Cleaning robot control method and device

Abstract

The invention provides a cleaning robot control method and device, and relates to the technical field of robots. In some embodiments of the invention, a cleaning robot receives a photovoltaic layout map issued by an unmanned aerial vehicle; wherein the photovoltaic layout map comprises a photovoltaic area to be cleaned, and the photovoltaic area comprises a target photovoltaic subarea; the cleaning robot automatically plans a cleaning path corresponding to the target photovoltaic partition; the cleaning robot uploads the starting point of the cleaning path to the unmanned aerial vehicle, and the unmanned aerial vehicle carries the cleaning robot to the starting point of the cleaning path; after the cleaning robot reaches the starting point of the cleaning path, the cleaning robot is controlled to execute cleaning work according to the cleaning path; the cleaning robot cooperates with the unmanned aerial vehicle, the unmanned aerial vehicle enables the cleaning robot to perform automatic transition and cleaning among the to-be-cleaned photovoltaic partitions, manual intervention in the cleaning process is not needed, the photovoltaic cleaning efficiency of the cleaning robot is improved, and the labor cost is reduced.

Description

Technical Field

[0001] The present disclosure relates to the field of robot technology, and in particular to a cleaning robot control method and device. Background Art

[0002] Distributed photovoltaic power generation refers to power generation located near the user's location. It is not intended to transmit electricity over large distances. The electricity produced is mainly for the customer's own use and nearby utilization. Excess electricity is connected to the local distribution network at a voltage level of 10 kV or below, and the total installed capacity of a single grid connection point does not exceed 6 MW.

[0003] The efficiency of photovoltaic power generation is affected by many external factors, and dust is the most important. Sandstorms, dust, air pollution, flying catkins, etc. cause dust accumulation on the surface of components and reduce power generation. This phenomenon of power generation loss due to dust accumulation is called "dust loss" in the industry. According to research, dust accumulation reduces the transmittance of photovoltaic panels by 10%-30%, directly affects the photocurrent output, and causes a 20%-40% decrease in power generation performance. Therefore, cleaning the photovoltaic panel surface is an important subject in the photovoltaic industry.

[0004] At present, cleaning robots need manual labor to perform photovoltaic cleaning, which results in low photovoltaic cleaning efficiency and high labor costs. Summary of the invention

[0005] The present disclosure provides a cleaning robot control method and device to at least solve the problems of low photovoltaic cleaning efficiency and high labor cost of existing cleaning robots.

[0006] The technical solution of the present disclosure is as follows:

[0007] The present disclosure provides a cleaning robot control method, including:

[0008] Receiving a photovoltaic layout map sent by a drone; wherein the photovoltaic layout map includes: a photovoltaic area to be cleaned, and the photovoltaic area includes: a target photovoltaic partition;

[0009] Planning a cleaning path corresponding to the target photovoltaic partition;

[0010] Uploading the starting point of the cleaning path to the drone, so that the drone can transport the cleaning robot to the starting point of the cleaning path;

[0011] After the cleaning robot reaches the starting point of the cleaning path, the cleaning robot is controlled to perform cleaning work according to the cleaning path.

[0012] Optionally, before planning the cleaning path corresponding to the target photovoltaic partition, the method further includes:

[0013] Splitting the photovoltaic region into a plurality of connected regions;

[0014] Determining whether the cleaning robot can cross two adjacent connected areas according to the distance between the front and rear traveling wheels of the cleaning robot;

[0015] The adjacent connected areas that the cleaning robot can cross are merged to obtain multiple photovoltaic partitions, wherein the target photovoltaic partition is any one of the multiple photovoltaic partitions.

[0016] Optionally, planning a cleaning path corresponding to the target photovoltaic partition includes:

[0017] According to a rectangular cutting algorithm, the target photovoltaic partition is divided into a plurality of rectangular areas;

[0018] Planning a cleaning sub-path corresponding to each rectangular area along the length direction of each rectangular area;

[0019] Determine a transfer path between the two adjacent rectangular areas according to the starting point and the end point of the cleaning sub-path of the two adjacent rectangular areas;

[0020] A cleaning path corresponding to the target photovoltaic partition is generated according to the cleaning sub-path and the transfer path.

[0021] Optionally, before controlling the cleaning robot to perform cleaning work according to the cleaning path, the method further includes:

[0022] Acquire a first image of the area to be cleaned by the cleaning robot;

[0023] identifying a first contamination type of a first contaminant in the first image;

[0024] According to a first dirt type, determining a target cleaning mode corresponding to the first dirt type;

[0025] The working mode of the cleaning robot is adjusted to the target cleaning mode.

[0026] Optionally, after controlling the cleaning robot to perform cleaning work according to the cleaning path, the method further includes:

[0027] Acquire a second image of the area cleaned by the cleaning robot;

[0028] identifying a second contamination type of a second contaminant in the second image;

[0029] The cleaning quality of the cleaning robot is determined according to the second dirt type.

[0030] Optionally, the method further comprises:

[0031] Get multiple target distances measured by multiple groups of laser ranging sensors,

[0032] If there are multiple target distances that are greater than the distance threshold, it is determined that the cleaning robot has a risk of stepping into empty space;

[0033] The cleaning robot is controlled to perform a deceleration operation or a braking operation.

[0034] Optionally, a plurality of groups of the laser ranging sensors are arranged around the body of the cleaning robot, and the laser emission directions of the laser ranging sensors are tilted downward.

[0035] Optionally, the inclination angles of the multiple groups of laser ranging sensors on the same side of the body of the cleaning robot are different.

[0036] Optionally, a forward camera group is installed in front of the moving direction of the cleaning robot, and a rearward camera group is installed behind the moving direction of the cleaning robot.

[0037] The present disclosure also provides a cleaning robot control device, comprising:

[0038] A receiving module is used to receive a photovoltaic layout map sent by a drone; wherein the photovoltaic layout map includes: a photovoltaic area to be cleaned, wherein the photovoltaic area includes: a target photovoltaic partition;

[0039] A planning module, used to plan a cleaning path corresponding to the target photovoltaic partition;

[0040] An uploading module, used to upload the starting point of the cleaning path to the drone, so that the drone can transport the cleaning robot to the starting point of the cleaning path;

[0041] The control module is used to control the cleaning robot to perform cleaning work according to the cleaning path after the cleaning robot reaches the starting point of the cleaning path.

[0042] The technical solution provided by the embodiments of the present disclosure brings at least the following beneficial effects:

[0043] In some embodiments of the present disclosure, a cleaning robot receives a photovoltaic layout map sent by a drone; wherein the photovoltaic layout map includes: a photovoltaic area to be cleaned, and the photovoltaic area includes: a target photovoltaic partition; the cleaning robot automatically plans a cleaning path corresponding to the target photovoltaic partition; the cleaning robot uploads the starting point of the cleaning path to the drone, and the drone transports the cleaning robot to the starting point of the cleaning path; after the cleaning robot reaches the starting point of the cleaning path, the cleaning robot is controlled to perform cleaning work according to the cleaning path; the cleaning robot of the present disclosure cooperates with the drone, and the drone automatically transfers and cleans the cleaning robot between the photovoltaic partitions to be cleaned, without the need for human intervention in the cleaning process, thereby improving the photovoltaic cleaning efficiency of the cleaning robot and reducing labor costs.

[0044] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the description are used to explain the principles of the present disclosure, and do not constitute improper limitations on the present disclosure.

[0046] Figure 1 A schematic flow chart of a cleaning robot control method provided by an exemplary embodiment of the present disclosure;

[0047] Figure 2 A schematic diagram of cutting an L-shaped photovoltaic partition provided for an exemplary embodiment of the present disclosure;

[0048] Figure 3 A schematic diagram of cutting a concave-shaped photovoltaic partition provided for an exemplary embodiment of the present disclosure;

[0049] Figure 4 A schematic diagram of cutting a convex-shaped photovoltaic partition provided for an exemplary embodiment of the present disclosure;

[0050] Figure 5 A schematic diagram of a cleaning subpath provided for an exemplary embodiment of the present disclosure;

[0051] Figure 6 A schematic diagram of a cleaning robot camera setting provided for an exemplary embodiment of the present disclosure;

[0052] Figure 7 A schematic diagram of a laser beam irradiating a photovoltaic panel provided by an exemplary embodiment of the present disclosure;

[0053] Figure 8 A schematic diagram of another laser beam irradiating a photovoltaic panel provided by an exemplary embodiment of the present disclosure;

[0054] Fig. 9 A schematic diagram of another laser beam irradiating a photovoltaic panel provided by an exemplary embodiment of the present disclosure;

[0055] Fig.10 A schematic structural diagram of a cleaning robot control device provided by an exemplary embodiment of the present disclosure;

[0056] Fig.11 A schematic structural diagram of an electronic device provided by an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0057] In order to enable ordinary persons in the art to better understand the technical solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings.

[0058] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure 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 interchangeable where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure.

[0059] It should be noted that the user information involved in this disclosure includes but is not limited to: user device information and user personal information; the collection, storage, use, processing, transmission, provision and disclosure of user information in this disclosure comply with the relevant laws and regulations and do not violate public order and good morals.

[0060] Distributed photovoltaic power generation refers to power generation located near the user's location, which is not intended for large-scale long-distance power transmission. The electricity produced is mainly for customer self-use and nearby use. The excess power is connected to the local distribution network at a voltage level of 10 kV or below, and the total installed capacity of a single grid connection point does not exceed 6 MW. According to data released by the National Energy Administration, my country's cumulative installed capacity of distributed photovoltaics has reached 253GW in 2023, accounting for 42% of the total installed capacity of photovoltaics. Distributed photovoltaic power generation systems can be installed in various distributed locations, such as industrial plants, commercial buildings, residential roofs, vegetable greenhouses, fish ponds, barren hills and slopes, etc.

[0061] The efficiency of photovoltaic power generation is affected by many external factors, and dust blocking is the first to be affected. Sandstorms, dust, air pollution, flying catkins, etc. cause dust accumulation on the surface of components and a decrease in power generation. This phenomenon of power generation loss due to dust accumulation is called "ash loss" in the industry. According to research, dust accumulation reduces the transmittance of photovoltaic panels by 10%-30%, directly affects the photocurrent output, and causes a 20%-40% decrease in power generation performance. Therefore, cleaning the surface of photovoltaic panels is an important subject in the photovoltaic industry. So far, a variety of cleaning solutions have been developed, such as manual cleaning, mechanized cleaning vehicle cleaning, and cleaning robot cleaning. In recent years, with the development of robot technology, robot cleaning has become more and more popular in the photovoltaic field, especially in the field of distributed photovoltaics. Due to the diversity of distributed photovoltaic installation sites, the installation area is generally a non-continuous area, and the fragmentation or dispersion is relatively serious. Therefore, it is particularly important to transport cleaning robots, plan cleaning paths, detect cleaning effects, and prevent cleaning robots from falling when cleaning distributed photovoltaics.

[0062] At present, cleaning robots are mostly operated by remote control when cleaning photovoltaics. The robot's forward, backward, and turning movements are all achieved by remote control, and the transfer of cleaning robots between various installation areas of distributed photovoltaic projects is also usually achieved by manual transfer. Therefore, photovoltaic cleaning efficiency is low and labor costs are high.

[0063] In response to the above technical problems, in some embodiments of the present disclosure, a cleaning robot receives a photovoltaic layout map sent by a drone; wherein the photovoltaic layout map includes: a photovoltaic area to be cleaned, and the photovoltaic area includes: a target photovoltaic partition; the cleaning robot automatically plans a cleaning path corresponding to the target photovoltaic partition; the cleaning robot uploads the starting point of the cleaning path to the drone, and the drone transports the cleaning robot to the starting point of the cleaning path; after the cleaning robot reaches the starting point of the cleaning path, the cleaning robot is controlled to perform cleaning work according to the cleaning path; the cleaning robot of the present disclosure cooperates with the drone, and the drone automatically transfers and cleans the cleaning robot between the photovoltaic partitions to be cleaned, without the need for human intervention in the cleaning process, thereby improving the photovoltaic cleaning efficiency of the cleaning robot and reducing labor costs.

[0064] The technical solutions provided by various embodiments of the present disclosure are described in detail below in conjunction with the accompanying drawings.

[0065] Figure 1 The following is a flow chart of a cleaning robot control method provided by an exemplary embodiment of the present disclosure. Figure 1 As shown, the method includes:

[0066] S101: receiving a photovoltaic layout map sent by a drone; wherein the photovoltaic layout map includes: a photovoltaic area to be cleaned, and the photovoltaic area includes: a target photovoltaic partition;

[0067] S102: planning a cleaning path corresponding to the target photovoltaic partition;

[0068] S103: uploading the starting point of the cleaning path to the drone, so that the drone can move the cleaning robot to the starting point of the cleaning path;

[0069] S104: After the cleaning robot reaches the starting point of the cleaning path, the cleaning robot is controlled to perform cleaning work according to the cleaning path.

[0070] In this embodiment, the execution subject of the above method is a cleaning robot. The cleaning robot disclosed in the present invention is used to clean distributed photovoltaics.

[0071] In this embodiment, the cleaning robot receives a photovoltaic layout map sent by a drone; wherein the photovoltaic layout map includes: a photovoltaic area to be cleaned, and the photovoltaic area includes: a target photovoltaic partition; the cleaning robot automatically plans a cleaning path corresponding to the target photovoltaic partition; the cleaning robot uploads the starting point of the cleaning path to the drone, and the drone transports the cleaning robot to the starting point of the cleaning path; after the cleaning robot reaches the starting point of the cleaning path, the cleaning robot is controlled to perform cleaning work according to the cleaning path; the cleaning robot disclosed in the present invention cooperates with the drone, and the drone automatically transfers and cleans the cleaning robot between the photovoltaic partitions to be cleaned, without the need for human intervention in the cleaning process, thereby improving the photovoltaic cleaning efficiency of the cleaning robot and reducing labor costs.

[0072] In some embodiments of the present disclosure, the drone scans the area of ​​distributed photovoltaics to obtain a photovoltaic layout map. Specifically, in the area of ​​distributed photovoltaics, the drone's image recognition, laser radar and infrared lens are used to scan Germany with high precision to achieve accurate mapping of the photovoltaic panel layout and obtain a photovoltaic layout map. Among them, the photovoltaic layout map includes: the photovoltaic area to be cleaned, the attribute information of the photovoltaic panels and the obstacle information. Among them, the attribute information of the photovoltaic panels includes: the location, orientation and size of the photovoltaic panels. The drone sends the photovoltaic layout map to the cleaning robot as the basis for cleaning path planning. The cleaning robot plans the cleaning path based on the acquired photovoltaic panel layout map. It should be noted that the present disclosure does not limit the method for obtaining the photovoltaic layout map, and the existing map generation method can be used.

[0073] In some embodiments of the present disclosure, since there may be gaps between photovoltaic panels in the photovoltaic area, the cleaning robot cannot cross the gaps, and therefore, the photovoltaic area to be cleaned is divided into multiple photovoltaic partitions. One feasible way is to split the photovoltaic area into multiple connected areas; determine whether the cleaning robot can cross two adjacent connected areas based on the distance between the front and rear traveling wheels of the cleaning robot; merge the adjacent connected areas that the cleaning robot can cross to obtain multiple photovoltaic partitions, wherein the target photovoltaic partition is any one of the multiple photovoltaic partitions. The present disclosure divides the photovoltaic area to be cleaned into multiple photovoltaic partitions based on whether the cleaning robot can cross between areas as a standard, and uses drones to perform automatic transition operations between areas that cannot be crossed without manual intervention, thereby improving the intelligence level of photovoltaic cleaning and the transition efficiency of the cleaning robot.

[0074] In some embodiments of the present disclosure, a cleaning path corresponding to the target photovoltaic partition is planned. One achievable method is to divide the target photovoltaic partition into a plurality of rectangular areas according to a rectangular cutting algorithm; plan a cleaning sub-path corresponding to each rectangular area along the length direction of each rectangular area; determine the transfer path between two adjacent rectangular areas according to the starting point and end point of the cleaning sub-path of the two adjacent rectangular areas; generate a cleaning path corresponding to the target photovoltaic partition according to the cleaning sub-path and the transfer path. Among them, the target photovoltaic partition may be an anisotropic area, for example, an L-shape, a concave shape, a convex shape, etc., because photovoltaic panels are usually rectangular, and the present disclosure can divide the target photovoltaic partition into rectangular areas, and then plan a path for each rectangular area. The present disclosure divides the target photovoltaic partition into a plurality of rectangular areas, and then plans a cleaning path for each rectangular area. Rectangular areas are easier to plan paths than irregular paths, thereby improving the efficiency of path planning.

[0075] In the above embodiment, the target photovoltaic partition is divided into a plurality of rectangular regions according to the rectangular cutting algorithm. The existing rectangular cutting algorithm can be used to divide the target photovoltaic partition into a plurality of rectangular regions. The present disclosure does not specifically describe the rectangular cutting algorithm, and adjustments can be made according to actual conditions.

[0076] Figure 2 A schematic diagram of cutting an L-shaped photovoltaic partition provided by an exemplary embodiment of the present disclosure. Figure 2 As shown, the L-shaped photovoltaic partition is divided into two rectangular areas: partition 1 and partition 2 using the existing rectangular cutting algorithm.

[0077] Figure 3 A schematic diagram of a concave photovoltaic partition provided by an exemplary embodiment of the present disclosure. Figure 3As shown, the concave photovoltaic partition is divided into three rectangular areas: partition 1, partition 2 and partition 3 using the existing rectangular cutting algorithm.

[0078] Figure 4 A schematic diagram of cutting a convex photovoltaic partition provided by an exemplary embodiment of the present disclosure. Figure 4 As shown, the existing rectangular cutting algorithm is used to divide the glyph photovoltaic partition into two rectangular areas: partition 1 and partition 2.

[0079] In the above embodiment, a cleaning sub-path corresponding to each rectangular area is planned along the length direction of each rectangular area. It should be noted that the cleaning sub-path is a cleaning path corresponding to each rectangular area obtained by path planning along the length direction of each rectangular area.

[0080] Figure 5 Schematic diagram of a cleaning sub-path provided by an exemplary embodiment of the present disclosure. Figure 5 As shown, the length and width of each cleaning zone are calculated, where the cleaning zone is a rectangular area divided by the target photovoltaic zone, and the robot moves along the length direction to plan the cleaning path, and calculate the length of the cleaning path and the number of turns. Planning the cleaning path along the length direction is usually the optimal path. The reasons are as follows:

[0081] Assume that the length and width of a cleaning zone are L and W respectively, and the length of the robot's cleaning brush is D (the necessary cleaning overlap length to ensure the cleaning effect has been taken into account), then the cleaning distance P when moving along the length direction is L And the number of robot turns T L They are approximately:

[0082]

[0083] Cleaning distance P when moving in the width direction W And the number of robot turns T W They are approximately:

[0084]

[0085] In the above types It means rounding up. Obviously, no matter whether the cleaning robot is cleaning along the length direction or the width direction, the cleaning distance is approximately equal to the cleaning area divided by the length of the roller brush, but the number of turns is quite different, and each turn will move at least about D. Therefore, it can be seen from the above that planning the cleaning path along the length direction is the best choice.

[0086] For example, if the L of a cleaning zone is 21m, the width is 10.5m, and the length of the robot cleaning roller brush is 0.6m, then the cleaning distance and the number of U-turns along the length direction are 378m and 17 times respectively; the cleaning distance and the number of U-turns along the width direction are 367.5m and 34 times respectively. Although the cleaning distance when cleaning along the width direction is 10.5m less than that when cleaning along the length direction, there are 17 more U-turns, so at least 17*0.6=10.2m more movement, and the time taken to turn around is longer than that of straight-line movement. Therefore, overall, it is still best to plan the cleaning path along the length direction.

[0087] For another example, let's assume that the L of a cleaning zone is 21m, the width is 10.5m, and the length of the robot's cleaning roller brush is 0.5m. If it moves along the length direction, the cleaning distance and the number of U-turns are 441m and 20 times respectively; if it moves along the width direction, the cleaning distance and the number of U-turns are 441m and 41 times respectively. In this case, the distance is the same when cleaning in both directions, but the number of turns increases by 1 times when cleaning along the width direction. Therefore, it is optimal to plan the cleaning path along the length direction of the cleaning zone.

[0088] It should be noted that, in order to ensure the safety of the cleaning robot, the center line of the cleaning path generated by the last turn should be at a distance of D / 2 from the edge line of the cleaning partition.

[0089] In the above embodiment, the transfer path between two adjacent rectangular areas is determined according to the starting point and the end point of the cleaning sub-path of the two adjacent rectangular areas. It should be noted that the transfer path refers to the path from the end point of the current rectangular area to the starting point of the next adjacent rectangular area. Among them, for any two rectangular areas, the minimum path from the end point of the current rectangular area to the starting point of the next adjacent rectangular area is selected as the transfer path. Then, according to the cleaning sub-path and the transfer path, the cleaning path corresponding to the target photovoltaic partition is generated.

[0090] In some embodiments of the present disclosure, after planning the cleaning path corresponding to the target photovoltaic partition, the cleaning robot uploads the starting point of the cleaning path to the drone, and the drone transports the cleaning robot to the starting point of the cleaning path according to the starting point of the cleaning path. After the cleaning robot reaches the starting point of the cleaning path, it controls the cleaning robot to perform cleaning work along the planned cleaning path. After the cleaning is completed, the cleaning robot will call the drone to move to the next photovoltaic partition to perform cleaning work.

[0091] In some embodiments of the present disclosure, the cleaning robot needs to clean with different strengths for different degrees of dirt. Therefore, the dirt type of dirt on the photovoltaic panel can be detected, and the heavily dirty areas can be cleaned intensively. One feasible method is to collect a first image of the area to be cleaned by the cleaning robot; identify the first dirt type of the first dirt in the first image; determine the target cleaning mode corresponding to the first dirt type according to the first dirt type; and adjust the working mode of the cleaning robot to the target cleaning mode. Among them, a group of cameras can be installed in front of the direction of travel of the cleaning robot to collect the first image in front of the area to be cleaned by the cleaning robot; use the existing target detection algorithm to identify the first dirt type of the first dirt in the first image; and adjust the working mode of the cleaning robot to the corresponding target cleaning mode according to different dirt types, which can improve the intelligence level of photovoltaic cleaning and improve the cleaning effect of the cleaning robot.

[0092] It should be noted that the types of dirt include but are not limited to the following: ordinary dust accumulation, hot spots, bird droppings and weeds and fallen leaves. Cleaning modes include but are not limited to: increased cleaning intensity, reciprocating cleaning and conventional light cleaning. Among them, the mapping relationship between dirt types and cleaning modes can be preset in advance. For example, ordinary dust accumulation adopts the cleaning mode of conventional light cleaning, hot spots and weeds and fallen leaves adopt the cleaning mode of reciprocating cleaning, and bird droppings adopts the cleaning mode of increased cleaning intensity. Among them, the camera can be a dual-light camera.

[0093] For example, a set of dual-light cameras is installed in front of the cleaning robot in the direction of travel to capture high-definition images and infrared images before cleaning in real time. The first image captured by the front camera is identified as bird droppings by using an existing target detection algorithm; then a cleaning mode with a heavier cleaning intensity corresponding to the bird droppings is used to perform the cleaning operation.

[0094] In some embodiments of the present disclosure, after the cleaning robot performs cleaning work, the cleaning robot can detect the cleaning quality. One achievable method is to collect a second image of the area that has been cleaned by the cleaning robot; identify the second dirt type of the second dirt in the second image; and determine the cleaning quality of the cleaning robot based on the second dirt type. Among them, a group of cameras can be installed behind the moving direction of the cleaning robot to collect the second image of the area that has been cleaned by the cleaning robot; use the existing target detection algorithm to identify the second dirt type of the second dirt in the second image; determine the cleaning quality of the cleaning robot based on different dirt types, which can improve the intelligence level of photovoltaic cleaning and improve the cleaning effect of the cleaning robot.

[0095] It should be noted that the mapping relationship between dirt type and cleaning quality can be preset in advance. For example, the cleaning quality corresponding to ordinary dust accumulation is good quality, the cleaning quality corresponding to hot spots and weeds and fallen leaves is medium quality, and the cleaning quality corresponding to bird droppings is poor quality.

[0096] For example, a set of dual-light cameras is installed behind the cleaning robot in the direction of travel, and a second image of the area cleaned by the cleaning robot is collected; using the existing target detection algorithm, it is identified that the second dirt type of the second dirt in the second image is bird droppings, and the cleaning quality of the cleaning robot is determined to be poor.

[0097] Figure 6 Schematic diagram of a cleaning robot camera configuration provided by an exemplary embodiment of the present disclosure. Figure 6 As shown, the cleaning robot is equipped with a group of dual-light cameras at the front and rear of the moving direction, namely a forward camera group and a rearward camera group.

[0098] When the robot is cleaning, avoiding falling is an important safety factor that needs to be considered. Cleaning robots are usually equipped with anti-fall sensors, but the fall sensors detect the risk of stepping vertically downward. When the risk is detected, the robot has already moved out of the edge, so it is actually impossible to warn of the risk of stepping in advance.

[0099] In view of the problem that the cleaning robot has the risk of stepping into the air, in some embodiments of the present disclosure, multiple target distances measured by multiple groups of laser ranging sensors are obtained. When the number of target distances greater than the distance threshold is multiple, it is determined that the cleaning robot has the risk of stepping into the air; and the cleaning robot is controlled to perform a deceleration operation or a braking operation. Among them, multiple groups of laser ranging sensors are arranged around the body of the cleaning robot, and the laser emission direction of the laser ranging sensors is tilted downward, and the inclination angles of multiple groups of laser ranging sensors on the same side of the body of the cleaning robot are different. The laser emitted obliquely by the laser ranging sensor is received by the detector after diffuse reflection by the photovoltaic panel, so that the distance between the reflection point and the laser can be calculated. When the cleaning robot moves in a safe area, the distance detected by the laser ranging sensor fluctuates within a small range. When the reflection point is outside the photovoltaic panel, this distance will increase significantly, thereby predicting that the robot may have the risk of stepping into the air, reminding the cleaning robot to slow down or brake to prevent falling. Therefore, the present disclosure presets a distance threshold in advance to determine whether the cleaning robot has the risk of stepping into the air. It should be noted that the present disclosure does not limit the distance threshold and can be adjusted according to actual conditions. In order to avoid false alarms due to the normal gap between photovoltaic panels (this gap is the width that the robot can cross), multiple groups of laser ranging sensors with different inclination angles are set up. When more than two groups of laser ranging sensors on the same side of the cleaning robot's body detect the risk of stepping on the air, a stepping on the air warning is generated.

[0100] Figure 7 A schematic diagram of a laser beam irradiating a photovoltaic panel provided by an exemplary embodiment of the present disclosure. Figure 7 As shown, three laser beams are irradiated onto the photovoltaic panel, and there is no risk of the cleaning robot stepping into the air. Figure 8 Schematic diagram of another laser beam irradiating a photovoltaic panel provided by an exemplary embodiment of the present disclosure. Figure 8 As shown, a laser beam shines into the gaps between the photovoltaic panels, and there is no risk of the cleaning robot stepping into the air. Fig. 9 Schematic diagram of another laser beam irradiating a photovoltaic panel provided by an exemplary embodiment of the present disclosure. Fig. 9 As shown, the three laser beams did not shine onto the photovoltaic panel, and there was a risk of the cleaning robot stepping into empty space.

[0101] In the above method embodiment of the present disclosure, the cleaning robot receives a photovoltaic layout map sent by a drone; wherein the photovoltaic layout map includes: a photovoltaic area to be cleaned, and the photovoltaic area includes: a target photovoltaic partition; the cleaning robot automatically plans a cleaning path corresponding to the target photovoltaic partition; the cleaning robot uploads the starting point of the cleaning path to the drone, and the drone transports the cleaning robot to the starting point of the cleaning path; after the cleaning robot reaches the starting point of the cleaning path, the cleaning robot is controlled to perform cleaning work according to the cleaning path; the cleaning robot of the present disclosure cooperates with the drone, and the drone automatically transfers and cleans the cleaning robot between the photovoltaic partitions to be cleaned, without the need for human intervention in the cleaning process, thereby improving the photovoltaic cleaning efficiency of the cleaning robot and reducing labor costs.

[0102] Fig.10 FIG. 1 is a schematic diagram of a cleaning robot control device 100 provided by an exemplary embodiment of the present disclosure. Fig.10 As shown, the cleaning robot control device 100 includes: a receiving module 1001, a planning module 1002, an uploading module 1003 and a control module 1004.

[0103] The receiving module 1001 is used to receive the photovoltaic layout map sent by the drone; wherein the photovoltaic layout map includes: the photovoltaic area to be cleaned, wherein the photovoltaic area includes: the target photovoltaic partition;

[0104] Planning module 1002, used to plan the cleaning path corresponding to the target photovoltaic partition;

[0105] The uploading module 1003 is used to upload the starting point of the cleaning path to the drone, so that the drone can move the cleaning robot to the starting point of the cleaning path;

[0106] The control module 1004 is used to control the cleaning robot to perform cleaning work according to the cleaning path after the cleaning robot reaches the starting point of the cleaning path.

[0107] Optionally, before planning the cleaning path corresponding to the target photovoltaic partition, the planning module 1002 may also be used to:

[0108] Split the photovoltaic area into multiple connected areas;

[0109] Determine whether the cleaning robot can cross two adjacent connected areas according to the distance between the front and rear traveling wheels of the cleaning robot;

[0110] The adjacent connected areas that the cleaning robot can cross are merged to obtain multiple photovoltaic partitions, wherein the target photovoltaic partition is any one of the multiple photovoltaic partitions.

[0111] Optionally, when planning a cleaning path corresponding to a target photovoltaic partition, the planning module 1002 is used to:

[0112] According to the rectangular cutting algorithm, the target photovoltaic partition is divided into multiple rectangular areas;

[0113] Plan the cleaning sub-path corresponding to each rectangular area along the length direction of each rectangular area;

[0114] Determine a transfer path between two adjacent rectangular areas according to the starting point and the end point of the cleaning sub-path of the two adjacent rectangular areas;

[0115] According to the cleaning sub-path and the transfer path, a cleaning path corresponding to the target photovoltaic partition is generated.

[0116] Optionally, before controlling the cleaning robot to perform cleaning work according to the cleaning path, the control module 1004 may also be used to:

[0117] Acquire a first image of the area to be cleaned by the cleaning robot;

[0118] identifying a first soil type of a first soil in the first image;

[0119] According to the first dirt type, determining a target cleaning mode corresponding to the first dirt type;

[0120] Adjust the working mode of the cleaning robot to the target cleaning mode.

[0121] Optionally, after controlling the cleaning robot to perform cleaning work according to the cleaning path, the control module 1004 may also be used to:

[0122] Acquire a second image of the area cleaned by the cleaning robot;

[0123] identifying a second soil type of a second soil in the second image;

[0124] According to the second dirt type, the cleaning quality of the cleaning robot is determined.

[0125] Optionally, the control module 1004 may also be used to:

[0126] Get multiple target distances measured by multiple groups of laser ranging sensors,

[0127] If there are multiple target distances that are greater than the distance threshold, it is determined that the cleaning robot has a risk of stepping into the air.

[0128] Control the cleaning robot to perform a deceleration operation or a braking operation.

[0129] Optionally, a plurality of groups of laser ranging sensors are arranged around the body of the cleaning robot, and the laser emission directions of the laser ranging sensors are tilted downward.

[0130] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0131] Fig.11 FIG. 1 is a schematic diagram of a structure of an electronic device provided by an exemplary embodiment of the present disclosure. Fig.11 As shown, the electronic device includes: a memory 1101 and a processor 1102. In addition, the electronic device also includes a power supply component 1103 and a communication component 1104.

[0132] The memory 1101 is used to store computer programs and can be configured to store various other data to support operations on the electronic device. Examples of such data include instructions for any application program or method operating on the electronic device.

[0133] Memory 1101 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0134] The communication component 1104 is used for data transmission with other devices.

[0135] The processor 1102 can execute the computer instructions stored in the memory 1101 to: receive the photovoltaic layout map sent by the drone; wherein the photovoltaic layout map includes: the photovoltaic area to be cleaned, and the photovoltaic area includes: the target photovoltaic partition;

[0136] Plan the cleaning path corresponding to the target PV zone;

[0137] Upload the starting point of the cleaning path to the drone so that the drone can move the cleaning robot to the starting point of the cleaning path;

[0138] After the cleaning robot reaches the starting point of the cleaning path, the cleaning robot is controlled to perform cleaning work according to the cleaning path.

[0139] Optionally, before planning the cleaning path corresponding to the target photovoltaic partition, the processor 1102 may also be used to:

[0140] Split the photovoltaic area into multiple connected areas;

[0141] Determine whether the cleaning robot can cross two adjacent connected areas according to the distance between the front and rear traveling wheels of the cleaning robot;

[0142] The adjacent connected areas that the cleaning robot can cross are merged to obtain multiple photovoltaic partitions, wherein the target photovoltaic partition is any one of the multiple photovoltaic partitions.

[0143] Optionally, when planning a cleaning path corresponding to a target photovoltaic partition, the processor 1102 is configured to:

[0144] According to the rectangular cutting algorithm, the target photovoltaic partition is divided into multiple rectangular areas;

[0145] Plan the cleaning sub-path corresponding to each rectangular area along the length direction of each rectangular area;

[0146] Determine a transfer path between two adjacent rectangular areas according to the starting point and the end point of the cleaning sub-path of the two adjacent rectangular areas;

[0147] According to the cleaning sub-path and the transfer path, a cleaning path corresponding to the target photovoltaic partition is generated.

[0148] Optionally, before controlling the cleaning robot to perform cleaning work according to the cleaning path, the processor 1102 may also be used to:

[0149] Acquire a first image of the area to be cleaned by the cleaning robot;

[0150] identifying a first soil type of a first soil in the first image;

[0151] According to the first dirt type, determining a target cleaning mode corresponding to the first dirt type;

[0152] Adjust the working mode of the cleaning robot to the target cleaning mode.

[0153] Optionally, after controlling the cleaning robot to perform cleaning work according to the cleaning path, the processor 1102 may also be used to:

[0154] Acquire a second image of the area cleaned by the cleaning robot;

[0155] identifying a second soil type of a second soil in the second image;

[0156] According to the second dirt type, the cleaning quality of the cleaning robot is determined.

[0157] Optionally, the processor 1102 may also be configured to:

[0158] Get multiple target distances measured by multiple groups of laser ranging sensors,

[0159] If there are multiple target distances that are greater than the distance threshold, it is determined that the cleaning robot has a risk of stepping into the air.

[0160] Control the cleaning robot to perform a deceleration operation or a braking operation.

[0161] Optionally, a plurality of groups of laser ranging sensors are arranged around the body of the cleaning robot, and the laser emission directions of the laser ranging sensors are tilted downward.

[0162] Accordingly, the present disclosure also provides a computer-readable storage medium storing a computer program. When the computer-readable storage medium stores the computer program and the computer program is executed by one or more processors, the one or more processors execute Figure 1 Each step in the method embodiment.

[0163] Accordingly, the present disclosure also provides a computer program product, the computer program product includes a computer program / instruction, the computer program / instruction is executed by a processor Figure 1 Each step in the method embodiment.

[0164] Above Fig.11 The communication component in is configured to facilitate wired or wireless communication between the device where the communication component is located and other devices. The device where the communication component is located can access a wireless network based on a communication standard, such as WiFi, 2G, 3G, 4G / LTE, 5G and other mobile communication networks, or a combination thereof. In an exemplary embodiment, the communication component receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0165] Above Fig.11The power supply component in the device provides power to various components of the device where the power supply component is located. The power supply component may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the device where the power supply component is located.

[0166] The electronic device also includes a display screen and an audio component.

[0167] The display screen includes a screen, and the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation.

[0168] The audio component may be configured to output and / or input audio signals. For example, the audio component includes a microphone (MIC), and when the device where the audio component is located is in an operating mode, such as a call mode, a recording mode, and a speech recognition mode, the microphone is configured to receive an external audio signal. The received audio signal may be further stored in a memory or sent via a communication component. In some embodiments, the audio component also includes a speaker for outputting an audio signal.

[0169] In the embodiments of the above-mentioned devices, equipment, storage media and program products disclosed in the present invention, a cleaning robot receives a photovoltaic layout map sent by a drone; wherein the photovoltaic layout map includes: a photovoltaic area to be cleaned, and the photovoltaic area includes: a target photovoltaic partition; the cleaning robot automatically plans a cleaning path corresponding to the target photovoltaic partition; the cleaning robot uploads the starting point of the cleaning path to the drone, and the drone transports the cleaning robot to the starting point of the cleaning path; after the cleaning robot reaches the starting point of the cleaning path, the cleaning robot is controlled to perform cleaning work according to the cleaning path; the cleaning robot disclosed in the present invention cooperates with the drone, and the drone automatically transfers and cleans the cleaning robot between the photovoltaic partitions to be cleaned, without the need for human intervention in the cleaning process, thereby improving the photovoltaic cleaning efficiency of the cleaning robot and reducing labor costs.

[0170] Those skilled in the art will appreciate that the embodiments of the present disclosure may be provided as methods, systems, or computer program products. Therefore, the present disclosure may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present disclosure may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0171] The present disclosure is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present disclosure. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0172] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0173] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0174] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0175] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0176] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0177] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0178] The above are only specific embodiments of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to these embodiments herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A cleaning robot control method, characterized in that: include: Receiving a photovoltaic layout map sent by a drone; wherein the photovoltaic layout map includes: a photovoltaic area to be cleaned, and the photovoltaic area includes: a target photovoltaic partition; Planning a cleaning path corresponding to the target photovoltaic partition; Uploading the starting point of the cleaning path to the drone, so that the drone can transport the cleaning robot to the starting point of the cleaning path; After the cleaning robot reaches the starting point of the cleaning path, the cleaning robot is controlled to perform cleaning work according to the cleaning path.

2. The method according to claim 1, characterized in that Before planning the cleaning path corresponding to the target photovoltaic partition, the method further includes: Splitting the photovoltaic region into a plurality of connected regions; Determining whether the cleaning robot can cross two adjacent connected areas according to the distance between the front and rear traveling wheels of the cleaning robot; The adjacent connected areas that the cleaning robot can cross are merged to obtain multiple photovoltaic partitions, wherein the target photovoltaic partition is any one of the multiple photovoltaic partitions.

3. The method according to claim 1, characterized in that: The planning of the cleaning path corresponding to the target photovoltaic partition includes: According to a rectangular cutting algorithm, the target photovoltaic partition is divided into a plurality of rectangular areas; Planning a cleaning sub-path corresponding to each rectangular area along the length direction of each rectangular area; Determine a transfer path between the two adjacent rectangular areas according to the starting point and the end point of the cleaning sub-path of the two adjacent rectangular areas; A cleaning path corresponding to the target photovoltaic partition is generated according to the cleaning sub-path and the transfer path.

4. The method according to claim 1, characterized in that: Before controlling the cleaning robot to perform cleaning work according to the cleaning path, the method further includes: Acquire a first image of the area to be cleaned by the cleaning robot; identifying a first contamination type of a first contaminant in the first image; According to a first dirt type, determining a target cleaning mode corresponding to the first dirt type; The working mode of the cleaning robot is adjusted to the target cleaning mode.

5. The method according to claim 1, characterized in that After controlling the cleaning robot to perform cleaning work according to the cleaning path, the method further includes: Acquire a second image of the area cleaned by the cleaning robot; identifying a second contamination type of a second contaminant in the second image; The cleaning quality of the cleaning robot is determined according to the second dirt type.

6. The method according to claim 1, characterized in that The method further comprises: Get multiple target distances measured by multiple groups of laser ranging sensors, If there are multiple target distances that are greater than the distance threshold, it is determined that the cleaning robot has a risk of stepping into empty space; The cleaning robot is controlled to perform a deceleration operation or a braking operation.

7. The method according to claim 6, characterized in that A plurality of groups of the laser ranging sensors are arranged around the body of the cleaning robot, and the laser emission directions of the laser ranging sensors are tilted downward.

8. The method according to claim 7, characterized in that The inclination angles of the multiple groups of laser distance measuring sensors on the same side of the body of the cleaning robot are different.

9. The method according to claim 1, characterized in that: A forward camera group is installed in front of the moving direction of the cleaning robot, and a backward camera group is installed behind the moving direction of the cleaning robot.

10. A cleaning robot control device, characterized in that: include: A receiving module is used to receive a photovoltaic layout map sent by a drone; wherein the photovoltaic layout map includes: a photovoltaic area to be cleaned, wherein the photovoltaic area includes: a target photovoltaic partition; A planning module, used to plan a cleaning path corresponding to the target photovoltaic partition; An uploading module, used to upload the starting point of the cleaning path to the drone, so that the drone can transport the cleaning robot to the starting point of the cleaning path; The control module is used to control the cleaning robot to perform cleaning work according to the cleaning path after the cleaning robot reaches the starting point of the cleaning path.

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