Cleaning robot scheduling method and cleaning system of photovoltaic station

Abstract

The invention discloses a photovoltaic station cleaning robot scheduling method and a cleaning system, and belongs to the technical field of photovoltaic cleaning. The method comprises the steps that the cleaning effect of a target cleaning robot working on a target photovoltaic panel is obtained; when the cleaning effect does not meet the preset cleaning effect, controlling the target cleaning robot to stop cleaning the target photovoltaic panel; another cleaning robot meeting the continuous cleaning condition is called to clean the remaining to-be-cleaned area of the target photovoltaic panel; wherein the continuous cleaning condition comprises that the cleanliness of a cleaning part in the cleaning robot is larger than the preset cleanliness. Other cleaning robots can be called in time to clean the photovoltaic panel under the condition that the cleaning effect of the cleaning robot is insufficient, and the cleaning effect of the photovoltaic panel is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of photovoltaic cleaning technology, and in particular to a cleaning robot scheduling method and a cleaning system for a photovoltaic station. Background Art

[0002] In a photovoltaic station, if 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 life of the photovoltaic panel. Therefore, the photovoltaic panel needs to be cleaned. In related technologies, photovoltaic cleaning robots are usually used to clean photovoltaic panels to reduce the garbage on the photovoltaic panels. And photovoltaic stations are usually large, and they will be equipped with multiple cleaning robots to clean each photovoltaic panel.

[0003] However, the cleaning ability of the cleaning robot has a great impact on the cleaning effect of the photovoltaic panel. The cleaning robot will accumulate dirt during work, thus affecting its cleaning ability. When the cleaning ability of the cleaning robot decreases, the photovoltaic panel not only cannot be effectively cleaned, but may even become dirtier the more it is cleaned. Summary of the invention

[0004] The present invention provides a cleaning robot scheduling method and a cleaning system for a photovoltaic station to solve one of the above technical problems.

[0005] In a first aspect, an embodiment of the present invention provides a cleaning robot scheduling method for a photovoltaic station, the method comprising:

[0006] Acquire the cleaning effect of the target cleaning robot working on the target photovoltaic panel;

[0007] When the cleaning effect does not meet the preset cleaning effect, controlling the target cleaning robot to stop cleaning the target photovoltaic panel;

[0008] Another cleaning robot that meets the continued cleaning condition is called to clean the remaining to-be-cleaned area of ​​the target photovoltaic panel; wherein the continued cleaning condition includes: the cleanliness of the cleaning component in the cleaning robot is greater than a preset cleanliness.

[0009] Optionally, obtaining the cleaning effect of a target cleaning robot working on a target photovoltaic panel includes:

[0010] determining a first degree of dirtiness according to the pre-cleaning image of the target photovoltaic panel;

[0011] determining a second dirtiness level according to a post-cleaning image of the area cleaned by the target cleaning robot;

[0012] The cleaning effect is determined according to the first degree of dirtiness and the second degree of dirtiness.

[0013] Optionally, the image before cleaning is taken by a first camera arranged at the front side of the target cleaning robot; or, the image before cleaning is taken by a drone;

[0014] The post-cleaning image is captured by a second camera disposed at the rear side of the target cleaning robot.

[0015] Optionally, the preset cleaning effect is: the second dirtiness is less than the first dirtiness, and the difference between the first dirtiness and the second dirtiness is greater than a preset threshold.

[0016] Optionally, the other cleaning robot that meets the condition for continued cleaning is a cleaning robot that is not currently working;

[0017] or,

[0018] The other cleaning robot that meets the continued cleaning condition is a cleaning robot currently working on the photovoltaic panels around the target photovoltaic panel.

[0019] Optionally, after controlling the target cleaning robot to stop cleaning the target photovoltaic panel, the method further includes:

[0020] Obtaining the dirtiness of the cleaning components in the target cleaning robot and the dirtiness of the tracks in the target cleaning robot;

[0021] When the dirtiness of the cleaning component is greater than a first preset dirtiness, and / or the dirtiness of the track is greater than a second preset dirtiness, another cleaning robot that meets the conditions for continued cleaning is called to clean the remaining area to be cleaned of the target photovoltaic panel.

[0022] Optionally, after controlling the target cleaning robot to stop cleaning the target photovoltaic panel, the method further includes:

[0023] Obtaining the degree of dirtiness of cleaning components in the target cleaning robot;

[0024] When the dirtiness of the cleaning component is less than a first preset dirtiness, a deep cleaning robot is called to clean the target photovoltaic panel; wherein the cleaning capability of the deep cleaning robot is greater than the cleaning capability of the target cleaning robot.

[0025] Optionally, the cleaning component includes a roller brush, a motor and a third camera, the driving end of the motor is connected to the roller brush, and the obtaining of the dirtiness of the cleaning component in the target cleaning robot includes:

[0026] Controlling the motor to drive the roller brush to rotate in situ, and controlling the third camera to photograph the roller brush to obtain multiple pictures of the roller brush at different viewing angles;

[0027] The degree of dirtiness of the cleaning component is determined based on the plurality of roller brush images.

[0028] Optionally, the cleaning component further includes a shell and a lighting assembly located inside the shell, and while controlling the motor to drive the roller brush to rotate in situ, the method further includes:

[0029] The lighting component in the cleaning component of the target cleaning robot is controlled to turn on.

[0030] Optionally, obtaining the dirtiness of the track of the target cleaning robot includes:

[0031] The dirtiness of the crawler track is determined by taking a picture of the crawler track using a fourth camera disposed on the chassis of the target cleaning robot.

[0032] In a second aspect, an embodiment of the present invention further provides a cleaning system, which includes: a server and a plurality of cleaning robots; the server is used to execute the cleaning robot scheduling method for a photovoltaic station provided by any embodiment of the present invention.

[0033] Optionally, the cleaning system further comprises:

[0034] multiple deep cleaning robots;

[0035] At least one drone transport device; the drone transport device is used to transport the cleaning robot and / or the deep cleaning robot.

[0036] In the cleaning robot scheduling method for a photovoltaic station provided by an embodiment of the present invention, whether to stop the target cleaning robot from cleaning is determined by the cleaning effect of the target cleaning robot on the target photovoltaic panel, and after the target cleaning robot stops cleaning, another cleaning robot that meets the conditions for continuing cleaning is called to continue cleaning. Among them, when a cleaning robot that fails to achieve a cleaning effect cleans the target photovoltaic panel, it will not only cause a waste of resources, but may even cause it to become dirtier after cleaning, so that the target photovoltaic panel cannot achieve the expected cleaning effect. By monitoring the cleaning effect of the target cleaning robot, the embodiment of the present invention timely calls other cleaning robots that meet the conditions for continuing cleaning to clean the photovoltaic panel when the cleaning effect of the cleaning robot is insufficient, which can improve the cleaning efficiency of the cleaning system, reduce resource waste, ensure the cleaning quality of the target photovoltaic panel, and thus ensure the operational reliability and stability of the target photovoltaic station.

[0037] 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

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0039] Figure 1 A flowchart of a cleaning robot scheduling method for a photovoltaic station provided by an embodiment of the present invention;

[0040] Figure 2 A schematic diagram of a photovoltaic station provided by an embodiment of the present invention;

[0041] Figure 3 A three-dimensional diagram of a cleaning robot provided by an embodiment of the present invention;

[0042] Figure 4 A side view of a cleaning robot provided by an embodiment of the present invention;

[0043] Figure 5 A bottom structural diagram of a cleaning robot provided by an embodiment of the present invention;

[0044] Figure 6 A flow chart for obtaining a cleaning effect provided by an embodiment of the present invention;

[0045] Figure 7 Another flow chart of the cleaning robot scheduling method for a photovoltaic station provided by an embodiment of the present invention;

[0046] Figure 8 A schematic diagram of the structure of a cleaning system provided by an embodiment of the present invention;

[0047] Fig. 9 A schematic diagram of a related structure of using a drone transport device to transport a cleaning robot provided in an embodiment of the present invention;

[0048] Fig.10 A schematic diagram of a scenario in which a cleaning robot is transported by a transport vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0049] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. 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 should fall within the scope of protection of the present invention.

[0050] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0051] An embodiment of the present invention provides a cleaning robot scheduling method for a photovoltaic station to ensure the cleaning effect of each photovoltaic panel in the photovoltaic station. The method can be applied to a cleaning system, which for example includes a server and multiple cleaning robots. The method can be executed by the server. Figure 1 Flow chart of the cleaning robot scheduling method for a photovoltaic station provided by an embodiment of the present invention. Figure 1 As shown, the method includes:

[0052] S110: Acquire a cleaning effect of a target cleaning robot working on a target photovoltaic panel.

[0053] Among them, see Figure 2 The photovoltaic station may include a plurality of photovoltaic arrays 10, each photovoltaic array 10 may include a plurality of photovoltaic panels 110 arranged in an array, and these photovoltaic panels 110 are used to convert sunlight into electrical energy, and are generally used in residential, commercial or industrial renewable energy systems. The cleaning robot 30 may work on the photovoltaic panel 110 to clean the photovoltaic panel 110.

[0054] Cleaning robots refer to automated equipment used to clean the surface of photovoltaic panels, which can effectively remove dust, scale and dirt on photovoltaic panels without or with reduced human intervention. Figures 3 to 5 The cleaning robot 30 may be composed of a plurality of components including a body 31 , a cleaning component 32 , and a moving component 33 .

[0055] Among them, the fuselage 31 may include a housing space surrounded by a fuselage shell 311 and a chassis 312, which is used to accommodate various control and power devices required by the cleaning robot. The moving component 33 may include a track wheel 330, for example, arranged on the chassis 312, and the track wheel 330 as a moving part can support the entire robot and provide power. Exemplarily, the track wheel 330 includes a driving wheel 331, a driven wheel 332, and a track 333 sleeved on the driving wheel 331 and the driven wheel 332, and the driving wheel 331 is connected to the driving end of the driving motor, thereby driving the track 333 to rotate and drive the cleaning robot 30 to move. The cleaning component 32 mainly includes a shell 321, a roller brush 322, a motor, a fan and a trash can. The roller brush 322 is partially exposed under the shell 321 so that it can contact the surface of the photovoltaic panel during the movement of the cleaning robot 30 to clean the surface of the photovoltaic panel; the driving end of the motor is connected to the roller brush 322 to drive the roller brush 322 to roll to achieve a better cleaning effect; a garbage inlet 323 can be set at the bottom of the shell 321, and the garbage generated during the cleaning process can be sucked into the garbage bin through the garbage inlet 323 by the fan; the garbage bin can be set in the shell 321 or in the fuselage 31, and no specific limitation is made here.

[0056] In addition, a controller is also provided in the body 31 of the cleaning robot, which serves as the control core of the cleaning robot 31 and can be used to upload relevant parameters during the operation of the cleaning robot 30 to the server, receive scheduling instructions from the server to control the operation process of the cleaning robot 30, and analyze and process relevant parameters during the operation of the cleaning robot 30. For example, the controller can determine the cleaning effect of the cleaning robot 30 and upload it to the server, or the controller can obtain information related to the cleaning effect and upload it to the server, and the server can determine the cleaning effect of the cleaning robot 30.

[0057] For example, any photovoltaic panel currently being cleaned by a cleaning robot in a photovoltaic station can be selected as a target photovoltaic panel; the target cleaning robot is a cleaning robot that is working on the target photovoltaic panel surface and cleaning the target photovoltaic panel. The cleaning effect refers to the actual effect of the target cleaning robot after cleaning the target photovoltaic panel. Specifically, obtaining the cleaning effect of the target cleaning robot working on the target photovoltaic panel can help analyze whether the target cleaning robot has achieved the expected cleaning goal, and then adjust the working state of the target cleaning robot in time to ensure that the target photovoltaic panel remains in the best state and enhance the reliability and stability of the cleaning system.

[0058] S120: When the cleaning effect does not meet the preset cleaning effect, control the target cleaning robot to stop cleaning the target photovoltaic panel.

[0059] The preset cleaning effect refers to the cleaning effect standard set before the cleaning operation begins, based on the usage and environmental conditions of the target photovoltaic panels. This standard is used to evaluate whether the cleaning process has achieved the expected effect.

[0060] Specifically, when the cleaning effect does not meet the preset cleaning effect, it indicates that the cleaning ability of the target cleaning robot is insufficient and cannot achieve the expected cleaning effect. At this time, controlling the target cleaning robot to stop the cleaning operation can avoid wasting time and resources and ensure that the cleaning work is more efficient.

[0061] S130, calling another cleaning robot that meets the continued cleaning condition to clean the remaining to-be-cleaned area of ​​the target photovoltaic panel; wherein the continued cleaning condition includes: the cleanliness of the cleaning components in the cleaning robot is greater than a preset cleanliness.

[0062] Among them, the continued cleaning condition refers to the preset cleaning standard for the cleaning robot to be dispatched to the target photovoltaic panel. When the cleaning robot meets the standard, the cleaning robot is allowed to continue the cleaning operation. The remaining area to be cleaned refers to the area in the target photovoltaic panel that still needs to be cleaned by the cleaning robot, such as the area in the target photovoltaic panel where the remaining dirtiness exceeds the allowable dirtiness of the operation, and the remaining uncleaned area of ​​the target photovoltaic panel. The cleaning component refers to the component in the cleaning robot responsible for the actual cleaning work. As described above, the cleaning component may include a roller brush and a motor, etc. The cleanliness of the cleaning component refers to the cleanliness of the parts of the cleaning component that can contact the photovoltaic panel, such as the cleanliness of the roller brush. The preset cleanliness refers to the lower limit value of the cleanliness level that the cleaning component needs to achieve, which is set according to specific standards or requirements before the cleaning task begins, and is used to ensure that the cleaning robot meets the expected performance requirements when performing cleaning operations.

[0063] Specifically, by calling a cleaning robot that meets the conditions for continued cleaning to replace the target cleaning robot for cleaning, it can ensure that the cleaning effect of the target photovoltaic surface reaches the expected standard, improve the work efficiency of the cleaning work, and optimize resource utilization.

[0064] In the cleaning robot scheduling method for a photovoltaic station provided by an embodiment of the present invention, whether to stop the target cleaning robot from cleaning is determined by the cleaning effect of the target cleaning robot on the target photovoltaic panel, and after the target cleaning robot stops cleaning, another cleaning robot that meets the conditions for continuing cleaning is called to continue cleaning. Among them, when a cleaning robot that fails to achieve a cleaning effect cleans the target photovoltaic panel, it will not only cause a waste of resources, but may even cause it to become dirtier after cleaning, so that the target photovoltaic panel cannot achieve the expected cleaning effect. By monitoring the cleaning effect of the target cleaning robot, the embodiment of the present invention timely calls other cleaning robots that meet the conditions for continuing cleaning to clean the photovoltaic panel when the cleaning effect of the cleaning robot is insufficient, which can improve the cleaning efficiency of the cleaning system, reduce resource waste, ensure the cleaning quality of the target photovoltaic panel, and thus ensure the operational reliability and stability of the target photovoltaic station.

[0065] Figure 6 This is a flowchart for obtaining the cleaning effect provided by an embodiment of the present invention. Based on the above embodiments, S110 is refined, see Figure 6 , S110 may specifically include:

[0066] S111 . Determine a first dirtiness level according to the image of the target photovoltaic panel before cleaning.

[0067] The pre-cleaning image refers to the image captured or obtained by the camera before the cleaning operation is performed on the target photovoltaic panel. These images are used to record and analyze the initial state of the target photovoltaic panel surface before cleaning, including the distribution and degree of dirt, dust, scale and other contaminants. The first degree of dirtiness refers to the degree of dirtiness determined by analyzing the pre-cleaning image of the target photovoltaic panel before the cleaning operation begins.

[0068] In one embodiment, optionally, the pre-cleaning image may be captured by a first camera disposed on the front side of the target cleaning robot. Figure 3 and Figure 4, exemplarily, the housing 321 in the cleaning component 32 is arranged on the front side of the fuselage 31, and the first camera 341 can be arranged on the front side of the housing 321, so as to provide a sufficiently large shooting angle of view, so that the first camera 341 can capture the image of the target photovoltaic panel before cleaning. The number of the first cameras 341 can be set according to actual needs. Here, two first cameras 341 are given as an example, but it is not a limitation of the present invention. Each first camera 341 can be connected to the controller in the cleaning robot 30; the controller and / or the server can determine the first dirtiness by combining the pre-cleaning images taken by all the first cameras 341. Exemplarily, the first camera 341 can take real-time pictures of the dirtiness of the photovoltaic panel surface in front of the cleaning robot 30, so as to update the first dirtiness in real time during the movement of the cleaning robot 30, that is, the first dirtiness of the photovoltaic panel in front can be monitored in real time during the movement of the cleaning robot 30. .

[0069] In another embodiment, optionally, the image before cleaning can be taken by a drone. A drone refers to an unmanned aerial vehicle that can fly autonomously in the air, usually equipped with a camera. Before cleaning, the drone can shoot the target photovoltaic panel from different heights and angles, thereby capturing the overall state of the target photovoltaic panel and a wide range of dirtiness, that is, providing a wider viewing angle and coverage. Compared with ground equipment, the maneuverability of drones enables them to shoot in complex or difficult-to-reach areas, and fly quickly and cover large areas, saving time and improving shooting efficiency. Usually, the photovoltaic site is very large, and multiple cleaning robots are required to clean the photovoltaic panels at the same time. The use of drones can quickly capture images of all photovoltaic panels and determine the first degree of dirtiness at each position on the photovoltaic panel. It can reduce the cost of installing cameras on the cleaning robot and reduce the amount of computing power of the server during the cleaning process.

[0070] Specifically, the pre-cleaning image can be taken by the first camera on the front side of the target cleaning robot or by a drone, which can provide important visual data for the evaluation of the cleaning effect. The first degree of dirtiness obtained from the pre-cleaning image can reflect the quantity and distribution of dust, dirt and other contaminants on the surface of the target photovoltaic panel before cleaning, providing a benchmark for the evaluation of the cleaning effect.

[0071] S112 . Determine a second dirtiness level according to a post-cleaning image of the target area cleaned by the cleaning robot.

[0072] The post-cleaning image refers to an image of the cleaned area captured or obtained by the camera after the cleaning operation is completed. These images are used to record the state of the target photovoltaic panel after cleaning and help evaluate the effectiveness of the cleaning operation. The second degree of dirtiness refers to the degree of dirtiness determined by analyzing the image information of the area cleaned by the target cleaning robot after the cleaning operation is completed.

[0073] Optionally, the post-cleaning image is captured by a second camera disposed at the rear side of the target cleaning robot. Figure 3 and Figure 4 , the second camera 342 can be set on the rear side of the fuselage 31 of the cleaning robot 30, for example, fixed on the rear side of the fuselage shell 311, so as to capture the image of the target photovoltaic panel after the cleaning operation is completed. These images can clearly show the actual cleaning state of the target photovoltaic panel after cleaning, reflecting the degree of success and effectiveness of the cleaning operation. The number of second cameras 342 can be set according to actual needs, and is not specifically limited here. Each second camera 342 can be connected to the controller in the cleaning robot 30; the controller and / or the server can determine the second degree of dirtiness by combining the images after cleaning taken by all the second cameras 342. Timely shooting of the cleaned photovoltaic panel paves the way for accurately judging the cleaning effect of the cleaning robot.

[0074] S113, determining a cleaning effect according to the first degree of dirtiness and the second degree of dirtiness.

[0075] Specifically, by comparing the first degree of dirtiness and the second degree of dirtiness, the cleaning effect can be quantified, providing clear data support, making the evaluation of the cleaning effect more objective and accurate. For example, the difference between the first degree of dirtiness and the second degree of dirtiness can be used to evaluate the cleaning effect.

[0076] The embodiment of the present invention determines the cleaning effect of the target cleaning robot through the first dirtiness and the second dirtiness, and can intuitively evaluate the success of the cleaning operation, providing data support for further optimization of the cleaning strategy.

[0077] On the basis of the above-mentioned embodiments, optionally, the preset cleaning effect is: the second dirtiness is less than the first dirtiness, and the difference between the first dirtiness and the second dirtiness is greater than a preset threshold.

[0078] The preset threshold refers to a specific value or standard set before the cleaning robot performs the cleaning operation to evaluate the cleaning effect, which is used to determine whether the cleaning operation has achieved the expected effect. The preset threshold is usually expressed in the form of a difference in dirtiness, defining the minimum difference that must be achieved between the dirtiness before and after cleaning to prove the effectiveness of the cleaning operation.

[0079] Specifically, the second dirtiness is less than the first dirtiness, which can ensure that the dirtiness of the target photovoltaic panel after cleaning must be lower than the dirtiness before cleaning, ensuring that the cleaning operation is effective. The difference between the first dirtiness and the second dirtiness is greater than the preset threshold, which further requires that the cleaning effect must not only be improved, but also that the improvement must exceed a set threshold, ensuring that the cleaning operation has a significant effect. By setting these two conditions, the effectiveness of the cleaning operation can be clarified, avoiding the situation where the cleaning effect is not obvious, ensuring that the actual cleanliness of the photovoltaic panel meets the requirements, and thus improving the cleaning quality and power generation efficiency of the target photovoltaic panel.

[0080] On the basis of the above-mentioned embodiments, optionally, there are multiple ways to select another cleaning robot that meets the conditions for continued cleaning. Several of them are described below, but they are not intended to limit the present invention.

[0081] In one embodiment, optionally, another cleaning robot that meets the cleaning continuation condition is a cleaning robot that is not currently working. The cleaning robot that is not currently working refers to an automated device that is not involved in any cleaning operation when the cleaning task begins. Such robots can be activated at any time to supplement or replace the robot that is already performing the cleaning task to ensure the continuity and effectiveness of the cleaning process.

[0082] In another embodiment, optionally, another cleaning robot that meets the conditions for continued cleaning is a cleaning robot currently working on a photovoltaic panel around the target photovoltaic panel. The cleaning robot currently working on a photovoltaic panel around the target photovoltaic panel refers to a robot that is performing cleaning operations on adjacent photovoltaic panels. Adjacent photovoltaic panels are, for example, other photovoltaic panels located in the same photovoltaic array as the target photovoltaic panel, or any photovoltaic panel in a photovoltaic array around the photovoltaic array where the target photovoltaic panel is located. When performing cleaning tasks, these robots can be mobilized according to actual conditions so that when the cleaning effect does not meet expectations, they can continue to clean the target photovoltaic panel.

[0083] Specifically, the cleaning robots that are not currently working are preferentially called to continue the cleaning operation to avoid affecting the cleaning progress of the photovoltaic panels around the target photovoltaic panel. By giving priority to the use of the cleaning robots that are not working, the dependence on the cleaning robots that are working can be reduced, the potential conflicts or interferences caused by multiple cleaning robots working at the same time can be reduced, and the safety and stability of the operation can be improved.

[0084] On the basis of the above embodiments, optionally, another cleaning robot that meets the conditions for continuing cleaning can be selected by considering the endurance of the cleaning robot. For example, another cleaning robot that meets the conditions for continuing cleaning and has a remaining power higher than a preset power threshold is called to continue the cleaning operation. Among them, by calling a cleaning robot with sufficient remaining power, it can be ensured that it has sufficient working time and ability to continue the cleaning operation without having to stop due to insufficient power in the middle of the process, thereby reducing the time waste caused by frequent charging or replacement of robots.

[0085] For example, if the battery life of the cleaning robot that is not currently working does not meet the cleaning target of the area to be cleaned, or the cleanliness of its cleaning components does not reach the preset cleanliness, then consider using the cleaning robot currently working on the photovoltaic panel around the target photovoltaic panel. Among them, by giving priority to the use of cleaning robots that are not working, it is possible to reduce dependence on cleaning robots that are working, reduce potential conflicts or interference caused by multiple cleaning robots working at the same time, and improve the safety and stability of operations. If the battery life of the cleaning robot that is not currently working is insufficient or the cleaning components do not meet the standards, timely evaluation and switching to the cleaning robots that are working in the surrounding area can ensure that the cleaning task is not interrupted and the cleaning strategy can be quickly adjusted when necessary. This strategy enables the system to flexibly respond to different cleaning needs and environmental changes, ensuring that the clean state of the photovoltaic panel can be effectively maintained under any circumstances.

[0086] Figure 7 Another flow chart of the cleaning robot scheduling method for a photovoltaic station provided by an embodiment of the present invention. Based on the above embodiments, optionally, Figure 7 As shown, the method includes:

[0087] S110: Acquire a cleaning effect of a target cleaning robot working on a target photovoltaic panel.

[0088] S120: When the cleaning effect does not meet the preset cleaning effect, control the target cleaning robot to stop cleaning the target photovoltaic panel.

[0089] S140: Obtain the dirtiness of the cleaning components in the target cleaning robot and the dirtiness of the tracks in the target cleaning robot.

[0090] Among them, the dirtiness of the cleaning parts refers to the quantitative index of pollutants such as dirt and dust on the cleaning parts of the target cleaning robot; the dirtiness of the cleaning parts can specifically be the dirtiness of the parts of the cleaning parts that are used to contact the photovoltaic panel, such as the dirtiness of the roller brush. This indicator is used to evaluate the effectiveness of the cleaning parts to ensure that the cleaning robot can achieve the expected cleaning effect when performing cleaning tasks. The dirtiness of the track refers to the quantitative index of dirt or other pollutants on the surface of the track of the target cleaning robot. Since the track is made of a material with a certain friction force so that the cleaning robot can walk and stop on the inclined photovoltaic panel, the track with a higher degree of dirtiness may also leave dirt on the photovoltaic panel during movement, so the cleanliness of the track also directly affects the dirtiness of the photovoltaic panel.

[0091] Specifically, monitoring the dirtiness of the cleaning components and the dirtiness of the tracks can timely detect and deal with cleaning robots that do not meet the requirements, thereby improving the cleaning efficiency of the cleaning robots.

[0092] S150. When the dirtiness of the cleaning component is greater than a first preset dirtiness, and / or the dirtiness of the track is greater than a second preset dirtiness, call another cleaning robot that meets the conditions for continued cleaning to clean the remaining area to be cleaned of the target photovoltaic panel.

[0093] The first preset dirtiness refers to a standard set before the cleaning operation begins, which is used to evaluate the dirtiness of the cleaning component. If the dirtiness of the cleaning component exceeds this preset value, it indicates that the component needs to be cleaned or replaced to ensure the cleaning effect. The second preset dirtiness refers to a standard set for the dirtiness of the track, which is used to judge the cleaning status of the track. If the dirtiness of the track exceeds this preset value, it indicates that the track needs to be cleaned or maintained.

[0094] Specifically, setting the first preset dirtiness and the second preset dirtiness provides a quantitative evaluation basis for the dirtiness of the cleaning components and the crawler belt, so that the performance of the cleaning components and the crawler belt can be effectively monitored and managed.

[0095] The embodiment of the present invention ensures the cleaning effect of the cleaning robot by monitoring the dirtiness of the cleaning components and the dirtiness of the tracks, thereby solving the problem that the target photovoltaic panel becomes dirtier the more it is cleaned due to using dirty cleaning components or tracks to clean the target photovoltaic panel. It can effectively improve the standardization and controllability of the cleaning operation, and ensure the cleaning effect of the photovoltaic panel and the long-term reliability of the equipment.

[0096] Optionally, after controlling the target cleaning robot to stop cleaning the target photovoltaic panel, the method further includes:

[0097] Obtain the dirtiness of the cleaning parts in the target cleaning robot.

[0098] When the dirtiness of the cleaning component is less than a first preset dirtiness, a deep cleaning robot is called to clean the target photovoltaic panel; wherein the cleaning capability of the deep cleaning robot is greater than the cleaning capability of the target cleaning robot.

[0099] Among them, the deep cleaning robot refers to an automated device with stronger cleaning capabilities than the cleaning robots currently in use, and can perform more complex and thorough cleaning tasks. Exemplarily, the deep cleaning robot can be an automated high-pressure cleaning robot equipped with a water tank, a high-pressure water gun and special cleaning agents, an intelligent laser cleaning robot or an ultrasonic cleaning robot. The target cleaning robot can be an automated device with dust collection capabilities, but not an automated device with water spraying capabilities.

[0100] In the embodiment of the present invention, the dirtiness of the cleaning components and tracks of the deep cleaning robot cannot exceed the dirtiness threshold of the deep cleaning robot to ensure the cleaning effect.

[0101] Specifically, when the degree of dirtiness of the cleaning component is less than the first preset degree of dirtiness, it indicates that the target cleaning robot is not contaminated to the extent that it cannot provide the preset cleaning effect. Then, the reason why the target cleaning robot still cannot achieve the preset cleaning effect may be that there are stubborn stains on the target photovoltaic panel, such as bird droppings or mud strips. The cleaning robot cannot remove stubborn stains, and even if other cleaning robots are called, the preset cleaning effect cannot be achieved. In this case, calling a deep cleaning robot for cleaning can make full use of its powerful cleaning ability to ensure that the cleaning effect of the photovoltaic panel is significantly improved.

[0102] On the basis of the above-mentioned embodiments, optionally, the cleaning component includes a roller brush, a motor and a third camera, and the driving end of the motor is connected to the roller brush.

[0103] Among them, the roller brush refers to a part of the cleaning component, which is usually made of soft or hard material and is used to physically contact and wipe the surface of the photovoltaic panel. The rotation of the roller brush can effectively remove dirt, dust and other deposits to ensure the cleanliness of the panel and the photoelectric conversion efficiency. The motor refers to the power source that drives the cleaning component to operate. Its driving end is connected to the roller brush and is responsible for providing the rotational movement of the roller brush so that it can effectively remove dirt during the cleaning process. The third camera refers to a camera device installed on the target cleaning robot, which is used to take pictures of the roller brush of the cleaning robot to monitor the dirtiness of the roller brush in real time. The driving end of the motor refers to the part inside the motor used to connect and transmit power, usually including a shaft and a connecting device. The function of the driving end is to transmit the rotational power generated by the motor to the mechanical parts connected to it, such as a roller brush, a transmission belt or other cleaning parts.

[0104] Optionally, obtaining the dirtiness of the cleaning components in the target cleaning robot includes:

[0105] The motor is controlled to drive the roller brush to rotate in situ, and the third camera is controlled to photograph the roller brush to obtain multiple roller brush pictures from different viewing angles; and the dirtiness of the cleaning component is determined according to the multiple roller brush pictures.

[0106] The roller brush images refer to the images taken by the third camera. The roller brush images from different perspectives show the status of the roller brush on the cleaning robot at different angles and positions. These images can clearly show the dirt, wear and cleaning effect of the roller brush on various surfaces, providing a visual basis for subsequent cleaning evaluation.

[0107] Specifically, driving the roller brush to rotate in situ can ensure that the cleaning robot stops at a fixed position, preventing it from moving further and causing further contamination to the target photovoltaic panel, and can eliminate variables caused by movement, making the captured images more consistent, which helps to accurately judge the status of the cleaning components. Through roller brush images from multiple angles, the dirtiness of the cleaning components can be more comprehensively evaluated, providing data support for subsequent cleaning strategy adjustments and optimizations, reducing high repair costs caused by failure or malfunction of cleaning components, and reducing overall maintenance costs.

[0108] In an embodiment of the present invention, determining the dirtiness of the roller brush helps to further determine the reason why the preset cleaning effect cannot be achieved. Exemplarily, when there are stubborn stains such as high-viscosity mud strips and bird droppings on the target photovoltaic panel, it is difficult to achieve the expected cleaning effect by using a cleaning robot for dry sweeping, so that the dirtiness after cleaning does not meet the requirements. Therefore, if the dirtiness of the roller brush does not reach the preset value but the cleaning effect is not up to standard, it can be inferred that there are stubborn stains on the target photovoltaic panel. In this case, a cleaning robot with a water tank (i.e., a deep cleaning robot) can be dispatched to remove stubborn stains by a combination of water spraying and scraping strips. However, since the robot with a water tank is relatively heavy, its endurance is poor, and it may exceed the carrying capacity of the photovoltaic panel and cause damage. Therefore, it is preferred to use an ordinary cleaning robot for dry sweeping. If the dry sweeping fails to meet the cleaning effect, the robot with a water tank is dispatched. This strategy can effectively save scheduling costs while ensuring the cleaning effect.

[0109] Optionally, the cleaning component 32 further includes a housing 321 and a lighting assembly (not shown) located inside the housing. While controlling the motor to drive the roller brush to rotate in situ, the method further includes:

[0110] The lighting component in the cleaning part of the target cleaning robot is controlled to turn on.

[0111] Among them, the shell 321 refers to the external structure of the cleaning component 32 used to protect the internal components (such as the roller brush 322), which is usually made of wear-resistant and corrosion-resistant materials to prevent the external environment from damaging the internal electronic components and mechanical components, and can also avoid secondary pollution caused by dirt splashing during the rotation of the roller brush. The lighting component refers to a device installed inside the shell 321, which is used to provide lighting so that the third camera can obtain a clearer image. Exemplarily, the lighting component can be an LED lamp or other type of light source, which is used to illuminate the inside of the shell 321 to help monitor the cleaning effect.

[0112] Based on the above embodiments, optionally, the dirtiness of the tracks in the target cleaning robot is obtained, including: taking a track photo obtained by taking a fourth camera (not shown) provided on the chassis of the target cleaning robot to determine the dirtiness of the tracks.

[0113] The chassis 312 refers to the basic structural part at the bottom of the cleaning robot 30, which can provide stable support and movement ability. The fourth camera refers to a camera device installed on the chassis 312 of the cleaning robot 30, which is specifically used to shoot the state of the crawler 333. The fourth camera can capture the image of the surface of the crawler 333 in real time to help determine the degree of dirtiness of the crawler 333.

[0114] Specifically, by obtaining photos of the tracks, the degree of dirtiness can be monitored in real time to prevent mechanical failures caused by excessive dirt, ensure that the cleaning robot always remains in good working condition, and extend the service life of the cleaning robot.

[0115] The embodiment of the present invention determines the dirtiness of the cleaning components through the roller brush picture taken by the third camera, and determines the dirtiness of the track through the track picture taken by the fourth camera, thereby realizing accurate monitoring and evaluation of the dirtiness of the cleaning components and the track, and can ensure that the cleaning robot always maintains the best working condition, effectively improving the cleaning efficiency.

[0116] The embodiment of the present invention also provides a cleaning system. Figure 8 Schematic diagram of the cleaning system provided by an embodiment of the present invention. Figure 8 As shown, the cleaning system includes: a server 20 and a plurality of cleaning robots 30; the server 20 is used to execute the cleaning robot scheduling method for the photovoltaic station provided by any of the above embodiments, and has functional modules and beneficial effects corresponding to the execution method.

[0117] Based on the above embodiments, optionally, the cleaning system also includes: multiple deep cleaning robots, and at least one drone transportation device; the drone transportation device is used to transport the cleaning robots and / or deep cleaning robots.

[0118] Fig. 9This is a schematic diagram of a cleaning robot transported by a drone transport device according to an embodiment of the present invention. Fig. 9 The drone transport device includes a carrier drone (not shown), a hoist 610, a grab drone 40 and a mechanical arm 50. The grab drone 40 may be provided with a mechanical arm 50, and the mechanical arm 50 is used to clamp the cleaning robot 30 (or a deep cleaning robot, hereinafter the cleaning robot and the deep cleaning robot are collectively referred to as robots). The mechanical arm 50 may, for example, clamp a handle on the robot body. The carrier drone, the hoist 610 and the grab drone 40 are used to drive the mechanical arm 50 and the robot clamped therein to move to the photovoltaic panel to be cleaned, and complete the delivery of the robot, and, correspondingly, the recovery of the robot can be realized.

[0119] The connecting rod 620 is connected to the fuselage of the carrier drone, and the winch 610 is connected to the connecting rod 620. One end of the rope in the winch 610 is fixed to the winch 610, and the other end of the rope is connected to the grabbing drone 40. The retraction and release of the rope based on the winch 610 can realize the lowering and recovery of the grabbing drone 40, and then realize the delivery and recovery of the robot. For example, a carrier drone can be mounted with multiple grabbing drones 40 to realize the transportation of multiple robots at the same time, reducing the number of round trips of the carrier drone.

[0120] In the above embodiments, the robot is transported by a drone transport device, but this is not intended to limit the present invention. In other embodiments, optionally, see Fig.10 The transport vehicle 70 may also be used to transport the robot, and the transport vehicle 70 is more suitable for transporting the robot in a flat and spacious station.

[0121] The cleaning system provided by the embodiment of the present invention can execute the cleaning robot scheduling method for the photovoltaic station provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0122] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0123] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A cleaning robot scheduling method for a photovoltaic station, characterized in that: The method comprises: Acquire the cleaning effect of the target cleaning robot working on the target photovoltaic panel; When the cleaning effect does not meet the preset cleaning effect, controlling the target cleaning robot to stop cleaning the target photovoltaic panel; Another cleaning robot that meets the continued cleaning condition is called to clean the remaining to-be-cleaned area of ​​the target photovoltaic panel; wherein the continued cleaning condition includes: the cleanliness of the cleaning component in the cleaning robot is greater than a preset cleanliness.

2. The cleaning robot scheduling method for a photovoltaic station according to claim 1, characterized in that: The obtaining of the cleaning effect of the target cleaning robot working on the target photovoltaic panel includes: determining a first degree of dirtiness according to the pre-cleaning image of the target photovoltaic panel; determining a second dirtiness level according to a post-cleaning image of the area cleaned by the target cleaning robot; The cleaning effect is determined according to the first degree of dirtiness and the second degree of dirtiness.

3. The cleaning robot scheduling method for a photovoltaic station according to claim 2, characterized in that: The pre-cleaning image is taken by a first camera arranged at the front side of the target cleaning robot; or, the pre-cleaning image is taken by a drone; The post-cleaning image is captured by a second camera disposed at the rear side of the target cleaning robot.

4. The cleaning robot scheduling method for a photovoltaic station according to claim 2, characterized in that: The preset cleaning effect is: the second dirtiness is less than the first dirtiness, and the difference between the first dirtiness and the second dirtiness is greater than a preset threshold.

5. The cleaning robot scheduling method for a photovoltaic station according to claim 1, characterized in that: The other cleaning robot that meets the condition for continued cleaning is a cleaning robot that is not currently working; or, The other cleaning robot that meets the continued cleaning condition is a cleaning robot currently working on the photovoltaic panels around the target photovoltaic panel.

6. The cleaning robot scheduling method for a photovoltaic station according to claim 1, characterized in that: After controlling the target cleaning robot to stop cleaning the target photovoltaic panel, the method further includes: Obtaining the dirtiness of the cleaning components in the target cleaning robot and the dirtiness of the tracks in the target cleaning robot; When the dirtiness of the cleaning component is greater than a first preset dirtiness, and / or the dirtiness of the track is greater than a second preset dirtiness, another cleaning robot that meets the conditions for continued cleaning is called to clean the remaining area to be cleaned of the target photovoltaic panel.

7. The cleaning robot scheduling method for a photovoltaic station according to claim 1, characterized in that: After controlling the target cleaning robot to stop cleaning the target photovoltaic panel, the method further includes: Obtaining the degree of dirtiness of cleaning components in the target cleaning robot; When the dirtiness of the cleaning component is less than a first preset dirtiness, a deep cleaning robot is called to clean the target photovoltaic panel; wherein the cleaning capability of the deep cleaning robot is greater than the cleaning capability of the target cleaning robot.

8. The cleaning robot scheduling method for a photovoltaic station according to claim 6 or 7, characterized in that: The cleaning component includes a roller brush, a motor and a third camera, the driving end of the motor is connected to the roller brush, and the obtaining of the dirtiness of the cleaning component in the target cleaning robot includes: Controlling the motor to drive the roller brush to rotate in situ, and controlling the third camera to photograph the roller brush to obtain multiple pictures of the roller brush at different viewing angles; The degree of dirtiness of the cleaning component is determined based on the plurality of roller brush images.

9. The cleaning robot scheduling method for a photovoltaic station according to claim 8, characterized in that: The cleaning component further includes a housing and a lighting assembly located inside the housing. While controlling the motor to drive the roller brush to rotate in situ, the method further includes: The lighting component in the cleaning component of the target cleaning robot is controlled to turn on.

10. The cleaning robot scheduling method for a photovoltaic station according to claim 6, characterized in that: Obtaining the dirtiness of the crawler in the target cleaning robot includes: The dirtiness of the crawler track is determined by taking a picture of the crawler track using a fourth camera disposed on the chassis of the target cleaning robot.

11. A cleaning system, characterized in that: The cleaning system comprises: a server and a plurality of cleaning robots; the server is used to execute the cleaning robot scheduling method for a photovoltaic station according to any one of claims 1-10.

12. The cleaning system according to claim 11, characterized in that The cleaning system also includes: multiple deep cleaning robots; At least one drone transport device; the drone transport device is used to transport the cleaning robot and / or the deep cleaning robot.

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