving, and at the same time the ultrasonic transmitter starts to emit ultrasonic waves until the emission time is reached, the ultrasonic transmitter stops emitting ultrasonic waves, and the driving component 102 drives the robot body 100 to move again to avoid the emission coverage failing to cover the dirt.

[0092] Embodiment 4

[0093] Embodiment 4 of the present invention provides a photovoltaic panel cleaning method, and the cleaning method in this embodiment is basically the same as that in Embodiment 3, with only some methods being different. This embodiment will no longer repeat the methods that are the same as those in Embodiment 3.

[0094] In this embodiment, the cleaning robot further includes a multi-spectral camera disposed on the robot body 100. Obtaining the humidity of the dirt on the photovoltaic panel 10 includes the following steps:

[0095] Get dirt images taken by a multispectral camera.

[0096] Based on the spectral band information of the dirt image, the humidity of the dirt in the dirt image is determined. The identification mechanism can identify the humidity of the dirt in the image by identifying the reflection information of the dirt image in different spectral bands through the dirt image taken by the multi-spectral camera.

[0097] Embodiment 5

[0098] Embodiment 5 of the present invention provides a photovoltaic panel cleaning method, and the cleaning method in this embodiment is basically the same as that in embodiment 3, with only some methods being different. This embodiment will no longer repeat the methods that are the same as those in embodiment 3.

[0099] In this embodiment, obtaining the humidity of dirt on the photovoltaic panel 10 includes the following methods:

[0100] Obtain weather data and temperature data from the last cleaning to this cleaning; weather data includes the last rainy date, rainfall, snow amount, etc. since this cleaning; temperature data includes the daily average temperature, maximum temperature, and minimum temperature from the last rainy date to this cleaning date.

[0101] Based on the weather data and temperature data, the humidity of the dirt is determined. Since the humidity of the dirt is mainly determined by the weather conditions and the temperature, the humidity of the dirt is determined by the weather data and the temperature data, which can reflect the difference in humidity of the dirt on the photovoltaic panels 10 in different geographical locations.

[0102] Embodiment 6

[0103] Embodiment 6 of the present invention provides a computer device, the computer device includes a memory and a processor, and the memory and the processor can communicate with each other through a bus or other means. The memory stores computer instructions, and the processor executes the computer instructions to execute any one of the photovoltaic panel cleaning methods in the above embodiments 3 to 5.

[0104] The processor may be a central processing unit. The processor may also be other general-purpose processors, digital signal processors, graphics processors, embedded neural network processors or other dedicated deep learning coprocessors, application-specific integrated circuits, field programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or a combination of the above multiple types of chips.

[0105] The memory may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required by at least one function; the data storage area may store data created by the processor, etc., such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the processor via a network. The above-mentioned network includes but is not limited to the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0106] The one or more modules are stored in the memory, and when executed by the processor, any one of the photovoltaic panel cleaning methods in Embodiments 3 to 5 is executed.

[0107] Embodiment 6 of the present invention Secondly, a computer-readable storage medium is also provided, and any of the photovoltaic panel cleaning methods in the above-mentioned embodiments 3 to 5 can be implemented as a computer program, which is tangibly included in a computer-readable storage medium. In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. The computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the above. Alternatively, the computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media may include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above.

[0108] The details of the above-mentioned computer device and computer-readable storage medium can be understood by referring to the corresponding descriptions and effects in Embodiments 1 to 5 of the present application, and will not be repeated here.

[0109] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A photovoltaic panel cleaning robot, characterized in that: The cleaning robot comprises: A robot body (100) capable of walking on a photovoltaic panel (10), wherein the robot body (100) comprises a controller and a cleaning component (101); an ultrasonic component connected to the controller, the ultrasonic component being disposed on the robot body (100), the ultrasonic component being arranged to emit ultrasonic waves toward dirt on the photovoltaic panel (10) so as to cause the dirt to vibrate and separate from the photovoltaic panel (10); An identification mechanism connected to the controller, the identification mechanism being arranged on the robot body (100), and the identification mechanism being arranged to identify the humidity of the dirt; The controller adjusts the emission duration of the ultrasonic transmitter based on the humidity, and the emission duration of the ultrasonic component is inversely proportional to the humidity of the dirt. The cleaning component (101) is used to absorb and collect the dirt treated by the ultrasonic wave.

2. The photovoltaic panel cleaning robot according to claim 1, characterized in that: The ultrasonic component comprises an ultrasonic transmitter and a plurality of ultrasonic transmitting ports (200), the ultrasonic transmitter and the plurality of ultrasonic transmitting ports (200) are connected, and the ultrasonic transmitting ports (200) are inclined downward along the horizontal direction; the robot body (100) further comprises: The driving component (102) is provided with the cleaning component (101) arranged on the front side of the driving component (102), the identification mechanism is arranged on the front side wall of the cleaning component (101), and a plurality of ultrasonic emission ports (200) are arranged on the front side wall of the cleaning component (101) at intervals along a direction perpendicular to the movement of the driving component (102).

3. The photovoltaic panel cleaning robot according to claim 1, characterized in that: The ultrasonic component comprises an ultrasonic transmitter and a plurality of ultrasonic transmitting ports (200), wherein the ultrasonic transmitter and the plurality of ultrasonic transmitting ports (200) are connected; the robot body (100) further comprises: The driving component (102), the cleaning component (101), and the identification mechanism are respectively arranged on the bottom side of the driving component (102), and a plurality of ultrasonic emission ports (200) are arranged at intervals on the bottom side wall of the cleaning component (101) in a direction perpendicular to the travel direction of the driving component (102); the identification mechanism, the ultrasonic emission ports (200), and the garbage inlet (1011) of the cleaning component (101) are sequentially distributed on the bottom side wall of the driving component (102) from front to back.

4. The photovoltaic panel cleaning robot according to any one of claims 1 to 3, characterized in that: The identification mechanism comprises a camera (300).

5. The photovoltaic panel cleaning robot according to claim 4, characterized in that: The camera (300) is a multi-spectral camera.

6. A photovoltaic panel cleaning method, characterized in that: The cleaning robot comprises a robot body (100) and an ultrasonic component, wherein the ultrasonic component is arranged on the robot body (100), and the robot body (100) comprises a cleaning component (101); the method comprises: When the cleaning robot cleans the photovoltaic panel (10), obtaining the humidity of the dirt on the photovoltaic panel (10); Based on the humidity, the ultrasonic component is controlled to transmit ultrasonic waves to the dirt; wherein the duration for which the ultrasonic component transmits ultrasonic waves is inversely proportional to the humidity of the dirt; The cleaning component (101) is controlled to suck in and collect the dirt treated by the ultrasonic wave.

7. The method according to claim 6, characterized in that The step of obtaining the humidity of dirt on the photovoltaic panel (10) comprises: Get weather and temperature data from the last cleaning to the current cleaning; Based on the weather data and the temperature data, a moisture level of the dirt is determined.

8. The method according to claim 6, characterized in that The cleaning robot further comprises a camera (300) arranged on the robot body (100); and obtaining the humidity of the dirt on the photovoltaic panel (10) comprises: Acquiring a dirt image captured by the camera (300); The humidity of the dirt in the dirt image is determined using the pre-trained humidity recognition model.

9. The method according to claim 6, characterized in that The cleaning robot further comprises a multi-spectral camera arranged on the robot body (100); the step of obtaining the humidity of the dirt on the photovoltaic panel (10) comprises: Acquire a dirt image captured by the multispectral camera; Based on the spectral band information of the dirt image, the humidity of the dirt in the dirt image is determined.

10. The method according to claim 8, characterized in that The ultrasonic component comprises an ultrasonic transmitter and an ultrasonic transmitting port (200), the ultrasonic transmitter and the ultrasonic transmitting port (200) are connected, the robot body (100) further comprises a driving component (102), the cleaning component (101) is arranged on the front side of the driving component (102), and the ultrasonic transmitting port (200) and the camera (300) are respectively arranged on the front side wall of the cleaning component (101); the method further comprises: Acquiring a dirt image captured by the camera (300); Determining the distance between the robot body (100) and the dirt based on the dirt image; Based on the distance, the duration of emitting the ultrasonic wave and the range covered by the ultrasonic wave, the position for starting the ultrasonic wave transmitter and the travel speed of the driving component (102) are determined.

11. The method according to claim 8, characterized in that The ultrasonic component comprises an ultrasonic transmitter and an ultrasonic transmitting port (200), the ultrasonic transmitter and the ultrasonic transmitting port (200) are connected, the robot body (100) further comprises a driving component (102), the camera (300), the ultrasonic transmitting port (200) and the garbage inlet (1011) of the cleaning component (101) are sequentially distributed on the bottom side wall of the driving component (102) from front to back; the method further comprises: When the camera (300) determines that dirt exists on the photovoltaic panel (10), the driving component (102) is controlled to operate so that the ultrasonic wave coverage range of the ultrasonic wave transmitting port (200) covers the dirt; After controlling the robot body (100) to stay at a position where the ultrasonic coverage range covers the dirt for the specified time period, controlling the driving component (102) to continue working.

12. A computer device, characterized in that: The computer device includes a memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the photovoltaic panel cleaning method according to any one of claims 6 to 11 by executing the computer instructions.

13. A computer-readable storage medium, characterized in that: The device stores a computer program, which is executed by a processor to implement the photovoltaic panel cleaning method according to any one of claims 6 to 11.

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